From 302d72701da35b6d481a538c4cb953976d7e9044 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 20 Jun 2011 17:14:59 -0700 Subject: BulletSim initial checkin --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 426 +++++++ OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 951 ++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs | 68 ++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 1192 ++++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 553 +++++++++ .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 186 +++ 6 files changed, 3376 insertions(+) create mode 100644 OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs create mode 100644 OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs create mode 100644 OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs create mode 100644 OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs create mode 100644 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs create mode 100644 OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs new file mode 100644 index 0000000..d9e236f --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -0,0 +1,426 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Reflection; +using log4net; +using OpenMetaverse; +using OpenSim.Framework; +using OpenSim.Region.Physics.Manager; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSCharacter : PhysicsActor +{ + private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); + private static readonly string LogHeader = "[BULLETS CHAR]"; + + private BSScene _scene; + private String _avName; + private bool _stopped; + private Vector3 _size; + private Vector3 _scale; + private PrimitiveBaseShape _pbs; + private uint _localID = 0; + private bool _grabbed; + private bool _selected; + private Vector3 _position; + private float _mass = 80f; + public float _density = 60f; + public float CAPSULE_RADIUS = 0.37f; + public float CAPSULE_LENGTH = 2.140599f; + private Vector3 _force; + private Vector3 _velocity; + private Vector3 _torque; + private float _collisionScore; + private Vector3 _acceleration; + private Quaternion _orientation; + private int _physicsActorType; + private bool _isPhysical; + private bool _flying; + private bool _setAlwaysRun; + private bool _throttleUpdates; + private bool _isColliding; + private long _collidingStep; + private bool _collidingGround; + private long _collidingGroundStep; + private bool _collidingObj; + private bool _floatOnWater; + private Vector3 _rotationalVelocity; + private bool _kinematic; + private float _buoyancy; + + private int _subscribedEventsMs = 0; + private int _lastCollisionTime = 0; + + private Vector3 _PIDTarget; + private bool _usePID; + private float _PIDTau; + private bool _useHoverPID; + private float _PIDHoverHeight; + private PIDHoverType _PIDHoverType; + private float _PIDHoverTao; + + public BSCharacter(uint localID, String avName, BSScene parent_scene, Vector3 pos, Vector3 size, bool isFlying) + { + _localID = localID; + _avName = avName; + _scene = parent_scene; + _position = pos; + _size = size; + _orientation = Quaternion.Identity; + _velocity = Vector3.Zero; + _buoyancy = 0f; // characters return a buoyancy of zero + _scale = new Vector3(1f, 1f, 1f); + float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH); + _mass = _density*AVvolume; + + ShapeData shapeData = new ShapeData(); + shapeData.ID = _localID; + shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR; + shapeData.Position = _position; + shapeData.Rotation = _orientation; + shapeData.Velocity = _velocity; + shapeData.Scale = _scale; + shapeData.Mass = _mass; + shapeData.Buoyancy = isFlying ? 0f : 1f; + shapeData.Static = ShapeData.numericFalse; + + // do actual create at taint time + _scene.TaintedObject(delegate() + { + BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData); + }); + + return; + } + + // called when this character is being destroyed and the resources should be released + public void Destroy() + { + _scene.TaintedObject(delegate() + { + BulletSimAPI.DestroyObject(_scene.WorldID, _localID); + }); + } + + public override void RequestPhysicsterseUpdate() + { + base.RequestPhysicsterseUpdate(); + } + + public override bool Stopped { + get { return _stopped; } + } + public override Vector3 Size { + get { return _size; } + set { _size = value; + } + } + public override PrimitiveBaseShape Shape { + set { _pbs = value; + } + } + public override uint LocalID { + set { _localID = value; + } + get { return _localID; } + } + public override bool Grabbed { + set { _grabbed = value; + } + } + public override bool Selected { + set { _selected = value; + } + } + public override void CrossingFailure() { return; } + public override void link(PhysicsActor obj) { return; } + public override void delink() { return; } + public override void LockAngularMotion(Vector3 axis) { return; } + + public override Vector3 Position { + get { + // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + return _position; + } + set { + _position = value; + _scene.TaintedObject(delegate() + { + BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); + }); + } + } + public override float Mass { + get { + return _mass; + } + } + public override Vector3 Force { + get { return _force; } + set { + _force = value; + m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); + _scene.TaintedObject(delegate() + { + BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); + }); + } + } + + public override int VehicleType { + get { return 0; } + set { return; } + } + public override void VehicleFloatParam(int param, float value) { } + public override void VehicleVectorParam(int param, Vector3 value) {} + public override void VehicleRotationParam(int param, Quaternion rotation) { } + public override void VehicleFlags(int param, bool remove) { } + + // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more + public override void SetVolumeDetect(int param) { return; } + + public override Vector3 GeometricCenter { get { return Vector3.Zero; } } + public override Vector3 CenterOfMass { get { return Vector3.Zero; } } + public override Vector3 Velocity { + get { return _velocity; } + set { + _velocity = value; + _scene.TaintedObject(delegate() + { + BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); + }); + } + } + public override Vector3 Torque { + get { return _torque; } + set { _torque = value; + } + } + public override float CollisionScore { + get { return _collisionScore; } + set { _collisionScore = value; + } + } + public override Vector3 Acceleration { + get { return _acceleration; } + } + public override Quaternion Orientation { + get { return _orientation; } + set { + _orientation = value; + _scene.TaintedObject(delegate() + { + // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); + }); + } + } + public override int PhysicsActorType { + get { return _physicsActorType; } + set { _physicsActorType = value; + } + } + public override bool IsPhysical { + get { return _isPhysical; } + set { _isPhysical = value; + } + } + public override bool Flying { + get { return _flying; } + set { + _flying = value; + _scene.TaintedObject(delegate() + { + // simulate flying by changing the effect of gravity + BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _flying ? 0f : 1f); + }); + } + } + public override bool + SetAlwaysRun { + get { return _setAlwaysRun; } + set { _setAlwaysRun = value; } + } + public override bool ThrottleUpdates { + get { return _throttleUpdates; } + set { _throttleUpdates = value; } + } + public override bool IsColliding { + get { return (_collidingStep == _scene.SimulationStep); } + set { _isColliding = value; } + } + public override bool CollidingGround { + get { return (_collidingGroundStep == _scene.SimulationStep); } + set { _collidingGround = value; } + } + public override bool CollidingObj { + get { return _collidingObj; } + set { _collidingObj = value; } + } + public override bool FloatOnWater { + set { _floatOnWater = value; } + } + public override Vector3 RotationalVelocity { + get { return _rotationalVelocity; } + set { _rotationalVelocity = value; } + } + public override bool Kinematic { + get { return _kinematic; } + set { _kinematic = value; } + } + public override float Buoyancy { + get { return _buoyancy; } + set { _buoyancy = value; } + } + + // Used for MoveTo + public override Vector3 PIDTarget { + set { _PIDTarget = value; } + } + public override bool PIDActive { + set { _usePID = value; } + } + public override float PIDTau { + set { _PIDTau = value; } + } + + // Used for llSetHoverHeight and maybe vehicle height + // Hover Height will override MoveTo target's Z + public override bool PIDHoverActive { + set { _useHoverPID = value; } + } + public override float PIDHoverHeight { + set { _PIDHoverHeight = value; } + } + public override PIDHoverType PIDHoverType { + set { _PIDHoverType = value; } + } + public override float PIDHoverTau { + set { _PIDHoverTao = value; } + } + + // For RotLookAt + public override Quaternion APIDTarget { set { return; } } + public override bool APIDActive { set { return; } } + public override float APIDStrength { set { return; } } + public override float APIDDamping { set { return; } } + + public override void AddForce(Vector3 force, bool pushforce) { + if (force.IsFinite()) + { + _force.X += force.X; + _force.Y += force.Y; + _force.Z += force.Z; + _scene.TaintedObject(delegate() + { + BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); + }); + } + else + { + m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); + } + //m_lastUpdateSent = false; + } + public override void AddAngularForce(Vector3 force, bool pushforce) { + } + public override void SetMomentum(Vector3 momentum) { + } + public override void SubscribeEvents(int ms) { + _subscribedEventsMs = ms; + _lastCollisionTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen + } + public override void UnSubscribeEvents() { + _subscribedEventsMs = 0; + } + public override bool SubscribedEvents() { + return (_subscribedEventsMs > 0); + } + + // The physics engine says that properties have updated. Update same and inform + // the world that things have changed. + public void UpdateProperties(EntityProperties entprop) + { + bool changed = false; + // we assign to the local variables so the normal set action does not happen + if (_position != entprop.Position) + { + _position = entprop.Position; + changed = true; + } + if (_orientation != entprop.Rotation) + { + _orientation = entprop.Rotation; + changed = true; + } + if (_velocity != entprop.Velocity) + { + _velocity = entprop.Velocity; + changed = true; + } + if (_acceleration != entprop.Acceleration) + { + _acceleration = entprop.Acceleration; + changed = true; + } + if (_rotationalVelocity != entprop.AngularVelocity) + { + _rotationalVelocity = entprop.AngularVelocity; + changed = true; + } + if (changed) + { + // base.RequestPhysicsterseUpdate(); + } + } + + public void Collide(uint collidingWith, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) + { + // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); + + // The following makes IsColliding() and IsCollidingGround() work + _collidingStep = _scene.SimulationStep; + if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID) + { + _collidingGroundStep = _scene.SimulationStep; + } + + if (_subscribedEventsMs == 0) return; // don't want collisions + int nowTime = Util.EnvironmentTickCount(); + if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return; + _lastCollisionTime = nowTime; + + Dictionary contactPoints = new Dictionary(); + contactPoints.Add(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + CollisionEventUpdate args = new CollisionEventUpdate(LocalID, (int)type, 1, contactPoints); + base.SendCollisionUpdate(args); + } + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs new file mode 100644 index 0000000..046726d --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -0,0 +1,951 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +/* RA: June 14, 2011. Copied from ODEDynamics.cs and converted to + * call the BulletSim system. + */ +/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces + * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: + * ODEPrim.cs contains methods dealing with Prim editing, Prim + * characteristics and Kinetic motion. + * ODEDynamics.cs contains methods dealing with Prim Physical motion + * (dynamics) and the associated settings. Old Linear and angular + * motors for dynamic motion have been replace with MoveLinear() + * and MoveAngular(); 'Physical' is used only to switch ODE dynamic + * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_ is to + * switch between 'VEHICLE' parameter use and general dynamics + * settings use. + */ + +using System; +using System.Collections.Generic; +using System.Reflection; +using System.Runtime.InteropServices; +using log4net; +using OpenMetaverse; +using OpenSim.Framework; +using OpenSim.Region.Physics.Manager; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + public class BSDynamics + { + private int frcount = 0; // Used to limit dynamics debug output to + // every 100th frame + + // private BSScene m_parentScene = null; + private BSPrim m_prim; // the prim this dynamic controller belongs to + + // Vehicle properties + private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind + public Vehicle Type + { + get { return m_type; } + } + // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier + private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: + // HOVER_TERRAIN_ONLY + // HOVER_GLOBAL_HEIGHT + // NO_DEFLECTION_UP + // HOVER_WATER_ONLY + // HOVER_UP_ONLY + // LIMIT_MOTOR_UP + // LIMIT_ROLL_ONLY + private VehicleFlag m_Hoverflags = (VehicleFlag)0; + private Vector3 m_BlockingEndPoint = Vector3.Zero; + private Quaternion m_RollreferenceFrame = Quaternion.Identity; + // Linear properties + private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time + private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL + private Vector3 m_dir = Vector3.Zero; // velocity applied to body + private Vector3 m_linearFrictionTimescale = Vector3.Zero; + private float m_linearMotorDecayTimescale = 0; + private float m_linearMotorTimescale = 0; + private Vector3 m_lastLinearVelocityVector = Vector3.Zero; + private Vector3 m_lastPositionVector = Vector3.Zero; + // private bool m_LinearMotorSetLastFrame = false; + // private Vector3 m_linearMotorOffset = Vector3.Zero; + + //Angular properties + private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor + private int m_angularMotorApply = 0; // application frame counter + private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity + private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate + private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate + private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate + private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body + // private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body + + //Deflection properties + // private float m_angularDeflectionEfficiency = 0; + // private float m_angularDeflectionTimescale = 0; + // private float m_linearDeflectionEfficiency = 0; + // private float m_linearDeflectionTimescale = 0; + + //Banking properties + // private float m_bankingEfficiency = 0; + // private float m_bankingMix = 0; + // private float m_bankingTimescale = 0; + + //Hover and Buoyancy properties + private float m_VhoverHeight = 0f; +// private float m_VhoverEfficiency = 0f; + private float m_VhoverTimescale = 0f; + private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height + private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. + // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) + // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. + // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. + + //Attractor properties + private float m_verticalAttractionEfficiency = 1.0f; // damped + private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. + + public BSDynamics(BSPrim myPrim) + { + m_prim = myPrim; + m_type = Vehicle.TYPE_NONE; + } + + internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) + { + switch (pParam) + { + case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: + if (pValue < 0.01f) pValue = 0.01f; + // m_angularDeflectionEfficiency = pValue; + break; + case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: + if (pValue < 0.01f) pValue = 0.01f; + // m_angularDeflectionTimescale = pValue; + break; + case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: + if (pValue < 0.01f) pValue = 0.01f; + m_angularMotorDecayTimescale = pValue; + break; + case Vehicle.ANGULAR_MOTOR_TIMESCALE: + if (pValue < 0.01f) pValue = 0.01f; + m_angularMotorTimescale = pValue; + break; + case Vehicle.BANKING_EFFICIENCY: + if (pValue < 0.01f) pValue = 0.01f; + // m_bankingEfficiency = pValue; + break; + case Vehicle.BANKING_MIX: + if (pValue < 0.01f) pValue = 0.01f; + // m_bankingMix = pValue; + break; + case Vehicle.BANKING_TIMESCALE: + if (pValue < 0.01f) pValue = 0.01f; + // m_bankingTimescale = pValue; + break; + case Vehicle.BUOYANCY: + if (pValue < -1f) pValue = -1f; + if (pValue > 1f) pValue = 1f; + m_VehicleBuoyancy = pValue; + break; +// case Vehicle.HOVER_EFFICIENCY: +// if (pValue < 0f) pValue = 0f; +// if (pValue > 1f) pValue = 1f; +// m_VhoverEfficiency = pValue; +// break; + case Vehicle.HOVER_HEIGHT: + m_VhoverHeight = pValue; + break; + case Vehicle.HOVER_TIMESCALE: + if (pValue < 0.01f) pValue = 0.01f; + m_VhoverTimescale = pValue; + break; + case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: + if (pValue < 0.01f) pValue = 0.01f; + // m_linearDeflectionEfficiency = pValue; + break; + case Vehicle.LINEAR_DEFLECTION_TIMESCALE: + if (pValue < 0.01f) pValue = 0.01f; + // m_linearDeflectionTimescale = pValue; + break; + case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: + if (pValue < 0.01f) pValue = 0.01f; + m_linearMotorDecayTimescale = pValue; + break; + case Vehicle.LINEAR_MOTOR_TIMESCALE: + if (pValue < 0.01f) pValue = 0.01f; + m_linearMotorTimescale = pValue; + break; + case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: + if (pValue < 0.1f) pValue = 0.1f; // Less goes unstable + if (pValue > 1.0f) pValue = 1.0f; + m_verticalAttractionEfficiency = pValue; + break; + case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: + if (pValue < 0.01f) pValue = 0.01f; + m_verticalAttractionTimescale = pValue; + break; + + // These are vector properties but the engine lets you use a single float value to + // set all of the components to the same value + case Vehicle.ANGULAR_FRICTION_TIMESCALE: + m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); + break; + case Vehicle.ANGULAR_MOTOR_DIRECTION: + m_angularMotorDirection = new Vector3(pValue, pValue, pValue); + m_angularMotorApply = 10; + break; + case Vehicle.LINEAR_FRICTION_TIMESCALE: + m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); + break; + case Vehicle.LINEAR_MOTOR_DIRECTION: + m_linearMotorDirection = new Vector3(pValue, pValue, pValue); + m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); + break; + case Vehicle.LINEAR_MOTOR_OFFSET: + // m_linearMotorOffset = new Vector3(pValue, pValue, pValue); + break; + + } + }//end ProcessFloatVehicleParam + + internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) + { + switch (pParam) + { + case Vehicle.ANGULAR_FRICTION_TIMESCALE: + m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); + break; + case Vehicle.ANGULAR_MOTOR_DIRECTION: + m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); + // Limit requested angular speed to 2 rps= 4 pi rads/sec + if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f; + if (m_angularMotorDirection.X < - 12.56f) m_angularMotorDirection.X = - 12.56f; + if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f; + if (m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f; + if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f; + if (m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f; + m_angularMotorApply = 10; + break; + case Vehicle.LINEAR_FRICTION_TIMESCALE: + m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); + break; + case Vehicle.LINEAR_MOTOR_DIRECTION: + m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); + m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); + break; + case Vehicle.LINEAR_MOTOR_OFFSET: + // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); + break; + case Vehicle.BLOCK_EXIT: + m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); + break; + } + }//end ProcessVectorVehicleParam + + internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) + { + switch (pParam) + { + case Vehicle.REFERENCE_FRAME: + // m_referenceFrame = pValue; + break; + case Vehicle.ROLL_FRAME: + m_RollreferenceFrame = pValue; + break; + } + }//end ProcessRotationVehicleParam + + internal void ProcessVehicleFlags(int pParam, bool remove) + { + if (remove) + { + if (pParam == -1) + { + m_flags = (VehicleFlag)0; + m_Hoverflags = (VehicleFlag)0; + return; + } + if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) + { + if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != (VehicleFlag)0) + m_Hoverflags &= ~(VehicleFlag.HOVER_GLOBAL_HEIGHT); + } + if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY) + { + if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != (VehicleFlag)0) + m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY); + } + if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY) + { + if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != (VehicleFlag)0) + m_Hoverflags &= ~(VehicleFlag.HOVER_UP_ONLY); + } + if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY) + { + if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != (VehicleFlag)0) + m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY); + } + if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP) + { + if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.LIMIT_MOTOR_UP); + } + if ((pParam & (int)VehicleFlag.LIMIT_ROLL_ONLY) == (int)VehicleFlag.LIMIT_ROLL_ONLY) + { + if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY); + } + if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK) + { + if ((m_flags & VehicleFlag.MOUSELOOK_BANK) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.MOUSELOOK_BANK); + } + if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER) + { + if ((m_flags & VehicleFlag.MOUSELOOK_STEER) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.MOUSELOOK_STEER); + } + if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP) + { + if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP); + } + if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED) + { + if ((m_flags & VehicleFlag.CAMERA_DECOUPLED) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.CAMERA_DECOUPLED); + } + if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X) + { + if ((m_flags & VehicleFlag.NO_X) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.NO_X); + } + if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y) + { + if ((m_flags & VehicleFlag.NO_Y) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.NO_Y); + } + if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z) + { + if ((m_flags & VehicleFlag.NO_Z) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.NO_Z); + } + if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT) + { + if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != (VehicleFlag)0) + m_Hoverflags &= ~(VehicleFlag.LOCK_HOVER_HEIGHT); + } + if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION) + { + if ((m_flags & VehicleFlag.NO_DEFLECTION) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.NO_DEFLECTION); + } + if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION) + { + if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0) + m_flags &= ~(VehicleFlag.LOCK_ROTATION); + } + } + else + { + if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) + { + m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT | m_flags); + } + if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY) + { + m_Hoverflags |= (VehicleFlag.HOVER_TERRAIN_ONLY | m_flags); + } + if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY) + { + m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY | m_flags); + } + if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY) + { + m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY | m_flags); + } + if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP) + { + m_flags |= (VehicleFlag.LIMIT_MOTOR_UP | m_flags); + } + if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK) + { + m_flags |= (VehicleFlag.MOUSELOOK_BANK | m_flags); + } + if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER) + { + m_flags |= (VehicleFlag.MOUSELOOK_STEER | m_flags); + } + if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP) + { + m_flags |= (VehicleFlag.NO_DEFLECTION_UP | m_flags); + } + if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED) + { + m_flags |= (VehicleFlag.CAMERA_DECOUPLED | m_flags); + } + if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X) + { + m_flags |= (VehicleFlag.NO_X); + } + if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y) + { + m_flags |= (VehicleFlag.NO_Y); + } + if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z) + { + m_flags |= (VehicleFlag.NO_Z); + } + if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT) + { + m_Hoverflags |= (VehicleFlag.LOCK_HOVER_HEIGHT); + } + if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION) + { + m_flags |= (VehicleFlag.NO_DEFLECTION); + } + if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION) + { + m_flags |= (VehicleFlag.LOCK_ROTATION); + } + } + }//end ProcessVehicleFlags + + internal void ProcessTypeChange(Vehicle pType) + { + // Set Defaults For Type + m_type = pType; + switch (pType) + { + case Vehicle.TYPE_NONE: + m_linearFrictionTimescale = new Vector3(0, 0, 0); + m_angularFrictionTimescale = new Vector3(0, 0, 0); + m_linearMotorDirection = Vector3.Zero; + m_linearMotorTimescale = 0; + m_linearMotorDecayTimescale = 0; + m_angularMotorDirection = Vector3.Zero; + m_angularMotorTimescale = 0; + m_angularMotorDecayTimescale = 0; + m_VhoverHeight = 0; + m_VhoverTimescale = 0; + m_VehicleBuoyancy = 0; + m_flags = (VehicleFlag)0; + break; + + case Vehicle.TYPE_SLED: + m_linearFrictionTimescale = new Vector3(30, 1, 1000); + m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); + m_linearMotorDirection = Vector3.Zero; + m_linearMotorTimescale = 1000; + m_linearMotorDecayTimescale = 120; + m_angularMotorDirection = Vector3.Zero; + m_angularMotorTimescale = 1000; + m_angularMotorDecayTimescale = 120; + m_VhoverHeight = 0; +// m_VhoverEfficiency = 1; + m_VhoverTimescale = 10; + m_VehicleBuoyancy = 0; + // m_linearDeflectionEfficiency = 1; + // m_linearDeflectionTimescale = 1; + // m_angularDeflectionEfficiency = 1; + // m_angularDeflectionTimescale = 1000; + // m_bankingEfficiency = 0; + // m_bankingMix = 1; + // m_bankingTimescale = 10; + // m_referenceFrame = Quaternion.Identity; + m_Hoverflags &= + ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | + VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); + m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); + break; + case Vehicle.TYPE_CAR: + m_linearFrictionTimescale = new Vector3(100, 2, 1000); + m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); + m_linearMotorDirection = Vector3.Zero; + m_linearMotorTimescale = 1; + m_linearMotorDecayTimescale = 60; + m_angularMotorDirection = Vector3.Zero; + m_angularMotorTimescale = 1; + m_angularMotorDecayTimescale = 0.8f; + m_VhoverHeight = 0; +// m_VhoverEfficiency = 0; + m_VhoverTimescale = 1000; + m_VehicleBuoyancy = 0; + // // m_linearDeflectionEfficiency = 1; + // // m_linearDeflectionTimescale = 2; + // // m_angularDeflectionEfficiency = 0; + // m_angularDeflectionTimescale = 10; + m_verticalAttractionEfficiency = 1f; + m_verticalAttractionTimescale = 10f; + // m_bankingEfficiency = -0.2f; + // m_bankingMix = 1; + // m_bankingTimescale = 1; + // m_referenceFrame = Quaternion.Identity; + m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); + m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | + VehicleFlag.LIMIT_MOTOR_UP); + m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY); + break; + case Vehicle.TYPE_BOAT: + m_linearFrictionTimescale = new Vector3(10, 3, 2); + m_angularFrictionTimescale = new Vector3(10,10,10); + m_linearMotorDirection = Vector3.Zero; + m_linearMotorTimescale = 5; + m_linearMotorDecayTimescale = 60; + m_angularMotorDirection = Vector3.Zero; + m_angularMotorTimescale = 4; + m_angularMotorDecayTimescale = 4; + m_VhoverHeight = 0; +// m_VhoverEfficiency = 0.5f; + m_VhoverTimescale = 2; + m_VehicleBuoyancy = 1; + // m_linearDeflectionEfficiency = 0.5f; + // m_linearDeflectionTimescale = 3; + // m_angularDeflectionEfficiency = 0.5f; + // m_angularDeflectionTimescale = 5; + m_verticalAttractionEfficiency = 0.5f; + m_verticalAttractionTimescale = 5f; + // m_bankingEfficiency = -0.3f; + // m_bankingMix = 0.8f; + // m_bankingTimescale = 1; + // m_referenceFrame = Quaternion.Identity; + m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | + VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); + m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY); + m_flags |= (VehicleFlag.NO_DEFLECTION_UP | + VehicleFlag.LIMIT_MOTOR_UP); + m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY); + break; + case Vehicle.TYPE_AIRPLANE: + m_linearFrictionTimescale = new Vector3(200, 10, 5); + m_angularFrictionTimescale = new Vector3(20, 20, 20); + m_linearMotorDirection = Vector3.Zero; + m_linearMotorTimescale = 2; + m_linearMotorDecayTimescale = 60; + m_angularMotorDirection = Vector3.Zero; + m_angularMotorTimescale = 4; + m_angularMotorDecayTimescale = 4; + m_VhoverHeight = 0; +// m_VhoverEfficiency = 0.5f; + m_VhoverTimescale = 1000; + m_VehicleBuoyancy = 0; + // m_linearDeflectionEfficiency = 0.5f; + // m_linearDeflectionTimescale = 3; + // m_angularDeflectionEfficiency = 1; + // m_angularDeflectionTimescale = 2; + m_verticalAttractionEfficiency = 0.9f; + m_verticalAttractionTimescale = 2f; + // m_bankingEfficiency = 1; + // m_bankingMix = 0.7f; + // m_bankingTimescale = 2; + // m_referenceFrame = Quaternion.Identity; + m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | + VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); + m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); + m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); + break; + case Vehicle.TYPE_BALLOON: + m_linearFrictionTimescale = new Vector3(5, 5, 5); + m_angularFrictionTimescale = new Vector3(10, 10, 10); + m_linearMotorDirection = Vector3.Zero; + m_linearMotorTimescale = 5; + m_linearMotorDecayTimescale = 60; + m_angularMotorDirection = Vector3.Zero; + m_angularMotorTimescale = 6; + m_angularMotorDecayTimescale = 10; + m_VhoverHeight = 5; +// m_VhoverEfficiency = 0.8f; + m_VhoverTimescale = 10; + m_VehicleBuoyancy = 1; + // m_linearDeflectionEfficiency = 0; + // m_linearDeflectionTimescale = 5; + // m_angularDeflectionEfficiency = 0; + // m_angularDeflectionTimescale = 5; + m_verticalAttractionEfficiency = 1f; + m_verticalAttractionTimescale = 100f; + // m_bankingEfficiency = 0; + // m_bankingMix = 0.7f; + // m_bankingTimescale = 5; + // m_referenceFrame = Quaternion.Identity; + m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | + VehicleFlag.HOVER_UP_ONLY); + m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); + m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); + m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); + break; + + } + }//end SetDefaultsForType + + internal void Step(float pTimestep, BSScene pParentScene) + { + if (m_type == Vehicle.TYPE_NONE) return; + + frcount++; // used to limit debug comment output + if (frcount > 100) + frcount = 0; + + MoveLinear(pTimestep, pParentScene); + MoveAngular(pTimestep); + LimitRotation(pTimestep); + }// end Step + + private void MoveLinear(float pTimestep, BSScene _pParentScene) + { + if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant + { + // add drive to body + Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); + m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector? + + // This will work temporarily, but we really need to compare speed on an axis + // KF: Limit body velocity to applied velocity? + if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) + m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; + if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y)) + m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y; + if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z)) + m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z; + + // decay applied velocity + Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); + //Console.WriteLine("decay: " + decayfraction); + m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; + //Console.WriteLine("actual: " + m_linearMotorDirection); + } + else + { // requested is not significant + // if what remains of applied is small, zero it. + if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f)) + m_lastLinearVelocityVector = Vector3.Zero; + } + + // convert requested object velocity to world-referenced vector + m_dir = m_lastLinearVelocityVector; + Quaternion rot = m_prim.Orientation; + Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object + m_dir *= rotq; // apply obj rotation to velocity vector + + // add Gravity andBuoyancy + // KF: So far I have found no good method to combine a script-requested + // .Z velocity and gravity. Therefore only 0g will used script-requested + // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. + Vector3 grav = Vector3.Zero; + // There is some gravity, make a gravity force vector + // that is applied after object velocity. + float objMass = m_prim.Mass; + // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; + grav.Z = _pParentScene.DefaultGravity.Z * objMass * (1f - m_VehicleBuoyancy); + // Preserve the current Z velocity + Vector3 vel_now = m_prim.Velocity; + m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity + + Vector3 pos = m_prim.Position; +// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); + Vector3 posChange = new Vector3(); + posChange.X = pos.X - m_lastPositionVector.X; + posChange.Y = pos.Y - m_lastPositionVector.Y; + posChange.Z = pos.Z - m_lastPositionVector.Z; + double Zchange = Math.Abs(posChange.Z); + if (m_BlockingEndPoint != Vector3.Zero) + { + if (pos.X >= (m_BlockingEndPoint.X - (float)1)) + { + pos.X -= posChange.X + 1; + m_prim.Position = pos; + } + if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) + { + pos.Y -= posChange.Y + 1; + m_prim.Position = pos; + } + if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) + { + pos.Z -= posChange.Z + 1; + m_prim.Position = pos; + } + if (pos.X <= 0) + { + pos.X += posChange.X + 1; + m_prim.Position = pos; + } + if (pos.Y <= 0) + { + pos.Y += posChange.Y + 1; + m_prim.Position = pos; + } + } + if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y)) + { + pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; + m_prim.Position = pos; + } + + // Check if hovering + if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) + { + // We should hover, get the target height + if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0) + { + m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight; + } + if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) + { + m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; + } + if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) + { + m_VhoverTargetHeight = m_VhoverHeight; + } + + if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0) + { + // If body is aready heigher, use its height as target height + if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z; + } + if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) + { + if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) + { + m_prim.Position = pos; + } + } + else + { + float herr0 = pos.Z - m_VhoverTargetHeight; + // Replace Vertical speed with correction figure if significant + if (Math.Abs(herr0) > 0.01f) + { + m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale); + //KF: m_VhoverEfficiency is not yet implemented + } + else + { + m_dir.Z = 0f; + } + } + +// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped +// m_VhoverTimescale = 0f; // time to acheive height +// pTimestep is time since last frame,in secs + } + + if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) + { + //Start Experimental Values + if (Zchange > .3) + { + grav.Z = (float)(grav.Z * 3); + } + if (Zchange > .15) + { + grav.Z = (float)(grav.Z * 2); + } + if (Zchange > .75) + { + grav.Z = (float)(grav.Z * 1.5); + } + if (Zchange > .05) + { + grav.Z = (float)(grav.Z * 1.25); + } + if (Zchange > .025) + { + grav.Z = (float)(grav.Z * 1.125); + } + float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); + float postemp = (pos.Z - terraintemp); + if (postemp > 2.5f) + { + grav.Z = (float)(grav.Z * 1.037125); + } + //End Experimental Values + } + if ((m_flags & (VehicleFlag.NO_X)) != 0) + { + m_dir.X = 0; + } + if ((m_flags & (VehicleFlag.NO_Y)) != 0) + { + m_dir.Y = 0; + } + if ((m_flags & (VehicleFlag.NO_Z)) != 0) + { + m_dir.Z = 0; + } + + m_lastPositionVector = m_prim.Position; + + // Apply velocity + m_prim.Velocity = m_dir; + // apply gravity force + m_prim.Force = grav; + + + // apply friction + Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); + m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; + } // end MoveLinear() + + private void MoveAngular(float pTimestep) + { + /* + private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor + private int m_angularMotorApply = 0; // application frame counter + private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down) + private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate + private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate + private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate + private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body + */ + + // Get what the body is doing, this includes 'external' influences + Vector3 angularVelocity = m_prim.AngularVelocity; + // Vector3 angularVelocity = Vector3.Zero; + + if (m_angularMotorApply > 0) + { + // ramp up to new value + // current velocity += error / (time to get there / step interval) + // requested speed - last motor speed + m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); + m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); + m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); + + m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected + // velocity may still be acheived. + } + else + { + // no motor recently applied, keep the body velocity + /* m_angularMotorVelocity.X = angularVelocity.X; + m_angularMotorVelocity.Y = angularVelocity.Y; + m_angularMotorVelocity.Z = angularVelocity.Z; */ + + // and decay the velocity + m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); + } // end motor section + + // Vertical attractor section + Vector3 vertattr = Vector3.Zero; + + if (m_verticalAttractionTimescale < 300) + { + float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); + // get present body rotation + Quaternion rotq = m_prim.Orientation; + // make a vector pointing up + Vector3 verterr = Vector3.Zero; + verterr.Z = 1.0f; + // rotate it to Body Angle + verterr = verterr * rotq; + // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. + // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go + // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body. + if (verterr.Z < 0.0f) + { + verterr.X = 2.0f - verterr.X; + verterr.Y = 2.0f - verterr.Y; + } + // Error is 0 (no error) to +/- 2 (max error) + // scale it by VAservo + verterr = verterr * VAservo; +//if (frcount == 0) Console.WriteLine("VAerr=" + verterr); + + // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so + // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. + vertattr.X = verterr.Y; + vertattr.Y = - verterr.X; + vertattr.Z = 0f; + + // scaling appears better usingsquare-law + float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); + vertattr.X += bounce * angularVelocity.X; + vertattr.Y += bounce * angularVelocity.Y; + + } // else vertical attractor is off + + // m_lastVertAttractor = vertattr; + + // Bank section tba + // Deflection section tba + + // Sum velocities + m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection + + if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) + { + m_lastAngularVelocity.X = 0; + m_lastAngularVelocity.Y = 0; + } + + if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) + { + m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. + } + + // apply friction + Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep); + m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; + + // Apply to the body + m_prim.AngularVelocity = m_lastAngularVelocity; + + } //end MoveAngular + internal void LimitRotation(float timestep) + { + Quaternion rotq = m_prim.Orientation; // rotq = rotation of object + Quaternion m_rot = rotq; + bool changed = false; + if (m_RollreferenceFrame != Quaternion.Identity) + { + if (rotq.X >= m_RollreferenceFrame.X) + { + m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2); + } + if (rotq.Y >= m_RollreferenceFrame.Y) + { + m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2); + } + if (rotq.X <= -m_RollreferenceFrame.X) + { + m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2); + } + if (rotq.Y <= -m_RollreferenceFrame.Y) + { + m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2); + } + changed = true; + } + if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) + { + m_rot.X = 0; + m_rot.Y = 0; + changed = true; + } + if (changed) + m_prim.Orientation = m_rot; + } + } +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs new file mode 100644 index 0000000..61be56d --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs @@ -0,0 +1,68 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using OpenSim.Framework; +using OpenSim.Region.Physics.Manager; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSPlugin : IPhysicsPlugin +{ + //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); + + private BSScene _mScene; + + public BSPlugin() + { + } + + public bool Init() + { + return true; + } + + public PhysicsScene GetScene(String sceneIdentifier) + { + if (_mScene == null) + { + _mScene = new BSScene(sceneIdentifier); + } + return (_mScene); + } + + public string GetName() + { + return ("BulletSim"); + } + + public void Dispose() + { + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs new file mode 100644 index 0000000..82a8803 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -0,0 +1,1192 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Reflection; +using System.Collections.Generic; +using System.Xml; +using log4net; +using OMV = OpenMetaverse; +using OpenSim.Framework; +using OpenSim.Region.Physics.Manager; +using OpenSim.Region.Physics.ConvexDecompositionDotNet; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + [Serializable] +public sealed class BSPrim : PhysicsActor +{ + private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); + private static readonly string LogHeader = "[BULLETS PRIM]"; + + private IMesh _mesh; + private PrimitiveBaseShape _pbs; + private ShapeData.PhysicsShapeType _shapeType; + private ulong _hullKey; + private List _hulls; + + private BSScene _scene; + private String _avName; + private uint _localID = 0; + + private OMV.Vector3 _size; + private OMV.Vector3 _scale; + private bool _stopped; + private bool _grabbed; + private bool _isSelected; + private bool _isVolumeDetect; + private OMV.Vector3 _position; + private float _mass; + private float _density; + private OMV.Vector3 _force; + private OMV.Vector3 _velocity; + private OMV.Vector3 _torque; + private float _collisionScore; + private OMV.Vector3 _acceleration; + private OMV.Quaternion _orientation; + private int _physicsActorType; + private bool _isPhysical; + private bool _flying; + private float _friction; + private bool _setAlwaysRun; + private bool _throttleUpdates; + private bool _isColliding; + private bool _collidingGround; + private bool _collidingObj; + private bool _floatOnWater; + private OMV.Vector3 _rotationalVelocity; + private bool _kinematic; + private float _buoyancy; + private OMV.Vector3 _angularVelocity; + + private List _childrenPrims; + private BSPrim _parentPrim; + + private int _subscribedEventsMs = 0; + private int _lastCollisionTime = 0; + long _collidingStep; + long _collidingGroundStep; + + private BSDynamics _vehicle; + + private OMV.Vector3 _PIDTarget; + private bool _usePID; + private float _PIDTau; + private bool _useHoverPID; + private float _PIDHoverHeight; + private PIDHoverType _PIDHoverType; + private float _PIDHoverTao; + + public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, + OMV.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical) + { + // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); + _localID = localID; + _avName = primName; + _scene = parent_scene; + _position = pos; + _size = size; + _scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type + _orientation = rotation; + _buoyancy = 1f; + _velocity = OMV.Vector3.Zero; + _angularVelocity = OMV.Vector3.Zero; + _mesh = mesh; + _hullKey = 0; + _pbs = pbs; + _isPhysical = pisPhysical; + _isVolumeDetect = false; + _subscribedEventsMs = 0; + _friction = _scene.DefaultFriction; // TODO: compute based on object material + _density = _scene.DefaultDensity; // TODO: compute based on object material + _parentPrim = null; // not a child or a parent + _vehicle = new BSDynamics(this); // add vehicleness + _childrenPrims = new List(); + if (_isPhysical) + _mass = CalculateMass(); + else + _mass = 0f; + // do the actual object creation at taint time + _scene.TaintedObject(delegate() + { + CreateGeom(); + CreateObject(); + }); + } + + // called when this prim is being destroyed and we should free all the resources + public void Destroy() + { + // m_log.DebugFormat("{0}: Destroy", LogHeader); + // Undo any vehicle properties + _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); + _scene.RemoveVehiclePrim(this); // just to make sure + _scene.TaintedObject(delegate() + { + BulletSimAPI.DestroyObject(_scene.WorldID, _localID); + }); + } + + public override bool Stopped { + get { return _stopped; } + } + public override OMV.Vector3 Size { + get { return _size; } + set { + _size = value; + _scene.TaintedObject(delegate() + { + if (_isPhysical) _mass = CalculateMass(); // changing size changes the mass + BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, _mass, _isPhysical); + RecreateGeomAndObject(); + }); + } + } + public override PrimitiveBaseShape Shape { + set { + _pbs = value; + _scene.TaintedObject(delegate() + { + if (_isPhysical) _mass = CalculateMass(); // changing the shape changes the mass + RecreateGeomAndObject(); + }); + } + } + public override uint LocalID { + set { _localID = value; } + get { return _localID; } + } + public override bool Grabbed { + set { _grabbed = value; + } + } + public override bool Selected { + set { + _isSelected = value; + _scene.TaintedObject(delegate() + { + SetObjectDynamic(); + }); + } + } + public override void CrossingFailure() { return; } + + // link me to the specified parent + public override void link(PhysicsActor obj) { + BSPrim parent = (BSPrim)obj; + // m_log.DebugFormat("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); + // TODO: decide if this parent checking needs to happen at taint time + if (_parentPrim == null) + { + if (parent != null) + { + // I don't have a parent so I am joining a linkset + parent.AddChildToLinkset(this); + } + } + else + { + // I already have a parent, is parenting changing? + if (parent != _parentPrim) + { + if (parent == null) + { + // we are being removed from a linkset + _parentPrim.RemoveChildFromLinkset(this); + } + else + { + // asking to reparent a prim should not happen + m_log.ErrorFormat("{0}: Reparenting a prim. ", LogHeader); + } + } + } + return; + } + + // delink me from my linkset + public override void delink() { + // TODO: decide if this parent checking needs to happen at taint time + // Race condition here: if link() and delink() in same simulation tick, the delink will not happen + // m_log.DebugFormat("{0}: delink {1}/{2}", LogHeader, _avName, _localID); + if (_parentPrim != null) + { + _parentPrim.RemoveChildFromLinkset(this); + } + return; + } + + public void AddChildToLinkset(BSPrim pchild) + { + BSPrim child = pchild; + _scene.TaintedObject(delegate() + { + if (!_childrenPrims.Contains(child)) + { + _childrenPrims.Add(child); + child.ParentPrim = this; // the child has gained a parent + RecreateGeomAndObject(); // rebuild my shape with the new child added + } + }); + return; + } + + public void RemoveChildFromLinkset(BSPrim pchild) + { + BSPrim child = pchild; + _scene.TaintedObject(delegate() + { + if (_childrenPrims.Contains(child)) + { + _childrenPrims.Remove(child); + child.ParentPrim = null; // the child has lost its parent + RecreateGeomAndObject(); // rebuild my shape with the child removed + } + else + { + m_log.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset"); + } + }); + return; + } + + public BSPrim ParentPrim + { + set { _parentPrim = value; } + } + + public ulong HullKey + { + get { return _hullKey; } + } + + // return true if we are the root of a linkset (there are children to manage) + public bool IsRootOfLinkset + { + get { return (_parentPrim == null && _childrenPrims.Count != 0); } + } + + public override void LockAngularMotion(OMV.Vector3 axis) { return; } + + public override OMV.Vector3 Position { + get { + // don't do the following GetObjectPosition because this function is called a zillion times + // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + return _position; + } + set { + _position = value; + _scene.TaintedObject(delegate() + { + BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); + // m_log.DebugFormat("{0}: setPosition: id={1}, position={2}", LogHeader, _localID, _position); + }); + } + } + public override float Mass { + get { return _mass; } + } + public override OMV.Vector3 Force { + get { return _force; } + set { + _force = value; + _scene.TaintedObject(delegate() + { + BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); + }); + } + } + + public override int VehicleType { + get { + return (int)_vehicle.Type; // if we are a vehicle, return that type + } + set { + Vehicle type = (Vehicle)value; + _vehicle.ProcessTypeChange(type); + _scene.TaintedObject(delegate() + { + if (type == Vehicle.TYPE_NONE) + { + _scene.RemoveVehiclePrim(this); + } + else + { + // make it so the scene will call us each tick to do vehicle things + _scene.AddVehiclePrim(this); + } + return; + }); + } + } + public override void VehicleFloatParam(int param, float value) + { + _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); + } + public override void VehicleVectorParam(int param, OMV.Vector3 value) + { + _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); + } + public override void VehicleRotationParam(int param, OMV.Quaternion rotation) + { + _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); + } + public override void VehicleFlags(int param, bool remove) + { + _vehicle.ProcessVehicleFlags(param, remove); + } + // Called each simulation step to advance vehicle characteristics + public void StepVehicle(float timeStep) + { + _vehicle.Step(timeStep, _scene); + } + + // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more + public override void SetVolumeDetect(int param) { + bool newValue = (param != 0); + if (_isVolumeDetect != newValue) + { + _isVolumeDetect = newValue; + _scene.TaintedObject(delegate() + { + SetObjectDynamic(); + }); + } + return; + } + + public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } + public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } + public override OMV.Vector3 Velocity { + get { return _velocity; } + set { _velocity = value; + _scene.TaintedObject(delegate() + { + BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); + }); + } + } + public OMV.Vector3 AngularVelocity + { + get { return _angularVelocity; } + set + { + _angularVelocity = value; + _scene.TaintedObject(delegate() + { + BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _angularVelocity); + }); + } + } + public override OMV.Vector3 Torque { + get { return _torque; } + set { _torque = value; + } + } + public override float CollisionScore { + get { return _collisionScore; } + set { _collisionScore = value; + } + } + public override OMV.Vector3 Acceleration { + get { return _acceleration; } + } + public override OMV.Quaternion Orientation { + get { return _orientation; } + set { + _orientation = value; + _scene.TaintedObject(delegate() + { + // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); + // m_log.DebugFormat("{0}: set orientation: {1}", LogHeader, _orientation); + }); + } + } + public override int PhysicsActorType { + get { return _physicsActorType; } + set { _physicsActorType = value; + } + } + public override bool IsPhysical { + get { return _isPhysical; } + set { + _isPhysical = value; + _scene.TaintedObject(delegate() + { + SetObjectDynamic(); + }); + } + } + + // An object is static (does not move) if selected or not physical + private bool IsStatic + { + get { return _isSelected || !IsPhysical; } + } + + // An object is solid if it's not phantom and if it's not doing VolumeDetect + private bool IsSolid + { + get { return !IsPhantom && !_isVolumeDetect; } + } + + // make gravity work if the object is physical and not selected + // no locking here because only called when it is safe + private void SetObjectDynamic() + { + // non-physical things work best with a mass of zero + _mass = IsStatic ? 0f : CalculateMass(); + BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass); + // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}, mass={4}", LogHeader, _localID, IsStatic, IsSolid, _mass); + } + + // prims don't fly + public override bool Flying { + get { return _flying; } + set { _flying = value; } + } + public override bool SetAlwaysRun { + get { return _setAlwaysRun; } + set { _setAlwaysRun = value; } + } + public override bool ThrottleUpdates { + get { return _throttleUpdates; } + set { _throttleUpdates = value; } + } + public override bool IsColliding { + get { return (_collidingStep == _scene.SimulationStep); } + set { _isColliding = value; } + } + public override bool CollidingGround { + get { return (_collidingGroundStep == _scene.SimulationStep); } + set { _collidingGround = value; } + } + public override bool CollidingObj { + get { return _collidingObj; } + set { _collidingObj = value; } + } + public bool IsPhantom { + get { + // SceneObjectPart removes phantom objects from the physics scene + // so, although we could implement touching and such, we never + // are invoked as a phantom object + return false; + } + } + public override bool FloatOnWater { + set { _floatOnWater = value; } + } + public override OMV.Vector3 RotationalVelocity { + get { return _rotationalVelocity; } + set { _rotationalVelocity = value; + // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); + } + } + public override bool Kinematic { + get { return _kinematic; } + set { _kinematic = value; + // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic); + } + } + public override float Buoyancy { + get { return _buoyancy; } + set { _buoyancy = value; + _scene.TaintedObject(delegate() + { + BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); + }); + } + } + + // Used for MoveTo + public override OMV.Vector3 PIDTarget { + set { _PIDTarget = value; } + } + public override bool PIDActive { + set { _usePID = value; } + } + public override float PIDTau { + set { _PIDTau = value; } + } + + // Used for llSetHoverHeight and maybe vehicle height + // Hover Height will override MoveTo target's Z + public override bool PIDHoverActive { + set { _useHoverPID = value; } + } + public override float PIDHoverHeight { + set { _PIDHoverHeight = value; } + } + public override PIDHoverType PIDHoverType { + set { _PIDHoverType = value; } + } + public override float PIDHoverTau { + set { _PIDHoverTao = value; } + } + + // For RotLookAt + public override OMV.Quaternion APIDTarget { set { return; } } + public override bool APIDActive { set { return; } } + public override float APIDStrength { set { return; } } + public override float APIDDamping { set { return; } } + + public override void AddForce(OMV.Vector3 force, bool pushforce) { + if (force.IsFinite()) + { + _force.X += force.X; + _force.Y += force.Y; + _force.Z += force.Z; + } + else + { + m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); + } + _scene.TaintedObject(delegate() + { + BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); + }); + } + + public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { + // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); + } + public override void SetMomentum(OMV.Vector3 momentum) { + } + public override void SubscribeEvents(int ms) { + _subscribedEventsMs = ms; + _lastCollisionTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen + } + public override void UnSubscribeEvents() { + _subscribedEventsMs = 0; + } + public override bool SubscribedEvents() { + return (_subscribedEventsMs > 0); + } + + #region Mass Calculation + + private float CalculateMass() + { + float volume = _size.X * _size.Y * _size.Z; // default + float tmp; + + float returnMass = 0; + float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; + float hollowVolume = hollowAmount * hollowAmount; + + switch (_pbs.ProfileShape) + { + case ProfileShape.Square: + // default box + + if (_pbs.PathCurve == (byte)Extrusion.Straight) + { + if (hollowAmount > 0.0) + { + switch (_pbs.HollowShape) + { + case HollowShape.Square: + case HollowShape.Same: + break; + + case HollowShape.Circle: + + hollowVolume *= 0.78539816339f; + break; + + case HollowShape.Triangle: + + hollowVolume *= (0.5f * .5f); + break; + + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + + else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + { + //a tube + + volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); + tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); + volume -= volume*tmp*tmp; + + if (hollowAmount > 0.0) + { + hollowVolume *= hollowAmount; + + switch (_pbs.HollowShape) + { + case HollowShape.Square: + case HollowShape.Same: + break; + + case HollowShape.Circle: + hollowVolume *= 0.78539816339f;; + break; + + case HollowShape.Triangle: + hollowVolume *= 0.5f * 0.5f; + break; + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + + break; + + case ProfileShape.Circle: + + if (_pbs.PathCurve == (byte)Extrusion.Straight) + { + volume *= 0.78539816339f; // elipse base + + if (hollowAmount > 0.0) + { + switch (_pbs.HollowShape) + { + case HollowShape.Same: + case HollowShape.Circle: + break; + + case HollowShape.Square: + hollowVolume *= 0.5f * 2.5984480504799f; + break; + + case HollowShape.Triangle: + hollowVolume *= .5f * 1.27323954473516f; + break; + + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + + else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + { + volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); + tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); + volume *= (1.0f - tmp * tmp); + + if (hollowAmount > 0.0) + { + + // calculate the hollow volume by it's shape compared to the prim shape + hollowVolume *= hollowAmount; + + switch (_pbs.HollowShape) + { + case HollowShape.Same: + case HollowShape.Circle: + break; + + case HollowShape.Square: + hollowVolume *= 0.5f * 2.5984480504799f; + break; + + case HollowShape.Triangle: + hollowVolume *= .5f * 1.27323954473516f; + break; + + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + break; + + case ProfileShape.HalfCircle: + if (_pbs.PathCurve == (byte)Extrusion.Curve1) + { + volume *= 0.52359877559829887307710723054658f; + } + break; + + case ProfileShape.EquilateralTriangle: + + if (_pbs.PathCurve == (byte)Extrusion.Straight) + { + volume *= 0.32475953f; + + if (hollowAmount > 0.0) + { + + // calculate the hollow volume by it's shape compared to the prim shape + switch (_pbs.HollowShape) + { + case HollowShape.Same: + case HollowShape.Triangle: + hollowVolume *= .25f; + break; + + case HollowShape.Square: + hollowVolume *= 0.499849f * 3.07920140172638f; + break; + + case HollowShape.Circle: + // Hollow shape is a perfect cyllinder in respect to the cube's scale + // Cyllinder hollow volume calculation + + hollowVolume *= 0.1963495f * 3.07920140172638f; + break; + + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + { + volume *= 0.32475953f; + volume *= 0.01f * (float)(200 - _pbs.PathScaleX); + tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); + volume *= (1.0f - tmp * tmp); + + if (hollowAmount > 0.0) + { + + hollowVolume *= hollowAmount; + + switch (_pbs.HollowShape) + { + case HollowShape.Same: + case HollowShape.Triangle: + hollowVolume *= .25f; + break; + + case HollowShape.Square: + hollowVolume *= 0.499849f * 3.07920140172638f; + break; + + case HollowShape.Circle: + + hollowVolume *= 0.1963495f * 3.07920140172638f; + break; + + default: + hollowVolume = 0; + break; + } + volume *= (1.0f - hollowVolume); + } + } + break; + + default: + break; + } + + + + float taperX1; + float taperY1; + float taperX; + float taperY; + float pathBegin; + float pathEnd; + float profileBegin; + float profileEnd; + + if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) + { + taperX1 = _pbs.PathScaleX * 0.01f; + if (taperX1 > 1.0f) + taperX1 = 2.0f - taperX1; + taperX = 1.0f - taperX1; + + taperY1 = _pbs.PathScaleY * 0.01f; + if (taperY1 > 1.0f) + taperY1 = 2.0f - taperY1; + taperY = 1.0f - taperY1; + } + else + { + taperX = _pbs.PathTaperX * 0.01f; + if (taperX < 0.0f) + taperX = -taperX; + taperX1 = 1.0f - taperX; + + taperY = _pbs.PathTaperY * 0.01f; + if (taperY < 0.0f) + taperY = -taperY; + taperY1 = 1.0f - taperY; + + } + + + volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); + + pathBegin = (float)_pbs.PathBegin * 2.0e-5f; + pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; + volume *= (pathEnd - pathBegin); + + // this is crude aproximation + profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; + profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; + volume *= (profileEnd - profileBegin); + + returnMass = _density * volume; + + if (returnMass <= 0) + returnMass = 0.0001f;//ckrinke: Mass must be greater then zero. + + if (IsRootOfLinkset) + { + foreach (BSPrim prim in _childrenPrims) + { + returnMass += prim.CalculateMass(); + } + } + + if (returnMass > _scene.maximumMassObject) + returnMass = _scene.maximumMassObject; + return returnMass; + }// end CalculateMass + #endregion Mass Calculation + + // Create the geometry information in Bullet for later use + // No locking here because this is done when we know physics is not simulating + private void CreateGeom() + { + if (_mesh == null) + { + // the mesher thought this was too simple to mesh. Use a native Bullet collision shape. + if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) + { + if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) + { + // m_log.DebugFormat("{0}: CreateGeom: mesh null. Defaulting to sphere of size {1}", LogHeader, _size); + _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; + // Bullet native objects are scaled by the Bullet engine so pass the size in + _scale = _size; + } + } + else + { + // m_log.DebugFormat("{0}: CreateGeom: mesh null. Defaulting to box of size {1}", LogHeader, _size); + _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; + _scale = _size; + } + } + else + { + if (_hullKey != 0) + { + // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey); + BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); + _hullKey = 0; + _hulls.Clear(); + } + + int[] indices = _mesh.getIndexListAsInt(); + List vertices = _mesh.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)); + } + + // setup and do convex hull conversion + _hulls = new List(); + 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 + _hullKey = (ulong)_pbs.GetHashCode(); + // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid= {1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount); + BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls); + _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; + // meshes are already scaled by the meshmerizer + _scale = new OMV.Vector3(1f, 1f, 1f); + } + return; + } + + private void HullReturn(ConvexResult result) + { + _hulls.Add(result); + return; + } + + // Create an object in Bullet + // No locking here because this is done when the physics engine is not simulating + private void CreateObject() + { + if (IsRootOfLinkset) + { + // Create a linkset around this object + /* + * NOTE: the original way of creating a linkset was to create a compound hull in the + * root which consisted of the hulls of all the children. This didn't work well because + * OpenSimulator needs updates and collisions for all the children and the physics + * engine didn't create events for the children when the root hull was moved. + * This code creates the compound hull. + // If I am the root prim of a linkset, replace my physical shape with all the + // pieces of the children. + // All of the children should have called CreateGeom so they have a hull + // in the physics engine already. Here we pull together all of those hulls + // into one shape. + int totalPrimsInLinkset = _childrenPrims.Count + 1; + // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset); + ShapeData[] shapes = new ShapeData[totalPrimsInLinkset]; + FillShapeInfo(out shapes[0]); + int ii = 1; + foreach (BSPrim prim in _childrenPrims) + { + // m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID); + prim.FillShapeInfo(out shapes[ii]); + ii++; + } + BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes); + */ + // Create the linkset by putting constraints between the objects of the set so they cannot move + // relative to each other. + // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); + + // remove any constraints that might be in place + foreach (BSPrim prim in _childrenPrims) + { + BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID); + } + // create constraints between the root prim and each of the children + foreach (BSPrim prim in _childrenPrims) + { + // this is a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, OMV.Vector3.Zero, OMV.Vector3.Zero, + OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero); + } + } + else + { + // simple object + // m_log.DebugFormat("{0}: CreateObject. ID={1}", LogHeader, LocalID); + ShapeData shape; + FillShapeInfo(out shape); + BulletSimAPI.CreateObject(_scene.WorldID, shape); + } + } + + // Copy prim's info into the BulletSim shape description structure + public void FillShapeInfo(out ShapeData shape) + { + shape.ID = _localID; + shape.Type = _shapeType; + shape.Position = _position; + shape.Rotation = _orientation; + shape.Velocity = _velocity; + shape.Scale = _scale; + shape.Mass = _isPhysical ? _mass : 0f; + shape.Buoyancy = _buoyancy; + shape.MeshKey = _hullKey; + shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; + shape.Friction = _friction; + shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; + } + + // Rebuild the geometry and object. + // This is called when the shape changes so we need to recreate the mesh/hull. + // No locking here because this is done when the physics engine is not simulating + private void RecreateGeomAndObject() + { + if (_hullKey != 0) + { + // if a hull already exists, delete the old one + BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); + _hullKey = 0; + } + // If this object is complex or we are the root of a linkset, build a mesh. + // The root of a linkset must be a mesh so we can create the linked compound object. + if (_scene.NeedsMeshing(_pbs) || IsRootOfLinkset ) + { + // m_log.DebugFormat("{0}: RecreateGeomAndObject: creating mesh", LogHeader); + _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, _scene.meshLOD, _isPhysical); + } + else + { + // it's a BulletSim native shape. + _mesh = null; + } + CreateGeom(); // create the geometry for this prim + CreateObject(); + return; + } + + // The physics engine says that properties have updated. Update same and inform + // the world that things have changed. + // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate() + private int UpPropPosition = 1 << 0; + private int UpPropRotation = 1 << 1; + private int UpPropVelocity = 1 << 2; + private int UpPropAcceleration = 1 << 3; + private int UpPropAngularVel = 1 << 4; + + public void UpdateProperties(EntityProperties entprop) + { + int changed = 0; + // assign to the local variables so the normal set action does not happen + if (_position != entprop.Position) + { + _position = entprop.Position; + // m_log.DebugFormat("{0}: UpdateProperties: position = {1}", LogHeader, _position); + changed |= UpPropPosition; + } + if (_orientation != entprop.Rotation) + { + _orientation = entprop.Rotation; + // m_log.DebugFormat("{0}: UpdateProperties: rotation = {1}", LogHeader, _orientation); + changed |= UpPropRotation; + } + if (_velocity != entprop.Velocity) + { + _velocity = entprop.Velocity; + // m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity); + changed |= UpPropVelocity; + } + if (_acceleration != entprop.Acceleration) + { + _acceleration = entprop.Acceleration; + // m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration); + changed |= UpPropAcceleration; + } + if (_rotationalVelocity != entprop.AngularVelocity) + { + _rotationalVelocity = entprop.AngularVelocity; + // m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity); + changed |= UpPropAngularVel; + } + if (changed != 0) + { + // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); + base.RequestPhysicsterseUpdate(); + } + } + + // I've collided with something + public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) + { + // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); + // The following makes IsColliding() and IsCollidingGround() work + _collidingStep = _scene.SimulationStep; + if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID) + { + _collidingGroundStep = _scene.SimulationStep; + } + + if (_subscribedEventsMs == 0) return; // nothing in the object is waiting for collision events + // throttle the collisions to the number of milliseconds specified in the subscription + int nowTime = Util.EnvironmentTickCount(); + if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return; + _lastCollisionTime = nowTime; + + // create the event for the collision + Dictionary contactPoints = new Dictionary(); + contactPoints.Add(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + CollisionEventUpdate args = new CollisionEventUpdate(LocalID, (int)type, 1, contactPoints); + base.SendCollisionUpdate(args); + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs new file mode 100644 index 0000000..beffd21 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -0,0 +1,553 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using System.Text; +using System.Threading; +using Nini.Config; +using log4net; +using OpenSim.Framework; +using OpenSim.Region.Physics.Manager; +using OpenMetaverse; +using OpenSim.Region.Framework; + +// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) +// Fix folding up feet +// Fix terrain. Only flat terrain works. Terrain with shape is oriented wrong? Origined wrong? +// Parameterize BulletSim. Pass a structure of parameters to the C++ code. Capsule size, friction, ... +// Shift drag duplication of objects does not work +// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) +// Test sculpties +// Compute physics FPS reasonably +// Based on material, set density and friction +// More efficient memory usage in passing hull information from BSPrim to BulletSim +// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? +// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) +// At the moment, physical and phantom causes object to drop through the terrain +// Should prim.link() and prim.delink() membership checking happen at taint time? +// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once +// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect +// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions) +// Implement LockAngularMotion +// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) +// Built Galton board (lots of MoveTo's) and some slats were not positioned correctly (mistakes scattered) +// No mistakes with ODE. Shape creation race condition? +// Does NeedsMeshing() really need to exclude all the different shapes? +// +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSScene : PhysicsScene +{ + private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); + private static readonly string LogHeader = "[BULLETS SCENE]"; + + private Dictionary m_avatars = new Dictionary(); + private Dictionary m_prims = new Dictionary(); + private List m_vehicles = new List(); + private float[] m_heightMap; + private float m_waterLevel; + private uint m_worldID; + public uint WorldID { get { return m_worldID; } } + + public IMesher mesher; + public int meshLOD = 32; + + private int m_maxSubSteps = 10; + private float m_fixedTimeStep = 1f / 60f; + private long m_simulationStep = 0; + public long SimulationStep { get { return m_simulationStep; } } + + private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed + private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes + public float maximumMassObject = 10000.01f; + + public const uint TERRAIN_ID = 0; + public const uint GROUNDPLANE_ID = 1; + + public float DefaultFriction = 0.70f; + public float DefaultDensity = 10.000006836f; // Aluminum g/cm3; TODO: compute based on object material + public Vector3 DefaultGravity = new Vector3(0, 0, -9.80665f); + + public delegate void TaintCallback(); + private List _taintedObjects; + private Object _taintLock = new Object(); + + private BulletSimAPI.DebugLogCallback debugLogCallbackHandle; + + public BSScene(string identifier) + { + } + + public override void Initialise(IMesher meshmerizer, IConfigSource config) + { + if (config != null) + { + IConfig pConfig = config.Configs["BulletSim"]; + if (pConfig != null) + { + DefaultFriction = pConfig.GetFloat("Friction", DefaultFriction); + DefaultDensity = pConfig.GetFloat("Density", DefaultDensity); + // TODO: a lot more parameters that are passed to BulletSim + } + } + // if Debug, enable logging from the unmanaged code + if (m_log.IsDebugEnabled) + { + m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); + debugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); + BulletSimAPI.SetDebugLogCallback(debugLogCallbackHandle); + } + + _meshSculptedPrim = true; // mesh sculpted prims + _forceSimplePrimMeshing = false; // use complex meshing if called for + + _taintedObjects = new List(); + + mesher = meshmerizer; + // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); + m_worldID = BulletSimAPI.Initialize(new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f)); + } + + // Called directly from unmanaged code so don't do much + private void BulletLogger(string msg) + { + m_log.Debug("[BULLETS UNMANAGED]:" + msg); + } + + public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) + { + m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader); + return null; + } + + public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying) + { + // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName); + BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying); + lock (m_avatars) m_avatars.Add(localID, actor); + return actor; + } + + public override void RemoveAvatar(PhysicsActor actor) + { + // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader); + if (actor is BSCharacter) + { + ((BSCharacter)actor).Destroy(); + } + try + { + lock (m_avatars) m_avatars.Remove(actor.LocalID); + } + catch (Exception e) + { + m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e); + } + } + + public override void RemovePrim(PhysicsActor prim) + { + // m_log.DebugFormat("{0}: RemovePrim", LogHeader); + if (prim is BSPrim) + { + ((BSPrim)prim).Destroy(); + } + try + { + lock (m_prims) m_prims.Remove(prim.LocalID); + } + catch (Exception e) + { + m_log.WarnFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e); + } + } + + public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, + Vector3 size, Quaternion rotation) // deprecated + { + return null; + } + public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, + Vector3 size, Quaternion rotation, bool isPhysical) + { + m_log.ErrorFormat("{0}: CALL TO AddPrimShape in BSScene. NOT IMPLEMENTED", LogHeader); + return null; + } + + public override PhysicsActor AddPrimShape(uint localID, string primName, PrimitiveBaseShape pbs, Vector3 position, + Vector3 size, Quaternion rotation, bool isPhysical) + { + // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName); + IMesh mesh = null; + if (NeedsMeshing(pbs)) + { + // if the prim is complex, create the mesh for it. + // If simple (box or sphere) leave 'mesh' null and physics will do a native shape. + mesh = mesher.CreateMesh(primName, pbs, size, this.meshLOD, isPhysical); + } + BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, mesh, pbs, isPhysical); + lock (m_prims) m_prims.Add(localID, prim); + return prim; + } + + // This is a call from the simulator saying that some physical property has been updated. + // The BulletS driver senses the changing of relevant properties so this taint + // information call is not needed. + public override void AddPhysicsActorTaint(PhysicsActor prim) { } + + // Simulate one timestep + public override float Simulate(float timeStep) + { + int updatedEntityCount; + IntPtr updatedEntitiesPtr; + IntPtr[] updatedEntities; + int collidersCount; + IntPtr collidersPtr; + int[] colliders; // should be uint but Marshal.Copy does not have that overload + + // update the prim states while we know the physics engine is not busy + ProcessTaints(); + + // Some of the prims operate with special vehicle properties + ProcessVehicles(timeStep); + ProcessTaints(); // the vehicles might have added taints + + // step the physical world one interval + m_simulationStep++; + int numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, + out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); + + // if there were collisions, they show up here + if (collidersCount > 0) + { + colliders = new int[collidersCount]; + Marshal.Copy(collidersPtr, colliders, 0, collidersCount); + for (int ii = 0; ii < collidersCount; ii+=2) + { + uint cA = (uint)colliders[ii]; + uint cB = (uint)colliders[ii+1]; + SendCollision(cA, cB); + SendCollision(cB, cA); + } + } + + // if any of the objects had updated properties, they are returned in the updatedEntity structure + // TODO: figure out how to pass all of the EntityProperties structures in one marshal call. + if (updatedEntityCount > 0) + { + updatedEntities = new IntPtr[updatedEntityCount]; + // fetch all the pointers to all the EntityProperties structures for these updates + Marshal.Copy(updatedEntitiesPtr, updatedEntities, 0, updatedEntityCount); + for (int ii = 0; ii < updatedEntityCount; ii++) + { + IntPtr updatePointer = updatedEntities[ii]; + EntityProperties entprop = (EntityProperties)Marshal.PtrToStructure(updatePointer, typeof(EntityProperties)); + // m_log.DebugFormat("{0}: entprop: id={1}, pos={2}", LogHeader, entprop.ID, entprop.Position); + BSCharacter actor; + if (m_avatars.TryGetValue(entprop.ID, out actor)) + { + actor.UpdateProperties(entprop); + continue; + } + BSPrim prim; + if (m_prims.TryGetValue(entprop.ID, out prim)) + { + prim.UpdateProperties(entprop); + } + } + } + + // fps calculation wrong. This calculation returns about 1 in normal operation. + return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f; + } + + // Something has collided + private void SendCollision(uint localID, uint collidingWith) + { + if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID) + { + // we never send collisions to the terrain + return; + } + + ActorTypes type = ActorTypes.Prim; + if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID) + type = ActorTypes.Ground; + else if (m_avatars.ContainsKey(collidingWith)) + type = ActorTypes.Agent; + + BSPrim prim; + if (m_prims.TryGetValue(localID, out prim)) { + prim.Collide(collidingWith, type, Vector3.Zero, Vector3.UnitZ, 0.01f); + return; + } + BSCharacter actor; + if (m_avatars.TryGetValue(localID, out actor)) { + actor.Collide(collidingWith, type, Vector3.Zero, Vector3.UnitZ, 0.01f); + return; + } + return; + } + + public override void GetResults() { } + + public override void SetTerrain(float[] heightMap) { + m_log.DebugFormat("{0}: SetTerrain", LogHeader); + m_heightMap = heightMap; + this.TaintedObject(delegate() + { + BulletSimAPI.SetHeightmap(m_worldID, m_heightMap); + }); + } + + public float GetTerrainHeightAtXY(float tX, float tY) + { + return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)]; + } + + public override void SetWaterLevel(float baseheight) + { + m_waterLevel = baseheight; + } + public float GetWaterLevel() + { + return m_waterLevel; + } + + public override void DeleteTerrain() + { + m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); + } + + public override void Dispose() + { + m_log.DebugFormat("{0}: Dispose()", LogHeader); + } + + public override Dictionary GetTopColliders() + { + return new Dictionary(); + } + + public override bool IsThreaded { get { return false; } } + + /// + /// Routine to figure out if we need to mesh this prim with our mesher + /// + /// + /// true if the prim needs meshing + public bool NeedsMeshing(PrimitiveBaseShape pbs) + { + // most of this is redundant now as the mesher will return null if it cant mesh a prim + // but we still need to check for sculptie meshing being enabled so this is the most + // convenient place to do it for now... + + // int iPropertiesNotSupportedDefault = 0; + + if (pbs.SculptEntry && !_meshSculptedPrim) + { + // m_log.DebugFormat("{0}: NeedsMeshing: scultpy mesh", LogHeader); + return false; + } + + // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since Bullet + // can use an internal representation for the prim + if (!_forceSimplePrimMeshing) + { + // m_log.DebugFormat("{0}: NeedsMeshing: simple mesh: profshape={1}, curve={2}", LogHeader, pbs.ProfileShape, pbs.PathCurve); + if ((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)) + { + + if (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) + { + return false; + } + } + } + + /* TODO: verify that the mesher will now do all these shapes + if (pbs.ProfileHollow != 0) + iPropertiesNotSupportedDefault++; + + if ((pbs.PathBegin != 0) || pbs.PathEnd != 0) + iPropertiesNotSupportedDefault++; + + if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) + iPropertiesNotSupportedDefault++; + + if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) + iPropertiesNotSupportedDefault++; + + if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100)) + iPropertiesNotSupportedDefault++; + + if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0)) + iPropertiesNotSupportedDefault++; + + if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight) + iPropertiesNotSupportedDefault++; + + if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X)) + iPropertiesNotSupportedDefault++; + + if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1) + iPropertiesNotSupportedDefault++; + + // test for torus + if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square) + { + if (pbs.PathCurve == (byte)Extrusion.Curve1) + { + iPropertiesNotSupportedDefault++; + } + } + else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) + { + if (pbs.PathCurve == (byte)Extrusion.Straight) + { + iPropertiesNotSupportedDefault++; + } + // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits + else if (pbs.PathCurve == (byte)Extrusion.Curve1) + { + iPropertiesNotSupportedDefault++; + } + } + else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle) + { + if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2) + { + iPropertiesNotSupportedDefault++; + } + } + else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle) + { + if (pbs.PathCurve == (byte)Extrusion.Straight) + { + iPropertiesNotSupportedDefault++; + } + else if (pbs.PathCurve == (byte)Extrusion.Curve1) + { + iPropertiesNotSupportedDefault++; + } + } + if (iPropertiesNotSupportedDefault == 0) + { + return false; + } + */ + return true; + } + + // The calls to the PhysicsActors can't directly call into the physics engine + // because it might be busy. We we delay changes to a known time. + // We rely on C#'s closure to save and restore the context for the delegate. + public void TaintedObject(TaintCallback callback) + { + lock (_taintLock) + _taintedObjects.Add(callback); + return; + } + + // When someone tries to change a property on a BSPrim or BSCharacter, the object queues + // a callback into itself to do the actual property change. That callback is called + // here just before the physics engine is called to step the simulation. + public void ProcessTaints() + { + if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process + { + // swizzle a new list into the list location so we can process what's there + List oldList; + lock (_taintLock) + { + oldList = _taintedObjects; + _taintedObjects = new List(); + } + + foreach (TaintCallback callback in oldList) + { + try + { + callback(); + } + catch (Exception e) + { + m_log.ErrorFormat("{0}: ProcessTaints: Exception: {1}", LogHeader, e); + } + } + oldList.Clear(); + } + } + + #region Vehicles + // Make so the scene will call this prim for vehicle actions each tick. + // Safe to call if prim is already in the vehicle list. + public void AddVehiclePrim(BSPrim vehicle) + { + lock (m_vehicles) + { + if (!m_vehicles.Contains(vehicle)) + { + m_vehicles.Add(vehicle); + } + } + } + + // Remove a prim from our list of vehicles. + // Safe to call if the prim is not in the vehicle list. + public void RemoveVehiclePrim(BSPrim vehicle) + { + lock (m_vehicles) + { + if (m_vehicles.Contains(vehicle)) + { + m_vehicles.Remove(vehicle); + } + } + } + + // Some prims have extra vehicle actions + // no locking because only called when physics engine is not busy + private void ProcessVehicles(float timeStep) + { + foreach (BSPrim prim in m_vehicles) + { + prim.StepVehicle(timeStep); + } + } + #endregion Vehicles +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs new file mode 100644 index 0000000..b2bc0d7 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -0,0 +1,186 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Runtime.InteropServices; +using System.Security; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin { + +public struct ConvexHull +{ + Vector3 Offset; + int VertexCount; + Vector3[] Vertices; +} +public struct ShapeData +{ + public enum PhysicsShapeType + { + SHAPE_AVATAR = 0, + SHAPE_BOX = 1, + SHAPE_CONE = 2, + SHAPE_CYLINDER = 3, + SHAPE_SPHERE = 4, + SHAPE_HULL = 5 + }; + public const int numericTrue = 1; + public const int numericFalse = 0; + public uint ID; + public PhysicsShapeType Type; + public Vector3 Position; + public Quaternion Rotation; + public Vector3 Velocity; + public Vector3 Scale; + public float Mass; + public float Buoyancy; + public System.UInt64 MeshKey; + public int Collidable; + public float Friction; + public int Static; // true if a static object. Otherwise gravity, etc. + // note that bools are passed as ints since bool size changes by language +} +public struct SweepHit +{ + public uint ID; + public float Fraction; + public Vector3 Normal; + public Vector3 Point; +} +public struct RaycastHit +{ + public uint ID; + public float Fraction; + public Vector3 Normal; +} + +public struct EntityProperties +{ + public uint ID; + public Vector3 Position; + public Quaternion Rotation; + public Vector3 Velocity; + public Vector3 Acceleration; + public Vector3 AngularVelocity; +} + +static class BulletSimAPI { + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern uint Initialize(Vector3 maxPosition); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Shutdown(uint worldID); + + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, + out IntPtr updatedEntitiesPtr, + out int collidersCount, + out IntPtr collidersPtr); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, int hullCount, + [MarshalAs(UnmanagedType.LPArray)] float[] hulls + ); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool CreateObject(uint worldID, ShapeData shapeData); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void AddConstraint(uint worldID, uint id1, uint id2, + Vector3 frame1, Vector3 frame2, Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetObjectPosition(uint WorldID, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool HasObject(uint worldID, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyObject(uint worldID, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 RecoverFromPenetration(uint worldID, uint id); + +// Log a debug message +[UnmanagedFunctionPointer(CallingConvention.Cdecl)] +public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetDebugLogCallback(DebugLogCallback callback); +} +} -- cgit v1.1 From 5ffec1cd648bc8dcc333fc528707c09bb8dce27d Mon Sep 17 00:00:00 2001 From: Robert.Adams Date: Fri, 22 Jul 2011 10:22:21 -0700 Subject: Pass collisions and updates in pinned memory (saves marshaling). Fix folding feet by using collision normals. Add constraint specification. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 5 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 140 +++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 86 +++++++------ .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 18 ++- 4 files changed, 151 insertions(+), 98 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index d9e236f..dbd7285 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -185,7 +185,7 @@ public class BSCharacter : PhysicsActor get { return _force; } set { _force = value; - m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); + // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); _scene.TaintedObject(delegate() { BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); @@ -411,8 +411,9 @@ public class BSCharacter : PhysicsActor _collidingGroundStep = _scene.SimulationStep; } + // throttle collisions to the rate specified in the subscription if (_subscribedEventsMs == 0) return; // don't want collisions - int nowTime = Util.EnvironmentTickCount(); + int nowTime = _scene.SimulationNowTime; if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return; _lastCollisionTime = nowTime; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 82a8803..f2ab2d9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -261,6 +261,7 @@ public sealed class BSPrim : PhysicsActor { if (_childrenPrims.Contains(child)) { + BulletSimAPI.RemoveConstraint(_scene.WorldID, child.LocalID, this.LocalID); _childrenPrims.Remove(child); child.ParentPrim = null; // the child has lost its parent RecreateGeomAndObject(); // rebuild my shape with the child removed @@ -1018,47 +1019,8 @@ public sealed class BSPrim : PhysicsActor if (IsRootOfLinkset) { // Create a linkset around this object - /* - * NOTE: the original way of creating a linkset was to create a compound hull in the - * root which consisted of the hulls of all the children. This didn't work well because - * OpenSimulator needs updates and collisions for all the children and the physics - * engine didn't create events for the children when the root hull was moved. - * This code creates the compound hull. - // If I am the root prim of a linkset, replace my physical shape with all the - // pieces of the children. - // All of the children should have called CreateGeom so they have a hull - // in the physics engine already. Here we pull together all of those hulls - // into one shape. - int totalPrimsInLinkset = _childrenPrims.Count + 1; - // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset); - ShapeData[] shapes = new ShapeData[totalPrimsInLinkset]; - FillShapeInfo(out shapes[0]); - int ii = 1; - foreach (BSPrim prim in _childrenPrims) - { - // m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID); - prim.FillShapeInfo(out shapes[ii]); - ii++; - } - BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes); - */ - // Create the linkset by putting constraints between the objects of the set so they cannot move - // relative to each other. - // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); - - // remove any constraints that might be in place - foreach (BSPrim prim in _childrenPrims) - { - BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID); - } - // create constraints between the root prim and each of the children - foreach (BSPrim prim in _childrenPrims) - { - // this is a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, OMV.Vector3.Zero, OMV.Vector3.Zero, - OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero); - } + CreateLinksetWithCompoundHull(); + // CreateLinksetWithConstraints(); } else { @@ -1070,6 +1032,73 @@ public sealed class BSPrim : PhysicsActor } } + // Create a linkset by creating a compound hull at the root prim that consists of all + // the children. + void CreateLinksetWithCompoundHull() + { + // If I am the root prim of a linkset, replace my physical shape with all the + // pieces of the children. + // All of the children should have called CreateGeom so they have a hull + // in the physics engine already. Here we pull together all of those hulls + // into one shape. + int totalPrimsInLinkset = _childrenPrims.Count + 1; + // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset); + ShapeData[] shapes = new ShapeData[totalPrimsInLinkset]; + FillShapeInfo(out shapes[0]); + int ii = 1; + foreach (BSPrim prim in _childrenPrims) + { + // m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID); + prim.FillShapeInfo(out shapes[ii]); + ii++; + } + BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes); + } + + // Create the linkset by putting constraints between the objects of the set so they cannot move + // relative to each other. + void CreateLinksetWithConstraints() + { + // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); + + // remove any constraints that might be in place + foreach (BSPrim prim in _childrenPrims) + { + // m_log.DebugFormat("{0}: CreateObject: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); + BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID); + } + // create constraints between the root prim and each of the children + foreach (BSPrim prim in _childrenPrims) + { + // this is a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + // m_log.DebugFormat("{0}: CreateObject: AddConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); + + // relative position normalized to the root prim + OMV.Vector3 childRelativePosition = (prim._position - this._position) * OMV.Quaternion.Inverse(this._orientation); + // OMV.Quaternion relativeRotation = OMV.Quaternion.Identity; + + // rotation is pointing up the vector between the object centers + OMV.Quaternion relativeRotation = OMV.Quaternion.CreateFromAxisAngle(childRelativePosition, 0f); + + /* // the logic for relative rotation from http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6391 + OMV.Vector3 rrn = childRelativePosition; + rrn.Normalize(); + rrn /= rrn.X; + OMV.Matrix4 rotmat = new OMV.Matrix4(rrn.X, rrn.Y, rrn.Z, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1); + OMV.Quaternion relativeRotation = OMV.Quaternion.CreateFromRotationMatrix(rotmat); + */ + + BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, + childRelativePosition / 2, + relativeRotation, + -childRelativePosition / 2, + relativeRotation, + OMV.Vector3.Zero, OMV.Vector3.Zero, + OMV.Vector3.Zero, OMV.Vector3.Zero); + } + } + // Copy prim's info into the BulletSim shape description structure public void FillShapeInfo(out ShapeData shape) { @@ -1118,50 +1147,53 @@ public sealed class BSPrim : PhysicsActor // The physics engine says that properties have updated. Update same and inform // the world that things have changed. // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate() - private int UpPropPosition = 1 << 0; - private int UpPropRotation = 1 << 1; - private int UpPropVelocity = 1 << 2; - private int UpPropAcceleration = 1 << 3; - private int UpPropAngularVel = 1 << 4; + enum UpdatedProperties { + Position = 1 << 0, + Rotation = 1 << 1, + Velocity = 1 << 2, + Acceleration = 1 << 3, + AngularVel = 1 << 4 + } public void UpdateProperties(EntityProperties entprop) { - int changed = 0; + UpdatedProperties changed = 0; // assign to the local variables so the normal set action does not happen if (_position != entprop.Position) { _position = entprop.Position; // m_log.DebugFormat("{0}: UpdateProperties: position = {1}", LogHeader, _position); - changed |= UpPropPosition; + changed |= UpdatedProperties.Position; } if (_orientation != entprop.Rotation) { _orientation = entprop.Rotation; // m_log.DebugFormat("{0}: UpdateProperties: rotation = {1}", LogHeader, _orientation); - changed |= UpPropRotation; + changed |= UpdatedProperties.Rotation; } if (_velocity != entprop.Velocity) { _velocity = entprop.Velocity; // m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity); - changed |= UpPropVelocity; + changed |= UpdatedProperties.Velocity; } if (_acceleration != entprop.Acceleration) { _acceleration = entprop.Acceleration; // m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration); - changed |= UpPropAcceleration; + changed |= UpdatedProperties.Acceleration; } if (_rotationalVelocity != entprop.AngularVelocity) { _rotationalVelocity = entprop.AngularVelocity; // m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity); - changed |= UpPropAngularVel; + changed |= UpdatedProperties.AngularVel; } if (changed != 0) { // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); - base.RequestPhysicsterseUpdate(); + if (this._parentPrim == null) + base.RequestPhysicsterseUpdate(); } } @@ -1178,7 +1210,7 @@ public sealed class BSPrim : PhysicsActor if (_subscribedEventsMs == 0) return; // nothing in the object is waiting for collision events // throttle the collisions to the number of milliseconds specified in the subscription - int nowTime = Util.EnvironmentTickCount(); + int nowTime = _scene.SimulationNowTime; if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return; _lastCollisionTime = nowTime; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index beffd21..062945f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -38,9 +38,7 @@ using OpenSim.Region.Framework; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) // Fix folding up feet -// Fix terrain. Only flat terrain works. Terrain with shape is oriented wrong? Origined wrong? // Parameterize BulletSim. Pass a structure of parameters to the C++ code. Capsule size, friction, ... -// Shift drag duplication of objects does not work // Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) // Test sculpties // Compute physics FPS reasonably @@ -82,6 +80,19 @@ public class BSScene : PhysicsScene private long m_simulationStep = 0; public long SimulationStep { get { return m_simulationStep; } } + // A value of the time now so all the collision and update routines do not have to get their own + // Set to 'now' just before all the prims and actors are called for collisions and updates + private int m_simulationNowTime; + public int SimulationNowTime { get { return m_simulationNowTime; } } + + private int m_maxCollisionsPerFrame = 2048; + private CollisionDesc[] m_collisionArray; + private GCHandle m_collisionArrayPinnedHandle; + + private int m_maxUpdatesPerFrame = 2048; + private EntityProperties[] m_updateArray; + private GCHandle m_updateArrayPinnedHandle; + private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes public float maximumMassObject = 10000.01f; @@ -129,8 +140,19 @@ public class BSScene : PhysicsScene _taintedObjects = new List(); mesher = meshmerizer; + // The bounding box for the simulated world + Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f); + + // Allocate pinned memory to pass back object property updates and collisions from simulation step + m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame]; + m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned); + m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; + m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); + // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); - m_worldID = BulletSimAPI.Initialize(new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f)); + m_worldID = BulletSimAPI.Initialize(worldExtent, + m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), + m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); } // Called directly from unmanaged code so don't do much @@ -188,19 +210,7 @@ public class BSScene : PhysicsScene } public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, - Vector3 size, Quaternion rotation) // deprecated - { - return null; - } - public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, - Vector3 size, Quaternion rotation, bool isPhysical) - { - m_log.ErrorFormat("{0}: CALL TO AddPrimShape in BSScene. NOT IMPLEMENTED", LogHeader); - return null; - } - - public override PhysicsActor AddPrimShape(uint localID, string primName, PrimitiveBaseShape pbs, Vector3 position, - Vector3 size, Quaternion rotation, bool isPhysical) + Vector3 size, Quaternion rotation, bool isPhysical, uint localID) { // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName); IMesh mesh = null; @@ -225,10 +235,8 @@ public class BSScene : PhysicsScene { int updatedEntityCount; IntPtr updatedEntitiesPtr; - IntPtr[] updatedEntities; int collidersCount; IntPtr collidersPtr; - int[] colliders; // should be uint but Marshal.Copy does not have that overload // update the prim states while we know the physics engine is not busy ProcessTaints(); @@ -242,32 +250,33 @@ public class BSScene : PhysicsScene int numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); - // if there were collisions, they show up here + // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in + + // Get a value for 'now' so all the collision and update routines don't have to get their own + m_simulationNowTime = Util.EnvironmentTickCount(); + + // If there were collisions, process them by sending the event to the prim. + // Collisions must be processed before updates. if (collidersCount > 0) { - colliders = new int[collidersCount]; - Marshal.Copy(collidersPtr, colliders, 0, collidersCount); - for (int ii = 0; ii < collidersCount; ii+=2) + for (int ii = 0; ii < collidersCount; ii++) { - uint cA = (uint)colliders[ii]; - uint cB = (uint)colliders[ii+1]; - SendCollision(cA, cB); - SendCollision(cB, cA); + uint cA = m_collisionArray[ii].aID; + uint cB = m_collisionArray[ii].bID; + Vector3 point = m_collisionArray[ii].point; + Vector3 normal = m_collisionArray[ii].normal; + SendCollision(cA, cB, point, normal, 0.01f); + SendCollision(cB, cA, point, -normal, 0.01f); } } - // if any of the objects had updated properties, they are returned in the updatedEntity structure - // TODO: figure out how to pass all of the EntityProperties structures in one marshal call. + // If any of the objects had updated properties, tell the object it has been changed by the physics engine if (updatedEntityCount > 0) { - updatedEntities = new IntPtr[updatedEntityCount]; - // fetch all the pointers to all the EntityProperties structures for these updates - Marshal.Copy(updatedEntitiesPtr, updatedEntities, 0, updatedEntityCount); for (int ii = 0; ii < updatedEntityCount; ii++) { - IntPtr updatePointer = updatedEntities[ii]; - EntityProperties entprop = (EntityProperties)Marshal.PtrToStructure(updatePointer, typeof(EntityProperties)); - // m_log.DebugFormat("{0}: entprop: id={1}, pos={2}", LogHeader, entprop.ID, entprop.Position); + EntityProperties entprop = m_updateArray[ii]; + // m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position); BSCharacter actor; if (m_avatars.TryGetValue(entprop.ID, out actor)) { @@ -282,12 +291,12 @@ public class BSScene : PhysicsScene } } - // fps calculation wrong. This calculation returns about 1 in normal operation. + // fps calculation wrong. This calculation always returns about 1 in normal operation. return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f; } // Something has collided - private void SendCollision(uint localID, uint collidingWith) + private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penitration) { if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID) { @@ -303,12 +312,12 @@ public class BSScene : PhysicsScene BSPrim prim; if (m_prims.TryGetValue(localID, out prim)) { - prim.Collide(collidingWith, type, Vector3.Zero, Vector3.UnitZ, 0.01f); + prim.Collide(collidingWith, type, collidePoint, collideNormal, 0.01f); return; } BSCharacter actor; if (m_avatars.TryGetValue(localID, out actor)) { - actor.Collide(collidingWith, type, Vector3.Zero, Vector3.UnitZ, 0.01f); + actor.Collide(collidingWith, type, collidePoint, collideNormal, 0.01f); return; } return; @@ -317,7 +326,6 @@ public class BSScene : PhysicsScene public override void GetResults() { } public override void SetTerrain(float[] heightMap) { - m_log.DebugFormat("{0}: SetTerrain", LogHeader); m_heightMap = heightMap; this.TaintedObject(delegate() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index b2bc0d7..ace8158 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -78,7 +78,13 @@ public struct RaycastHit public float Fraction; public Vector3 Normal; } - +public struct CollisionDesc +{ + public uint aID; + public uint bID; + public Vector3 point; + public Vector3 normal; +} public struct EntityProperties { public uint ID; @@ -92,7 +98,8 @@ public struct EntityProperties static class BulletSimAPI { [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern uint Initialize(Vector3 maxPosition); +public static extern uint Initialize(Vector3 maxPosition, int maxCollisions, IntPtr collisionArray, + int maxUpdates, IntPtr updateArray); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); @@ -124,7 +131,12 @@ public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void AddConstraint(uint worldID, uint id1, uint id2, - Vector3 frame1, Vector3 frame2, Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot, + Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool RemoveConstraintByID(uint worldID, uint id1); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); -- cgit v1.1 From 869883f2dc51f2b2210ccf8fd41f3de0c07e39fc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 22 Jul 2011 15:23:57 -0700 Subject: BulletSim: fix buoyancy for prims. Start of configurable physics parameters. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 12 ++- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 97 ++++++++++++++++++---- 2 files changed, 92 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index dbd7285..82361ad 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -107,7 +107,7 @@ public class BSCharacter : PhysicsActor shapeData.Velocity = _velocity; shapeData.Scale = _scale; shapeData.Mass = _mass; - shapeData.Buoyancy = isFlying ? 0f : 1f; + shapeData.Buoyancy = isFlying ? 1f : 0f; shapeData.Static = ShapeData.numericFalse; // do actual create at taint time @@ -258,7 +258,7 @@ public class BSCharacter : PhysicsActor _scene.TaintedObject(delegate() { // simulate flying by changing the effect of gravity - BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _flying ? 0f : 1f); + BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _flying ? 1f : 0f); }); } } @@ -296,7 +296,13 @@ public class BSCharacter : PhysicsActor } public override float Buoyancy { get { return _buoyancy; } - set { _buoyancy = value; } + set { _buoyancy = value; + _scene.TaintedObject(delegate() + { + // simulate flying by changing the effect of gravity + BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); + }); + } } // Used for MoveTo diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 062945f..7c11f2b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -37,7 +37,6 @@ using OpenMetaverse; using OpenSim.Region.Framework; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) -// Fix folding up feet // Parameterize BulletSim. Pass a structure of parameters to the C++ code. Capsule size, friction, ... // Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) // Test sculpties @@ -108,6 +107,31 @@ public class BSScene : PhysicsScene private List _taintedObjects; private Object _taintLock = new Object(); + // A pointer to an instance if this structure is passed to the C++ code + // Format of this structure must match the definition in the C++ code + private struct ConfigurationParameters + { + public float defaultFriction; + public float defaultDensity; + public float collisionMargin; + public float gravity; + + public float linearDamping; + public float angularDamping; + public float deactivationTime; + public float linearSleepingThreshold; + public float angularSleepingThreshold; + + public float terrainFriction; + public float terrainHitFriction; + public float terrainRestitution; + public float avatarFriction; + public float avatarCapsuleRadius; + public float avatarCapsuleHeight; + } + ConfigurationParameters m_params; + GCHandle m_paramsHandle; + private BulletSimAPI.DebugLogCallback debugLogCallbackHandle; public BSScene(string identifier) @@ -116,16 +140,12 @@ public class BSScene : PhysicsScene public override void Initialise(IMesher meshmerizer, IConfigSource config) { - if (config != null) - { - IConfig pConfig = config.Configs["BulletSim"]; - if (pConfig != null) - { - DefaultFriction = pConfig.GetFloat("Friction", DefaultFriction); - DefaultDensity = pConfig.GetFloat("Density", DefaultDensity); - // TODO: a lot more parameters that are passed to BulletSim - } - } + m_params = new ConfigurationParameters(); + m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned); + + // Set default values for physics parameters plus any overrides from the ini file + GetInitialParameterValues(config); + // if Debug, enable logging from the unmanaged code if (m_log.IsDebugEnabled) { @@ -134,9 +154,6 @@ public class BSScene : PhysicsScene BulletSimAPI.SetDebugLogCallback(debugLogCallbackHandle); } - _meshSculptedPrim = true; // mesh sculpted prims - _forceSimplePrimMeshing = false; // use complex meshing if called for - _taintedObjects = new List(); mesher = meshmerizer; @@ -155,6 +172,58 @@ public class BSScene : PhysicsScene m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); } + private void GetInitialParameterValues(IConfigSource config) + { + _meshSculptedPrim = true; // mesh sculpted prims + _forceSimplePrimMeshing = false; // use complex meshing if called for + + // Set the default values for the physics parameters + m_params.defaultFriction = 0.70f; + m_params.defaultDensity = 10.000006836f; // Aluminum g/cm3 + m_params.collisionMargin = 0.0f; + m_params.gravity = -9.80665f; + + m_params.linearDamping = 0.1f; + m_params.angularDamping = 0.85f; + m_params.deactivationTime = 0.2f; + m_params.linearSleepingThreshold = 0.8f; + m_params.angularSleepingThreshold = 1.0f; + + m_params.terrainFriction = 0.85f; + m_params.terrainHitFriction = 0.8f; + m_params.terrainRestitution = 0.2f; + m_params.avatarFriction = 0.85f; + m_params.avatarCapsuleRadius = 0.37f; + m_params.avatarCapsuleHeight = 1.5f; // 2.140599f + + if (config != null) + { + // If there are specifications in the ini file, use those values + IConfig pConfig = config.Configs["BulletSim"]; + if (pConfig != null) + { + _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", true); + _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", false); + + m_params.defaultFriction = pConfig.GetFloat("DefaultFriction", m_params.defaultFriction); + m_params.defaultDensity = pConfig.GetFloat("DefaultDensity", m_params.defaultDensity); + m_params.collisionMargin = pConfig.GetFloat("CollisionMargin", m_params.collisionMargin); + m_params.gravity = pConfig.GetFloat("Gravity", m_params.gravity); + m_params.linearDamping = pConfig.GetFloat("LinearDamping", m_params.linearDamping); + m_params.angularDamping = pConfig.GetFloat("AngularDamping", m_params.angularDamping); + m_params.deactivationTime = pConfig.GetFloat("DeactivationTime", m_params.deactivationTime); + m_params.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold", m_params.linearSleepingThreshold); + m_params.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", m_params.angularSleepingThreshold); + m_params.terrainFriction = pConfig.GetFloat("TerrainFriction", m_params.terrainFriction); + m_params.terrainHitFriction = pConfig.GetFloat("TerrainHitFriction", m_params.terrainHitFriction); + m_params.terrainRestitution = pConfig.GetFloat("TerrainRestitution", m_params.terrainRestitution); + m_params.avatarFriction = pConfig.GetFloat("AvatarFriction", m_params.avatarFriction); + m_params.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", m_params.avatarCapsuleRadius); + m_params.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", m_params.avatarCapsuleHeight); + } + } + } + // Called directly from unmanaged code so don't do much private void BulletLogger(string msg) { -- cgit v1.1 From 7640b5abf651e51ae2efd5f79f440768a595dbc9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 5 Aug 2011 11:01:27 -0700 Subject: BulletSim: Parameters settable from ini file. Linksets. Physical property value tuning --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 11 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 267 ++++++++++++--------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 207 +++++++++------- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 44 +++- 4 files changed, 316 insertions(+), 213 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 82361ad..9f9ebcc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -51,8 +51,6 @@ public class BSCharacter : PhysicsActor private Vector3 _position; private float _mass = 80f; public float _density = 60f; - public float CAPSULE_RADIUS = 0.37f; - public float CAPSULE_LENGTH = 2.140599f; private Vector3 _force; private Vector3 _velocity; private Vector3 _torque; @@ -96,7 +94,8 @@ public class BSCharacter : PhysicsActor _velocity = Vector3.Zero; _buoyancy = 0f; // characters return a buoyancy of zero _scale = new Vector3(1f, 1f, 1f); - float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH); + float AVvolume = (float) (Math.PI*Math.Pow(_scene.Params.avatarCapsuleRadius, 2)*_scene.Params.avatarCapsuleHeight); + _density = _scene.Params.avatarDensity; _mass = _density*AVvolume; ShapeData shapeData = new ShapeData(); @@ -109,6 +108,8 @@ public class BSCharacter : PhysicsActor shapeData.Mass = _mass; shapeData.Buoyancy = isFlying ? 1f : 0f; shapeData.Static = ShapeData.numericFalse; + shapeData.Friction = _scene.Params.avatarFriction; + shapeData.Restitution = _scene.Params.defaultRestitution; // do actual create at taint time _scene.TaintedObject(delegate() @@ -395,9 +396,9 @@ public class BSCharacter : PhysicsActor _acceleration = entprop.Acceleration; changed = true; } - if (_rotationalVelocity != entprop.AngularVelocity) + if (_rotationalVelocity != entprop.RotationalVelocity) { - _rotationalVelocity = entprop.AngularVelocity; + _rotationalVelocity = entprop.RotationalVelocity; changed = true; } if (changed) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index f2ab2d9..04cb452 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -71,6 +71,7 @@ public sealed class BSPrim : PhysicsActor private bool _isPhysical; private bool _flying; private float _friction; + private float _restitution; private bool _setAlwaysRun; private bool _throttleUpdates; private bool _isColliding; @@ -101,7 +102,7 @@ public sealed class BSPrim : PhysicsActor private float _PIDHoverTao; public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, - OMV.Quaternion rotation, IMesh mesh, PrimitiveBaseShape pbs, bool pisPhysical) + OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) { // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); _localID = localID; @@ -113,15 +114,16 @@ public sealed class BSPrim : PhysicsActor _orientation = rotation; _buoyancy = 1f; _velocity = OMV.Vector3.Zero; + _rotationalVelocity = OMV.Vector3.Zero; _angularVelocity = OMV.Vector3.Zero; - _mesh = mesh; _hullKey = 0; _pbs = pbs; _isPhysical = pisPhysical; _isVolumeDetect = false; _subscribedEventsMs = 0; - _friction = _scene.DefaultFriction; // TODO: compute based on object material - _density = _scene.DefaultDensity; // TODO: compute based on object material + _friction = _scene.Params.defaultFriction; // TODO: compute based on object material + _density = _scene.Params.defaultDensity; // TODO: compute based on object material + _restitution = _scene.Params.defaultRestitution; _parentPrim = null; // not a child or a parent _vehicle = new BSDynamics(this); // add vehicleness _childrenPrims = new List(); @@ -132,8 +134,7 @@ public sealed class BSPrim : PhysicsActor // do the actual object creation at taint time _scene.TaintedObject(delegate() { - CreateGeom(); - CreateObject(); + RecreateGeomAndObject(); }); } @@ -239,6 +240,7 @@ public sealed class BSPrim : PhysicsActor return; } + // I am the root of a linkset and a new child is being added public void AddChildToLinkset(BSPrim pchild) { BSPrim child = pchild; @@ -254,6 +256,8 @@ public sealed class BSPrim : PhysicsActor return; } + // I am the root of a linkset and one of my children is being removed. + // Safe to call even if the child is not really in my linkset. public void RemoveChildFromLinkset(BSPrim pchild) { BSPrim child = pchild; @@ -290,6 +294,17 @@ public sealed class BSPrim : PhysicsActor get { return (_parentPrim == null && _childrenPrims.Count != 0); } } + // Set motion values to zero. + // Do it to the properties so the values get set in the physics engine. + // Push the setting of the values to the viewer. + private void ZeroMotion() + { + Velocity = OMV.Vector3.Zero; + _acceleration = OMV.Vector3.Zero; + RotationalVelocity = OMV.Vector3.Zero; + base.RequestPhysicsterseUpdate(); + } + public override void LockAngularMotion(OMV.Vector3 axis) { return; } public override OMV.Vector3 Position { @@ -390,18 +405,6 @@ public sealed class BSPrim : PhysicsActor }); } } - public OMV.Vector3 AngularVelocity - { - get { return _angularVelocity; } - set - { - _angularVelocity = value; - _scene.TaintedObject(delegate() - { - BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _angularVelocity); - }); - } - } public override OMV.Vector3 Torque { get { return _torque; } set { _torque = value; @@ -419,11 +422,11 @@ public sealed class BSPrim : PhysicsActor get { return _orientation; } set { _orientation = value; + // m_log.DebugFormat("{0}: set orientation: id={1}, ori={2}", LogHeader, LocalID, _orientation); _scene.TaintedObject(delegate() { // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); - // m_log.DebugFormat("{0}: set orientation: {1}", LogHeader, _orientation); }); } } @@ -505,8 +508,16 @@ public sealed class BSPrim : PhysicsActor get { return _rotationalVelocity; } set { _rotationalVelocity = value; // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); + _scene.TaintedObject(delegate() + { + BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); + }); } } + public OMV.Vector3 AngularVelocity { + get { return _angularVelocity; } + set { _angularVelocity = value; } + } public override bool Kinematic { get { return _kinematic; } set { _kinematic = value; @@ -866,9 +877,6 @@ public sealed class BSPrim : PhysicsActor returnMass = _density * volume; - if (returnMass <= 0) - returnMass = 0.0001f;//ckrinke: Mass must be greater then zero. - if (IsRootOfLinkset) { foreach (BSPrim prim in _childrenPrims) @@ -877,8 +885,12 @@ public sealed class BSPrim : PhysicsActor } } - if (returnMass > _scene.maximumMassObject) - returnMass = _scene.maximumMassObject; + if (returnMass <= 0) + returnMass = 0.0001f; + + if (returnMass > _scene.MaximumObjectMass) + returnMass = _scene.MaximumObjectMass; + return returnMass; }// end CalculateMass #endregion Mass Calculation @@ -887,6 +899,15 @@ public sealed class BSPrim : PhysicsActor // No locking here because this is done when we know physics is not simulating private void CreateGeom() { + // 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); + BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); + _hullKey = 0; + _hulls.Clear(); + } + if (_mesh == null) { // the mesher thought this was too simple to mesh. Use a native Bullet collision shape. @@ -902,21 +923,13 @@ public sealed class BSPrim : PhysicsActor } else { - // m_log.DebugFormat("{0}: CreateGeom: mesh null. Defaulting to box of size {1}", LogHeader, _size); + // m_log.DebugFormat("{0}: CreateGeom: mesh null. Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size); _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; _scale = _size; } } else { - if (_hullKey != 0) - { - // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey); - BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); - _hullKey = 0; - _hulls.Clear(); - } - int[] indices = _mesh.getIndexListAsInt(); List vertices = _mesh.getVertexList(); @@ -997,7 +1010,7 @@ public sealed class BSPrim : PhysicsActor // create the hull definition in Bullet _hullKey = (ulong)_pbs.GetHashCode(); - // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid= {1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount); + // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount); BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls); _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; // meshes are already scaled by the meshmerizer @@ -1006,6 +1019,8 @@ public sealed class BSPrim : PhysicsActor return; } + // 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); @@ -1019,13 +1034,12 @@ public sealed class BSPrim : PhysicsActor if (IsRootOfLinkset) { // Create a linkset around this object - CreateLinksetWithCompoundHull(); - // CreateLinksetWithConstraints(); + // CreateLinksetWithCompoundHull(); + CreateLinksetWithConstraints(); } else { // simple object - // m_log.DebugFormat("{0}: CreateObject. ID={1}", LogHeader, LocalID); ShapeData shape; FillShapeInfo(out shape); BulletSimAPI.CreateObject(_scene.WorldID, shape); @@ -1034,6 +1048,7 @@ public sealed class BSPrim : PhysicsActor // Create a linkset by creating a compound hull at the root prim that consists of all // the children. + // NOTE: This does not allow proper collisions with the children prims so it is not a workable solution void CreateLinksetWithCompoundHull() { // If I am the root prim of a linkset, replace my physical shape with all the @@ -1055,8 +1070,27 @@ public sealed class BSPrim : PhysicsActor BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes); } + // Copy prim's info into the BulletSim shape description structure + public void FillShapeInfo(out ShapeData shape) + { + shape.ID = _localID; + shape.Type = _shapeType; + shape.Position = _position; + shape.Rotation = _orientation; + shape.Velocity = _velocity; + shape.Scale = _scale; + shape.Mass = _isPhysical ? _mass : 0f; + shape.Buoyancy = _buoyancy; + shape.MeshKey = _hullKey; + shape.Friction = _friction; + shape.Restitution = _restitution; + shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; + shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; + } + // Create the linkset by putting constraints between the objects of the set so they cannot move // relative to each other. + // TODO: make this more effeicient: a large linkset gets rebuilt over and over and prims are added void CreateLinksetWithConstraints() { // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); @@ -1070,76 +1104,48 @@ public sealed class BSPrim : PhysicsActor // create constraints between the root prim and each of the children foreach (BSPrim prim in _childrenPrims) { - // this is a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 // m_log.DebugFormat("{0}: CreateObject: AddConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); + // Zero motion for children so they don't interpolate + prim.ZeroMotion(); + // relative position normalized to the root prim OMV.Vector3 childRelativePosition = (prim._position - this._position) * OMV.Quaternion.Inverse(this._orientation); - // OMV.Quaternion relativeRotation = OMV.Quaternion.Identity; - // rotation is pointing up the vector between the object centers - OMV.Quaternion relativeRotation = OMV.Quaternion.CreateFromAxisAngle(childRelativePosition, 0f); - - /* // the logic for relative rotation from http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6391 - OMV.Vector3 rrn = childRelativePosition; - rrn.Normalize(); - rrn /= rrn.X; - OMV.Matrix4 rotmat = new OMV.Matrix4(rrn.X, rrn.Y, rrn.Z, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1); - OMV.Quaternion relativeRotation = OMV.Quaternion.CreateFromRotationMatrix(rotmat); - */ + // relative rotation of the child to the parent + OMV.Quaternion relativeRotation = OMV.Quaternion.Inverse(prim._orientation) * this._orientation; + // this is a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, - childRelativePosition / 2, - relativeRotation, - -childRelativePosition / 2, + childRelativePosition, relativeRotation, + OMV.Vector3.Zero, + OMV.Quaternion.Identity, OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero); } } - // Copy prim's info into the BulletSim shape description structure - public void FillShapeInfo(out ShapeData shape) - { - shape.ID = _localID; - shape.Type = _shapeType; - shape.Position = _position; - shape.Rotation = _orientation; - shape.Velocity = _velocity; - shape.Scale = _scale; - shape.Mass = _isPhysical ? _mass : 0f; - shape.Buoyancy = _buoyancy; - shape.MeshKey = _hullKey; - shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; - shape.Friction = _friction; - shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; - } - // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. // No locking here because this is done when the physics engine is not simulating private void RecreateGeomAndObject() { - if (_hullKey != 0) - { - // if a hull already exists, delete the old one - BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); - _hullKey = 0; - } // If this object is complex or we are the root of a linkset, build a mesh. // The root of a linkset must be a mesh so we can create the linked compound object. - if (_scene.NeedsMeshing(_pbs) || IsRootOfLinkset ) + // if (_scene.NeedsMeshing(_pbs) || IsRootOfLinkset ) + if (_scene.NeedsMeshing(_pbs)) // linksets with constraints don't need a root mesh { // m_log.DebugFormat("{0}: RecreateGeomAndObject: creating mesh", LogHeader); - _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, _scene.meshLOD, _isPhysical); + _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, _scene.MeshLOD, _isPhysical); } else { - // it's a BulletSim native shape. + // implement the shape with a Bullet native shape. _mesh = null; } - CreateGeom(); // create the geometry for this prim + CreateGeom(); CreateObject(); return; } @@ -1152,48 +1158,82 @@ public sealed class BSPrim : PhysicsActor Rotation = 1 << 1, Velocity = 1 << 2, Acceleration = 1 << 3, - AngularVel = 1 << 4 + RotationalVel = 1 << 4 } + const float ROTATION_TOLERANCE = 0.01f; + const float VELOCITY_TOLERANCE = 0.001f; + const float POSITION_TOLERANCE = 0.05f; + const float ACCELERATION_TOLERANCE = 0.01f; + const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; + const bool SHOULD_DAMP_UPDATES = false; + public void UpdateProperties(EntityProperties entprop) { UpdatedProperties changed = 0; - // assign to the local variables so the normal set action does not happen - if (_position != entprop.Position) - { - _position = entprop.Position; - // m_log.DebugFormat("{0}: UpdateProperties: position = {1}", LogHeader, _position); - changed |= UpdatedProperties.Position; - } - if (_orientation != entprop.Rotation) - { - _orientation = entprop.Rotation; - // m_log.DebugFormat("{0}: UpdateProperties: rotation = {1}", LogHeader, _orientation); - changed |= UpdatedProperties.Rotation; - } - if (_velocity != entprop.Velocity) - { - _velocity = entprop.Velocity; - // m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity); - changed |= UpdatedProperties.Velocity; - } - if (_acceleration != entprop.Acceleration) - { - _acceleration = entprop.Acceleration; - // m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration); - changed |= UpdatedProperties.Acceleration; - } - if (_rotationalVelocity != entprop.AngularVelocity) + if (SHOULD_DAMP_UPDATES) { - _rotationalVelocity = entprop.AngularVelocity; - // m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity); - changed |= UpdatedProperties.AngularVel; + // assign to the local variables so the normal set action does not happen + // if (_position != entprop.Position) + if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE)) + { + _position = entprop.Position; + // m_log.DebugFormat("{0}: UpdateProperties: id={1}, pos = {2}", LogHeader, LocalID, _position); + changed |= UpdatedProperties.Position; + } + // if (_orientation != entprop.Rotation) + if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE)) + { + _orientation = entprop.Rotation; + // m_log.DebugFormat("{0}: UpdateProperties: id={1}, rot = {2}", LogHeader, LocalID, _orientation); + changed |= UpdatedProperties.Rotation; + } + // if (_velocity != entprop.Velocity) + if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE)) + { + _velocity = entprop.Velocity; + // m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity); + changed |= UpdatedProperties.Velocity; + } + // if (_acceleration != entprop.Acceleration) + if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE)) + { + _acceleration = entprop.Acceleration; + // m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration); + changed |= UpdatedProperties.Acceleration; + } + // if (_rotationalVelocity != entprop.RotationalVelocity) + if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE)) + { + _rotationalVelocity = entprop.RotationalVelocity; + // m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity); + changed |= UpdatedProperties.RotationalVel; + } + if (changed != 0) + { + // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); + // Only update the position of single objects and linkset roots + if (this._parentPrim == null) + { + // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); + base.RequestPhysicsterseUpdate(); + } + } } - if (changed != 0) + else { - // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); + // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. if (this._parentPrim == null) + { + // Assign to the local variables so the normal set action does not happen + _position = entprop.Position; + _orientation = entprop.Rotation; + _velocity = entprop.Velocity; + _acceleration = entprop.Acceleration; + _rotationalVelocity = entprop.RotationalVelocity; + // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); base.RequestPhysicsterseUpdate(); + } } } @@ -1201,7 +1241,8 @@ public sealed class BSPrim : PhysicsActor public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); - // The following makes IsColliding() and IsCollidingGround() work + + // The following lines make IsColliding() and IsCollidingGround() work _collidingStep = _scene.SimulationStep; if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7c11f2b..de86d59 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -71,11 +71,17 @@ public class BSScene : PhysicsScene private uint m_worldID; public uint WorldID { get { return m_worldID; } } + private bool m_initialized = false; + public IMesher mesher; - public int meshLOD = 32; + private int m_meshLOD; + public int MeshLOD + { + get { return m_meshLOD; } + } - private int m_maxSubSteps = 10; - private float m_fixedTimeStep = 1f / 60f; + private int m_maxSubSteps; + private float m_fixedTimeStep; private long m_simulationStep = 0; public long SimulationStep { get { return m_simulationStep; } } @@ -84,68 +90,65 @@ public class BSScene : PhysicsScene private int m_simulationNowTime; public int SimulationNowTime { get { return m_simulationNowTime; } } - private int m_maxCollisionsPerFrame = 2048; + private int m_maxCollisionsPerFrame; private CollisionDesc[] m_collisionArray; private GCHandle m_collisionArrayPinnedHandle; - private int m_maxUpdatesPerFrame = 2048; + private int m_maxUpdatesPerFrame; private EntityProperties[] m_updateArray; private GCHandle m_updateArrayPinnedHandle; private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes - public float maximumMassObject = 10000.01f; - public const uint TERRAIN_ID = 0; + public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero public const uint GROUNDPLANE_ID = 1; - public float DefaultFriction = 0.70f; - public float DefaultDensity = 10.000006836f; // Aluminum g/cm3; TODO: compute based on object material - public Vector3 DefaultGravity = new Vector3(0, 0, -9.80665f); + public ConfigurationParameters Params + { + get { return m_params[0]; } + } + public Vector3 DefaultGravity + { + get { return new Vector3(0f, 0f, Params.gravity); } + } + + private float m_maximumObjectMass; + public float MaximumObjectMass + { + get { return m_maximumObjectMass; } + } public delegate void TaintCallback(); private List _taintedObjects; private Object _taintLock = new Object(); // A pointer to an instance if this structure is passed to the C++ code - // Format of this structure must match the definition in the C++ code - private struct ConfigurationParameters - { - public float defaultFriction; - public float defaultDensity; - public float collisionMargin; - public float gravity; - - public float linearDamping; - public float angularDamping; - public float deactivationTime; - public float linearSleepingThreshold; - public float angularSleepingThreshold; - - public float terrainFriction; - public float terrainHitFriction; - public float terrainRestitution; - public float avatarFriction; - public float avatarCapsuleRadius; - public float avatarCapsuleHeight; - } - ConfigurationParameters m_params; + ConfigurationParameters[] m_params; GCHandle m_paramsHandle; private BulletSimAPI.DebugLogCallback debugLogCallbackHandle; public BSScene(string identifier) { + m_initialized = false; } public override void Initialise(IMesher meshmerizer, IConfigSource config) { - m_params = new ConfigurationParameters(); + // Allocate pinned memory to pass parameters. + m_params = new ConfigurationParameters[1]; m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned); // Set default values for physics parameters plus any overrides from the ini file GetInitialParameterValues(config); + // allocate more pinned memory close to the above in an attempt to get the memory all together + m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame]; + m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned); + m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; + m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); + // if Debug, enable logging from the unmanaged code if (m_log.IsDebugEnabled) { @@ -160,68 +163,95 @@ public class BSScene : PhysicsScene // The bounding box for the simulated world Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f); - // Allocate pinned memory to pass back object property updates and collisions from simulation step - m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame]; - m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned); - m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; - m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); - // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); - m_worldID = BulletSimAPI.Initialize(worldExtent, + m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); + + m_initialized = true; } + // All default parameter values are set here. There should be no values set in the + // variable definitions. private void GetInitialParameterValues(IConfigSource config) { + ConfigurationParameters parms = new ConfigurationParameters(); + _meshSculptedPrim = true; // mesh sculpted prims _forceSimplePrimMeshing = false; // use complex meshing if called for - // Set the default values for the physics parameters - m_params.defaultFriction = 0.70f; - m_params.defaultDensity = 10.000006836f; // Aluminum g/cm3 - m_params.collisionMargin = 0.0f; - m_params.gravity = -9.80665f; - - m_params.linearDamping = 0.1f; - m_params.angularDamping = 0.85f; - m_params.deactivationTime = 0.2f; - m_params.linearSleepingThreshold = 0.8f; - m_params.angularSleepingThreshold = 1.0f; - - m_params.terrainFriction = 0.85f; - m_params.terrainHitFriction = 0.8f; - m_params.terrainRestitution = 0.2f; - m_params.avatarFriction = 0.85f; - m_params.avatarCapsuleRadius = 0.37f; - m_params.avatarCapsuleHeight = 1.5f; // 2.140599f + m_meshLOD = 32; + + m_maxSubSteps = 10; + m_fixedTimeStep = 1f / 60f; + m_maxCollisionsPerFrame = 2048; + m_maxUpdatesPerFrame = 2048; + m_maximumObjectMass = 10000.01f; + + parms.defaultFriction = 0.70f; + parms.defaultDensity = 10.000006836f; // Aluminum g/cm3 + parms.defaultRestitution = 0f; + parms.collisionMargin = 0.0f; + parms.gravity = -9.80665f; + + parms.linearDamping = 0.0f; + parms.angularDamping = 0.0f; + parms.deactivationTime = 0.2f; + parms.linearSleepingThreshold = 0.8f; + parms.angularSleepingThreshold = 1.0f; + parms.ccdMotionThreshold = 0.5f; // set to zero to disable + parms.ccdSweptSphereRadius = 0.2f; + + parms.terrainFriction = 0.85f; + parms.terrainHitFriction = 0.8f; + parms.terrainRestitution = 0.2f; + parms.avatarFriction = 0.85f; + parms.avatarDensity = 60f; + parms.avatarCapsuleRadius = 0.37f; + parms.avatarCapsuleHeight = 1.5f; // 2.140599f if (config != null) { // If there are specifications in the ini file, use those values + // WHEN ADDING OR UPDATING THIS SECTION, BE SURE TO ALSO UPDATE OpenSimDefaults.ini IConfig pConfig = config.Configs["BulletSim"]; if (pConfig != null) { - _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", true); - _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", false); - - m_params.defaultFriction = pConfig.GetFloat("DefaultFriction", m_params.defaultFriction); - m_params.defaultDensity = pConfig.GetFloat("DefaultDensity", m_params.defaultDensity); - m_params.collisionMargin = pConfig.GetFloat("CollisionMargin", m_params.collisionMargin); - m_params.gravity = pConfig.GetFloat("Gravity", m_params.gravity); - m_params.linearDamping = pConfig.GetFloat("LinearDamping", m_params.linearDamping); - m_params.angularDamping = pConfig.GetFloat("AngularDamping", m_params.angularDamping); - m_params.deactivationTime = pConfig.GetFloat("DeactivationTime", m_params.deactivationTime); - m_params.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold", m_params.linearSleepingThreshold); - m_params.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", m_params.angularSleepingThreshold); - m_params.terrainFriction = pConfig.GetFloat("TerrainFriction", m_params.terrainFriction); - m_params.terrainHitFriction = pConfig.GetFloat("TerrainHitFriction", m_params.terrainHitFriction); - m_params.terrainRestitution = pConfig.GetFloat("TerrainRestitution", m_params.terrainRestitution); - m_params.avatarFriction = pConfig.GetFloat("AvatarFriction", m_params.avatarFriction); - m_params.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", m_params.avatarCapsuleRadius); - m_params.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", m_params.avatarCapsuleHeight); + _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim); + _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing); + + m_meshLOD = pConfig.GetInt("MeshLevelOfDetail", m_meshLOD); + + m_maxSubSteps = pConfig.GetInt("MaxSubSteps", m_maxSubSteps); + m_fixedTimeStep = pConfig.GetFloat("FixedTimeStep", m_fixedTimeStep); + m_maxCollisionsPerFrame = pConfig.GetInt("MaxCollisionsPerFrame", m_maxCollisionsPerFrame); + m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame); + m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass); + + parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction); + parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity); + parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution); + parms.collisionMargin = pConfig.GetFloat("CollisionMargin", parms.collisionMargin); + parms.gravity = pConfig.GetFloat("Gravity", parms.gravity); + + parms.linearDamping = pConfig.GetFloat("LinearDamping", parms.linearDamping); + parms.angularDamping = pConfig.GetFloat("AngularDamping", parms.angularDamping); + parms.deactivationTime = pConfig.GetFloat("DeactivationTime", parms.deactivationTime); + parms.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold", parms.linearSleepingThreshold); + parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", parms.angularSleepingThreshold); + parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold); + parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius); + + parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction); + parms.terrainHitFriction = pConfig.GetFloat("TerrainHitFriction", parms.terrainHitFriction); + parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution); + parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction); + parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity); + parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius); + parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight); } } + m_params[0] = parms; } // Called directly from unmanaged code so don't do much @@ -282,20 +312,13 @@ public class BSScene : PhysicsScene Vector3 size, Quaternion rotation, bool isPhysical, uint localID) { // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName); - IMesh mesh = null; - if (NeedsMeshing(pbs)) - { - // if the prim is complex, create the mesh for it. - // If simple (box or sphere) leave 'mesh' null and physics will do a native shape. - mesh = mesher.CreateMesh(primName, pbs, size, this.meshLOD, isPhysical); - } - BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, mesh, pbs, isPhysical); + BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); lock (m_prims) m_prims.Add(localID, prim); return prim; } // This is a call from the simulator saying that some physical property has been updated. - // The BulletS driver senses the changing of relevant properties so this taint + // The BulletSim driver senses the changing of relevant properties so this taint // information call is not needed. public override void AddPhysicsActorTaint(PhysicsActor prim) { } @@ -307,6 +330,9 @@ public class BSScene : PhysicsScene int collidersCount; IntPtr collidersPtr; + // prevent simulation until we've been initialized + if (!m_initialized) return 10.0f; + // update the prim states while we know the physics engine is not busy ProcessTaints(); @@ -360,7 +386,7 @@ public class BSScene : PhysicsScene } } - // fps calculation wrong. This calculation always returns about 1 in normal operation. + // FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation. return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f; } @@ -369,8 +395,7 @@ public class BSScene : PhysicsScene { if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID) { - // we never send collisions to the terrain - return; + return; // don't send collisions to the terrain } ActorTypes type = ActorTypes.Prim; @@ -381,12 +406,12 @@ public class BSScene : PhysicsScene BSPrim prim; if (m_prims.TryGetValue(localID, out prim)) { - prim.Collide(collidingWith, type, collidePoint, collideNormal, 0.01f); + prim.Collide(collidingWith, type, collidePoint, collideNormal, penitration); return; } BSCharacter actor; if (m_avatars.TryGetValue(localID, out actor)) { - actor.Collide(collidingWith, type, collidePoint, collideNormal, 0.01f); + actor.Collide(collidingWith, type, collidePoint, collideNormal, penitration); return; } return; @@ -448,7 +473,7 @@ public class BSScene : PhysicsScene if (pbs.SculptEntry && !_meshSculptedPrim) { - // m_log.DebugFormat("{0}: NeedsMeshing: scultpy mesh", LogHeader); + // Render sculpties as boxes return false; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index ace8158..819fce1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -32,12 +32,14 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { +[StructLayout(LayoutKind.Sequential)] public struct ConvexHull { Vector3 Offset; int VertexCount; Vector3[] Vertices; } +[StructLayout(LayoutKind.Sequential)] public struct ShapeData { public enum PhysicsShapeType @@ -49,6 +51,7 @@ public struct ShapeData SHAPE_SPHERE = 4, SHAPE_HULL = 5 }; + // note that bools are passed as ints since bool size changes by language public const int numericTrue = 1; public const int numericFalse = 0; public uint ID; @@ -60,11 +63,12 @@ public struct ShapeData public float Mass; public float Buoyancy; public System.UInt64 MeshKey; - public int Collidable; public float Friction; + public float Restitution; + public int Collidable; public int Static; // true if a static object. Otherwise gravity, etc. - // note that bools are passed as ints since bool size changes by language } +[StructLayout(LayoutKind.Sequential)] public struct SweepHit { public uint ID; @@ -72,12 +76,14 @@ public struct SweepHit public Vector3 Normal; public Vector3 Point; } +[StructLayout(LayoutKind.Sequential)] public struct RaycastHit { public uint ID; public float Fraction; public Vector3 Normal; } +[StructLayout(LayoutKind.Sequential)] public struct CollisionDesc { public uint aID; @@ -85,6 +91,7 @@ public struct CollisionDesc public Vector3 point; public Vector3 normal; } +[StructLayout(LayoutKind.Sequential)] public struct EntityProperties { public uint ID; @@ -92,13 +99,42 @@ public struct EntityProperties public Quaternion Rotation; public Vector3 Velocity; public Vector3 Acceleration; - public Vector3 AngularVelocity; + public Vector3 RotationalVelocity; +} + +// Format of this structure must match the definition in the C++ code +[StructLayout(LayoutKind.Sequential)] +public struct ConfigurationParameters +{ + public float defaultFriction; + public float defaultDensity; + public float defaultRestitution; + public float collisionMargin; + public float gravity; + + public float linearDamping; + public float angularDamping; + public float deactivationTime; + public float linearSleepingThreshold; + public float angularSleepingThreshold; + public float ccdMotionThreshold; + public float ccdSweptSphereRadius; + + public float terrainFriction; + public float terrainHitFriction; + public float terrainRestitution; + public float avatarFriction; + public float avatarDensity; + public float avatarRestitution; + public float avatarCapsuleRadius; + public float avatarCapsuleHeight; } static class BulletSimAPI { [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern uint Initialize(Vector3 maxPosition, int maxCollisions, IntPtr collisionArray, +public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, + int maxCollisions, IntPtr collisionArray, int maxUpdates, IntPtr updateArray); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 82f41fdcb54d61e78f6ab8efdbbb521dfc5b9217 Mon Sep 17 00:00:00 2001 From: Mic Bowman Date: Fri, 5 Aug 2011 14:53:39 -0700 Subject: BulletSim: fix problem with not convex hulling large objects by creating unit meshes and always scaling in Bullet --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 04cb452..c4999f6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1013,8 +1013,8 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount); BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls); _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; - // meshes are already scaled by the meshmerizer - _scale = new OMV.Vector3(1f, 1f, 1f); + // Let the object be scaled by Bullet (the mesh was created as a unit mesh) + _scale = _size; } return; } @@ -1138,7 +1138,9 @@ public sealed class BSPrim : PhysicsActor if (_scene.NeedsMeshing(_pbs)) // linksets with constraints don't need a root mesh { // m_log.DebugFormat("{0}: RecreateGeomAndObject: creating mesh", LogHeader); - _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, _scene.MeshLOD, _isPhysical); + // Make the mesh scaled to 1 and use Bullet's scaling feature to scale it in world + OMV.Vector3 scaleFactor = new OMV.Vector3(1.0f, 1.0f, 1.0f); + _mesh = _scene.mesher.CreateMesh(_avName, _pbs, scaleFactor, _scene.MeshLOD, _isPhysical); } else { -- cgit v1.1 From fef73a1a1011126d4df2da2279caae9cef7984d1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 18 Aug 2011 14:32:09 -0700 Subject: BulletSim: add runtime setting of physics parameters. Update default values. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 31 ++- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 10 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 223 +++++++++++++++++++-- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 20 +- 4 files changed, 256 insertions(+), 28 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 9f9ebcc..682eb80 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -49,8 +49,9 @@ public class BSCharacter : PhysicsActor private bool _grabbed; private bool _selected; private Vector3 _position; - private float _mass = 80f; - public float _density = 60f; + private float _mass; + public float _density; + public float _avatarVolume; private Vector3 _force; private Vector3 _velocity; private Vector3 _torque; @@ -90,13 +91,13 @@ public class BSCharacter : PhysicsActor _scene = parent_scene; _position = pos; _size = size; + _flying = isFlying; _orientation = Quaternion.Identity; _velocity = Vector3.Zero; - _buoyancy = 0f; // characters return a buoyancy of zero + _buoyancy = isFlying ? 1f : 0f; _scale = new Vector3(1f, 1f, 1f); - float AVvolume = (float) (Math.PI*Math.Pow(_scene.Params.avatarCapsuleRadius, 2)*_scene.Params.avatarCapsuleHeight); _density = _scene.Params.avatarDensity; - _mass = _density*AVvolume; + ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale ShapeData shapeData = new ShapeData(); shapeData.ID = _localID; @@ -106,7 +107,7 @@ public class BSCharacter : PhysicsActor shapeData.Velocity = _velocity; shapeData.Scale = _scale; shapeData.Mass = _mass; - shapeData.Buoyancy = isFlying ? 1f : 0f; + shapeData.Buoyancy = _buoyancy; shapeData.Static = ShapeData.numericFalse; shapeData.Friction = _scene.Params.avatarFriction; shapeData.Restitution = _scene.Params.defaultRestitution; @@ -212,6 +213,7 @@ public class BSCharacter : PhysicsActor get { return _velocity; } set { _velocity = value; + // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); _scene.TaintedObject(delegate() { BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); @@ -235,6 +237,7 @@ public class BSCharacter : PhysicsActor get { return _orientation; } set { _orientation = value; + // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); _scene.TaintedObject(delegate() { // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); @@ -300,7 +303,6 @@ public class BSCharacter : PhysicsActor set { _buoyancy = value; _scene.TaintedObject(delegate() { - // simulate flying by changing the effect of gravity BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); }); } @@ -344,6 +346,7 @@ public class BSCharacter : PhysicsActor _force.X += force.X; _force.Y += force.Y; _force.Z += force.Z; + // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); _scene.TaintedObject(delegate() { BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); @@ -370,6 +373,17 @@ public class BSCharacter : PhysicsActor return (_subscribedEventsMs > 0); } + // set _avatarVolume and _mass based on capsule size, _density and _scale + private void ComputeAvatarVolumeAndMass() + { + _avatarVolume = (float)( + Math.PI + * _scene.Params.avatarCapsuleRadius * _scale.X + * _scene.Params.avatarCapsuleRadius * _scale.Y + * _scene.Params.avatarCapsuleHeight * _scale.Z); + _mass = _density * _avatarVolume; + } + // The physics engine says that properties have updated. Update same and inform // the world that things have changed. public void UpdateProperties(EntityProperties entprop) @@ -403,6 +417,9 @@ public class BSCharacter : PhysicsActor } if (changed) { + // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); + // Avatar movement is not done by generating this event. There is a system that + // checks for avatar updates each heartbeat loop. // base.RequestPhysicsterseUpdate(); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index c4999f6..cc414e9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1013,8 +1013,8 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount); BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls); _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; - // Let the object be scaled by Bullet (the mesh was created as a unit mesh) - _scale = _size; + // meshes are already scaled by the meshmerizer + _scale = new OMV.Vector3(1f, 1f, 1f); } return; } @@ -1138,9 +1138,7 @@ public sealed class BSPrim : PhysicsActor if (_scene.NeedsMeshing(_pbs)) // linksets with constraints don't need a root mesh { // m_log.DebugFormat("{0}: RecreateGeomAndObject: creating mesh", LogHeader); - // Make the mesh scaled to 1 and use Bullet's scaling feature to scale it in world - OMV.Vector3 scaleFactor = new OMV.Vector3(1.0f, 1.0f, 1.0f); - _mesh = _scene.mesher.CreateMesh(_avName, _pbs, scaleFactor, _scene.MeshLOD, _isPhysical); + _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, _scene.MeshLOD, _isPhysical); } else { @@ -1225,6 +1223,8 @@ public sealed class BSPrim : PhysicsActor else { // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. + + // Only updates only for individual prims and for the root object of a linkset. if (this._parentPrim == null) { // Assign to the local variables so the normal set action does not happen diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index de86d59..518be09 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -58,11 +58,13 @@ using OpenSim.Region.Framework; // namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSScene : PhysicsScene +public class BSScene : PhysicsScene, IPhysicsParameters { private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS SCENE]"; + public string BulletSimVersion = "?"; + private Dictionary m_avatars = new Dictionary(); private Dictionary m_prims = new Dictionary(); private List m_vehicles = new List(); @@ -127,7 +129,7 @@ public class BSScene : PhysicsScene ConfigurationParameters[] m_params; GCHandle m_paramsHandle; - private BulletSimAPI.DebugLogCallback debugLogCallbackHandle; + private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; public BSScene(string identifier) { @@ -149,12 +151,17 @@ public class BSScene : PhysicsScene m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); + // Get the version of the DLL + // TODO: this doesn't work yet. Something wrong with marshaling the returned string. + // BulletSimVersion = BulletSimAPI.GetVersion(); + // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); + // if Debug, enable logging from the unmanaged code if (m_log.IsDebugEnabled) { m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); - debugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); - BulletSimAPI.SetDebugLogCallback(debugLogCallbackHandle); + m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); + BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); } _taintedObjects = new List(); @@ -188,7 +195,7 @@ public class BSScene : PhysicsScene m_maxUpdatesPerFrame = 2048; m_maximumObjectMass = 10000.01f; - parms.defaultFriction = 0.70f; + parms.defaultFriction = 0.5f; parms.defaultDensity = 10.000006836f; // Aluminum g/cm3 parms.defaultRestitution = 0f; parms.collisionMargin = 0.0f; @@ -202,10 +209,10 @@ public class BSScene : PhysicsScene parms.ccdMotionThreshold = 0.5f; // set to zero to disable parms.ccdSweptSphereRadius = 0.2f; - parms.terrainFriction = 0.85f; - parms.terrainHitFriction = 0.8f; - parms.terrainRestitution = 0.2f; - parms.avatarFriction = 0.85f; + parms.terrainFriction = 0.5f; + parms.terrainHitFraction = 0.8f; + parms.terrainRestitution = 0f; + parms.avatarFriction = 0.0f; parms.avatarDensity = 60f; parms.avatarCapsuleRadius = 0.37f; parms.avatarCapsuleHeight = 1.5f; // 2.140599f @@ -213,7 +220,8 @@ public class BSScene : PhysicsScene if (config != null) { // If there are specifications in the ini file, use those values - // WHEN ADDING OR UPDATING THIS SECTION, BE SURE TO ALSO UPDATE OpenSimDefaults.ini + // WHEN ADDING OR UPDATING THIS SECTION, BE SURE TO UPDATE OpenSimDefaults.ini + // ALSO REMEMBER TO UPDATE THE RUNTIME SETTING OF THE PARAMETERS. IConfig pConfig = config.Configs["BulletSim"]; if (pConfig != null) { @@ -243,7 +251,7 @@ public class BSScene : PhysicsScene parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius); parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction); - parms.terrainHitFriction = pConfig.GetFloat("TerrainHitFriction", parms.terrainHitFriction); + parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction); parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution); parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction); parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity); @@ -386,7 +394,7 @@ public class BSScene : PhysicsScene } } - // FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation. + // TODO: FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation. return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f; } @@ -651,5 +659,196 @@ public class BSScene : PhysicsScene } } #endregion Vehicles + + #region Runtime settable parameters + public static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[] + { + new PhysParameterEntry("MeshLOD", "Level of detail to render meshes (Power of two. Default 32)"), + new PhysParameterEntry("MaxSubStep", "In simulation step, maximum number of substeps"), + new PhysParameterEntry("FixedTimeStep", "In simulation step, seconds of one substep (1/60)"), + new PhysParameterEntry("MaxObjectMass", "Maximum object mass (10000.01)"), + + new PhysParameterEntry("DefaultFriction", "Friction factor used on new objects"), + new PhysParameterEntry("DefaultDensity", "Density for new objects" ), + new PhysParameterEntry("DefaultRestitution", "Bouncyness of an object" ), + // new PhysParameterEntry("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!!)" ), + new PhysParameterEntry("Gravity", "Vertical force of gravity (negative means down)" ), + + new PhysParameterEntry("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)" ), + new PhysParameterEntry("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)" ), + new PhysParameterEntry("DeactivationTime", "Seconds before considering an object potentially static" ), + new PhysParameterEntry("LinearSleepingThreshold", "Seconds to measure linear movement before considering static" ), + new PhysParameterEntry("AngularSleepingThreshold", "Seconds to measure angular movement before considering static" ), + // new PhysParameterEntry("CcdMotionThreshold", "" ), + // new PhysParameterEntry("CcdSweptSphereRadius", "" ), + + new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ), + new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ), + new PhysParameterEntry("TerrainRestitution", "Bouncyness" ), + new PhysParameterEntry("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation." ), + new PhysParameterEntry("AvatarDensity", "Density of an avatar. Changed on avatar recreation." ), + new PhysParameterEntry("AvatarRestitution", "Bouncyness. Changed on avatar recreation." ), + new PhysParameterEntry("AvatarCapsuleRadius", "Radius of space around an avatar" ), + new PhysParameterEntry("AvatarCapsuleHeight", "Default height of space around avatar" ) + }; + + #region IPhysicsParameters + // Get the list of parameters this physics engine supports + public PhysParameterEntry[] GetParameterList() + { + return SettableParameters; + } + + // Set parameter on a specific or all instances. + // Return 'false' if not able to set the parameter. + // Setting the value in the m_params block will change the value the physics engine + // will use the next time since it's pinned and shared memory. + // Some of the values require calling into the physics engine to get the new + // value activated ('terrainFriction' for instance). + public bool SetPhysicsParameter(string parm, float val, uint localID) + { + bool ret = true; + string lparm = parm.ToLower(); + switch (lparm) + { + case "meshlod": m_meshLOD = (int)val; break; + case "maxsubstep": m_maxSubSteps = (int)val; break; + case "fixedtimestep": m_fixedTimeStep = val; break; + case "maxobjectmass": m_maximumObjectMass = val; break; + + case "defaultfriction": m_params[0].defaultFriction = val; break; + case "defaultdensity": m_params[0].defaultDensity = val; break; + case "defaultrestitution": m_params[0].defaultRestitution = val; break; + case "collisionmargin": m_params[0].collisionMargin = val; break; + case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, PhysParameterEntry.APPLY_TO_NONE, val); break; + + case "lineardamping": UpdateParameterPrims(ref m_params[0].linearDamping, lparm, localID, val); break; + case "angulardamping": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break; + case "deactivationtime": UpdateParameterPrims(ref m_params[0].deactivationTime, lparm, localID, val); break; + case "linearsleepingthreshold": UpdateParameterPrims(ref m_params[0].linearSleepingThreshold, lparm, localID, val); break; + case "angularsleepingthreshold": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break; + case "ccdmotionthreshold": UpdateParameterPrims(ref m_params[0].ccdMotionThreshold, lparm, localID, val); break; + case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break; + + // set a terrain physical feature and cause terrain to be recalculated + case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break; + case "terrainhitfraction": m_params[0].terrainHitFraction = val; TaintedUpdateParameter("terrain", 0, val); break; + case "terrainrestitution": m_params[0].terrainRestitution = val; TaintedUpdateParameter("terrain", 0, val); break; + // set an avatar physical feature and cause avatar(s) to be recalculated + case "avatarfriction": UpdateParameterAvatars(ref m_params[0].avatarFriction, "avatar", localID, val); break; + case "avatardensity": UpdateParameterAvatars(ref m_params[0].avatarDensity, "avatar", localID, val); break; + case "avatarrestitution": UpdateParameterAvatars(ref m_params[0].avatarRestitution, "avatar", localID, val); break; + case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val); break; + case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break; + + default: ret = false; break; + } + return ret; + } + + // check to see if we are updating a parameter for a particular or all of the prims + private void UpdateParameterPrims(ref float loc, string parm, uint localID, float val) + { + List operateOn; + lock (m_prims) operateOn = new List(m_prims.Keys); + UpdateParameterSet(operateOn, ref loc, parm, localID, val); + } + + // check to see if we are updating a parameter for a particular or all of the avatars + private void UpdateParameterAvatars(ref float loc, string parm, uint localID, float val) + { + List operateOn; + lock (m_avatars) operateOn = new List(m_avatars.Keys); + UpdateParameterSet(operateOn, ref loc, parm, localID, val); + } + + // update all the localIDs specified + // If the local ID is APPLY_TO_NONE, just change the default value + // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs + // If the localID is a specific object, apply the parameter change to only that object + private void UpdateParameterSet(List lIDs, ref float defaultLoc, string parm, uint localID, float val) + { + switch (localID) + { + case PhysParameterEntry.APPLY_TO_NONE: + defaultLoc = val; // setting only the default value + break; + case PhysParameterEntry.APPLY_TO_ALL: + defaultLoc = val; // setting ALL also sets the default value + List objectIDs = lIDs; + string xparm = parm.ToLower(); + float xval = val; + TaintedObject(delegate() { + foreach (uint lID in objectIDs) + { + BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval); + } + }); + break; + default: + // setting only one localID + TaintedUpdateParameter(parm, localID, val); + break; + } + } + + // schedule the actual updating of the paramter to when the phys engine is not busy + private void TaintedUpdateParameter(string parm, uint localID, float val) + { + uint xlocalID = localID; + string xparm = parm.ToLower(); + float xval = val; + TaintedObject(delegate() { + BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval); + }); + } + + // Get parameter. + // Return 'false' if not able to get the parameter. + public bool GetPhysicsParameter(string parm, out float value) + { + float val = 0f; + bool ret = true; + switch (parm.ToLower()) + { + case "meshlod": val = (float)m_meshLOD; break; + case "maxsubstep": val = (float)m_maxSubSteps; break; + case "fixedtimestep": val = m_fixedTimeStep; break; + case "maxobjectmass": val = m_maximumObjectMass; break; + + case "defaultfriction": val = m_params[0].defaultFriction; break; + case "defaultdensity": val = m_params[0].defaultDensity; break; + case "defaultrestitution": val = m_params[0].defaultRestitution; break; + case "collisionmargin": val = m_params[0].collisionMargin; break; + case "gravity": val = m_params[0].gravity; break; + + case "lineardamping": val = m_params[0].linearDamping; break; + case "angulardamping": val = m_params[0].angularDamping; break; + case "deactivationtime": val = m_params[0].deactivationTime; break; + case "linearsleepingthreshold": val = m_params[0].linearSleepingThreshold; break; + case "angularsleepingthreshold": val = m_params[0].angularDamping; break; + case "ccdmotionthreshold": val = m_params[0].ccdMotionThreshold; break; + case "ccdsweptsphereradius": val = m_params[0].ccdSweptSphereRadius; break; + + case "terrainfriction": val = m_params[0].terrainFriction; break; + case "terrainhitfraction": val = m_params[0].terrainHitFraction; break; + case "terrainrestitution": val = m_params[0].terrainRestitution; break; + + case "avatarfriction": val = m_params[0].avatarFriction; break; + case "avatardensity": val = m_params[0].avatarDensity; break; + case "avatarrestitution": val = m_params[0].avatarRestitution; break; + case "avatarcapsuleradius": val = m_params[0].avatarCapsuleRadius; break; + case "avatarcapsuleheight": val = m_params[0].avatarCapsuleHeight; break; + default: ret = false; break; + + } + value = val; + return ret; + } + + #endregion IPhysicsParameters + + #endregion Runtime settable parameters + } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 819fce1..bf953df 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -51,9 +51,6 @@ public struct ShapeData SHAPE_SPHERE = 4, SHAPE_HULL = 5 }; - // note that bools are passed as ints since bool size changes by language - public const int numericTrue = 1; - public const int numericFalse = 0; public uint ID; public PhysicsShapeType Type; public Vector3 Position; @@ -67,6 +64,10 @@ public struct ShapeData public float Restitution; public int Collidable; public int Static; // true if a static object. Otherwise gravity, etc. + + // note that bools are passed as ints since bool size changes by language and architecture + public const int numericTrue = 1; + public const int numericFalse = 0; } [StructLayout(LayoutKind.Sequential)] public struct SweepHit @@ -121,23 +122,34 @@ public struct ConfigurationParameters public float ccdSweptSphereRadius; public float terrainFriction; - public float terrainHitFriction; + public float terrainHitFraction; public float terrainRestitution; public float avatarFriction; public float avatarDensity; public float avatarRestitution; public float avatarCapsuleRadius; public float avatarCapsuleHeight; + + public const float numericTrue = 1f; + public const float numericFalse = 0f; } static class BulletSimAPI { [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +[return: MarshalAs(UnmanagedType.LPStr)] +public static extern string GetVersion(); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, int maxCollisions, IntPtr collisionArray, int maxUpdates, IntPtr updateArray); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateParameter(uint worldID, uint localID, + [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 21708b832b1d6679d5f6de27eb3bd0b920ef0fa7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 26 Aug 2011 15:51:21 -0700 Subject: BulletSim: add mesh representation. Use meshes for static objects and switch to hulls for physical objects. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 306 +++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 20 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 31 ++- 3 files changed, 228 insertions(+), 129 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index cc414e9..d1fb576 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -45,6 +45,7 @@ public sealed class BSPrim : PhysicsActor private IMesh _mesh; private PrimitiveBaseShape _pbs; private ShapeData.PhysicsShapeType _shapeType; + private ulong _meshKey; private ulong _hullKey; private List _hulls; @@ -117,6 +118,7 @@ public sealed class BSPrim : PhysicsActor _rotationalVelocity = OMV.Vector3.Zero; _angularVelocity = OMV.Vector3.Zero; _hullKey = 0; + _meshKey = 0; _pbs = pbs; _isPhysical = pisPhysical; _isVolumeDetect = false; @@ -147,6 +149,7 @@ public sealed class BSPrim : PhysicsActor _scene.RemoveVehiclePrim(this); // just to make sure _scene.TaintedObject(delegate() { + // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. BulletSimAPI.DestroyObject(_scene.WorldID, _localID); }); } @@ -283,11 +286,6 @@ public sealed class BSPrim : PhysicsActor set { _parentPrim = value; } } - public ulong HullKey - { - get { return _hullKey; } - } - // return true if we are the root of a linkset (there are children to manage) public bool IsRootOfLinkset { @@ -463,7 +461,18 @@ public sealed class BSPrim : PhysicsActor private void SetObjectDynamic() { // non-physical things work best with a mass of zero - _mass = IsStatic ? 0f : CalculateMass(); + if (IsStatic) + { + _mass = 0f; + } + else + { + _mass = CalculateMass(); + // If it's dynamic, make sure the hull has been created for it + // This shouldn't do much work if the object had previously been built + RecreateGeomAndObject(); + + } BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass); // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}, mass={4}", LogHeader, _localID, IsStatic, IsSolid, _mass); } @@ -896,26 +905,19 @@ public sealed class BSPrim : PhysicsActor #endregion Mass Calculation // 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 - private void CreateGeom() + // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used + private void CreateGeom(bool forceRebuild) { - // Since we're recreating new, get rid of any previously generated shape - if (_hullKey != 0) + // the mesher thought this was too simple to mesh. Use a native Bullet collision shape. + if (!_scene.NeedsMeshing(_pbs)) { - // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey); - BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); - _hullKey = 0; - _hulls.Clear(); - } - - if (_mesh == null) - { - // the mesher thought this was too simple to mesh. Use a native Bullet collision shape. if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) { if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) { - // m_log.DebugFormat("{0}: CreateGeom: mesh null. Defaulting to sphere of size {1}", LogHeader, _size); + // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; // Bullet native objects are scaled by the Bullet engine so pass the size in _scale = _size; @@ -923,99 +925,190 @@ public sealed class BSPrim : PhysicsActor } else { - // m_log.DebugFormat("{0}: CreateGeom: mesh null. Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size); + // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size); _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; _scale = _size; } } else { - int[] indices = _mesh.getIndexListAsInt(); - List vertices = _mesh.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++) + if (IsPhysical) { - convIndices.Add(indices[ii]); + if (forceRebuild || _hullKey == 0) + { + // physical objects require a hull for interaction. + // This will create the mesh if it doesn't already exist + CreateGeomHull(); + } } - foreach (OMV.Vector3 vv in vertices) + else { - convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); + if (forceRebuild || _meshKey == 0) + { + // Static (non-physical) objects only need a mesh for bumping into + CreateGeomMesh(); + } } + } + } + + // No locking here because this is done when we know physics is not simulating + private void CreateGeomMesh() + { + ulong newMeshKey = (ulong)_pbs.GetHashCode(); + + // if this new shape is the same as last time, don't recreate the mesh + if (_meshKey == newMeshKey) return; + + // Since we're recreating new, get rid of any previously generated shape + if (_meshKey != 0) + { + // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _meshKey); + BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); + _mesh = null; + _meshKey = 0; + } + + _meshKey = newMeshKey; + int lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD; + // always pass false for physicalness as this creates some sort of bounding box which we don't need + _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, lod, false); + + int[] indices = _mesh.getIndexListAsInt(); + List vertices = _mesh.getVertexList(); + + float[] verticesAsFloats = new float[vertices.Count * 3]; + int vi = 0; + foreach (OMV.Vector3 vv in vertices) + { + // m_log.DebugFormat("{0}: {1}: <{2:0.00}, {3:0.00}, {4:0.00}>", LogHeader, vi / 3, vv.X, vv.Y, vv.Z); + verticesAsFloats[vi++] = vv.X; + verticesAsFloats[vi++] = vv.Y; + verticesAsFloats[vi++] = vv.Z; + } - // setup and do convex hull conversion - _hulls = new List(); - 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) + // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", + // LogHeader, _localID, _meshKey, indices.Length, vertices.Count); + BulletSimAPI.CreateMesh(_scene.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; + } + + // No locking here because this is done when we know physics is not simulating + private void CreateGeomHull() + { + ulong newHullKey = (ulong)_pbs.GetHashCode(); + + // if the hull hasn't changed, don't rebuild it + if (newHullKey == _hullKey) return; + + // 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); + BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); + _hullKey = 0; + _hulls.Clear(); + BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); + _mesh = null; // the mesh cannot match either + _meshKey = 0; + } + + _hullKey = newHullKey; + if (_meshKey != _hullKey) + { + // if the underlying mesh has changed, rebuild it + CreateGeomMesh(); + } + + int[] indices = _mesh.getIndexListAsInt(); + List vertices = _mesh.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)); + } + + // setup and do convex hull conversion + _hulls = new List(); + 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) { - totalVertices += 4; // add four for the vertex count and centroid - totalVertices += cr.HullIndices.Count * 3; // we pass just triangles + verts[kk++] = ff; } - float[] convHulls = new float[totalVertices]; - convHulls[0] = (float)hullCount; - int jj = 1; - foreach (ConvexResult cr in _hulls) + // 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) { - // 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; - } + convHulls[jj++] = verts[ind].x; + convHulls[jj++] = verts[ind].y; + convHulls[jj++] = verts[ind].z; } - - // create the hull definition in Bullet - _hullKey = (ulong)_pbs.GetHashCode(); - // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount); - BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls); - _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; - // meshes are already scaled by the meshmerizer - _scale = new OMV.Vector3(1f, 1f, 1f); } + + // 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(_scene.WorldID, _hullKey, hullCount, convHulls); + _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; + // meshes are already scaled by the meshmerizer + _scale = new OMV.Vector3(1f, 1f, 1f); return; } @@ -1040,6 +1133,7 @@ public sealed class BSPrim : PhysicsActor else { // simple object + // the mesh or hull must have already been created in Bullet ShapeData shape; FillShapeInfo(out shape); BulletSimAPI.CreateObject(_scene.WorldID, shape); @@ -1081,7 +1175,8 @@ public sealed class BSPrim : PhysicsActor shape.Scale = _scale; shape.Mass = _isPhysical ? _mass : 0f; shape.Buoyancy = _buoyancy; - shape.MeshKey = _hullKey; + shape.HullKey = _hullKey; + shape.MeshKey = _meshKey; shape.Friction = _friction; shape.Restitution = _restitution; shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; @@ -1098,13 +1193,13 @@ public sealed class BSPrim : PhysicsActor // remove any constraints that might be in place foreach (BSPrim prim in _childrenPrims) { - // m_log.DebugFormat("{0}: CreateObject: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); + // m_log.DebugFormat("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID); } // create constraints between the root prim and each of the children foreach (BSPrim prim in _childrenPrims) { - // m_log.DebugFormat("{0}: CreateObject: AddConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); + // m_log.DebugFormat("{0}: CreateLinkset: AddConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); // Zero motion for children so they don't interpolate prim.ZeroMotion(); @@ -1132,20 +1227,7 @@ public sealed class BSPrim : PhysicsActor // No locking here because this is done when the physics engine is not simulating private void RecreateGeomAndObject() { - // If this object is complex or we are the root of a linkset, build a mesh. - // The root of a linkset must be a mesh so we can create the linked compound object. - // if (_scene.NeedsMeshing(_pbs) || IsRootOfLinkset ) - if (_scene.NeedsMeshing(_pbs)) // linksets with constraints don't need a root mesh - { - // m_log.DebugFormat("{0}: RecreateGeomAndObject: creating mesh", LogHeader); - _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, _scene.MeshLOD, _isPhysical); - } - else - { - // implement the shape with a Bullet native shape. - _mesh = null; - } - CreateGeom(); + CreateGeom(true); CreateObject(); return; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 518be09..e91455a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -37,7 +37,6 @@ using OpenMetaverse; using OpenSim.Region.Framework; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) -// Parameterize BulletSim. Pass a structure of parameters to the C++ code. Capsule size, friction, ... // Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) // Test sculpties // Compute physics FPS reasonably @@ -52,8 +51,6 @@ using OpenSim.Region.Framework; // Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions) // Implement LockAngularMotion // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) -// Built Galton board (lots of MoveTo's) and some slats were not positioned correctly (mistakes scattered) -// No mistakes with ODE. Shape creation race condition? // Does NeedsMeshing() really need to exclude all the different shapes? // namespace OpenSim.Region.Physics.BulletSPlugin @@ -81,6 +78,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters { get { return m_meshLOD; } } + private int m_sculptLOD; + public int SculptLOD + { + get { return m_sculptLOD; } + } private int m_maxSubSteps; private float m_fixedTimeStep; @@ -187,7 +189,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters _meshSculptedPrim = true; // mesh sculpted prims _forceSimplePrimMeshing = false; // use complex meshing if called for - m_meshLOD = 32; + m_meshLOD = 8; + m_sculptLOD = 32; m_maxSubSteps = 10; m_fixedTimeStep = 1f / 60f; @@ -229,6 +232,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing); m_meshLOD = pConfig.GetInt("MeshLevelOfDetail", m_meshLOD); + m_sculptLOD = pConfig.GetInt("SculptLevelOfDetail", m_sculptLOD); m_maxSubSteps = pConfig.GetInt("MaxSubSteps", m_maxSubSteps); m_fixedTimeStep = pConfig.GetFloat("FixedTimeStep", m_fixedTimeStep); @@ -489,10 +493,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters // can use an internal representation for the prim if (!_forceSimplePrimMeshing) { - // m_log.DebugFormat("{0}: NeedsMeshing: simple mesh: profshape={1}, curve={2}", LogHeader, pbs.ProfileShape, pbs.PathCurve); if ((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)) + && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)) { if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 @@ -663,7 +666,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters #region Runtime settable parameters public static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[] { - new PhysParameterEntry("MeshLOD", "Level of detail to render meshes (Power of two. Default 32)"), + new PhysParameterEntry("MeshLOD", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)"), + new PhysParameterEntry("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)"), new PhysParameterEntry("MaxSubStep", "In simulation step, maximum number of substeps"), new PhysParameterEntry("FixedTimeStep", "In simulation step, seconds of one substep (1/60)"), new PhysParameterEntry("MaxObjectMass", "Maximum object mass (10000.01)"), @@ -712,6 +716,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters switch (lparm) { case "meshlod": m_meshLOD = (int)val; break; + case "sculptlod": m_sculptLOD = (int)val; break; case "maxsubstep": m_maxSubSteps = (int)val; break; case "fixedtimestep": m_fixedTimeStep = val; break; case "maxobjectmass": m_maximumObjectMass = val; break; @@ -812,6 +817,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters switch (parm.ToLower()) { case "meshlod": val = (float)m_meshLOD; break; + case "sculptlod": val = (float)m_sculptLOD; break; case "maxsubstep": val = (float)m_maxSubSteps; break; case "fixedtimestep": val = m_fixedTimeStep; break; case "maxobjectmass": val = m_maximumObjectMass; break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index bf953df..a610c8d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -49,7 +49,8 @@ public struct ShapeData SHAPE_CONE = 2, SHAPE_CYLINDER = 3, SHAPE_SPHERE = 4, - SHAPE_HULL = 5 + SHAPE_MESH = 5, + SHAPE_HULL = 6 }; public uint ID; public PhysicsShapeType Type; @@ -59,6 +60,7 @@ public struct ShapeData public Vector3 Scale; public float Mass; public float Buoyancy; + public System.UInt64 HullKey; public System.UInt64 MeshKey; public float Friction; public float Restitution; @@ -158,20 +160,29 @@ public static extern void Shutdown(uint worldID); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, - out IntPtr updatedEntitiesPtr, - out int collidersCount, - out IntPtr collidersPtr); + out int updatedEntityCount, + out IntPtr updatedEntitiesPtr, + out int collidersCount, + out IntPtr collidersPtr); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, int hullCount, - [MarshalAs(UnmanagedType.LPArray)] float[] hulls +public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, + int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls + ); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, + int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, + int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CreateObject(uint worldID, ShapeData shapeData); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -179,9 +190,9 @@ public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void AddConstraint(uint worldID, uint id1, uint id2, - Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot, - Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot, + Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool RemoveConstraintByID(uint worldID, uint id1); -- cgit v1.1 From 96dce3e16c3c0b861e42e6331f693b6b00a14392 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Aug 2011 10:00:58 -0700 Subject: Use GetMeshKey from PrimitiveBaseShape. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 22 +++++++++++++++------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 16 ++++++++-------- 2 files changed, 23 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d1fb576..bb8d601 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -53,8 +53,11 @@ public sealed class BSPrim : PhysicsActor private String _avName; private uint _localID = 0; - private OMV.Vector3 _size; - private OMV.Vector3 _scale; + // _size is what the user passed. _scale is what we pass to the physics engine with the mesh. + // Often _scale is unity because the meshmerizer will apply _size when creating the mesh. + private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user + private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer + private bool _stopped; private bool _grabbed; private bool _isSelected; @@ -460,6 +463,7 @@ public sealed class BSPrim : PhysicsActor // no locking here because only called when it is safe private void SetObjectDynamic() { + // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid); // non-physical things work best with a mass of zero if (IsStatic) { @@ -474,7 +478,6 @@ public sealed class BSPrim : PhysicsActor } BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass); - // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}, mass={4}", LogHeader, _localID, IsStatic, IsSolid, _mass); } // prims don't fly @@ -955,7 +958,9 @@ public sealed class BSPrim : PhysicsActor // No locking here because this is done when we know physics is not simulating private void CreateGeomMesh() { - ulong newMeshKey = (ulong)_pbs.GetHashCode(); + float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD; + 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; @@ -963,14 +968,13 @@ public sealed class BSPrim : PhysicsActor // Since we're recreating new, get rid of any previously generated shape if (_meshKey != 0) { - // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _meshKey); + // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey); BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); _mesh = null; _meshKey = 0; } _meshKey = newMeshKey; - int lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD; // always pass false for physicalness as this creates some sort of bounding box which we don't need _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, lod, false); @@ -1001,7 +1005,9 @@ public sealed class BSPrim : PhysicsActor // No locking here because this is done when we know physics is not simulating private void CreateGeomHull() { - ulong newHullKey = (ulong)_pbs.GetHashCode(); + float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.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; @@ -1136,6 +1142,7 @@ public sealed class BSPrim : PhysicsActor // 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); BulletSimAPI.CreateObject(_scene.WorldID, shape); } } @@ -1227,6 +1234,7 @@ public sealed class BSPrim : PhysicsActor // No locking here because this is done when the physics engine is not simulating private void RecreateGeomAndObject() { + // m_log.DebugFormat("{0}: RecreateGeomAndObject. lID={1}", LogHeader, _localID); CreateGeom(true); CreateObject(); return; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e91455a..7704002 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -73,13 +73,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters private bool m_initialized = false; public IMesher mesher; - private int m_meshLOD; - public int MeshLOD + private float m_meshLOD; + public float MeshLOD { get { return m_meshLOD; } } - private int m_sculptLOD; - public int SculptLOD + private float m_sculptLOD; + public float SculptLOD { get { return m_sculptLOD; } } @@ -189,8 +189,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters _meshSculptedPrim = true; // mesh sculpted prims _forceSimplePrimMeshing = false; // use complex meshing if called for - m_meshLOD = 8; - m_sculptLOD = 32; + m_meshLOD = 8f; + m_sculptLOD = 32f; m_maxSubSteps = 10; m_fixedTimeStep = 1f / 60f; @@ -231,8 +231,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim); _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing); - m_meshLOD = pConfig.GetInt("MeshLevelOfDetail", m_meshLOD); - m_sculptLOD = pConfig.GetInt("SculptLevelOfDetail", m_sculptLOD); + m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD); + m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD); m_maxSubSteps = pConfig.GetInt("MaxSubSteps", m_maxSubSteps); m_fixedTimeStep = pConfig.GetFloat("FixedTimeStep", m_fixedTimeStep); -- cgit v1.1 From 0f83f87233544972ad6799cb78e5f21845c53fbd Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Tue, 25 Oct 2011 22:39:08 +0100 Subject: Remove unused fields from CollisionEventUpdate --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 682eb80..9a6857b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -443,7 +443,7 @@ public class BSCharacter : PhysicsActor Dictionary contactPoints = new Dictionary(); contactPoints.Add(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - CollisionEventUpdate args = new CollisionEventUpdate(LocalID, (int)type, 1, contactPoints); + CollisionEventUpdate args = new CollisionEventUpdate(contactPoints); base.SendCollisionUpdate(args); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index bb8d601..8782e62 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1350,7 +1350,7 @@ public sealed class BSPrim : PhysicsActor // create the event for the collision Dictionary contactPoints = new Dictionary(); contactPoints.Add(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - CollisionEventUpdate args = new CollisionEventUpdate(LocalID, (int)type, 1, contactPoints); + CollisionEventUpdate args = new CollisionEventUpdate(contactPoints); base.SendCollisionUpdate(args); } } -- cgit v1.1 From 41b02a7208a8363f8edefb812e4f93238759d2bd Mon Sep 17 00:00:00 2001 From: Dan Lake Date: Tue, 20 Dec 2011 14:45:32 -0800 Subject: Remove unused SetAcceleration and add set on Acceleration parameter --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 3 ++- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 9a6857b..0cab5d1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -231,7 +231,8 @@ public class BSCharacter : PhysicsActor } } public override Vector3 Acceleration { - get { return _acceleration; } + get { return _acceleration; } + set { _acceleration = value; } } public override Quaternion Orientation { get { return _orientation; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 8782e62..898436b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -417,7 +417,8 @@ public sealed class BSPrim : PhysicsActor } } public override OMV.Vector3 Acceleration { - get { return _acceleration; } + get { return _acceleration; } + set { _acceleration = value; } } public override OMV.Quaternion Orientation { get { return _orientation; } -- cgit v1.1 From e9de7e7107f4a52a944a06e20db0f29d0d6d37d3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jan 2012 14:40:38 -0800 Subject: Update BulletSim.dll with some interface changes and tuning (see opensim-libs). Change BSScene to use new interface. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 33 ++++++++++++++++++---- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 4 +++ 2 files changed, 31 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7704002..e9a849c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -72,6 +72,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters private bool m_initialized = false; + private int m_detailedStatsStep = 0; + public IMesher mesher; private float m_meshLOD; public float MeshLOD @@ -192,6 +194,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_meshLOD = 8f; m_sculptLOD = 32f; + m_detailedStatsStep = 0; // disabled + m_maxSubSteps = 10; m_fixedTimeStep = 1f / 60f; m_maxCollisionsPerFrame = 2048; @@ -209,8 +213,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.deactivationTime = 0.2f; parms.linearSleepingThreshold = 0.8f; parms.angularSleepingThreshold = 1.0f; - parms.ccdMotionThreshold = 0.5f; // set to zero to disable - parms.ccdSweptSphereRadius = 0.2f; + parms.ccdMotionThreshold = 0.0f; // set to zero to disable + parms.ccdSweptSphereRadius = 0.0f; + parms.contactProcessingThreshold = 0.1f; parms.terrainFriction = 0.5f; parms.terrainHitFraction = 0.8f; @@ -231,6 +236,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim); _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing); + m_detailedStatsStep = pConfig.GetInt("DetailedStatsStep", m_detailedStatsStep); m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD); m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD); @@ -253,6 +259,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", parms.angularSleepingThreshold); parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold); parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius); + parms.contactProcessingThreshold = pConfig.GetFloat("ContactProcessingThreshold", parms.contactProcessingThreshold); parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction); parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction); @@ -398,6 +405,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } + if (m_detailedStatsStep > 0) + { + if ((m_simulationStep % m_detailedStatsStep) == 0) + { + BulletSimAPI.DumpBulletStatistics(); + } + } + // TODO: FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation. return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f; } @@ -671,6 +686,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters new PhysParameterEntry("MaxSubStep", "In simulation step, maximum number of substeps"), new PhysParameterEntry("FixedTimeStep", "In simulation step, seconds of one substep (1/60)"), new PhysParameterEntry("MaxObjectMass", "Maximum object mass (10000.01)"), + new PhysParameterEntry("DetailedStats", "Frames between outputting detailed phys stats. Zero is off"), new PhysParameterEntry("DefaultFriction", "Friction factor used on new objects"), new PhysParameterEntry("DefaultDensity", "Density for new objects" ), @@ -685,6 +701,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters new PhysParameterEntry("AngularSleepingThreshold", "Seconds to measure angular movement before considering static" ), // new PhysParameterEntry("CcdMotionThreshold", "" ), // new PhysParameterEntry("CcdSweptSphereRadius", "" ), + new PhysParameterEntry("ContactProcessingThreshold", "Distance between contacts before doing collision check" ), new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ), new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ), @@ -715,6 +732,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters string lparm = parm.ToLower(); switch (lparm) { + case "detailedstats": m_detailedStatsStep = (int)val; break; case "meshlod": m_meshLOD = (int)val; break; case "sculptlod": m_sculptLOD = (int)val; break; case "maxsubstep": m_maxSubSteps = (int)val; break; @@ -725,7 +743,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "defaultdensity": m_params[0].defaultDensity = val; break; case "defaultrestitution": m_params[0].defaultRestitution = val; break; case "collisionmargin": m_params[0].collisionMargin = val; break; - case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, PhysParameterEntry.APPLY_TO_NONE, val); break; + case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, PhysParameterEntry.APPLY_TO_NONE, val); break; case "lineardamping": UpdateParameterPrims(ref m_params[0].linearDamping, lparm, localID, val); break; case "angulardamping": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break; @@ -734,6 +752,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "angularsleepingthreshold": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break; case "ccdmotionthreshold": UpdateParameterPrims(ref m_params[0].ccdMotionThreshold, lparm, localID, val); break; case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break; + case "contactprocessingthreshold": UpdateParameterPrims(ref m_params[0].contactProcessingThreshold, lparm, localID, val); break; // set a terrain physical feature and cause terrain to be recalculated case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break; @@ -741,10 +760,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "terrainrestitution": m_params[0].terrainRestitution = val; TaintedUpdateParameter("terrain", 0, val); break; // set an avatar physical feature and cause avatar(s) to be recalculated case "avatarfriction": UpdateParameterAvatars(ref m_params[0].avatarFriction, "avatar", localID, val); break; - case "avatardensity": UpdateParameterAvatars(ref m_params[0].avatarDensity, "avatar", localID, val); break; + case "avatardensity": UpdateParameterAvatars(ref m_params[0].avatarDensity, "avatar", localID, val); break; case "avatarrestitution": UpdateParameterAvatars(ref m_params[0].avatarRestitution, "avatar", localID, val); break; - case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val); break; - case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break; + case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val); break; + case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break; default: ret = false; break; } @@ -816,6 +835,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters bool ret = true; switch (parm.ToLower()) { + case "detailedstats": val = (int)m_detailedStatsStep; break; case "meshlod": val = (float)m_meshLOD; break; case "sculptlod": val = (float)m_sculptLOD; break; case "maxsubstep": val = (float)m_maxSubSteps; break; @@ -835,6 +855,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "angularsleepingthreshold": val = m_params[0].angularDamping; break; case "ccdmotionthreshold": val = m_params[0].ccdMotionThreshold; break; case "ccdsweptsphereradius": val = m_params[0].ccdSweptSphereRadius; break; + case "contactprocessingthreshold": val = m_params[0].contactProcessingThreshold; break; case "terrainfriction": val = m_params[0].terrainFriction; break; case "terrainhitfraction": val = m_params[0].terrainHitFraction; break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index a610c8d..d12bd7d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -122,6 +122,7 @@ public struct ConfigurationParameters public float angularSleepingThreshold; public float ccdMotionThreshold; public float ccdSweptSphereRadius; + public float contactProcessingThreshold; public float terrainFriction; public float terrainHitFraction; @@ -248,6 +249,9 @@ public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vec [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 RecoverFromPenetration(uint worldID, uint id); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpBulletStatistics(); + // Log a debug message [UnmanagedFunctionPointer(CallingConvention.Cdecl)] public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); -- cgit v1.1 From daee2eda93c3135964784417f81c5cb4ce52871f Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Tue, 21 Feb 2012 04:10:39 +0000 Subject: Load 32-bit or 64-bit BulletSim Windows library automatically as appropriate. This uses the same approach as ODE. radams, if this doesn't work for you please feel free to revert. --- OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs | 3 +++ 1 file changed, 3 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs index 61be56d..0730824 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs @@ -51,6 +51,9 @@ public class BSPlugin : IPhysicsPlugin { if (_mScene == null) { + if (Util.IsWindows()) + Util.LoadArchSpecificWindowsDll("BulletSim.dll"); + _mScene = new BSScene(sceneIdentifier); } return (_mScene); -- cgit v1.1 From eafc3d6c47b736ca6e4d777c8bcaf059d116ed4c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 16 Mar 2012 08:59:41 -0700 Subject: BulletSim: Update list of TODO tasks --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 13 +++++++++++++ 1 file changed, 13 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e9a849c..b1e551c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -52,6 +52,19 @@ using OpenSim.Region.Framework; // Implement LockAngularMotion // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) // Does NeedsMeshing() really need to exclude all the different shapes? +// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet. +// Add PID movement operations +// Debug linkset +// Ccd threshold to defaults (0.0) +// Command line get and set is broken +// Check terrain size. 128 or 127? +// Test with multiple regions in one simulator +// Multiple contact points on collision? +// See code in ode::near... calls to collision_accounting_events() +// Use collision masks for collision with terrain and phantom objects +// Check out llVolumeDetect. Must do something for that. +// Physical phantom objects and related typing (collision options ) +// Raycast // namespace OpenSim.Region.Physics.BulletSPlugin { -- cgit v1.1 From 898a16802bceab9cc43ad15be6f4354335b471fb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 16 Mar 2012 16:37:21 -0700 Subject: BulletSim: add some new runtime setable parameters to match the dll. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 13 ++++++++++--- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 10 ++++++---- 2 files changed, 16 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index b1e551c..977dcbe 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -177,6 +177,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (m_log.IsDebugEnabled) { m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); + // the handle is saved to it doesn't get freed after this call m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); } @@ -185,7 +186,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters mesher = meshmerizer; // The bounding box for the simulated world - Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f); + Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f); // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), @@ -233,7 +234,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.terrainFriction = 0.5f; parms.terrainHitFraction = 0.8f; parms.terrainRestitution = 0f; - parms.avatarFriction = 0.0f; + parms.avatarFriction = 0.5f; parms.avatarDensity = 60f; parms.avatarCapsuleRadius = 0.37f; parms.avatarCapsuleHeight = 1.5f; // 2.140599f @@ -716,6 +717,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters // new PhysParameterEntry("CcdSweptSphereRadius", "" ), new PhysParameterEntry("ContactProcessingThreshold", "Distance between contacts before doing collision check" ), + new PhysParameterEntry("Friction", "Set friction parameter for a specific object" ), + new PhysParameterEntry("Restitution", "Set restitution parameter for a specific object" ), + new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ), new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ), new PhysParameterEntry("TerrainRestitution", "Bouncyness" ), @@ -756,7 +760,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "defaultdensity": m_params[0].defaultDensity = val; break; case "defaultrestitution": m_params[0].defaultRestitution = val; break; case "collisionmargin": m_params[0].collisionMargin = val; break; - case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, PhysParameterEntry.APPLY_TO_NONE, val); break; + case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, localID, val); break; case "lineardamping": UpdateParameterPrims(ref m_params[0].linearDamping, lparm, localID, val); break; case "angulardamping": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break; @@ -767,6 +771,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break; case "contactprocessingthreshold": UpdateParameterPrims(ref m_params[0].contactProcessingThreshold, lparm, localID, val); break; + case "friction": TaintedUpdateParameter(lparm, localID, val); break; + case "restitution": TaintedUpdateParameter(lparm, localID, val); break; + // set a terrain physical feature and cause terrain to be recalculated case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break; case "terrainhitfraction": m_params[0].terrainHitFraction = val; TaintedUpdateParameter("terrain", 0, val); break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index d12bd7d..aab0994 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -149,16 +149,16 @@ public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, int maxUpdates, IntPtr updateArray); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UpdateParameter(uint worldID, uint localID, - [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void Shutdown(uint worldID); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateParameter(uint worldID, uint localID, + [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value); +// =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, @@ -240,6 +240,7 @@ public static extern bool HasObject(uint worldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyObject(uint worldID, uint id); +// =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin); @@ -249,6 +250,7 @@ public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vec [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 RecoverFromPenetration(uint worldID, uint id); +// =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpBulletStatistics(); -- cgit v1.1 From 6c55fd93a300cd077bd04c1b8c3bedc7a03074e7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 16 Mar 2012 17:13:06 -0700 Subject: BulletSim: set buoyancy in only one place --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 0cab5d1..e816b61 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -260,11 +260,8 @@ public class BSCharacter : PhysicsActor get { return _flying; } set { _flying = value; - _scene.TaintedObject(delegate() - { - // simulate flying by changing the effect of gravity - BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _flying ? 1f : 0f); - }); + // simulate flying by changing the effect of gravity + this.Buoyancy(_flying ? 1f : 0f); } } public override bool @@ -299,6 +296,7 @@ public class BSCharacter : PhysicsActor get { return _kinematic; } set { _kinematic = value; } } + // neg=fall quickly, 0=1g, 1=0g, pos=float up public override float Buoyancy { get { return _buoyancy; } set { _buoyancy = value; -- cgit v1.1 From cb2727cf6e7b40473d10cfbea61155f5bcf6646f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 18 Mar 2012 11:53:53 -0700 Subject: BulletSim: Add AvatarRestitution parameter. Centralize computation of buoyancy for flying. Tweek avatar default friction and resititution --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 9 ++++++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 3 +++ 2 files changed, 9 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e816b61..1a61431 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -94,7 +94,7 @@ public class BSCharacter : PhysicsActor _flying = isFlying; _orientation = Quaternion.Identity; _velocity = Vector3.Zero; - _buoyancy = isFlying ? 1f : 0f; + _buoyancy = ComputeBuoyancyFromFlying(isFlying); _scale = new Vector3(1f, 1f, 1f); _density = _scene.Params.avatarDensity; ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale @@ -110,7 +110,7 @@ public class BSCharacter : PhysicsActor shapeData.Buoyancy = _buoyancy; shapeData.Static = ShapeData.numericFalse; shapeData.Friction = _scene.Params.avatarFriction; - shapeData.Restitution = _scene.Params.defaultRestitution; + shapeData.Restitution = _scene.Params.avatarRestitution; // do actual create at taint time _scene.TaintedObject(delegate() @@ -261,9 +261,12 @@ public class BSCharacter : PhysicsActor set { _flying = value; // simulate flying by changing the effect of gravity - this.Buoyancy(_flying ? 1f : 0f); + this.Buoyancy(ComputeBuoyancyFromFlying(_flying)); } } + private float ComputeBuoyancyFromFlying(bool ifFlying) { + return ifFlying ? 1f : 0f; + } public override bool SetAlwaysRun { get { return _setAlwaysRun; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 977dcbe..9b12b4f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -235,6 +235,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.terrainHitFraction = 0.8f; parms.terrainRestitution = 0f; parms.avatarFriction = 0.5f; + parms.avatarRestitution = 0.0f; parms.avatarDensity = 60f; parms.avatarCapsuleRadius = 0.37f; parms.avatarCapsuleHeight = 1.5f; // 2.140599f @@ -279,7 +280,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction); parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution); parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction); + parms.avatarRestitution = pConfig.GetFloat("AvatarRestitution", parms.avatarRestitution); parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity); + parms.avatarRestitution = pConfig.GetFloat("AvatarRestitution", parms.avatarRestitution); parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius); parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight); } -- cgit v1.1 From 7783c93802f61d4ed9994c3f9e924066be0469be Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 21 Mar 2012 07:07:44 -0700 Subject: BulletSim: update TODO list. Rearrange code for readability. Add per object friction and restitution runtime settable parameters. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 4 +-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 30 +++++++++++----------- 2 files changed, 17 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 1a61431..20708d9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -261,7 +261,7 @@ public class BSCharacter : PhysicsActor set { _flying = value; // simulate flying by changing the effect of gravity - this.Buoyancy(ComputeBuoyancyFromFlying(_flying)); + this.Buoyancy = ComputeBuoyancyFromFlying(_flying); } } private float ComputeBuoyancyFromFlying(bool ifFlying) { @@ -356,7 +356,7 @@ public class BSCharacter : PhysicsActor } else { - m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); + m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader); } //m_lastUpdateSent = false; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 9b12b4f..142103b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -37,14 +37,18 @@ using OpenMetaverse; using OpenSim.Region.Framework; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) +// Debug linkset +// Test with multiple regions in one simulator // Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) // Test sculpties // Compute physics FPS reasonably // Based on material, set density and friction -// More efficient memory usage in passing hull information from BSPrim to BulletSim +// More efficient memory usage when passing hull information from BSPrim to BulletSim // Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? // In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) // At the moment, physical and phantom causes object to drop through the terrain +// Physical phantom objects and related typing (collision options ) +// Check out llVolumeDetect. Must do something for that. // Should prim.link() and prim.delink() membership checking happen at taint time? // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect @@ -53,17 +57,14 @@ using OpenSim.Region.Framework; // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) // Does NeedsMeshing() really need to exclude all the different shapes? // Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet. -// Add PID movement operations -// Debug linkset -// Ccd threshold to defaults (0.0) -// Command line get and set is broken +// Add PID movement operations. What does ScenePresence.MoveToTarget do? // Check terrain size. 128 or 127? -// Test with multiple regions in one simulator // Multiple contact points on collision? // See code in ode::near... calls to collision_accounting_events() +// (This might not be a problem. ODE collects all the collisions with one object in one tick.) // Use collision masks for collision with terrain and phantom objects -// Check out llVolumeDetect. Must do something for that. -// Physical phantom objects and related typing (collision options ) +// Figure out how to not allocate a new Dictionary and List for every collision +// in BSPrim.Collide() and BSCharacter.Collide(). Can the same ones be reused? // Raycast // namespace OpenSim.Region.Physics.BulletSPlugin @@ -282,7 +283,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction); parms.avatarRestitution = pConfig.GetFloat("AvatarRestitution", parms.avatarRestitution); parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity); - parms.avatarRestitution = pConfig.GetFloat("AvatarRestitution", parms.avatarRestitution); parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius); parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight); } @@ -408,16 +408,16 @@ public class BSScene : PhysicsScene, IPhysicsParameters { EntityProperties entprop = m_updateArray[ii]; // m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position); - BSCharacter actor; - if (m_avatars.TryGetValue(entprop.ID, out actor)) - { - actor.UpdateProperties(entprop); - continue; - } BSPrim prim; if (m_prims.TryGetValue(entprop.ID, out prim)) { prim.UpdateProperties(entprop); + continue; + } + BSCharacter actor; + if (m_avatars.TryGetValue(entprop.ID, out actor)) + { + actor.UpdateProperties(entprop); } } } -- cgit v1.1 From efe61b2481ce10f16b156542c122971d35c227e1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 22 Mar 2012 17:04:06 -0700 Subject: BulletSim: remove confusion between angularVelocity and rotationalVelocity (there is still confusion in the rest of OpenSim). Enhance some debug statements to include the object ID. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 17 ++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 5 +++-- 3 files changed, 11 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 046726d..eb20eb3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -821,7 +821,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin */ // Get what the body is doing, this includes 'external' influences - Vector3 angularVelocity = m_prim.AngularVelocity; + Vector3 angularVelocity = m_prim.RotationalVelocity; // Vector3 angularVelocity = Vector3.Zero; if (m_angularMotorApply > 0) @@ -910,7 +910,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; // Apply to the body - m_prim.AngularVelocity = m_lastAngularVelocity; + m_prim.RotationalVelocity = m_lastAngularVelocity; } //end MoveAngular internal void LimitRotation(float timestep) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 898436b..f122df9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -85,7 +85,6 @@ public sealed class BSPrim : PhysicsActor private OMV.Vector3 _rotationalVelocity; private bool _kinematic; private float _buoyancy; - private OMV.Vector3 _angularVelocity; private List _childrenPrims; private BSPrim _parentPrim; @@ -119,7 +118,6 @@ public sealed class BSPrim : PhysicsActor _buoyancy = 1f; _velocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; - _angularVelocity = OMV.Vector3.Zero; _hullKey = 0; _meshKey = 0; _pbs = pbs; @@ -146,7 +144,7 @@ public sealed class BSPrim : PhysicsActor // called when this prim is being destroyed and we should free all the resources public void Destroy() { - // m_log.DebugFormat("{0}: Destroy", LogHeader); + // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // Undo any vehicle properties _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _scene.RemoveVehiclePrim(this); // just to make sure @@ -203,7 +201,7 @@ public sealed class BSPrim : PhysicsActor // link me to the specified parent public override void link(PhysicsActor obj) { - BSPrim parent = (BSPrim)obj; + BSPrim parent = obj as BSPrim; // m_log.DebugFormat("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); // TODO: decide if this parent checking needs to happen at taint time if (_parentPrim == null) @@ -527,10 +525,6 @@ public sealed class BSPrim : PhysicsActor }); } } - public OMV.Vector3 AngularVelocity { - get { return _angularVelocity; } - set { _angularVelocity = value; } - } public override bool Kinematic { get { return _kinematic; } set { _kinematic = value; @@ -993,7 +987,7 @@ public sealed class BSPrim : PhysicsActor } // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", - // LogHeader, _localID, _meshKey, indices.Length, vertices.Count); + // LogHeader, _localID, _meshKey, indices.Length, vertices.Count); BulletSimAPI.CreateMesh(_scene.WorldID, _meshKey, indices.GetLength(0), indices, vertices.Count, verticesAsFloats); @@ -1127,7 +1121,7 @@ public sealed class BSPrim : PhysicsActor return; } - // Create an object in Bullet + // 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 private void CreateObject() { @@ -1324,7 +1318,8 @@ public sealed class BSPrim : PhysicsActor _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; - // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); + // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", + // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); base.RequestPhysicsterseUpdate(); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 142103b..13d5e03 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -487,12 +487,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void DeleteTerrain() { - m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); + // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); } public override void Dispose() { - m_log.DebugFormat("{0}: Dispose()", LogHeader); + // m_log.DebugFormat("{0}: Dispose()", LogHeader); } public override Dictionary GetTopColliders() @@ -753,6 +753,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters switch (lparm) { case "detailedstats": m_detailedStatsStep = (int)val; break; + case "meshlod": m_meshLOD = (int)val; break; case "sculptlod": m_sculptLOD = (int)val; break; case "maxsubstep": m_maxSubSteps = (int)val; break; -- cgit v1.1 From 975184b3f94e169a720ee1dd9044f09a7dbb77cd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 16 Mar 2012 08:59:41 -0700 Subject: BulletSim: Update list of TODO tasks --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 13 +++++++++++++ 1 file changed, 13 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e9a849c..b1e551c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -52,6 +52,19 @@ using OpenSim.Region.Framework; // Implement LockAngularMotion // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) // Does NeedsMeshing() really need to exclude all the different shapes? +// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet. +// Add PID movement operations +// Debug linkset +// Ccd threshold to defaults (0.0) +// Command line get and set is broken +// Check terrain size. 128 or 127? +// Test with multiple regions in one simulator +// Multiple contact points on collision? +// See code in ode::near... calls to collision_accounting_events() +// Use collision masks for collision with terrain and phantom objects +// Check out llVolumeDetect. Must do something for that. +// Physical phantom objects and related typing (collision options ) +// Raycast // namespace OpenSim.Region.Physics.BulletSPlugin { -- cgit v1.1 From b22d0401693dad44790d4cbf58d85c0fe3870460 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 16 Mar 2012 16:37:21 -0700 Subject: BulletSim: add some new runtime setable parameters to match the dll. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 13 ++++++++++--- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 10 ++++++---- 2 files changed, 16 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index b1e551c..977dcbe 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -177,6 +177,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (m_log.IsDebugEnabled) { m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); + // the handle is saved to it doesn't get freed after this call m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); } @@ -185,7 +186,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters mesher = meshmerizer; // The bounding box for the simulated world - Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f); + Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f); // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), @@ -233,7 +234,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.terrainFriction = 0.5f; parms.terrainHitFraction = 0.8f; parms.terrainRestitution = 0f; - parms.avatarFriction = 0.0f; + parms.avatarFriction = 0.5f; parms.avatarDensity = 60f; parms.avatarCapsuleRadius = 0.37f; parms.avatarCapsuleHeight = 1.5f; // 2.140599f @@ -716,6 +717,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters // new PhysParameterEntry("CcdSweptSphereRadius", "" ), new PhysParameterEntry("ContactProcessingThreshold", "Distance between contacts before doing collision check" ), + new PhysParameterEntry("Friction", "Set friction parameter for a specific object" ), + new PhysParameterEntry("Restitution", "Set restitution parameter for a specific object" ), + new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ), new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ), new PhysParameterEntry("TerrainRestitution", "Bouncyness" ), @@ -756,7 +760,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "defaultdensity": m_params[0].defaultDensity = val; break; case "defaultrestitution": m_params[0].defaultRestitution = val; break; case "collisionmargin": m_params[0].collisionMargin = val; break; - case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, PhysParameterEntry.APPLY_TO_NONE, val); break; + case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, localID, val); break; case "lineardamping": UpdateParameterPrims(ref m_params[0].linearDamping, lparm, localID, val); break; case "angulardamping": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break; @@ -767,6 +771,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break; case "contactprocessingthreshold": UpdateParameterPrims(ref m_params[0].contactProcessingThreshold, lparm, localID, val); break; + case "friction": TaintedUpdateParameter(lparm, localID, val); break; + case "restitution": TaintedUpdateParameter(lparm, localID, val); break; + // set a terrain physical feature and cause terrain to be recalculated case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break; case "terrainhitfraction": m_params[0].terrainHitFraction = val; TaintedUpdateParameter("terrain", 0, val); break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index d12bd7d..aab0994 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -149,16 +149,16 @@ public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, int maxUpdates, IntPtr updateArray); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UpdateParameter(uint worldID, uint localID, - [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void Shutdown(uint worldID); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateParameter(uint worldID, uint localID, + [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value); +// =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, @@ -240,6 +240,7 @@ public static extern bool HasObject(uint worldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyObject(uint worldID, uint id); +// =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin); @@ -249,6 +250,7 @@ public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vec [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 RecoverFromPenetration(uint worldID, uint id); +// =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpBulletStatistics(); -- cgit v1.1 From 6ecdadb32999aed776df29e53541326958daf836 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 16 Mar 2012 17:13:06 -0700 Subject: BulletSim: set buoyancy in only one place --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 0cab5d1..e816b61 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -260,11 +260,8 @@ public class BSCharacter : PhysicsActor get { return _flying; } set { _flying = value; - _scene.TaintedObject(delegate() - { - // simulate flying by changing the effect of gravity - BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _flying ? 1f : 0f); - }); + // simulate flying by changing the effect of gravity + this.Buoyancy(_flying ? 1f : 0f); } } public override bool @@ -299,6 +296,7 @@ public class BSCharacter : PhysicsActor get { return _kinematic; } set { _kinematic = value; } } + // neg=fall quickly, 0=1g, 1=0g, pos=float up public override float Buoyancy { get { return _buoyancy; } set { _buoyancy = value; -- cgit v1.1 From de24feb275ddd1c7e7c0b04900718a9000b8d49b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 18 Mar 2012 11:53:53 -0700 Subject: BulletSim: Add AvatarRestitution parameter. Centralize computation of buoyancy for flying. Tweek avatar default friction and resititution --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 9 ++++++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 3 +++ 2 files changed, 9 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e816b61..1a61431 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -94,7 +94,7 @@ public class BSCharacter : PhysicsActor _flying = isFlying; _orientation = Quaternion.Identity; _velocity = Vector3.Zero; - _buoyancy = isFlying ? 1f : 0f; + _buoyancy = ComputeBuoyancyFromFlying(isFlying); _scale = new Vector3(1f, 1f, 1f); _density = _scene.Params.avatarDensity; ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale @@ -110,7 +110,7 @@ public class BSCharacter : PhysicsActor shapeData.Buoyancy = _buoyancy; shapeData.Static = ShapeData.numericFalse; shapeData.Friction = _scene.Params.avatarFriction; - shapeData.Restitution = _scene.Params.defaultRestitution; + shapeData.Restitution = _scene.Params.avatarRestitution; // do actual create at taint time _scene.TaintedObject(delegate() @@ -261,9 +261,12 @@ public class BSCharacter : PhysicsActor set { _flying = value; // simulate flying by changing the effect of gravity - this.Buoyancy(_flying ? 1f : 0f); + this.Buoyancy(ComputeBuoyancyFromFlying(_flying)); } } + private float ComputeBuoyancyFromFlying(bool ifFlying) { + return ifFlying ? 1f : 0f; + } public override bool SetAlwaysRun { get { return _setAlwaysRun; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 977dcbe..9b12b4f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -235,6 +235,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.terrainHitFraction = 0.8f; parms.terrainRestitution = 0f; parms.avatarFriction = 0.5f; + parms.avatarRestitution = 0.0f; parms.avatarDensity = 60f; parms.avatarCapsuleRadius = 0.37f; parms.avatarCapsuleHeight = 1.5f; // 2.140599f @@ -279,7 +280,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction); parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution); parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction); + parms.avatarRestitution = pConfig.GetFloat("AvatarRestitution", parms.avatarRestitution); parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity); + parms.avatarRestitution = pConfig.GetFloat("AvatarRestitution", parms.avatarRestitution); parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius); parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight); } -- cgit v1.1 From 1a738caecab74c5b9f6b6bac69a3ea9ccdc80b24 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 21 Mar 2012 07:07:44 -0700 Subject: BulletSim: update TODO list. Rearrange code for readability. Add per object friction and restitution runtime settable parameters. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 4 +-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 30 +++++++++++----------- 2 files changed, 17 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 1a61431..20708d9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -261,7 +261,7 @@ public class BSCharacter : PhysicsActor set { _flying = value; // simulate flying by changing the effect of gravity - this.Buoyancy(ComputeBuoyancyFromFlying(_flying)); + this.Buoyancy = ComputeBuoyancyFromFlying(_flying); } } private float ComputeBuoyancyFromFlying(bool ifFlying) { @@ -356,7 +356,7 @@ public class BSCharacter : PhysicsActor } else { - m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); + m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader); } //m_lastUpdateSent = false; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 9b12b4f..142103b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -37,14 +37,18 @@ using OpenMetaverse; using OpenSim.Region.Framework; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) +// Debug linkset +// Test with multiple regions in one simulator // Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) // Test sculpties // Compute physics FPS reasonably // Based on material, set density and friction -// More efficient memory usage in passing hull information from BSPrim to BulletSim +// More efficient memory usage when passing hull information from BSPrim to BulletSim // Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? // In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) // At the moment, physical and phantom causes object to drop through the terrain +// Physical phantom objects and related typing (collision options ) +// Check out llVolumeDetect. Must do something for that. // Should prim.link() and prim.delink() membership checking happen at taint time? // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect @@ -53,17 +57,14 @@ using OpenSim.Region.Framework; // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) // Does NeedsMeshing() really need to exclude all the different shapes? // Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet. -// Add PID movement operations -// Debug linkset -// Ccd threshold to defaults (0.0) -// Command line get and set is broken +// Add PID movement operations. What does ScenePresence.MoveToTarget do? // Check terrain size. 128 or 127? -// Test with multiple regions in one simulator // Multiple contact points on collision? // See code in ode::near... calls to collision_accounting_events() +// (This might not be a problem. ODE collects all the collisions with one object in one tick.) // Use collision masks for collision with terrain and phantom objects -// Check out llVolumeDetect. Must do something for that. -// Physical phantom objects and related typing (collision options ) +// Figure out how to not allocate a new Dictionary and List for every collision +// in BSPrim.Collide() and BSCharacter.Collide(). Can the same ones be reused? // Raycast // namespace OpenSim.Region.Physics.BulletSPlugin @@ -282,7 +283,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction); parms.avatarRestitution = pConfig.GetFloat("AvatarRestitution", parms.avatarRestitution); parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity); - parms.avatarRestitution = pConfig.GetFloat("AvatarRestitution", parms.avatarRestitution); parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius); parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight); } @@ -408,16 +408,16 @@ public class BSScene : PhysicsScene, IPhysicsParameters { EntityProperties entprop = m_updateArray[ii]; // m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position); - BSCharacter actor; - if (m_avatars.TryGetValue(entprop.ID, out actor)) - { - actor.UpdateProperties(entprop); - continue; - } BSPrim prim; if (m_prims.TryGetValue(entprop.ID, out prim)) { prim.UpdateProperties(entprop); + continue; + } + BSCharacter actor; + if (m_avatars.TryGetValue(entprop.ID, out actor)) + { + actor.UpdateProperties(entprop); } } } -- cgit v1.1 From 1273f259e46154f861104610e8f6029b3c19623d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 22 Mar 2012 17:04:06 -0700 Subject: BulletSim: remove confusion between angularVelocity and rotationalVelocity (there is still confusion in the rest of OpenSim). Enhance some debug statements to include the object ID. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 17 ++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 5 +++-- 3 files changed, 11 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 046726d..eb20eb3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -821,7 +821,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin */ // Get what the body is doing, this includes 'external' influences - Vector3 angularVelocity = m_prim.AngularVelocity; + Vector3 angularVelocity = m_prim.RotationalVelocity; // Vector3 angularVelocity = Vector3.Zero; if (m_angularMotorApply > 0) @@ -910,7 +910,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; // Apply to the body - m_prim.AngularVelocity = m_lastAngularVelocity; + m_prim.RotationalVelocity = m_lastAngularVelocity; } //end MoveAngular internal void LimitRotation(float timestep) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 898436b..f122df9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -85,7 +85,6 @@ public sealed class BSPrim : PhysicsActor private OMV.Vector3 _rotationalVelocity; private bool _kinematic; private float _buoyancy; - private OMV.Vector3 _angularVelocity; private List _childrenPrims; private BSPrim _parentPrim; @@ -119,7 +118,6 @@ public sealed class BSPrim : PhysicsActor _buoyancy = 1f; _velocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; - _angularVelocity = OMV.Vector3.Zero; _hullKey = 0; _meshKey = 0; _pbs = pbs; @@ -146,7 +144,7 @@ public sealed class BSPrim : PhysicsActor // called when this prim is being destroyed and we should free all the resources public void Destroy() { - // m_log.DebugFormat("{0}: Destroy", LogHeader); + // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // Undo any vehicle properties _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _scene.RemoveVehiclePrim(this); // just to make sure @@ -203,7 +201,7 @@ public sealed class BSPrim : PhysicsActor // link me to the specified parent public override void link(PhysicsActor obj) { - BSPrim parent = (BSPrim)obj; + BSPrim parent = obj as BSPrim; // m_log.DebugFormat("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); // TODO: decide if this parent checking needs to happen at taint time if (_parentPrim == null) @@ -527,10 +525,6 @@ public sealed class BSPrim : PhysicsActor }); } } - public OMV.Vector3 AngularVelocity { - get { return _angularVelocity; } - set { _angularVelocity = value; } - } public override bool Kinematic { get { return _kinematic; } set { _kinematic = value; @@ -993,7 +987,7 @@ public sealed class BSPrim : PhysicsActor } // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", - // LogHeader, _localID, _meshKey, indices.Length, vertices.Count); + // LogHeader, _localID, _meshKey, indices.Length, vertices.Count); BulletSimAPI.CreateMesh(_scene.WorldID, _meshKey, indices.GetLength(0), indices, vertices.Count, verticesAsFloats); @@ -1127,7 +1121,7 @@ public sealed class BSPrim : PhysicsActor return; } - // Create an object in Bullet + // 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 private void CreateObject() { @@ -1324,7 +1318,8 @@ public sealed class BSPrim : PhysicsActor _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; - // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); + // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", + // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); base.RequestPhysicsterseUpdate(); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 142103b..13d5e03 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -487,12 +487,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void DeleteTerrain() { - m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); + // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); } public override void Dispose() { - m_log.DebugFormat("{0}: Dispose()", LogHeader); + // m_log.DebugFormat("{0}: Dispose()", LogHeader); } public override Dictionary GetTopColliders() @@ -753,6 +753,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters switch (lparm) { case "detailedstats": m_detailedStatsStep = (int)val; break; + case "meshlod": m_meshLOD = (int)val; break; case "sculptlod": m_sculptLOD = (int)val; break; case "maxsubstep": m_maxSubSteps = (int)val; break; -- cgit v1.1 From 142de1d02f086c80888eb216cfd31b84ec27a79b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 23 Mar 2012 10:59:40 -0700 Subject: BulletSim: add a bunch of internal Bullet configuration parameters to OpenSimDefaults.ini and the code. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 34 ++++++++++++++++++++++ .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 9 ++++++ 2 files changed, 43 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 13d5e03..8d0f9a6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -240,6 +240,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.avatarDensity = 60f; parms.avatarCapsuleRadius = 0.37f; parms.avatarCapsuleHeight = 1.5f; // 2.140599f + parms.avatarContactProcessingThreshold = 0.1f; + + parms.maxPersistantManifoldPoolSize = 0f; + parms.shouldDisableContactPoolDynamicAllocation = ConfigurationParameters.numericFalse; + parms.shouldForceUpdateAllAabbs = ConfigurationParameters.numericFalse; + parms.shouldRandomizeSolverOrder = ConfigurationParameters.numericFalse; + parms.shouldSplitSimulationIslands = ConfigurationParameters.numericFalse; + parms.shouldEnableFrictionCaching = ConfigurationParameters.numericFalse; + parms.numberOfSolverIterations = 0f; // means use default if (config != null) { @@ -285,11 +294,36 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity); parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius); parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight); + parms.avatarContactProcessingThreshold = pConfig.GetFloat("AvatarContactProcessingThreshold", parms.avatarContactProcessingThreshold); + + parms.maxPersistantManifoldPoolSize = pConfig.GetFloat("MaxPersistantManifoldPoolSize", parms.maxPersistantManifoldPoolSize); + parms.shouldDisableContactPoolDynamicAllocation = ParamBoolean(pConfig, "ShouldDisableContactPoolDynamicAllocation", parms.shouldDisableContactPoolDynamicAllocation); + parms.shouldForceUpdateAllAabbs = ParamBoolean(pConfig, "ShouldForceUpdateAllAabbs", parms.shouldForceUpdateAllAabbs); + parms.shouldRandomizeSolverOrder = ParamBoolean(pConfig, "ShouldRandomizeSolverOrder", parms.shouldRandomizeSolverOrder); + parms.shouldSplitSimulationIslands = ParamBoolean(pConfig, "ShouldSplitSimulationIslands", parms.shouldSplitSimulationIslands); + parms.shouldEnableFrictionCaching = ParamBoolean(pConfig, "ShouldEnableFrictionCaching", parms.shouldEnableFrictionCaching); + parms.numberOfSolverIterations = pConfig.GetFloat("NumberOfSolverIterations", parms.numberOfSolverIterations); } } m_params[0] = parms; } + // A helper function that handles a true/false parameter and returns the proper float number encoding + float ParamBoolean(IConfig config, string parmName, float deflt) + { + float ret = deflt; + if (config.Contains(parmName)) + { + ret = ConfigurationParameters.numericFalse; + if (config.GetBoolean(parmName, false)) + { + ret = ConfigurationParameters.numericTrue; + } + } + return ret; + } + + // Called directly from unmanaged code so don't do much private void BulletLogger(string msg) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index aab0994..086f0dc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -132,6 +132,15 @@ public struct ConfigurationParameters public float avatarRestitution; public float avatarCapsuleRadius; public float avatarCapsuleHeight; + public float avatarContactProcessingThreshold; + + public float maxPersistantManifoldPoolSize; + public float shouldDisableContactPoolDynamicAllocation; + public float shouldForceUpdateAllAabbs; + public float shouldRandomizeSolverOrder; + public float shouldSplitSimulationIslands; + public float shouldEnableFrictionCaching; + public float numberOfSolverIterations; public const float numericTrue = 1f; public const float numericFalse = 0f; -- cgit v1.1 From 3f53b7bc919b8270327911c3bc8ea71640c68c81 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 23 Mar 2012 12:12:06 -0700 Subject: BulletSim: Add new configuration parameters to get and set console commands --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 36 ++++++++++++++++++++++--- 1 file changed, 32 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 8d0f9a6..8d2e25f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -750,9 +750,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters new PhysParameterEntry("DeactivationTime", "Seconds before considering an object potentially static" ), new PhysParameterEntry("LinearSleepingThreshold", "Seconds to measure linear movement before considering static" ), new PhysParameterEntry("AngularSleepingThreshold", "Seconds to measure angular movement before considering static" ), - // new PhysParameterEntry("CcdMotionThreshold", "" ), - // new PhysParameterEntry("CcdSweptSphereRadius", "" ), + new PhysParameterEntry("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ), + new PhysParameterEntry("CcdSweptSphereRadius", "Continuious collision detection test radius" ), new PhysParameterEntry("ContactProcessingThreshold", "Distance between contacts before doing collision check" ), + // Can only change the following at initialization time. Change the INI file and reboot. + new PhysParameterEntry("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default)"), + new PhysParameterEntry("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count"), + new PhysParameterEntry("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step"), + new PhysParameterEntry("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction"), + new PhysParameterEntry("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands"), + new PhysParameterEntry("ShouldEnableFrictionCaching", "Enable friction computation caching"), + new PhysParameterEntry("NumberOfSolverIterations", "Number of internal iterations (0 means default)"), new PhysParameterEntry("Friction", "Set friction parameter for a specific object" ), new PhysParameterEntry("Restitution", "Set restitution parameter for a specific object" ), @@ -764,7 +772,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters new PhysParameterEntry("AvatarDensity", "Density of an avatar. Changed on avatar recreation." ), new PhysParameterEntry("AvatarRestitution", "Bouncyness. Changed on avatar recreation." ), new PhysParameterEntry("AvatarCapsuleRadius", "Radius of space around an avatar" ), - new PhysParameterEntry("AvatarCapsuleHeight", "Default height of space around avatar" ) + new PhysParameterEntry("AvatarCapsuleHeight", "Default height of space around avatar" ), + new PhysParameterEntry("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions") + }; #region IPhysicsParameters @@ -798,6 +808,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "defaultdensity": m_params[0].defaultDensity = val; break; case "defaultrestitution": m_params[0].defaultRestitution = val; break; case "collisionmargin": m_params[0].collisionMargin = val; break; + case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, localID, val); break; case "lineardamping": UpdateParameterPrims(ref m_params[0].linearDamping, lparm, localID, val); break; @@ -808,6 +819,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "ccdmotionthreshold": UpdateParameterPrims(ref m_params[0].ccdMotionThreshold, lparm, localID, val); break; case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break; case "contactprocessingthreshold": UpdateParameterPrims(ref m_params[0].contactProcessingThreshold, lparm, localID, val); break; + // the following are used only at initialization time so setting them makes no sense + // case "maxPersistantmanifoldpoolSize": m_params[0].maxPersistantManifoldPoolSize = val; break; + // case "shoulddisablecontactpooldynamicallocation": m_params[0].shouldDisableContactPoolDynamicAllocation = val; break; + // case "shouldforceupdateallaabbs": m_params[0].shouldForceUpdateAllAabbs = val; break; + // case "shouldrandomizesolverorder": m_params[0].shouldRandomizeSolverOrder = val; break; + // case "shouldsplitsimulationislands": m_params[0].shouldSplitSimulationIslands = val; break; + // case "shouldenablefrictioncaching": m_params[0].shouldEnableFrictionCaching = val; break; + // case "numberofsolveriterations": m_params[0].numberOfSolverIterations = val; break; case "friction": TaintedUpdateParameter(lparm, localID, val); break; case "restitution": TaintedUpdateParameter(lparm, localID, val); break; @@ -821,7 +840,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "avatardensity": UpdateParameterAvatars(ref m_params[0].avatarDensity, "avatar", localID, val); break; case "avatarrestitution": UpdateParameterAvatars(ref m_params[0].avatarRestitution, "avatar", localID, val); break; case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val); break; - case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break; + case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break; + case "avatarcontactprocessingthreshold": UpdateParameterAvatars(ref m_params[0].avatarContactProcessingThreshold, "avatar", localID, val); break; default: ret = false; break; } @@ -914,6 +934,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "ccdmotionthreshold": val = m_params[0].ccdMotionThreshold; break; case "ccdsweptsphereradius": val = m_params[0].ccdSweptSphereRadius; break; case "contactprocessingthreshold": val = m_params[0].contactProcessingThreshold; break; + case "maxPersistantmanifoldpoolSize": val = m_params[0].maxPersistantManifoldPoolSize; break; + case "shoulddisablecontactpooldynamicallocation": val = m_params[0].shouldDisableContactPoolDynamicAllocation; break; + case "shouldforceupdateallaabbs": val = m_params[0].shouldForceUpdateAllAabbs; break; + case "shouldrandomizesolverorder": val = m_params[0].shouldRandomizeSolverOrder; break; + case "shouldsplitsimulationislands": val = m_params[0].shouldSplitSimulationIslands; break; + case "shouldenablefrictioncaching": val = m_params[0].shouldEnableFrictionCaching; break; + case "numberofsolveriterations": val = m_params[0].numberOfSolverIterations; break; case "terrainfriction": val = m_params[0].terrainFriction; break; case "terrainhitfraction": val = m_params[0].terrainHitFraction; break; @@ -924,6 +951,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "avatarrestitution": val = m_params[0].avatarRestitution; break; case "avatarcapsuleradius": val = m_params[0].avatarCapsuleRadius; break; case "avatarcapsuleheight": val = m_params[0].avatarCapsuleHeight; break; + case "avatarcontactprocessingthreshold": val = m_params[0].avatarContactProcessingThreshold; break; default: ret = false; break; } -- cgit v1.1 From ff54b3c3661a6bf9d5f0d9a24f8aeed5b42ce0ce Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 23 Mar 2012 15:50:32 -0700 Subject: BulletSim: change default of shouldDisableContactPoolDynamicAllocation from False to True. It seems that collisions don't happen well when it is False (things fall through terrain). --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 8d2e25f..36dead0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -243,7 +243,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.avatarContactProcessingThreshold = 0.1f; parms.maxPersistantManifoldPoolSize = 0f; - parms.shouldDisableContactPoolDynamicAllocation = ConfigurationParameters.numericFalse; + parms.shouldDisableContactPoolDynamicAllocation = ConfigurationParameters.numericTrue; parms.shouldForceUpdateAllAabbs = ConfigurationParameters.numericFalse; parms.shouldRandomizeSolverOrder = ConfigurationParameters.numericFalse; parms.shouldSplitSimulationIslands = ConfigurationParameters.numericFalse; @@ -840,7 +840,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "avatardensity": UpdateParameterAvatars(ref m_params[0].avatarDensity, "avatar", localID, val); break; case "avatarrestitution": UpdateParameterAvatars(ref m_params[0].avatarRestitution, "avatar", localID, val); break; case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val); break; - case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break; + case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break; case "avatarcontactprocessingthreshold": UpdateParameterAvatars(ref m_params[0].avatarContactProcessingThreshold, "avatar", localID, val); break; default: ret = false; break; -- cgit v1.1 From 2fcdecf0900a5b458227ede4b34faec427f3cf28 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 26 Mar 2012 08:57:40 -0700 Subject: BulletSim: fix typo introducted by previous checkins (git merge sometimes makes mistakes) --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 3 --- 1 file changed, 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 6963af5..581d540 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -833,9 +833,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters case "friction": TaintedUpdateParameter(lparm, localID, val); break; case "restitution": TaintedUpdateParameter(lparm, localID, val); break; - case "friction": TaintedUpdateParameter(lparm, localID, val); break; - case "restitution": TaintedUpdateParameter(lparm, localID, val); break; - // set a terrain physical feature and cause terrain to be recalculated case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break; case "terrainhitfraction": m_params[0].terrainHitFraction = val; TaintedUpdateParameter("terrain", 0, val); break; -- cgit v1.1 From 872d513daaa68b94b78f71bd2a2d9a0f117ff727 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 26 Mar 2012 17:36:33 -0700 Subject: BulletSim: make avatar animations update properly. It seems that ODE calls the avatar collision handling routine even if there are no collisions. This causes the animation to be updated. So, for instance, going from HOVER to FLY is caused by the physics engine calling the collision routine each frame with 0 collisions. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 24 ++++++++++++++++++---- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 18 +++++++++++----- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 15 ++++++++++++++ 3 files changed, 48 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 20708d9..b08d5db 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -426,6 +426,8 @@ public class BSCharacter : PhysicsActor } } + // Called by the scene when a collision with this object is reported + CollisionEventUpdate collisionCollection = null; public void Collide(uint collidingWith, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) { // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); @@ -443,10 +445,24 @@ public class BSCharacter : PhysicsActor if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return; _lastCollisionTime = nowTime; - Dictionary contactPoints = new Dictionary(); - contactPoints.Add(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - CollisionEventUpdate args = new CollisionEventUpdate(contactPoints); - base.SendCollisionUpdate(args); + if (collisionCollection == null) + collisionCollection = new CollisionEventUpdate(); + collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + } + + public void SendCollisions() + { + // if (collisionCollection != null) + // { + // base.SendCollisionUpdate(collisionCollection); + // collisionCollection = null; + // } + // Kludge to make a collision call even if there are no collisions. + // This causes the avatar animation to get updated. + if (collisionCollection == null) + collisionCollection = new CollisionEventUpdate(); + base.SendCollisionUpdate(collisionCollection); + collisionCollection = null; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index f122df9..248d1f2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1326,6 +1326,7 @@ public sealed class BSPrim : PhysicsActor } // I've collided with something + CollisionEventUpdate collisionCollection = null; public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); @@ -1343,11 +1344,18 @@ public sealed class BSPrim : PhysicsActor if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return; _lastCollisionTime = nowTime; - // create the event for the collision - Dictionary contactPoints = new Dictionary(); - contactPoints.Add(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - CollisionEventUpdate args = new CollisionEventUpdate(contactPoints); - base.SendCollisionUpdate(args); + if (collisionCollection == null) + collisionCollection = new CollisionEventUpdate(); + collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + } + + public void SendCollisions() + { + if (collisionCollection != null) + { + base.SendCollisionUpdate(collisionCollection); + collisionCollection = null; + } } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 581d540..94a0ccf 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -78,6 +78,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters private Dictionary m_avatars = new Dictionary(); private Dictionary m_prims = new Dictionary(); + private HashSet m_avatarsWithCollisions = new HashSet(); + private HashSet m_primsWithCollisions = new HashSet(); private List m_vehicles = new List(); private float[] m_heightMap; private float m_waterLevel; @@ -435,6 +437,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } + // The SendCollision's batch up the collisions on the objects. Now push the collisions into the simulator. + foreach (BSPrim bsp in m_primsWithCollisions) + bsp.SendCollisions(); + m_primsWithCollisions.Clear(); + // foreach (BSCharacter bsc in m_avatarsWithCollisions) + // bsc.SendCollisions(); + // This is a kludge to get avatar movement updated. ODE sends collisions even if there isn't any + foreach (KeyValuePair kvp in m_avatars) + kvp.Value.SendCollisions(); + m_avatarsWithCollisions.Clear(); + // If any of the objects had updated properties, tell the object it has been changed by the physics engine if (updatedEntityCount > 0) { @@ -485,11 +498,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters BSPrim prim; if (m_prims.TryGetValue(localID, out prim)) { prim.Collide(collidingWith, type, collidePoint, collideNormal, penitration); + m_primsWithCollisions.Add(prim); return; } BSCharacter actor; if (m_avatars.TryGetValue(localID, out actor)) { actor.Collide(collidingWith, type, collidePoint, collideNormal, penitration); + m_avatarsWithCollisions.Add(actor); return; } return; -- cgit v1.1 From e4a6611865848ffcfa6adedd813534e0a0e4abf3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 6 Jul 2012 10:01:47 -0700 Subject: Clean up collision reporting code so they are properly passed to the simulator in batches. More comments. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 102 ++++++++++++--------- OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs | 11 +++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 29 +++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 23 ++++- 4 files changed, 107 insertions(+), 58 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index b08d5db..dc0c008 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -74,7 +74,7 @@ public class BSCharacter : PhysicsActor private float _buoyancy; private int _subscribedEventsMs = 0; - private int _lastCollisionTime = 0; + private int _nextCollisionOkTime = 0; private Vector3 _PIDTarget; private bool _usePID; @@ -360,17 +360,22 @@ public class BSCharacter : PhysicsActor } //m_lastUpdateSent = false; } + public override void AddAngularForce(Vector3 force, bool pushforce) { } public override void SetMomentum(Vector3 momentum) { } + + // Turn on collision events at a rate no faster than one every the given milliseconds public override void SubscribeEvents(int ms) { _subscribedEventsMs = ms; - _lastCollisionTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen + _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen } + // Stop collision events public override void UnSubscribeEvents() { _subscribedEventsMs = 0; } + // Return 'true' if someone has subscribed to events public override bool SubscribedEvents() { return (_subscribedEventsMs > 0); } @@ -386,47 +391,57 @@ public class BSCharacter : PhysicsActor _mass = _density * _avatarVolume; } + // Set to 'true' if the individual changed items should be checked + // (someday RequestPhysicsTerseUpdate() will take a bitmap of changed properties) + const bool SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES = false; + // The physics engine says that properties have updated. Update same and inform // the world that things have changed. public void UpdateProperties(EntityProperties entprop) { bool changed = false; - // we assign to the local variables so the normal set action does not happen - if (_position != entprop.Position) - { - _position = entprop.Position; - changed = true; + if (SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES) { + // we assign to the local variables so the normal set action does not happen + if (_position != entprop.Position) { + _position = entprop.Position; + changed = true; + } + if (_orientation != entprop.Rotation) { + _orientation = entprop.Rotation; + changed = true; + } + if (_velocity != entprop.Velocity) { + _velocity = entprop.Velocity; + changed = true; + } + if (_acceleration != entprop.Acceleration) { + _acceleration = entprop.Acceleration; + changed = true; + } + if (_rotationalVelocity != entprop.RotationalVelocity) { + _rotationalVelocity = entprop.RotationalVelocity; + changed = true; + } + if (changed) { + // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); + // Avatar movement is not done by generating this event. There is code in the heartbeat + // loop that updates avatars. + // base.RequestPhysicsterseUpdate(); + } } - if (_orientation != entprop.Rotation) - { + else { + _position = entprop.Position; _orientation = entprop.Rotation; - changed = true; - } - if (_velocity != entprop.Velocity) - { _velocity = entprop.Velocity; - changed = true; - } - if (_acceleration != entprop.Acceleration) - { _acceleration = entprop.Acceleration; - changed = true; - } - if (_rotationalVelocity != entprop.RotationalVelocity) - { _rotationalVelocity = entprop.RotationalVelocity; - changed = true; - } - if (changed) - { - // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); - // Avatar movement is not done by generating this event. There is a system that - // checks for avatar updates each heartbeat loop. // base.RequestPhysicsterseUpdate(); } } // Called by the scene when a collision with this object is reported + // The collision, if it should be reported to the character, is placed in a collection + // that will later be sent to the simulator when SendCollisions() is called. CollisionEventUpdate collisionCollection = null; public void Collide(uint collidingWith, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) { @@ -440,29 +455,34 @@ public class BSCharacter : PhysicsActor } // throttle collisions to the rate specified in the subscription - if (_subscribedEventsMs == 0) return; // don't want collisions - int nowTime = _scene.SimulationNowTime; - if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return; - _lastCollisionTime = nowTime; + if (_subscribedEventsMs != 0) { + int nowTime = _scene.SimulationNowTime; + if (nowTime >= _nextCollisionOkTime) { + _nextCollisionOkTime = nowTime + _subscribedEventsMs; - if (collisionCollection == null) - collisionCollection = new CollisionEventUpdate(); - collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + if (collisionCollection == null) + collisionCollection = new CollisionEventUpdate(); + collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + } + } } public void SendCollisions() { - // if (collisionCollection != null) - // { - // base.SendCollisionUpdate(collisionCollection); - // collisionCollection = null; - // } + /* + if (collisionCollection != null && collisionCollection.Count > 0) + { + base.SendCollisionUpdate(collisionCollection); + collisionCollection = null; + } + */ // Kludge to make a collision call even if there are no collisions. // This causes the avatar animation to get updated. if (collisionCollection == null) collisionCollection = new CollisionEventUpdate(); base.SendCollisionUpdate(collisionCollection); - collisionCollection = null; + collisionCollection.Clear(); + // End kludge } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs index 0730824..0f027b8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs @@ -32,6 +32,14 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { + /// + /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim. + /// This module interfaces to an unmanaged C++ library which makes the + /// actual calls into the Bullet physics engine. + /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/. + /// The unmanaged library is compiled and linked statically with Bullet + /// to create BulletSim.dll and libBulletSim.so (for both 32 and 64 bit). + /// public class BSPlugin : IPhysicsPlugin { //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); @@ -53,6 +61,9 @@ public class BSPlugin : IPhysicsPlugin { if (Util.IsWindows()) Util.LoadArchSpecificWindowsDll("BulletSim.dll"); + // If not Windows, loading is performed by the + // Mono loader as specified in + // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config". _mScene = new BSScene(sceneIdentifier); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 248d1f2..130f1ca 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -90,7 +90,7 @@ public sealed class BSPrim : PhysicsActor private BSPrim _parentPrim; private int _subscribedEventsMs = 0; - private int _lastCollisionTime = 0; + private int _nextCollisionOkTime = 0; long _collidingStep; long _collidingGroundStep; @@ -597,7 +597,8 @@ public sealed class BSPrim : PhysicsActor } public override void SubscribeEvents(int ms) { _subscribedEventsMs = ms; - _lastCollisionTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen + // make sure first collision happens + _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; } public override void UnSubscribeEvents() { _subscribedEventsMs = 0; @@ -1338,23 +1339,27 @@ public sealed class BSPrim : PhysicsActor _collidingGroundStep = _scene.SimulationStep; } - if (_subscribedEventsMs == 0) return; // nothing in the object is waiting for collision events - // throttle the collisions to the number of milliseconds specified in the subscription - int nowTime = _scene.SimulationNowTime; - if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return; - _lastCollisionTime = nowTime; + // if someone is subscribed to collision events.... + if (_subscribedEventsMs != 0) { + // throttle the collisions to the number of milliseconds specified in the subscription + int nowTime = _scene.SimulationNowTime; + if (nowTime >= _nextCollisionOkTime) { + _nextCollisionOkTime = nowTime + _subscribedEventsMs; - if (collisionCollection == null) - collisionCollection = new CollisionEventUpdate(); - collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + if (collisionCollection == null) + collisionCollection = new CollisionEventUpdate(); + collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + } + } } + // The scene is telling us it's time to pass our collected collisions into the simulator public void SendCollisions() { - if (collisionCollection != null) + if (collisionCollection != null && collisionCollection.Count > 0) { base.SendCollisionUpdate(collisionCollection); - collisionCollection = null; + collisionCollection.Clear(); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 94a0ccf..417cb5f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -52,6 +52,7 @@ using OpenSim.Region.Framework; // Should prim.link() and prim.delink() membership checking happen at taint time? // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect +// Use collision masks for collision with terrain and phantom objects // Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions) // Implement LockAngularMotion // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) @@ -62,9 +63,6 @@ using OpenSim.Region.Framework; // Multiple contact points on collision? // See code in ode::near... calls to collision_accounting_events() // (This might not be a problem. ODE collects all the collisions with one object in one tick.) -// Use collision masks for collision with terrain and phantom objects -// Figure out how to not allocate a new Dictionary and List for every collision -// in BSPrim.Collide() and BSCharacter.Collide(). Can the same ones be reused? // Raycast // namespace OpenSim.Region.Physics.BulletSPlugin @@ -405,6 +403,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters // prevent simulation until we've been initialized if (!m_initialized) return 10.0f; + long simulateStartTime = Util.EnvironmentTickCount(); + // update the prim states while we know the physics engine is not busy ProcessTaints(); @@ -437,13 +437,18 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } - // The SendCollision's batch up the collisions on the objects. Now push the collisions into the simulator. + // The above SendCollision's batch up the collisions on the objects. + // Now push the collisions into the simulator. foreach (BSPrim bsp in m_primsWithCollisions) bsp.SendCollisions(); m_primsWithCollisions.Clear(); + + // This is a kludge to get avatar movement updated. + // Don't send collisions only if there were collisions -- send everytime. + // ODE sends collisions even if there are none and this is used to update + // avatar animations and stuff. // foreach (BSCharacter bsc in m_avatarsWithCollisions) // bsc.SendCollisions(); - // This is a kludge to get avatar movement updated. ODE sends collisions even if there isn't any foreach (KeyValuePair kvp in m_avatars) kvp.Value.SendCollisions(); m_avatarsWithCollisions.Clear(); @@ -465,10 +470,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (m_avatars.TryGetValue(entprop.ID, out actor)) { actor.UpdateProperties(entprop); + continue; } } } + // If enabled, call into the physics engine to dump statistics if (m_detailedStatsStep > 0) { if ((m_simulationStep % m_detailedStatsStep) == 0) @@ -477,6 +484,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } + // this is a waste since the outside routine also calcuates the physics simulation + // period. TODO: There should be a way of computing physics frames from simulator computation. + // long simulateTotalTime = Util.EnvironmentTickCountSubtract(simulateStartTime); + // return (timeStep * (float)simulateTotalTime); + // TODO: FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation. return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f; } @@ -528,6 +540,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void SetWaterLevel(float baseheight) { m_waterLevel = baseheight; + // TODO: pass to physics engine so things will float? } public float GetWaterLevel() { -- cgit v1.1 From f9913b6ef7e7f18075e1e42ed5e347ce2a8b8ef5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 12 Jul 2012 11:29:45 -0700 Subject: BulletSim: Add detailed and voluminous debug logging that is enabled with an ini configuration parameter. Correct computation of relative offsets of children in a linkset. Remove a prim from any link relationship before deleting it. Minor code flow cleanups. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 52 ++++++++++++++---------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 53 ++++++++++++++++--------- 2 files changed, 65 insertions(+), 40 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 130f1ca..9b28a06 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -42,6 +42,8 @@ public sealed class BSPrim : PhysicsActor private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS PRIM]"; + private void DebugLog(string mm, params Object[] xx) { if (_scene.shouldDebugLog) m_log.DebugFormat(mm, xx); } + private IMesh _mesh; private PrimitiveBaseShape _pbs; private ShapeData.PhysicsShapeType _shapeType; @@ -86,8 +88,8 @@ public sealed class BSPrim : PhysicsActor private bool _kinematic; private float _buoyancy; - private List _childrenPrims; private BSPrim _parentPrim; + private List _childrenPrims; private int _subscribedEventsMs = 0; private int _nextCollisionOkTime = 0; @@ -148,6 +150,15 @@ public sealed class BSPrim : PhysicsActor // Undo any vehicle properties _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _scene.RemoveVehiclePrim(this); // just to make sure + + // undo any dependance with/on other objects + if (_parentPrim != null) + { + // If I'm someone's child, tell them to forget about me. + _parentPrim.RemoveChildFromLinkset(this); + _parentPrim = null; + } + _scene.TaintedObject(delegate() { // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. @@ -202,7 +213,7 @@ public sealed class BSPrim : PhysicsActor // link me to the specified parent public override void link(PhysicsActor obj) { BSPrim parent = obj as BSPrim; - // m_log.DebugFormat("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); + DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); // TODO: decide if this parent checking needs to happen at taint time if (_parentPrim == null) { @@ -225,7 +236,7 @@ public sealed class BSPrim : PhysicsActor else { // asking to reparent a prim should not happen - m_log.ErrorFormat("{0}: Reparenting a prim. ", LogHeader); + m_log.ErrorFormat("{0}: link(): Reparenting a prim. ", LogHeader); } } } @@ -236,7 +247,8 @@ public sealed class BSPrim : PhysicsActor public override void delink() { // TODO: decide if this parent checking needs to happen at taint time // Race condition here: if link() and delink() in same simulation tick, the delink will not happen - // m_log.DebugFormat("{0}: delink {1}/{2}", LogHeader, _avName, _localID); + DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, + (_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString())); if (_parentPrim != null) { _parentPrim.RemoveChildFromLinkset(this); @@ -252,8 +264,9 @@ public sealed class BSPrim : PhysicsActor { if (!_childrenPrims.Contains(child)) { + DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID); _childrenPrims.Add(child); - child.ParentPrim = this; // the child has gained a parent + child._parentPrim = this; // the child has gained a parent RecreateGeomAndObject(); // rebuild my shape with the new child added } }); @@ -269,9 +282,13 @@ public sealed class BSPrim : PhysicsActor { if (_childrenPrims.Contains(child)) { - BulletSimAPI.RemoveConstraint(_scene.WorldID, child.LocalID, this.LocalID); + DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); + if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID)) + { + m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID); + } _childrenPrims.Remove(child); - child.ParentPrim = null; // the child has lost its parent + child._parentPrim = null; // the child has lost its parent RecreateGeomAndObject(); // rebuild my shape with the child removed } else @@ -282,11 +299,6 @@ public sealed class BSPrim : PhysicsActor return; } - public BSPrim ParentPrim - { - set { _parentPrim = value; } - } - // return true if we are the root of a linkset (there are children to manage) public bool IsRootOfLinkset { @@ -981,7 +993,6 @@ public sealed class BSPrim : PhysicsActor int vi = 0; foreach (OMV.Vector3 vv in vertices) { - // m_log.DebugFormat("{0}: {1}: <{2:0.00}, {3:0.00}, {4:0.00}>", LogHeader, vi / 3, vv.X, vv.Y, vv.Z); verticesAsFloats[vi++] = vv.X; verticesAsFloats[vi++] = vv.Y; verticesAsFloats[vi++] = vv.Z; @@ -1129,7 +1140,6 @@ public sealed class BSPrim : PhysicsActor if (IsRootOfLinkset) { // Create a linkset around this object - // CreateLinksetWithCompoundHull(); CreateLinksetWithConstraints(); } else @@ -1191,33 +1201,33 @@ public sealed class BSPrim : PhysicsActor // TODO: make this more effeicient: a large linkset gets rebuilt over and over and prims are added void CreateLinksetWithConstraints() { - // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); + DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); // remove any constraints that might be in place foreach (BSPrim prim in _childrenPrims) { - // m_log.DebugFormat("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); + DebugLog("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID); } // create constraints between the root prim and each of the children foreach (BSPrim prim in _childrenPrims) { - // m_log.DebugFormat("{0}: CreateLinkset: AddConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); - // Zero motion for children so they don't interpolate prim.ZeroMotion(); // relative position normalized to the root prim - OMV.Vector3 childRelativePosition = (prim._position - this._position) * OMV.Quaternion.Inverse(this._orientation); + OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation); + OMV.Vector3 childRelativePosition = (prim._position - this._position) * invThisOrientation; // relative rotation of the child to the parent - OMV.Quaternion relativeRotation = OMV.Quaternion.Inverse(prim._orientation) * this._orientation; + OMV.Quaternion childRelativeRotation = invThisOrientation * prim._orientation; // this is a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, childRelativePosition, - relativeRotation, + childRelativeRotation, OMV.Vector3.Zero, OMV.Quaternion.Identity, OMV.Vector3.Zero, OMV.Vector3.Zero, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 417cb5f..eb1d798 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -72,6 +72,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS SCENE]"; + private void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); } + public string BulletSimVersion = "?"; private Dictionary m_avatars = new Dictionary(); @@ -147,6 +149,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters ConfigurationParameters[] m_params; GCHandle m_paramsHandle; + public bool shouldDebugLog { get; private set; } + private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; public BSScene(string identifier) @@ -209,6 +213,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_meshLOD = 8f; m_sculptLOD = 32f; + shouldDebugLog = false; m_detailedStatsStep = 0; // disabled m_maxSubSteps = 10; @@ -261,7 +266,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim); _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing); + shouldDebugLog = pConfig.GetBoolean("ShouldDebugLog", shouldDebugLog); m_detailedStatsStep = pConfig.GetInt("DetailedStatsStep", m_detailedStatsStep); + m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD); m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD); @@ -347,34 +354,42 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void RemoveAvatar(PhysicsActor actor) { // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader); - if (actor is BSCharacter) - { - ((BSCharacter)actor).Destroy(); - } - try + BSCharacter bsactor = actor as BSCharacter; + if (bsactor != null) { - lock (m_avatars) m_avatars.Remove(actor.LocalID); - } - catch (Exception e) - { - m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e); + try + { + lock (m_avatars) m_avatars.Remove(actor.LocalID); + } + catch (Exception e) + { + m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e); + } + bsactor.Destroy(); + // bsactor.dispose(); } } public override void RemovePrim(PhysicsActor prim) { - // m_log.DebugFormat("{0}: RemovePrim", LogHeader); - if (prim is BSPrim) - { - ((BSPrim)prim).Destroy(); - } - try + BSPrim bsprim = prim as BSPrim; + if (bsprim != null) { - lock (m_prims) m_prims.Remove(prim.LocalID); + m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); + try + { + lock (m_prims) m_prims.Remove(bsprim.LocalID); + } + catch (Exception e) + { + m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e); + } + bsprim.Destroy(); + // bsprim.dispose(); } - catch (Exception e) + else { - m_log.WarnFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e); + m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader); } } -- cgit v1.1 From c400918c84fc89ff0209ee05def3bb46206ba5ee Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 12 Jul 2012 15:34:25 -0700 Subject: BulletSim: Add PID variables to physical scene. Not PIDing yet, but soon. Cleaned up code and got rid of compile warnings. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 69 ++++++------ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 116 +++++++++------------ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 13 +++ 3 files changed, 97 insertions(+), 101 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index dc0c008..09e1f0c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -41,7 +41,7 @@ public class BSCharacter : PhysicsActor private BSScene _scene; private String _avName; - private bool _stopped; + // private bool _stopped; private Vector3 _size; private Vector3 _scale; private PrimitiveBaseShape _pbs; @@ -134,9 +134,9 @@ public class BSCharacter : PhysicsActor { base.RequestPhysicsterseUpdate(); } - + // No one calls this method so I don't know what it could possibly mean public override bool Stopped { - get { return _stopped; } + get { return false; } } public override Vector3 Size { get { return _size; } @@ -391,52 +391,47 @@ public class BSCharacter : PhysicsActor _mass = _density * _avatarVolume; } - // Set to 'true' if the individual changed items should be checked - // (someday RequestPhysicsTerseUpdate() will take a bitmap of changed properties) - const bool SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES = false; - // The physics engine says that properties have updated. Update same and inform // the world that things have changed. public void UpdateProperties(EntityProperties entprop) { + /* bool changed = false; - if (SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES) { - // we assign to the local variables so the normal set action does not happen - if (_position != entprop.Position) { - _position = entprop.Position; - changed = true; - } - if (_orientation != entprop.Rotation) { - _orientation = entprop.Rotation; - changed = true; - } - if (_velocity != entprop.Velocity) { - _velocity = entprop.Velocity; - changed = true; - } - if (_acceleration != entprop.Acceleration) { - _acceleration = entprop.Acceleration; - changed = true; - } - if (_rotationalVelocity != entprop.RotationalVelocity) { - _rotationalVelocity = entprop.RotationalVelocity; - changed = true; - } - if (changed) { - // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); - // Avatar movement is not done by generating this event. There is code in the heartbeat - // loop that updates avatars. - // base.RequestPhysicsterseUpdate(); - } - } - else { + // we assign to the local variables so the normal set action does not happen + if (_position != entprop.Position) { _position = entprop.Position; + changed = true; + } + if (_orientation != entprop.Rotation) { _orientation = entprop.Rotation; + changed = true; + } + if (_velocity != entprop.Velocity) { _velocity = entprop.Velocity; + changed = true; + } + if (_acceleration != entprop.Acceleration) { _acceleration = entprop.Acceleration; + changed = true; + } + if (_rotationalVelocity != entprop.RotationalVelocity) { _rotationalVelocity = entprop.RotationalVelocity; + changed = true; + } + if (changed) { + // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); + // Avatar movement is not done by generating this event. There is code in the heartbeat + // loop that updates avatars. // base.RequestPhysicsterseUpdate(); } + */ + _position = entprop.Position; + _orientation = entprop.Rotation; + _velocity = entprop.Velocity; + _acceleration = entprop.Acceleration; + _rotationalVelocity = entprop.RotationalVelocity; + // Avatars don't report theirr changes the usual way. Changes are checked for in the heartbeat loop. + // base.RequestPhysicsterseUpdate(); } // Called by the scene when a collision with this object is reported diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 9b28a06..23b276e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -148,7 +148,7 @@ public sealed class BSPrim : PhysicsActor { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // Undo any vehicle properties - _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); + _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE, 1f); _scene.RemoveVehiclePrim(this); // just to make sure // undo any dependance with/on other objects @@ -353,7 +353,7 @@ public sealed class BSPrim : PhysicsActor } set { Vehicle type = (Vehicle)value; - _vehicle.ProcessTypeChange(type); + _vehicle.ProcessTypeChange(type, _scene.LastSimulatedTimestep); _scene.TaintedObject(delegate() { if (type == Vehicle.TYPE_NONE) @@ -371,11 +371,11 @@ public sealed class BSPrim : PhysicsActor } public override void VehicleFloatParam(int param, float value) { - _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); + _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); } public override void VehicleVectorParam(int param, OMV.Vector3 value) { - _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); + _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { @@ -1262,78 +1262,66 @@ public sealed class BSPrim : PhysicsActor const float POSITION_TOLERANCE = 0.05f; const float ACCELERATION_TOLERANCE = 0.01f; const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; - const bool SHOULD_DAMP_UPDATES = false; public void UpdateProperties(EntityProperties entprop) { + /* UpdatedProperties changed = 0; - if (SHOULD_DAMP_UPDATES) + // assign to the local variables so the normal set action does not happen + // if (_position != entprop.Position) + if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE)) { - // assign to the local variables so the normal set action does not happen - // if (_position != entprop.Position) - if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE)) - { - _position = entprop.Position; - // m_log.DebugFormat("{0}: UpdateProperties: id={1}, pos = {2}", LogHeader, LocalID, _position); - changed |= UpdatedProperties.Position; - } - // if (_orientation != entprop.Rotation) - if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE)) - { - _orientation = entprop.Rotation; - // m_log.DebugFormat("{0}: UpdateProperties: id={1}, rot = {2}", LogHeader, LocalID, _orientation); - changed |= UpdatedProperties.Rotation; - } - // if (_velocity != entprop.Velocity) - if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE)) - { - _velocity = entprop.Velocity; - // m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity); - changed |= UpdatedProperties.Velocity; - } - // if (_acceleration != entprop.Acceleration) - if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE)) - { - _acceleration = entprop.Acceleration; - // m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration); - changed |= UpdatedProperties.Acceleration; - } - // if (_rotationalVelocity != entprop.RotationalVelocity) - if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE)) - { - _rotationalVelocity = entprop.RotationalVelocity; - // m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity); - changed |= UpdatedProperties.RotationalVel; - } - if (changed != 0) - { - // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); - // Only update the position of single objects and linkset roots - if (this._parentPrim == null) - { - // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); - base.RequestPhysicsterseUpdate(); - } - } + _position = entprop.Position; + changed |= UpdatedProperties.Position; } - else + // if (_orientation != entprop.Rotation) + if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE)) { - // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. - - // Only updates only for individual prims and for the root object of a linkset. + _orientation = entprop.Rotation; + changed |= UpdatedProperties.Rotation; + } + // if (_velocity != entprop.Velocity) + if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE)) + { + _velocity = entprop.Velocity; + changed |= UpdatedProperties.Velocity; + } + // if (_acceleration != entprop.Acceleration) + if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE)) + { + _acceleration = entprop.Acceleration; + changed |= UpdatedProperties.Acceleration; + } + // if (_rotationalVelocity != entprop.RotationalVelocity) + if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE)) + { + _rotationalVelocity = entprop.RotationalVelocity; + changed |= UpdatedProperties.RotationalVel; + } + if (changed != 0) + { + // Only update the position of single objects and linkset roots if (this._parentPrim == null) { - // Assign to the local variables so the normal set action does not happen - _position = entprop.Position; - _orientation = entprop.Rotation; - _velocity = entprop.Velocity; - _acceleration = entprop.Acceleration; - _rotationalVelocity = entprop.RotationalVelocity; - // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", - // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); base.RequestPhysicsterseUpdate(); } } + */ + + // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. + // Updates only for individual prims and for the root object of a linkset. + if (this._parentPrim == null) + { + // Assign to the local variables so the normal set action does not happen + _position = entprop.Position; + _orientation = entprop.Rotation; + _velocity = entprop.Velocity; + _acceleration = entprop.Acceleration; + _rotationalVelocity = entprop.RotationalVelocity; + // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", + // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); + base.RequestPhysicsterseUpdate(); + } } // I've collided with something diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index eb1d798..150326e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -107,6 +107,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters private long m_simulationStep = 0; public long SimulationStep { get { return m_simulationStep; } } + public float LastSimulatedTimestep { get; private set; } + // A value of the time now so all the collision and update routines do not have to get their own // Set to 'now' just before all the prims and actors are called for collisions and updates private int m_simulationNowTime; @@ -123,6 +125,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes + public float PID_D { get; private set; } // derivative + public float PID_P { get; private set; } // proportional + public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero public const uint GROUNDPLANE_ID = 1; @@ -222,6 +227,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_maxUpdatesPerFrame = 2048; m_maximumObjectMass = 10000.01f; + PID_D = 2200f; + PID_P = 900f; + parms.defaultFriction = 0.5f; parms.defaultDensity = 10.000006836f; // Aluminum g/cm3 parms.defaultRestitution = 0f; @@ -278,6 +286,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame); m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass); + PID_D = pConfig.GetFloat("PIDDerivative", PID_D); + PID_P = pConfig.GetFloat("PIDProportional", PID_P); + parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction); parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity); parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution); @@ -415,6 +426,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters int collidersCount; IntPtr collidersPtr; + LastSimulatedTimestep = timeStep; + // prevent simulation until we've been initialized if (!m_initialized) return 10.0f; -- cgit v1.1 From cda67a68de11790ff7f3f19937b4d08309bc1e89 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 18 Jul 2012 08:36:41 -0700 Subject: BulletSim: Add very detailed logging to BSDynamics for vehicle debugging --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 130 ++++++++++++++------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 60 +++++++++- 3 files changed, 146 insertions(+), 45 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index eb20eb3..bef7aec 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -131,8 +131,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_type = Vehicle.TYPE_NONE; } - internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) + internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep) { + DetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: @@ -229,8 +230,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin } }//end ProcessFloatVehicleParam - internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) + internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep) { + DetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_FRICTION_TIMESCALE: @@ -265,6 +267,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) { + DetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.REFERENCE_FRAME: @@ -278,6 +281,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessVehicleFlags(int pParam, bool remove) { + DetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove); if (remove) { if (pParam == -1) @@ -434,6 +438,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessTypeChange(Vehicle pType) { + DetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); // Set Defaults For Type m_type = pType; switch (pType) @@ -594,7 +599,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); break; - } }//end SetDefaultsForType @@ -609,12 +613,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin MoveLinear(pTimestep, pParentScene); MoveAngular(pTimestep); LimitRotation(pTimestep); + DetailLog("{0},step,pos={1},force={2},velocity={3},angvel={4}", + m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); }// end Step private void MoveLinear(float pTimestep, BSScene _pParentScene) { if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant { + Vector3 origDir = m_linearMotorDirection; + Vector3 origVel = m_lastLinearVelocityVector; + // add drive to body Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector? @@ -630,9 +639,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin // decay applied velocity Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); - //Console.WriteLine("decay: " + decayfraction); m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; - //Console.WriteLine("actual: " + m_linearMotorDirection); + + DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", + m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector); } else { // requested is not significant @@ -643,63 +653,66 @@ namespace OpenSim.Region.Physics.BulletSPlugin // convert requested object velocity to world-referenced vector m_dir = m_lastLinearVelocityVector; - Quaternion rot = m_prim.Orientation; - Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object - m_dir *= rotq; // apply obj rotation to velocity vector + m_dir *= m_prim.Orientation; + + // Add the various forces into m_dir which will be our new direction vector (velocity) - // add Gravity andBuoyancy + // add Gravity and Buoyancy // KF: So far I have found no good method to combine a script-requested // .Z velocity and gravity. Therefore only 0g will used script-requested // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. Vector3 grav = Vector3.Zero; - // There is some gravity, make a gravity force vector - // that is applied after object velocity. - float objMass = m_prim.Mass; + // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - grav.Z = _pParentScene.DefaultGravity.Z * objMass * (1f - m_VehicleBuoyancy); + grav.Z = _pParentScene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy); // Preserve the current Z velocity Vector3 vel_now = m_prim.Velocity; m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity Vector3 pos = m_prim.Position; + Vector3 posChange = pos; // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); - Vector3 posChange = new Vector3(); - posChange.X = pos.X - m_lastPositionVector.X; - posChange.Y = pos.Y - m_lastPositionVector.Y; - posChange.Z = pos.Z - m_lastPositionVector.Z; double Zchange = Math.Abs(posChange.Z); if (m_BlockingEndPoint != Vector3.Zero) { + bool changed = false; if (pos.X >= (m_BlockingEndPoint.X - (float)1)) { pos.X -= posChange.X + 1; - m_prim.Position = pos; + changed = true; } if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) { pos.Y -= posChange.Y + 1; - m_prim.Position = pos; + changed = true; } if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) { pos.Z -= posChange.Z + 1; - m_prim.Position = pos; + changed = true; } if (pos.X <= 0) { pos.X += posChange.X + 1; - m_prim.Position = pos; + changed = true; } if (pos.Y <= 0) { pos.Y += posChange.Y + 1; + changed = true; + } + if (changed) + { m_prim.Position = pos; + DetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", + m_prim.LocalID, m_BlockingEndPoint, posChange, pos); } } if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y)) { pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; m_prim.Position = pos; + DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); } // Check if hovering @@ -746,6 +759,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } + DetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight); + // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped // m_VhoverTimescale = 0f; // time to acheive height // pTimestep is time since last frame,in secs @@ -774,12 +789,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin { grav.Z = (float)(grav.Z * 1.125); } - float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); + float terraintemp = _pParentScene.GetTerrainHeightAtXYZ(pos); float postemp = (pos.Z - terraintemp); if (postemp > 2.5f) { grav.Z = (float)(grav.Z * 1.037125); } + DetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav); //End Experimental Values } if ((m_flags & (VehicleFlag.NO_X)) != 0) @@ -803,29 +819,35 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_prim.Force = grav; - // apply friction + // Apply friction Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; + + DetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", + m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount); + } // end MoveLinear() private void MoveAngular(float pTimestep) { - /* - private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor - private int m_angularMotorApply = 0; // application frame counter - private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down) - private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate - private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate - private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate - private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body - */ + // m_angularMotorDirection // angular velocity requested by LSL motor + // m_angularMotorApply // application frame counter + // m_angularMotorVelocity // current angular motor velocity (ramps up and down) + // m_angularMotorTimescale // motor angular velocity ramp up rate + // m_angularMotorDecayTimescale // motor angular velocity decay rate + // m_angularFrictionTimescale // body angular velocity decay rate + // m_lastAngularVelocity // what was last applied to body // Get what the body is doing, this includes 'external' influences Vector3 angularVelocity = m_prim.RotationalVelocity; - // Vector3 angularVelocity = Vector3.Zero; if (m_angularMotorApply > 0) { + // Rather than snapping the angular motor velocity from the old value to + // a newly set velocity, this routine steps the value from the previous + // value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection). + // There are m_angularMotorApply steps. + Vector3 origAngularVelocity = m_angularMotorVelocity; // ramp up to new value // current velocity += error / (time to get there / step interval) // requested speed - last motor speed @@ -833,23 +855,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); + DetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", + m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); + m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected // velocity may still be acheived. } else { - // no motor recently applied, keep the body velocity - /* m_angularMotorVelocity.X = angularVelocity.X; - m_angularMotorVelocity.Y = angularVelocity.Y; - m_angularMotorVelocity.Z = angularVelocity.Z; */ - + // No motor recently applied, keep the body velocity // and decay the velocity m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); } // end motor section // Vertical attractor section Vector3 vertattr = Vector3.Zero; - if (m_verticalAttractionTimescale < 300) { float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); @@ -871,7 +891,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Error is 0 (no error) to +/- 2 (max error) // scale it by VAservo verterr = verterr * VAservo; -//if (frcount == 0) Console.WriteLine("VAerr=" + verterr); // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. @@ -884,11 +903,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin vertattr.X += bounce * angularVelocity.X; vertattr.Y += bounce * angularVelocity.Y; + DetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", + m_prim.LocalID, verterr, bounce, vertattr); + } // else vertical attractor is off - // m_lastVertAttractor = vertattr; + // m_lastVertAttractor = vertattr; // Bank section tba + // Deflection section tba // Sum velocities @@ -898,11 +921,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin { m_lastAngularVelocity.X = 0; m_lastAngularVelocity.Y = 0; + DetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); } if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. + DetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); } // apply friction @@ -912,10 +937,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Apply to the body m_prim.RotationalVelocity = m_lastAngularVelocity; + DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); + } //end MoveAngular + } //end MoveAngular internal void LimitRotation(float timestep) { - Quaternion rotq = m_prim.Orientation; // rotq = rotation of object + Quaternion rotq = m_prim.Orientation; Quaternion m_rot = rotq; bool changed = false; if (m_RollreferenceFrame != Quaternion.Identity) @@ -923,18 +951,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (rotq.X >= m_RollreferenceFrame.X) { m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2); + changed = true; } if (rotq.Y >= m_RollreferenceFrame.Y) { m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2); + changed = true; } if (rotq.X <= -m_RollreferenceFrame.X) { m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2); + changed = true; } if (rotq.Y <= -m_RollreferenceFrame.Y) { m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2); + changed = true; } changed = true; } @@ -944,8 +976,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_rot.Y = 0; changed = true; } + if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) + { + m_rot.X = 0; + m_rot.Y = 0; + changed = true; + } if (changed) m_prim.Orientation = m_rot; + + DetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot); + } + + // Invoke the detailed logger and output something if it's enabled. + private void DetailLog(string msg, params Object[] args) + { + m_prim.Scene.VehicleLogging.Write(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 23b276e..227696e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -52,6 +52,7 @@ public sealed class BSPrim : PhysicsActor private List _hulls; private BSScene _scene; + public BSScene Scene { get { return _scene; } } private String _avName; private uint _localID = 0; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 150326e..c4b4332 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -29,12 +29,13 @@ using System.Collections.Generic; using System.Runtime.InteropServices; using System.Text; using System.Threading; -using Nini.Config; -using log4net; using OpenSim.Framework; +using OpenSim.Region.CoreModules.Framework.Statistics.Logging; +using OpenSim.Region.Framework; using OpenSim.Region.Physics.Manager; +using Nini.Config; +using log4net; using OpenMetaverse; -using OpenSim.Region.Framework; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) // Debug linkset @@ -158,6 +159,19 @@ public class BSScene : PhysicsScene, IPhysicsParameters private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; + // Sometimes you just have to log everything. + public LogWriter PhysicsLogging; + private bool m_physicsLoggingEnabled; + private string m_physicsLoggingDir; + private string m_physicsLoggingPrefix; + private int m_physicsLoggingFileMinutes; + + public LogWriter VehicleLogging; + private bool m_vehicleLoggingEnabled; + private string m_vehicleLoggingDir; + private string m_vehicleLoggingPrefix; + private int m_vehicleLoggingFileMinutes; + public BSScene(string identifier) { m_initialized = false; @@ -178,6 +192,26 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); + // Enable very detailed logging. + // By creating an empty logger when not logging, the log message invocation code + // can be left in and every call doesn't have to check for null. + if (m_physicsLoggingEnabled) + { + PhysicsLogging = new LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); + } + else + { + PhysicsLogging = new LogWriter(); + } + if (m_vehicleLoggingEnabled) + { + VehicleLogging = new LogWriter(m_vehicleLoggingDir, m_vehicleLoggingPrefix, m_vehicleLoggingFileMinutes); + } + else + { + VehicleLogging = new LogWriter(); + } + // Get the version of the DLL // TODO: this doesn't work yet. Something wrong with marshaling the returned string. // BulletSimVersion = BulletSimAPI.GetVersion(); @@ -321,6 +355,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.shouldSplitSimulationIslands = ParamBoolean(pConfig, "ShouldSplitSimulationIslands", parms.shouldSplitSimulationIslands); parms.shouldEnableFrictionCaching = ParamBoolean(pConfig, "ShouldEnableFrictionCaching", parms.shouldEnableFrictionCaching); parms.numberOfSolverIterations = pConfig.GetFloat("NumberOfSolverIterations", parms.numberOfSolverIterations); + + // Very detailed logging for physics debugging + m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); + m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", "."); + m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-"); + m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); + // Very detailed logging for vehicle debugging + m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); + m_vehicleLoggingDir = pConfig.GetString("VehicleLoggingDir", "."); + m_vehicleLoggingPrefix = pConfig.GetString("VehicleLoggingPrefix", "vehicle-"); + m_vehicleLoggingFileMinutes = pConfig.GetInt("VehicleLoggingFileMinutes", 5); } } m_params[0] = parms; @@ -560,8 +605,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters }); } + // Someday we will have complex terrain with caves and tunnels + // For the moment, it's flat and convex + public float GetTerrainHeightAtXYZ(Vector3 loc) + { + return GetTerrainHeightAtXY(loc.X, loc.Y); + } + public float GetTerrainHeightAtXY(float tX, float tY) { + if (tX < 0 || tX >= Constants.RegionSize || tY < 0 || tY >= Constants.RegionSize) + return 30; return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)]; } -- cgit v1.1 From 7451bb16137fad6336fae12608ef6df92ba1a46c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 18 Jul 2012 08:49:01 -0700 Subject: BulletSim: fix compile errors from last commit. Clean up passing of physics scene into vehicle dynamics code. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 23 +++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 +++--- 2 files changed, 14 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index bef7aec..4c5bc85 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -57,7 +57,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin private int frcount = 0; // Used to limit dynamics debug output to // every 100th frame - // private BSScene m_parentScene = null; private BSPrim m_prim; // the prim this dynamic controller belongs to // Vehicle properties @@ -602,7 +601,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } }//end SetDefaultsForType - internal void Step(float pTimestep, BSScene pParentScene) + internal void Step(float pTimestep) { if (m_type == Vehicle.TYPE_NONE) return; @@ -610,14 +609,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (frcount > 100) frcount = 0; - MoveLinear(pTimestep, pParentScene); + MoveLinear(pTimestep); MoveAngular(pTimestep); LimitRotation(pTimestep); - DetailLog("{0},step,pos={1},force={2},velocity={3},angvel={4}", + + DetailLog("{0},step,done,pos={1},force={2},velocity={3},angvel={4}", m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); }// end Step - private void MoveLinear(float pTimestep, BSScene _pParentScene) + private void MoveLinear(float pTimestep) { if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant { @@ -664,7 +664,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 grav = Vector3.Zero; // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - grav.Z = _pParentScene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy); + grav.Z = m_prim.Scene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy); // Preserve the current Z velocity Vector3 vel_now = m_prim.Velocity; m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity @@ -708,9 +708,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_prim.LocalID, m_BlockingEndPoint, posChange, pos); } } - if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y)) + if (pos.Z < m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y)) { - pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; + pos.Z = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; m_prim.Position = pos; DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); } @@ -721,11 +721,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // We should hover, get the target height if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0) { - m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight; + m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight; } if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { - m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; + m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; } if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) { @@ -789,7 +789,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { grav.Z = (float)(grav.Z * 1.125); } - float terraintemp = _pParentScene.GetTerrainHeightAtXYZ(pos); + float terraintemp = m_prim.Scene.GetTerrainHeightAtXYZ(pos); float postemp = (pos.Z - terraintemp); if (postemp > 2.5f) { @@ -940,7 +940,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); } //end MoveAngular - } //end MoveAngular internal void LimitRotation(float timestep) { Quaternion rotq = m_prim.Orientation; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 227696e..5911897 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -149,7 +149,7 @@ public sealed class BSPrim : PhysicsActor { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // Undo any vehicle properties - _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE, 1f); + _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _scene.RemoveVehiclePrim(this); // just to make sure // undo any dependance with/on other objects @@ -354,7 +354,7 @@ public sealed class BSPrim : PhysicsActor } set { Vehicle type = (Vehicle)value; - _vehicle.ProcessTypeChange(type, _scene.LastSimulatedTimestep); + _vehicle.ProcessTypeChange(type); _scene.TaintedObject(delegate() { if (type == Vehicle.TYPE_NONE) @@ -389,7 +389,7 @@ public sealed class BSPrim : PhysicsActor // Called each simulation step to advance vehicle characteristics public void StepVehicle(float timeStep) { - _vehicle.Step(timeStep, _scene); + _vehicle.Step(timeStep); } // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more -- cgit v1.1 From ca3b6b1f90f89ab3be4a43863da81f9df0993e2f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 20 Jul 2012 14:08:29 -0700 Subject: BulletSim: more detail logging for vehicle and general physics debugging. Physical linksets are fully functional. Tweeking of the vehicle code to make it semi-work. Utilize the new API2 for some setting operations. Add GetOrientation() API call for proper reporting of children of linksets. Changes the interface between C# and C++ code so old DLLs won't work! --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 52 +++++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 168 +++++++++++++++++---- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 48 +++--- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 51 +++++++ 4 files changed, 244 insertions(+), 75 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 4c5bc85..c197e61 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -613,23 +613,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin MoveAngular(pTimestep); LimitRotation(pTimestep); - DetailLog("{0},step,done,pos={1},force={2},velocity={3},angvel={4}", + DetailLog("{0},Dynamics,done,pos={1},force={2},velocity={3},angvel={4}", m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); }// end Step private void MoveLinear(float pTimestep) { - if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant + // requested m_linearMotorDirection is significant + // if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) + if (m_linearMotorDirection.LengthSquared() > 0.0001f) { Vector3 origDir = m_linearMotorDirection; Vector3 origVel = m_lastLinearVelocityVector; // add drive to body - Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); - m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector? + // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); + Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale); + // lastLinearVelocityVector is the current body velocity vector? + // RA: Not sure what the *10 is for. A correction for pTimestep? + // m_lastLinearVelocityVector += (addAmount*10); + m_lastLinearVelocityVector += addAmount; // This will work temporarily, but we really need to compare speed on an axis // KF: Limit body velocity to applied velocity? + // Limit the velocity vector to less than the last set linear motor direction if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y)) @@ -641,19 +648,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; + /* + Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/m_linearMotorTimescale; + m_lastLinearVelocityVector += addAmount; + + float decayfraction = (1.0f - 1.0f / m_linearMotorDecayTimescale); + m_linearMotorDirection *= decayfraction; + + */ + DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector); } else - { // requested is not significant - // if what remains of applied is small, zero it. - if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f)) - m_lastLinearVelocityVector = Vector3.Zero; + { + // if what remains of applied is small, zero it. + // if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f)) + // m_lastLinearVelocityVector = Vector3.Zero; + m_linearMotorDirection = Vector3.Zero; + m_lastLinearVelocityVector = Vector3.Zero; } // convert requested object velocity to world-referenced vector - m_dir = m_lastLinearVelocityVector; - m_dir *= m_prim.Orientation; + Quaternion rotq = m_prim.Orientation; + m_dir = m_lastLinearVelocityVector * rotq; // Add the various forces into m_dir which will be our new direction vector (velocity) @@ -708,9 +726,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_prim.LocalID, m_BlockingEndPoint, posChange, pos); } } - if (pos.Z < m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y)) + + // If below the terrain, move us above the ground a little. + if (pos.Z < m_prim.Scene.GetTerrainHeightAtXYZ(pos)) { - pos.Z = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; + pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2; m_prim.Position = pos; DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); } @@ -816,8 +836,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Apply velocity m_prim.Velocity = m_dir; // apply gravity force - m_prim.Force = grav; - + // Why is this set here? The physics engine already does gravity. + // m_prim.AddForce(grav, false); + // m_prim.Force = grav; // Apply friction Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); @@ -990,7 +1011,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Invoke the detailed logger and output something if it's enabled. private void DetailLog(string msg, params Object[] args) { - m_prim.Scene.VehicleLogging.Write(msg, args); + if (m_prim.Scene.VehicleLoggingEnabled) + m_prim.Scene.PhysicsLogging.Write(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 5911897..71a4303 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -148,6 +148,7 @@ public sealed class BSPrim : PhysicsActor public void Destroy() { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); + // DetailLog("{0},Destroy", LocalID); // Undo any vehicle properties _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _scene.RemoveVehiclePrim(this); // just to make sure @@ -215,6 +216,7 @@ public sealed class BSPrim : PhysicsActor public override void link(PhysicsActor obj) { BSPrim parent = obj as BSPrim; DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); + DetailLog("{0},link,parent={1}", LocalID, obj.LocalID); // TODO: decide if this parent checking needs to happen at taint time if (_parentPrim == null) { @@ -250,6 +252,7 @@ public sealed class BSPrim : PhysicsActor // Race condition here: if link() and delink() in same simulation tick, the delink will not happen DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, (_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString())); + DetailLog("{0},delink,parent={1}", LocalID, (_parentPrim==null ? "NULL" : _parentPrim.LocalID.ToString())); if (_parentPrim != null) { _parentPrim.RemoveChildFromLinkset(this); @@ -266,6 +269,7 @@ public sealed class BSPrim : PhysicsActor if (!_childrenPrims.Contains(child)) { DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID); + DetailLog("{0},AddChildToLinkset,child={1}", LocalID, pchild.LocalID); _childrenPrims.Add(child); child._parentPrim = this; // the child has gained a parent RecreateGeomAndObject(); // rebuild my shape with the new child added @@ -284,6 +288,7 @@ public sealed class BSPrim : PhysicsActor if (_childrenPrims.Contains(child)) { DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); + DetailLog("{0},RemoveChildToLinkset,child={1}", LocalID, pchild.LocalID); if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID)) { m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID); @@ -317,20 +322,28 @@ public sealed class BSPrim : PhysicsActor base.RequestPhysicsterseUpdate(); } - public override void LockAngularMotion(OMV.Vector3 axis) { return; } + public override void LockAngularMotion(OMV.Vector3 axis) + { + DetailLog("{0},LockAngularMotion,call,axis={1}", LocalID, axis); + return; + } public override OMV.Vector3 Position { get { - // don't do the following GetObjectPosition because this function is called a zillion times + // child prims move around based on their parent. Need to get the latest location + if (_parentPrim != null) + _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + // don't do the GetObjectPosition for root elements because this function is called a zillion times // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); return _position; } set { _position = value; + // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? _scene.TaintedObject(delegate() { + DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); - // m_log.DebugFormat("{0}: setPosition: id={1}, position={2}", LogHeader, _localID, _position); }); } } @@ -343,6 +356,7 @@ public sealed class BSPrim : PhysicsActor _force = value; _scene.TaintedObject(delegate() { + DetailLog("{0},SetForce,taint,force={1}", LocalID, _force); BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); }); } @@ -354,15 +368,23 @@ public sealed class BSPrim : PhysicsActor } set { Vehicle type = (Vehicle)value; - _vehicle.ProcessTypeChange(type); _scene.TaintedObject(delegate() { + DetailLog("{0},SetVehicleType,taint,type={1}", LocalID, type); + _vehicle.ProcessTypeChange(type); if (type == Vehicle.TYPE_NONE) { _scene.RemoveVehiclePrim(this); } else { + _scene.TaintedObject(delegate() + { + // Tell the physics engine to clear state + IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); + BulletSimAPI.ClearForces2(obj); + }); + // make it so the scene will call us each tick to do vehicle things _scene.AddVehiclePrim(this); } @@ -372,21 +394,39 @@ public sealed class BSPrim : PhysicsActor } public override void VehicleFloatParam(int param, float value) { - _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); + m_log.DebugFormat("{0} VehicleFloatParam. {1} <= {2}", LogHeader, param, value); + _scene.TaintedObject(delegate() + { + _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); + }); } public override void VehicleVectorParam(int param, OMV.Vector3 value) { - _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); + m_log.DebugFormat("{0} VehicleVectorParam. {1} <= {2}", LogHeader, param, value); + _scene.TaintedObject(delegate() + { + _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); + }); } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { - _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); + m_log.DebugFormat("{0} VehicleRotationParam. {1} <= {2}", LogHeader, param, rotation); + _scene.TaintedObject(delegate() + { + _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); + }); } public override void VehicleFlags(int param, bool remove) { - _vehicle.ProcessVehicleFlags(param, remove); + m_log.DebugFormat("{0} VehicleFlags. {1}. Remove={2}", LogHeader, param, remove); + _scene.TaintedObject(delegate() + { + _vehicle.ProcessVehicleFlags(param, remove); + }); } - // Called each simulation step to advance vehicle characteristics + + // Called each simulation step to advance vehicle characteristics. + // Called from Scene when doing simulation step so we're in taint processing time. public void StepVehicle(float timeStep) { _vehicle.Step(timeStep); @@ -395,14 +435,11 @@ public sealed class BSPrim : PhysicsActor // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more public override void SetVolumeDetect(int param) { bool newValue = (param != 0); - if (_isVolumeDetect != newValue) + _isVolumeDetect = newValue; + _scene.TaintedObject(delegate() { - _isVolumeDetect = newValue; - _scene.TaintedObject(delegate() - { - SetObjectDynamic(); - }); - } + SetObjectDynamic(); + }); return; } @@ -410,9 +447,11 @@ public sealed class BSPrim : PhysicsActor public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } public override OMV.Vector3 Velocity { get { return _velocity; } - set { _velocity = value; + set { + _velocity = value; _scene.TaintedObject(delegate() { + DetailLog("{0},SetVelocity,taint,vel={1}", LocalID, _velocity); BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); }); } @@ -420,6 +459,7 @@ public sealed class BSPrim : PhysicsActor public override OMV.Vector3 Torque { get { return _torque; } set { _torque = value; + DetailLog("{0},SetTorque,call,torque={1}", LocalID, _torque); } } public override float CollisionScore { @@ -432,13 +472,21 @@ public sealed class BSPrim : PhysicsActor set { _acceleration = value; } } public override OMV.Quaternion Orientation { - get { return _orientation; } + get { + if (_parentPrim != null) + { + // children move around because tied to parent. Get a fresh value. + _orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID); + } + return _orientation; + } set { _orientation = value; - // m_log.DebugFormat("{0}: set orientation: id={1}, ori={2}", LogHeader, LocalID, _orientation); + // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? _scene.TaintedObject(delegate() { // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + DetailLog("{0},SetOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); }); } @@ -471,8 +519,9 @@ public sealed class BSPrim : PhysicsActor get { return !IsPhantom && !_isVolumeDetect; } } - // make gravity work if the object is physical and not selected - // no locking here because only called when it is safe + // Make gravity work if the object is physical and not selected + // No locking here because only called when it is safe + // Only called at taint time so it is save to call into Bullet. private void SetObjectDynamic() { // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid); @@ -489,6 +538,7 @@ public sealed class BSPrim : PhysicsActor RecreateGeomAndObject(); } + DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, _mass); BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass); } @@ -529,11 +579,24 @@ public sealed class BSPrim : PhysicsActor set { _floatOnWater = value; } } public override OMV.Vector3 RotationalVelocity { - get { return _rotationalVelocity; } - set { _rotationalVelocity = value; + get { + /* + OMV.Vector3 pv = OMV.Vector3.Zero; + // if close to zero, report zero + // This is copied from ODE but I'm not sure why it returns zero but doesn't + // zero the property in the physics engine. + if (_rotationalVelocity.ApproxEquals(pv, 0.2f)) + return pv; + */ + + return _rotationalVelocity; + } + set { + _rotationalVelocity = value; // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); _scene.TaintedObject(delegate() { + DetailLog("{0},SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); }); } @@ -546,11 +609,13 @@ public sealed class BSPrim : PhysicsActor } public override float Buoyancy { get { return _buoyancy; } - set { _buoyancy = value; - _scene.TaintedObject(delegate() - { - BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); - }); + set { + _buoyancy = value; + _scene.TaintedObject(delegate() + { + DetailLog("{0},SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); + BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); + }); } } @@ -586,27 +651,45 @@ public sealed class BSPrim : PhysicsActor public override float APIDStrength { set { return; } } public override float APIDDamping { set { return; } } + private List m_accumulatedForces = new List(); public override void AddForce(OMV.Vector3 force, bool pushforce) { if (force.IsFinite()) { - _force.X += force.X; - _force.Y += force.Y; - _force.Z += force.Z; + // _force += force; + lock (m_accumulatedForces) + m_accumulatedForces.Add(new OMV.Vector3(force)); } else { m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); + return; } _scene.TaintedObject(delegate() { - BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); + lock (m_accumulatedForces) + { + if (m_accumulatedForces.Count > 0) + { + OMV.Vector3 fSum = OMV.Vector3.Zero; + foreach (OMV.Vector3 v in m_accumulatedForces) + { + fSum += v; + } + m_accumulatedForces.Clear(); + + DetailLog("{0},SetObjectForce,taint,force={1}", LocalID, fSum); + BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, fSum); + } + } }); } public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { + DetailLog("{0},AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); } public override void SetMomentum(OMV.Vector3 momentum) { + DetailLog("{0},SetMomentum,call,mom={1}", LocalID, momentum); } public override void SubscribeEvents(int ms) { _subscribedEventsMs = ms; @@ -931,6 +1014,7 @@ public sealed class BSPrim : PhysicsActor { // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; + DetailLog("{0},CreateGeom,sphere", LocalID); // Bullet native objects are scaled by the Bullet engine so pass the size in _scale = _size; } @@ -938,6 +1022,7 @@ public sealed class BSPrim : PhysicsActor else { // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size); + DetailLog("{0},CreateGeom,box", LocalID); _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; _scale = _size; } @@ -974,10 +1059,12 @@ public sealed class BSPrim : PhysicsActor // if this new shape is the same as last time, don't recreate the mesh if (_meshKey == newMeshKey) return; + DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, _meshKey); // 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},CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey); BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); _mesh = null; _meshKey = 0; @@ -1007,6 +1094,7 @@ public sealed class BSPrim : PhysicsActor _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; // meshes are already scaled by the meshmerizer _scale = new OMV.Vector3(1f, 1f, 1f); + DetailLog("{0},CreateGeomMesh,done", LocalID); return; } @@ -1020,13 +1108,17 @@ public sealed class BSPrim : PhysicsActor // if the hull hasn't changed, don't rebuild it if (newHullKey == _hullKey) return; + DetailLog("{0},CreateGeomHull,create,key={1}", LocalID, _meshKey); + // 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},CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey); BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); _hullKey = 0; _hulls.Clear(); + DetailLog("{0},CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey); BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); _mesh = null; // the mesh cannot match either _meshKey = 0; @@ -1123,6 +1215,7 @@ public sealed class BSPrim : PhysicsActor _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; // meshes are already scaled by the meshmerizer _scale = new OMV.Vector3(1f, 1f, 1f); + DetailLog("{0},CreateGeomHull,done", LocalID); return; } @@ -1310,6 +1403,7 @@ public sealed class BSPrim : PhysicsActor */ // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. + // Updates only for individual prims and for the root object of a linkset. if (this._parentPrim == null) { @@ -1319,8 +1413,12 @@ public sealed class BSPrim : PhysicsActor _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; + // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); + DetailLog("{0},UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); + base.RequestPhysicsterseUpdate(); } } @@ -1361,5 +1459,11 @@ public sealed class BSPrim : PhysicsActor collisionCollection.Clear(); } } + + // Invoke the detailed logger and output something if it's enabled. + private void DetailLog(string msg, params Object[] args) + { + Scene.PhysicsLogging.Write(msg, args); + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index c4b4332..9d41ce8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -30,9 +30,9 @@ using System.Runtime.InteropServices; using System.Text; using System.Threading; using OpenSim.Framework; -using OpenSim.Region.CoreModules.Framework.Statistics.Logging; using OpenSim.Region.Framework; using OpenSim.Region.Physics.Manager; +using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging; using Nini.Config; using log4net; using OpenMetaverse; @@ -45,15 +45,17 @@ using OpenMetaverse; // Compute physics FPS reasonably // Based on material, set density and friction // More efficient memory usage when passing hull information from BSPrim to BulletSim +// Move all logic out of the C++ code and into the C# code for easier future modifications. // Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? // In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) // At the moment, physical and phantom causes object to drop through the terrain // Physical phantom objects and related typing (collision options ) +// Use collision masks for collision with terrain and phantom objects // Check out llVolumeDetect. Must do something for that. // Should prim.link() and prim.delink() membership checking happen at taint time? +// changing the position and orientation of a linked prim must rebuild the constraint with the root. // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect -// Use collision masks for collision with terrain and phantom objects // Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions) // Implement LockAngularMotion // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) @@ -61,9 +63,6 @@ using OpenMetaverse; // Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet. // Add PID movement operations. What does ScenePresence.MoveToTarget do? // Check terrain size. 128 or 127? -// Multiple contact points on collision? -// See code in ode::near... calls to collision_accounting_events() -// (This might not be a problem. ODE collects all the collisions with one object in one tick.) // Raycast // namespace OpenSim.Region.Physics.BulletSPlugin @@ -160,17 +159,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; // Sometimes you just have to log everything. - public LogWriter PhysicsLogging; + public Logging.LogWriter PhysicsLogging; private bool m_physicsLoggingEnabled; private string m_physicsLoggingDir; private string m_physicsLoggingPrefix; private int m_physicsLoggingFileMinutes; - public LogWriter VehicleLogging; private bool m_vehicleLoggingEnabled; - private string m_vehicleLoggingDir; - private string m_vehicleLoggingPrefix; - private int m_vehicleLoggingFileMinutes; + public bool VehicleLoggingEnabled { get { return m_vehicleLoggingEnabled; } } public BSScene(string identifier) { @@ -197,19 +193,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters // can be left in and every call doesn't have to check for null. if (m_physicsLoggingEnabled) { - PhysicsLogging = new LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); + PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); } else { - PhysicsLogging = new LogWriter(); - } - if (m_vehicleLoggingEnabled) - { - VehicleLogging = new LogWriter(m_vehicleLoggingDir, m_vehicleLoggingPrefix, m_vehicleLoggingFileMinutes); - } - else - { - VehicleLogging = new LogWriter(); + PhysicsLogging = new Logging.LogWriter(); } // Get the version of the DLL @@ -218,11 +206,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); // if Debug, enable logging from the unmanaged code - if (m_log.IsDebugEnabled) + if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) { m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); - // the handle is saved to it doesn't get freed after this call - m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); + if (PhysicsLogging.Enabled) + m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog); + else + m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); + // the handle is saved in a variable to make sure it doesn't get freed after this call BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); } @@ -363,9 +354,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); // Very detailed logging for vehicle debugging m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); - m_vehicleLoggingDir = pConfig.GetString("VehicleLoggingDir", "."); - m_vehicleLoggingPrefix = pConfig.GetString("VehicleLoggingPrefix", "vehicle-"); - m_vehicleLoggingFileMinutes = pConfig.GetInt("VehicleLoggingFileMinutes", 5); } } m_params[0] = parms; @@ -386,12 +374,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters return ret; } - // Called directly from unmanaged code so don't do much private void BulletLogger(string msg) { m_log.Debug("[BULLETS UNMANAGED]:" + msg); } + + // Called directly from unmanaged code so don't do much + private void BulletLoggerPhysLog(string msg) + { + PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg); + } public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) { @@ -532,7 +525,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters for (int ii = 0; ii < updatedEntityCount; ii++) { EntityProperties entprop = m_updateArray[ii]; - // m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position); BSPrim prim; if (m_prims.TryGetValue(entprop.ID, out prim)) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 086f0dc..babb707 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -146,6 +146,22 @@ public struct ConfigurationParameters public const float numericFalse = 0f; } +// Values used by Bullet and BulletSim to control collisions +public enum CollisionFlags : uint +{ + STATIC_OBJECT = 1 << 0, + KINEMATIC_OBJECT = 1 << 1, + NO_CONTACT_RESPONSE = 1 << 2, + CUSTOM_MATERIAL_CALLBACK = 1 << 3, + CHARACTER_OBJECT = 1 << 4, + DISABLE_VISUALIZE_OBJECT = 1 << 5, + DISABLE_SPU_COLLISION_PROCESS = 1 << 6, + // Following used by BulletSim to control collisions + VOLUME_DETECT_OBJECT = 1 << 10, + PHANTOM_OBJECT = 1 << 11, + PHYSICAL_OBJECT = 1 << 12, +}; + static class BulletSimAPI { [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -214,6 +230,9 @@ public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); public static extern Vector3 GetObjectPosition(uint WorldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Quaternion GetObjectOrientation(uint WorldID, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -268,5 +287,37 @@ public static extern void DumpBulletStatistics(); public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetDebugLogCallback(DebugLogCallback callback); + +// =============================================================================== +// =============================================================================== +// =============================================================================== +// A new version of the API that moves all the logic out of the C++ code and into +// the C# code. This will make modifications easier for the next person. +// This interface passes the actual pointers to the objects in the unmanaged +// address space. All the management (calls for creation/destruction/lookup) +// is done in the C# code. +// The names have a 2 tacked on. This will be removed as the code gets rebuilt +// and the old code is removed from the C# code. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetSimHandle2(uint worldID); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr ClearForces2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags); + } } -- cgit v1.1 From b25d874afaa5a3111455b9e49a73343b3afd6f14 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 20 Jul 2012 15:34:19 -0700 Subject: BulletSim: add reference to OpenSim.Region.CoreModules in BSScene.cs attempting to fix a mono compile error. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 9d41ce8..8773485 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -31,8 +31,9 @@ using System.Text; using System.Threading; using OpenSim.Framework; using OpenSim.Region.Framework; -using OpenSim.Region.Physics.Manager; +using OpenSim.Region.CoreModules; using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging; +using OpenSim.Region.Physics.Manager; using Nini.Config; using log4net; using OpenMetaverse; -- cgit v1.1 From 73f9e14b4326042dd218abd11f72eb46339c3a29 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 09:30:28 -0700 Subject: BulletSim: improve linking to add each link individually rather than rebuilding the object each time. Makes it an O(n) operation rather than O(n\!). --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 136 ++++++++++++++----------- 1 file changed, 76 insertions(+), 60 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 71a4303..a749a97 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -149,22 +149,26 @@ public sealed class BSPrim : PhysicsActor { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // DetailLog("{0},Destroy", LocalID); + // Undo any vehicle properties _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _scene.RemoveVehiclePrim(this); // just to make sure - // undo any dependance with/on other objects - if (_parentPrim != null) - { - // If I'm someone's child, tell them to forget about me. - _parentPrim.RemoveChildFromLinkset(this); - _parentPrim = null; - } - _scene.TaintedObject(delegate() { + // undo any dependance with/on other objects + if (_parentPrim != null) + { + // If I'm someone's child, tell them to forget about me. + _parentPrim.RemoveChildFromLinkset(this); + _parentPrim = null; + } + + // make sure there are no possible children depending on me + UnlinkAllChildren(); + // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. - BulletSimAPI.DestroyObject(_scene.WorldID, _localID); + BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); }); } @@ -272,7 +276,8 @@ public sealed class BSPrim : PhysicsActor DetailLog("{0},AddChildToLinkset,child={1}", LocalID, pchild.LocalID); _childrenPrims.Add(child); child._parentPrim = this; // the child has gained a parent - RecreateGeomAndObject(); // rebuild my shape with the new child added + // RecreateGeomAndObject(); // rebuild my shape with the new child added + LinkAChildToMe(pchild); // build the physical binding between me and the child } }); return; @@ -289,13 +294,18 @@ public sealed class BSPrim : PhysicsActor { DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); DetailLog("{0},RemoveChildToLinkset,child={1}", LocalID, pchild.LocalID); - if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID)) - { - m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID); - } _childrenPrims.Remove(child); child._parentPrim = null; // the child has lost its parent - RecreateGeomAndObject(); // rebuild my shape with the child removed + if (_childrenPrims.Count == 0) + { + // if the linkset is empty, make sure all linkages have been removed + UnlinkAllChildren(); + } + else + { + // RecreateGeomAndObject(); // rebuild my shape with the child removed + UnlinkAChildFromMe(pchild); + } } else { @@ -1247,30 +1257,6 @@ public sealed class BSPrim : PhysicsActor } } - // Create a linkset by creating a compound hull at the root prim that consists of all - // the children. - // NOTE: This does not allow proper collisions with the children prims so it is not a workable solution - void CreateLinksetWithCompoundHull() - { - // If I am the root prim of a linkset, replace my physical shape with all the - // pieces of the children. - // All of the children should have called CreateGeom so they have a hull - // in the physics engine already. Here we pull together all of those hulls - // into one shape. - int totalPrimsInLinkset = _childrenPrims.Count + 1; - // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset); - ShapeData[] shapes = new ShapeData[totalPrimsInLinkset]; - FillShapeInfo(out shapes[0]); - int ii = 1; - foreach (BSPrim prim in _childrenPrims) - { - // m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID); - prim.FillShapeInfo(out shapes[ii]); - ii++; - } - BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes); - } - // Copy prim's info into the BulletSim shape description structure public void FillShapeInfo(out ShapeData shape) { @@ -1290,9 +1276,10 @@ public sealed class BSPrim : PhysicsActor shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; } + #region Linkset creation and destruction + // Create the linkset by putting constraints between the objects of the set so they cannot move // relative to each other. - // TODO: make this more effeicient: a large linkset gets rebuilt over and over and prims are added void CreateLinksetWithConstraints() { DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); @@ -1306,29 +1293,58 @@ public sealed class BSPrim : PhysicsActor // create constraints between the root prim and each of the children foreach (BSPrim prim in _childrenPrims) { - // Zero motion for children so they don't interpolate - prim.ZeroMotion(); - - // relative position normalized to the root prim - OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation); - OMV.Vector3 childRelativePosition = (prim._position - this._position) * invThisOrientation; - - // relative rotation of the child to the parent - OMV.Quaternion childRelativeRotation = invThisOrientation * prim._orientation; - - // this is a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); - BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, - childRelativePosition, - childRelativeRotation, - OMV.Vector3.Zero, - OMV.Quaternion.Identity, - OMV.Vector3.Zero, OMV.Vector3.Zero, - OMV.Vector3.Zero, OMV.Vector3.Zero); + LinkAChildToMe(prim); } } + // Create a constraint between me (root of linkset) and the passed prim (the child). + // Called at taint time! + private void LinkAChildToMe(BSPrim childPrim) + { + // Zero motion for children so they don't interpolate + childPrim.ZeroMotion(); + + // relative position normalized to the root prim + OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation); + OMV.Vector3 childRelativePosition = (childPrim._position - this._position) * invThisOrientation; + + // relative rotation of the child to the parent + OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim._orientation; + + // create a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); + DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); + BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, childPrim.LocalID, + childRelativePosition, + childRelativeRotation, + OMV.Vector3.Zero, + OMV.Quaternion.Identity, + OMV.Vector3.Zero, OMV.Vector3.Zero, + OMV.Vector3.Zero, OMV.Vector3.Zero); + } + + // Remove linkage between myself and a particular child + // Called at taint time! + private void UnlinkAChildFromMe(BSPrim childPrim) + { + DebugLog("{0}: UnlinkAChildFromMe: RemoveConstraint between root prim {1} and child prim {2}", + LogHeader, LocalID, childPrim.LocalID); + DetailLog("{0},UnlinkAChildFromMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); + BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); + } + + // Remove linkage between myself and any possible children I might have + // Called at taint time! + private void UnlinkAllChildren() + { + DebugLog("{0}: UnlinkAllChildren:", LogHeader); + DetailLog("{0},UnlinkAllChildren,taint", LocalID); + BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); + } + + #endregion // Linkset creation and destruction + // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. // No locking here because this is done when the physics engine is not simulating -- cgit v1.1 From 85c6eb7c500b708ab0a91965eca9da20b0b02e50 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 10:37:52 -0700 Subject: BulletSim: add all the new functions to BulletSimAPI. Modify ZeroMotion() to not make tainting calls and to use new API calls. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 13 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 132 ++++++++++++++++++++- 2 files changed, 139 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a749a97..29ddddd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -324,11 +324,20 @@ public sealed class BSPrim : PhysicsActor // Set motion values to zero. // Do it to the properties so the values get set in the physics engine. // Push the setting of the values to the viewer. + // Called at taint time! private void ZeroMotion() { - Velocity = OMV.Vector3.Zero; + _velocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; - RotationalVelocity = OMV.Vector3.Zero; + _rotationalVelocity = OMV.Vector3.Zero; + + IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); + BulletSimAPI.SetVelocity2(obj, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(obj, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolation2(obj, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(obj); + + // make sure this new information is pushed to the client base.RequestPhysicsterseUpdate(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index babb707..54a8cfd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -291,13 +291,14 @@ public static extern void SetDebugLogCallback(DebugLogCallback callback); // =============================================================================== // =============================================================================== // =============================================================================== -// A new version of the API that moves all the logic out of the C++ code and into +// A new version of the API that enables moving all the logic out of the C++ code and into // the C# code. This will make modifications easier for the next person. // This interface passes the actual pointers to the objects in the unmanaged // address space. All the management (calls for creation/destruction/lookup) // is done in the C# code. -// The names have a 2 tacked on. This will be removed as the code gets rebuilt -// and the old code is removed from the C# code. +// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt +// and the old code is removed. + [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetSimHandle2(uint worldID); @@ -307,8 +308,101 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id); +// =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr ClearForces2(IntPtr obj); +public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, + int maxCollisions, IntPtr collisionArray, + int maxUpdates, IntPtr updateArray); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateParameter2(IntPtr sim, uint localID, String parm, float value); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetHeightmap2(IntPtr sim, float[] heightmap); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Shutdown2(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int PhysicsStep2(IntPtr sim, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, + out IntPtr updatedEntitiesPtr, + out int collidersCount, + out IntPtr collidersPtr); + +/* +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateMesh2(IntPtr sim, int indicesCount, int* indices, int verticesCount, float* vertices ); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool BuildHull2(IntPtr sim, IntPtr mesh); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ReleaseHull2(IntPtr sim, IntPtr mesh); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyMesh2(IntPtr sim, IntPtr mesh); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); +*/ + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetPosition2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Quaternion GetOrientation2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetDeactivationTime2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetFriction2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetRestitution2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags); @@ -319,5 +413,35 @@ public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateInertiaTensor2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetGravity2(IntPtr obj, Vector3 val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr ClearForces2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetMargin2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyObject2(IntPtr world, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpPhysicsStatistics2(IntPtr sim); + } } -- cgit v1.1 From 8a574395c7626f0aef596cbb928e0b4139ebab12 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 13:48:40 -0700 Subject: BulletSim: add Dispose() code to free up resources and close log files. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 8773485..7cc3fe3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -630,6 +630,27 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void Dispose() { // m_log.DebugFormat("{0}: Dispose()", LogHeader); + + // make sure no stepping happens while we're deleting stuff + m_initialized = false; + + foreach (KeyValuePair kvp in m_avatars) + { + kvp.Value.Destroy(); + } + m_avatars.Clear(); + + foreach (KeyValuePair kvp in m_prims) + { + kvp.Value.Destroy(); + } + m_prims.Clear(); + + // Anything left in the unmanaged code should be cleaned out + BulletSimAPI.Shutdown(WorldID); + + // Not logging any more + PhysicsLogging.Close(); } public override Dictionary GetTopColliders() -- cgit v1.1 From dda681515b31e528ae01954a583cd7a7b4e94987 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 13:49:31 -0700 Subject: BulletSim: small optimizations for link and unlink code --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 20 ++++++++------------ 1 file changed, 8 insertions(+), 12 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 29ddddd..b49b8d9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -293,7 +293,7 @@ public sealed class BSPrim : PhysicsActor if (_childrenPrims.Contains(child)) { DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); - DetailLog("{0},RemoveChildToLinkset,child={1}", LocalID, pchild.LocalID); + DetailLog("{0},RemoveChildFromLinkset,child={1}", LocalID, pchild.LocalID); _childrenPrims.Remove(child); child._parentPrim = null; // the child has lost its parent if (_childrenPrims.Count == 0) @@ -331,14 +331,12 @@ public sealed class BSPrim : PhysicsActor _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; + // Zero some other properties directly into the physics engine IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); BulletSimAPI.SetVelocity2(obj, OMV.Vector3.Zero); BulletSimAPI.SetAngularVelocity2(obj, OMV.Vector3.Zero); BulletSimAPI.SetInterpolation2(obj, OMV.Vector3.Zero, OMV.Vector3.Zero); BulletSimAPI.ClearForces2(obj); - - // make sure this new information is pushed to the client - base.RequestPhysicsterseUpdate(); } public override void LockAngularMotion(OMV.Vector3 axis) @@ -1253,7 +1251,7 @@ public sealed class BSPrim : PhysicsActor if (IsRootOfLinkset) { // Create a linkset around this object - CreateLinksetWithConstraints(); + CreateLinkset(); } else { @@ -1289,16 +1287,14 @@ public sealed class BSPrim : PhysicsActor // Create the linkset by putting constraints between the objects of the set so they cannot move // relative to each other. - void CreateLinksetWithConstraints() + void CreateLinkset() { DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); // remove any constraints that might be in place - foreach (BSPrim prim in _childrenPrims) - { - DebugLog("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); - BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID); - } + DebugLog("{0}: CreateLinkset: RemoveConstraints between me and any children", LogHeader, LocalID); + BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); + // create constraints between the root prim and each of the children foreach (BSPrim prim in _childrenPrims) { @@ -1430,7 +1426,7 @@ public sealed class BSPrim : PhysicsActor // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. // Updates only for individual prims and for the root object of a linkset. - if (this._parentPrim == null) + if (_parentPrim == null) { // Assign to the local variables so the normal set action does not happen _position = entprop.Position; -- cgit v1.1 From bf6547be01afbd7f79eea19013cfd068ad87837f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 16:31:12 -0700 Subject: BulletSim: change how prim mass is saved so it is always calculated but zero is given if not physical. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 43 ++++++++++++++------------ 1 file changed, 23 insertions(+), 20 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b49b8d9..a19d6d7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -133,10 +133,7 @@ public sealed class BSPrim : PhysicsActor _parentPrim = null; // not a child or a parent _vehicle = new BSDynamics(this); // add vehicleness _childrenPrims = new List(); - if (_isPhysical) - _mass = CalculateMass(); - else - _mass = 0f; + _mass = CalculateMass(); // do the actual object creation at taint time _scene.TaintedObject(delegate() { @@ -181,8 +178,8 @@ public sealed class BSPrim : PhysicsActor _size = value; _scene.TaintedObject(delegate() { - if (_isPhysical) _mass = CalculateMass(); // changing size changes the mass - BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, _mass, _isPhysical); + _mass = CalculateMass(); // changing size changes the mass + BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, Mass, IsPhysical); RecreateGeomAndObject(); }); } @@ -192,7 +189,7 @@ public sealed class BSPrim : PhysicsActor _pbs = value; _scene.TaintedObject(delegate() { - if (_isPhysical) _mass = CalculateMass(); // changing the shape changes the mass + _mass = CalculateMass(); // changing the shape changes the mass RecreateGeomAndObject(); }); } @@ -278,6 +275,8 @@ public sealed class BSPrim : PhysicsActor child._parentPrim = this; // the child has gained a parent // RecreateGeomAndObject(); // rebuild my shape with the new child added LinkAChildToMe(pchild); // build the physical binding between me and the child + + _mass = CalculateMass(); } }); return; @@ -306,6 +305,8 @@ public sealed class BSPrim : PhysicsActor // RecreateGeomAndObject(); // rebuild my shape with the child removed UnlinkAChildFromMe(pchild); } + + _mass = CalculateMass(); } else { @@ -364,9 +365,17 @@ public sealed class BSPrim : PhysicsActor }); } } + + // Return the effective mass of the object. Non-physical objects do not have mass. public override float Mass { - get { return _mass; } + get { + if (IsPhysical) + return _mass; + else + return 0f; + } } + public override OMV.Vector3 Force { get { return _force; } set { @@ -446,7 +455,8 @@ public sealed class BSPrim : PhysicsActor // Called from Scene when doing simulation step so we're in taint processing time. public void StepVehicle(float timeStep) { - _vehicle.Step(timeStep); + if (IsPhysical) + _vehicle.Step(timeStep); } // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more @@ -543,20 +553,13 @@ public sealed class BSPrim : PhysicsActor { // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid); // non-physical things work best with a mass of zero - if (IsStatic) - { - _mass = 0f; - } - else + if (!IsStatic) { _mass = CalculateMass(); - // If it's dynamic, make sure the hull has been created for it - // This shouldn't do much work if the object had previously been built RecreateGeomAndObject(); - } - DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, _mass); - BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass); + DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, Mass); + BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), Mass); } // prims don't fly @@ -1273,7 +1276,7 @@ public sealed class BSPrim : PhysicsActor shape.Rotation = _orientation; shape.Velocity = _velocity; shape.Scale = _scale; - shape.Mass = _isPhysical ? _mass : 0f; + shape.Mass = Mass; shape.Buoyancy = _buoyancy; shape.HullKey = _hullKey; shape.MeshKey = _meshKey; -- cgit v1.1 From 5707e171f4c231b58ff683d49fee55e4ccbb317f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 10:33:36 -0700 Subject: BulletSim: Move constraint tracking from C++ code to C# code for more flexibility. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 53 +++++++++++++++------- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 48 +++++++++++++++++++- 2 files changed, 83 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a19d6d7..ff87955 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -97,6 +97,9 @@ public sealed class BSPrim : PhysicsActor long _collidingStep; long _collidingGroundStep; + private BulletBody m_body; + public BulletBody Body { get { return m_body; } } + private BSDynamics _vehicle; private OMV.Vector3 _PIDTarget; @@ -138,6 +141,11 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject(delegate() { RecreateGeomAndObject(); + + // Get the pointer to the physical body for this object. + // At the moment, we're still letting BulletSim manage the creation and destruction + // of the object. Someday we'll move that into the C# code. + m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); }); } @@ -161,7 +169,7 @@ public sealed class BSPrim : PhysicsActor _parentPrim = null; } - // make sure there are no possible children depending on me + // make sure there are no other prims are linked to me UnlinkAllChildren(); // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. @@ -333,11 +341,11 @@ public sealed class BSPrim : PhysicsActor _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); - BulletSimAPI.SetVelocity2(obj, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(obj, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolation2(obj, OMV.Vector3.Zero, OMV.Vector3.Zero); - BulletSimAPI.ClearForces2(obj); + BulletBody obj = new BulletBody(LocalID, BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID)); + BulletSimAPI.SetVelocity2(obj.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(obj.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolation2(obj.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(obj.Ptr); } public override void LockAngularMotion(OMV.Vector3 axis) @@ -383,7 +391,8 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject(delegate() { DetailLog("{0},SetForce,taint,force={1}", LocalID, _force); - BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); + // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); + BulletSimAPI.SetObjectForce2(Body.Ptr, _force); }); } } @@ -407,8 +416,7 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject(delegate() { // Tell the physics engine to clear state - IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); - BulletSimAPI.ClearForces2(obj); + BulletSimAPI.ClearForces2(this.Body.Ptr); }); // make it so the scene will call us each tick to do vehicle things @@ -420,7 +428,6 @@ public sealed class BSPrim : PhysicsActor } public override void VehicleFloatParam(int param, float value) { - m_log.DebugFormat("{0} VehicleFloatParam. {1} <= {2}", LogHeader, param, value); _scene.TaintedObject(delegate() { _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); @@ -428,7 +435,6 @@ public sealed class BSPrim : PhysicsActor } public override void VehicleVectorParam(int param, OMV.Vector3 value) { - m_log.DebugFormat("{0} VehicleVectorParam. {1} <= {2}", LogHeader, param, value); _scene.TaintedObject(delegate() { _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); @@ -436,7 +442,6 @@ public sealed class BSPrim : PhysicsActor } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { - m_log.DebugFormat("{0} VehicleRotationParam. {1} <= {2}", LogHeader, param, rotation); _scene.TaintedObject(delegate() { _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); @@ -444,7 +449,6 @@ public sealed class BSPrim : PhysicsActor } public override void VehicleFlags(int param, bool remove) { - m_log.DebugFormat("{0} VehicleFlags. {1}. Remove={2}", LogHeader, param, remove); _scene.TaintedObject(delegate() { _vehicle.ProcessVehicleFlags(param, remove); @@ -1296,7 +1300,7 @@ public sealed class BSPrim : PhysicsActor // remove any constraints that might be in place DebugLog("{0}: CreateLinkset: RemoveConstraints between me and any children", LogHeader, LocalID); - BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); + UnlinkAllChildren(); // create constraints between the root prim and each of the children foreach (BSPrim prim in _childrenPrims) @@ -1323,6 +1327,7 @@ public sealed class BSPrim : PhysicsActor // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); + /* BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, childPrim.LocalID, childRelativePosition, childRelativeRotation, @@ -1330,6 +1335,20 @@ public sealed class BSPrim : PhysicsActor OMV.Quaternion.Identity, OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero); + */ + // BSConstraint constrain = new BSConstraint(_scene.World, this.Body, childPrim.Body, + BSConstraint constrain = _scene.Constraints.CreateConstraint( + _scene.World, this.Body, childPrim.Body, + childRelativePosition, + childRelativeRotation, + OMV.Vector3.Zero, + OMV.Quaternion.Identity); + constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); + constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); + + // tweek the constraint to increase stability + constrain.UseFrameOffset(true); + constrain.TranslationalLimitMotor(true, 5f, 0.1f); } // Remove linkage between myself and a particular child @@ -1339,7 +1358,8 @@ public sealed class BSPrim : PhysicsActor DebugLog("{0}: UnlinkAChildFromMe: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); DetailLog("{0},UnlinkAChildFromMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); - BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); + // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); + _scene.Constraints.RemoveAndDestroyConstraint(this.Body, childPrim.Body); } // Remove linkage between myself and any possible children I might have @@ -1348,7 +1368,8 @@ public sealed class BSPrim : PhysicsActor { DebugLog("{0}: UnlinkAllChildren:", LogHeader); DetailLog("{0},UnlinkAllChildren,taint", LocalID); - BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); + _scene.Constraints.RemoveAndDestroyConstraint(this.Body); + // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); } #endregion // Linkset creation and destruction diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 54a8cfd..89fd9b7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -32,6 +32,28 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { +// Classes to allow some type checking for the API +public struct BulletSim +{ + public BulletSim(uint id, IntPtr xx) { ID = id; Ptr = xx; } + public IntPtr Ptr; + public uint ID; +} + +public struct BulletBody +{ + public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } + public IntPtr Ptr; + public uint ID; +} + +public struct BulletConstraint +{ + public BulletConstraint(IntPtr xx) { Ptr = xx; } + public IntPtr Ptr; +} + +// =============================================================================== [StructLayout(LayoutKind.Sequential)] public struct ConvexHull { @@ -142,6 +164,11 @@ public struct ConfigurationParameters public float shouldEnableFrictionCaching; public float numberOfSolverIterations; + public float linkConstraintUseFrameOffset; + public float linkConstraintEnableTransMotor; + public float linkConstraintTransMotorMaxVel; + public float linkConstraintTransMotorMaxForce; + public const float numericTrue = 1f; public const float numericFalse = 0f; } @@ -162,6 +189,7 @@ public enum CollisionFlags : uint PHYSICAL_OBJECT = 1 << 12, }; +// =============================================================================== static class BulletSimAPI { [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -214,6 +242,7 @@ public static extern bool CreateObject(uint worldID, ShapeData shapeData); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas); +/* Remove old functionality [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void AddConstraint(uint worldID, uint id1, uint id2, Vector3 frame1, Quaternion frame1rot, @@ -225,6 +254,7 @@ public static extern bool RemoveConstraintByID(uint worldID, uint id1); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); + */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetObjectPosition(uint WorldID, uint id); @@ -350,8 +380,22 @@ public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, Vector3 frame1loc, Quaternion frame1rot, - Vector3 frame2loc, Quaternion frame2rot, - Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); + Vector3 frame2loc, Quaternion frame2rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UseFrameOffset2(IntPtr constrain, float enable); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool CalculateTransforms2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); -- cgit v1.1 From 2d05e16f7e934fc7a986696605950dd9a618d044 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 10:34:51 -0700 Subject: BulletSim: Add C# classes for storing and tracking constraints. --- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 123 ++++++++++++++ .../BulletSPlugin/BSConstraintCollection.cs | 178 +++++++++++++++++++++ 2 files changed, 301 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs new file mode 100755 index 0000000..ced8565 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -0,0 +1,123 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public class BSConstraint : IDisposable +{ + private BulletSim m_world; + private BulletBody m_body1; + private BulletBody m_body2; + private BulletConstraint m_constraint; + private bool m_enabled = false; + + public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot + ) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + /* + BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, + frame1, frame1rot, + frame2, frame2rot, + linearLow, linearHigh, + angularLow, angularHigh + ); + */ + m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, + frame1, frame1rot, + frame2, frame2rot)); + m_enabled = true; + } + + public void Dispose() + { + if (m_enabled) + { + // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); + BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); + m_enabled = false; + } + } + + public BulletBody Body1 { get { return m_body1; } } + public BulletBody Body2 { get { return m_body2; } } + + public bool SetLinearLimits(Vector3 low, Vector3 high) + { + bool ret = false; + if (m_enabled) + ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); + return ret; + } + + public bool SetAngularLimits(Vector3 low, Vector3 high) + { + bool ret = false; + if (m_enabled) + ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); + return ret; + } + + public bool UseFrameOffset(bool useOffset) + { + bool ret = false; + float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); + return ret; + } + + public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) + { + bool ret = false; + float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); + return ret; + } + + public bool CalculateTransforms() + { + bool ret = false; + if (m_enabled) + { + BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); + ret = true; + } + return ret; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs new file mode 100755 index 0000000..6c66c5c --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -0,0 +1,178 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using log4net; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public class BSConstraintCollection : IDisposable +{ + // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); + // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; + + delegate bool ConstraintAction(BSConstraint constrain); + + private List m_constraints; + private BulletSim m_world; + + public BSConstraintCollection(BulletSim world) + { + m_world = world; + m_constraints = new List(); + } + + public void Dispose() + { + this.Clear(); + } + + public void Clear() + { + foreach (BSConstraint cons in m_constraints) + { + cons.Dispose(); + } + m_constraints.Clear(); + } + + public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot) + { + BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot); + + this.AddConstraint(constrain); + return constrain; + } + + public bool AddConstraint(BSConstraint cons) + { + // There is only one constraint between any bodies. Remove any old just to make sure. + RemoveAndDestroyConstraint(cons.Body1, cons.Body2); + + m_constraints.Add(cons); + + return true; + } + + // Get the constraint between two bodies. There can be only one the way we're using them. + public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint) + { + bool found = false; + BSConstraint foundConstraint = null; + + uint lookingID1 = body1.ID; + uint lookingID2 = body2.ID; + ForEachConstraint(delegate(BSConstraint constrain) + { + if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) + || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) + { + foundConstraint = constrain; + found = true; + } + return found; + }); + returnConstraint = foundConstraint; + return found; + } + + public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) + { + // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID); + + bool ret = false; + BSConstraint constrain; + + if (this.TryGetConstraint(body1, body2, out constrain)) + { + // remove the constraint from our collection + m_constraints.Remove(constrain); + // tell the engine that all its structures need to be freed + constrain.Dispose(); + // we destroyed something + ret = true; + } + + return ret; + } + + public bool RemoveAndDestroyConstraint(BulletBody body1) + { + // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); + + List toRemove = new List(); + uint lookingID = body1.ID; + ForEachConstraint(delegate(BSConstraint constrain) + { + if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) + { + toRemove.Add(constrain); + } + return false; + }); + lock (m_constraints) + { + foreach (BSConstraint constrain in toRemove) + { + m_constraints.Remove(constrain); + constrain.Dispose(); + } + } + return (toRemove.Count > 0); + } + + public bool RecalculateAllConstraints() + { + foreach (BSConstraint constrain in m_constraints) + { + constrain.CalculateTransforms(); + } + return true; + } + + // Lock the constraint list and loop through it. + // The constraint action returns 'true' if it wants the loop aborted. + private void ForEachConstraint(ConstraintAction action) + { + lock (m_constraints) + { + foreach (BSConstraint constrain in m_constraints) + { + if (action(constrain)) + break; + } + } + } + + +} +} -- cgit v1.1 From bf6529db320bc7ab3fe292e3b7288c8f71636f6e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 10:35:34 -0700 Subject: BulletSim: Redo parameter specification so only one place has to change to have a parameter show up in the ini file and command line. Will make it much easier for the next person. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 626 ++++++++++++++---------- 1 file changed, 378 insertions(+), 248 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7cc3fe3..07a377b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -103,6 +103,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters get { return m_sculptLOD; } } + private BulletSim m_worldSim; + public BulletSim World + { + get { return m_worldSim; } + } + private BSConstraintCollection m_constraintCollection; + public BSConstraintCollection Constraints + { + get { return m_constraintCollection; } + } + private int m_maxSubSteps; private float m_fixedTimeStep; private long m_simulationStep = 0; @@ -229,6 +240,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); + // Initialization to support the transition to a new API which puts most of the logic + // into the C# code so it is easier to modify and add to. + m_worldSim = new BulletSim(m_worldID, BulletSimAPI.GetSimHandle2(m_worldID)); + m_constraintCollection = new BSConstraintCollection(World); + m_initialized = true; } @@ -237,116 +253,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters private void GetInitialParameterValues(IConfigSource config) { ConfigurationParameters parms = new ConfigurationParameters(); + m_params[0] = parms; - _meshSculptedPrim = true; // mesh sculpted prims - _forceSimplePrimMeshing = false; // use complex meshing if called for - - m_meshLOD = 8f; - m_sculptLOD = 32f; - - shouldDebugLog = false; - m_detailedStatsStep = 0; // disabled - - m_maxSubSteps = 10; - m_fixedTimeStep = 1f / 60f; - m_maxCollisionsPerFrame = 2048; - m_maxUpdatesPerFrame = 2048; - m_maximumObjectMass = 10000.01f; - - PID_D = 2200f; - PID_P = 900f; - - parms.defaultFriction = 0.5f; - parms.defaultDensity = 10.000006836f; // Aluminum g/cm3 - parms.defaultRestitution = 0f; - parms.collisionMargin = 0.0f; - parms.gravity = -9.80665f; - - parms.linearDamping = 0.0f; - parms.angularDamping = 0.0f; - parms.deactivationTime = 0.2f; - parms.linearSleepingThreshold = 0.8f; - parms.angularSleepingThreshold = 1.0f; - parms.ccdMotionThreshold = 0.0f; // set to zero to disable - parms.ccdSweptSphereRadius = 0.0f; - parms.contactProcessingThreshold = 0.1f; - - parms.terrainFriction = 0.5f; - parms.terrainHitFraction = 0.8f; - parms.terrainRestitution = 0f; - parms.avatarFriction = 0.5f; - parms.avatarRestitution = 0.0f; - parms.avatarDensity = 60f; - parms.avatarCapsuleRadius = 0.37f; - parms.avatarCapsuleHeight = 1.5f; // 2.140599f - parms.avatarContactProcessingThreshold = 0.1f; - - parms.maxPersistantManifoldPoolSize = 0f; - parms.shouldDisableContactPoolDynamicAllocation = ConfigurationParameters.numericTrue; - parms.shouldForceUpdateAllAabbs = ConfigurationParameters.numericFalse; - parms.shouldRandomizeSolverOrder = ConfigurationParameters.numericFalse; - parms.shouldSplitSimulationIslands = ConfigurationParameters.numericFalse; - parms.shouldEnableFrictionCaching = ConfigurationParameters.numericFalse; - parms.numberOfSolverIterations = 0f; // means use default + SetParameterDefaultValues(); if (config != null) { // If there are specifications in the ini file, use those values - // WHEN ADDING OR UPDATING THIS SECTION, BE SURE TO UPDATE OpenSimDefaults.ini - // ALSO REMEMBER TO UPDATE THE RUNTIME SETTING OF THE PARAMETERS. IConfig pConfig = config.Configs["BulletSim"]; if (pConfig != null) { - _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim); - _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing); - - shouldDebugLog = pConfig.GetBoolean("ShouldDebugLog", shouldDebugLog); - m_detailedStatsStep = pConfig.GetInt("DetailedStatsStep", m_detailedStatsStep); - - m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD); - m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD); - - m_maxSubSteps = pConfig.GetInt("MaxSubSteps", m_maxSubSteps); - m_fixedTimeStep = pConfig.GetFloat("FixedTimeStep", m_fixedTimeStep); - m_maxCollisionsPerFrame = pConfig.GetInt("MaxCollisionsPerFrame", m_maxCollisionsPerFrame); - m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame); - m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass); - - PID_D = pConfig.GetFloat("PIDDerivative", PID_D); - PID_P = pConfig.GetFloat("PIDProportional", PID_P); - - parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction); - parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity); - parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution); - parms.collisionMargin = pConfig.GetFloat("CollisionMargin", parms.collisionMargin); - parms.gravity = pConfig.GetFloat("Gravity", parms.gravity); - - parms.linearDamping = pConfig.GetFloat("LinearDamping", parms.linearDamping); - parms.angularDamping = pConfig.GetFloat("AngularDamping", parms.angularDamping); - parms.deactivationTime = pConfig.GetFloat("DeactivationTime", parms.deactivationTime); - parms.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold", parms.linearSleepingThreshold); - parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", parms.angularSleepingThreshold); - parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold); - parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius); - parms.contactProcessingThreshold = pConfig.GetFloat("ContactProcessingThreshold", parms.contactProcessingThreshold); - - parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction); - parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction); - parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution); - parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction); - parms.avatarRestitution = pConfig.GetFloat("AvatarRestitution", parms.avatarRestitution); - parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity); - parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius); - parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight); - parms.avatarContactProcessingThreshold = pConfig.GetFloat("AvatarContactProcessingThreshold", parms.avatarContactProcessingThreshold); - - parms.maxPersistantManifoldPoolSize = pConfig.GetFloat("MaxPersistantManifoldPoolSize", parms.maxPersistantManifoldPoolSize); - parms.shouldDisableContactPoolDynamicAllocation = ParamBoolean(pConfig, "ShouldDisableContactPoolDynamicAllocation", parms.shouldDisableContactPoolDynamicAllocation); - parms.shouldForceUpdateAllAabbs = ParamBoolean(pConfig, "ShouldForceUpdateAllAabbs", parms.shouldForceUpdateAllAabbs); - parms.shouldRandomizeSolverOrder = ParamBoolean(pConfig, "ShouldRandomizeSolverOrder", parms.shouldRandomizeSolverOrder); - parms.shouldSplitSimulationIslands = ParamBoolean(pConfig, "ShouldSplitSimulationIslands", parms.shouldSplitSimulationIslands); - parms.shouldEnableFrictionCaching = ParamBoolean(pConfig, "ShouldEnableFrictionCaching", parms.shouldEnableFrictionCaching); - parms.numberOfSolverIterations = pConfig.GetFloat("NumberOfSolverIterations", parms.numberOfSolverIterations); + SetParameterConfigurationValues(pConfig); // Very detailed logging for physics debugging m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); @@ -357,7 +274,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); } } - m_params[0] = parms; } // A helper function that handles a true/false parameter and returns the proper float number encoding @@ -634,6 +550,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters // make sure no stepping happens while we're deleting stuff m_initialized = false; + if (m_constraintCollection != null) + { + m_constraintCollection.Dispose(); + m_constraintCollection = null; + } + foreach (KeyValuePair kvp in m_avatars) { kvp.Value.Destroy(); @@ -776,10 +698,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // The calls to the PhysicsActors can't directly call into the physics engine - // because it might be busy. We we delay changes to a known time. + // because it might be busy. We delay changes to a known time. // We rely on C#'s closure to save and restore the context for the delegate. public void TaintedObject(TaintCallback callback) { + if (!m_initialized) return; + lock (_taintLock) _taintedObjects.Add(callback); return; @@ -853,61 +777,350 @@ public class BSScene : PhysicsScene, IPhysicsParameters } #endregion Vehicles - #region Runtime settable parameters - public static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[] + #region Parameters + + delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); + delegate float ParamGet(BSScene scene); + delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); + + private struct ParameterDefn { - new PhysParameterEntry("MeshLOD", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)"), - new PhysParameterEntry("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)"), - new PhysParameterEntry("MaxSubStep", "In simulation step, maximum number of substeps"), - new PhysParameterEntry("FixedTimeStep", "In simulation step, seconds of one substep (1/60)"), - new PhysParameterEntry("MaxObjectMass", "Maximum object mass (10000.01)"), - new PhysParameterEntry("DetailedStats", "Frames between outputting detailed phys stats. Zero is off"), - - new PhysParameterEntry("DefaultFriction", "Friction factor used on new objects"), - new PhysParameterEntry("DefaultDensity", "Density for new objects" ), - new PhysParameterEntry("DefaultRestitution", "Bouncyness of an object" ), - // new PhysParameterEntry("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!!)" ), - new PhysParameterEntry("Gravity", "Vertical force of gravity (negative means down)" ), - - new PhysParameterEntry("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)" ), - new PhysParameterEntry("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)" ), - new PhysParameterEntry("DeactivationTime", "Seconds before considering an object potentially static" ), - new PhysParameterEntry("LinearSleepingThreshold", "Seconds to measure linear movement before considering static" ), - new PhysParameterEntry("AngularSleepingThreshold", "Seconds to measure angular movement before considering static" ), - new PhysParameterEntry("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ), - new PhysParameterEntry("CcdSweptSphereRadius", "Continuious collision detection test radius" ), - new PhysParameterEntry("ContactProcessingThreshold", "Distance between contacts before doing collision check" ), - // Can only change the following at initialization time. Change the INI file and reboot. - new PhysParameterEntry("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default)"), - new PhysParameterEntry("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count"), - new PhysParameterEntry("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step"), - new PhysParameterEntry("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction"), - new PhysParameterEntry("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands"), - new PhysParameterEntry("ShouldEnableFrictionCaching", "Enable friction computation caching"), - new PhysParameterEntry("NumberOfSolverIterations", "Number of internal iterations (0 means default)"), - - new PhysParameterEntry("Friction", "Set friction parameter for a specific object" ), - new PhysParameterEntry("Restitution", "Set restitution parameter for a specific object" ), - - new PhysParameterEntry("Friction", "Set friction parameter for a specific object" ), - new PhysParameterEntry("Restitution", "Set restitution parameter for a specific object" ), - - new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ), - new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ), - new PhysParameterEntry("TerrainRestitution", "Bouncyness" ), - new PhysParameterEntry("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation." ), - new PhysParameterEntry("AvatarDensity", "Density of an avatar. Changed on avatar recreation." ), - new PhysParameterEntry("AvatarRestitution", "Bouncyness. Changed on avatar recreation." ), - new PhysParameterEntry("AvatarCapsuleRadius", "Radius of space around an avatar" ), - new PhysParameterEntry("AvatarCapsuleHeight", "Default height of space around avatar" ), - new PhysParameterEntry("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions") + public string name; + public string desc; + public float defaultValue; + public ParamUser userParam; + public ParamGet getter; + public ParamSet setter; + public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) + { + name = n; + desc = d; + defaultValue = v; + userParam = u; + getter = g; + setter = s; + } + } + + // List of all of the externally visible parameters. + // For each parameter, this table maps a text name to getter and setters. + // A ParameterDefn() takes the following parameters: + // -- the text name of the parameter. This is used for console input and ini file. + // -- a short text description of the parameter. This shows up in the console listing. + // -- a delegate for fetching the parameter from the ini file. + // Should handle fetching the right type from the ini file and converting it. + // -- a delegate for getting the value as a float + // -- a delegate for setting the value from a float + // + // To add a new variable, it is best to find an existing definition and copy it. + private ParameterDefn[] ParameterDefinitions = + { + new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { s._meshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); }, + (s) => { return s.NumericBool(s._meshSculptedPrim); }, + (s,p,l,v) => { s._meshSculptedPrim = s.BoolNumeric(v); } ), + new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s._forceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, + (s) => { return s.NumericBool(s._forceSimplePrimMeshing); }, + (s,p,l,v) => { s._forceSimplePrimMeshing = s.BoolNumeric(v); } ), + + new ParameterDefn("MeshLOD", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", + 8f, + (s,cf,p,v) => { s.m_meshLOD = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_meshLOD; }, + (s,p,l,v) => { s.m_meshLOD = (int)v; } ), + new ParameterDefn("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", + 32, + (s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_sculptLOD; }, + (s,p,l,v) => { s.m_sculptLOD = (int)v; } ), + + new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", + 10f, + (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_maxSubSteps; }, + (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ), + new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)", + 1f / 60f, + (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); }, + (s) => { return (float)s.m_fixedTimeStep; }, + (s,p,l,v) => { s.m_fixedTimeStep = v; } ), + new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", + 2048f, + (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_maxCollisionsPerFrame; }, + (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ), + new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame", + 8000f, + (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_maxUpdatesPerFrame; }, + (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), + new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", + 10000.01f, + (s,cf,p,v) => { s.m_maximumObjectMass = cf.GetFloat(p, v); }, + (s) => { return (float)s.m_maximumObjectMass; }, + (s,p,l,v) => { s.m_maximumObjectMass = v; } ), + + new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", + 2200f, + (s,cf,p,v) => { s.PID_D = cf.GetFloat(p, v); }, + (s) => { return (float)s.PID_D; }, + (s,p,l,v) => { s.PID_D = v; } ), + new ParameterDefn("PID_P", "Parameteric factor for motion smoothing", + 900f, + (s,cf,p,v) => { s.PID_P = cf.GetFloat(p, v); }, + (s) => { return (float)s.PID_P; }, + (s,p,l,v) => { s.PID_P = v; } ), + + new ParameterDefn("DefaultFriction", "Friction factor used on new objects", + 0.5f, + (s,cf,p,v) => { s.m_params[0].defaultFriction = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].defaultFriction; }, + (s,p,l,v) => { s.m_params[0].defaultFriction = v; } ), + new ParameterDefn("DefaultDensity", "Density for new objects" , + 10.000006836f, // Aluminum g/cm3 + (s,cf,p,v) => { s.m_params[0].defaultDensity = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].defaultDensity; }, + (s,p,l,v) => { s.m_params[0].defaultDensity = v; } ), + new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , + 0f, + (s,cf,p,v) => { s.m_params[0].defaultRestitution = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].defaultRestitution; }, + (s,p,l,v) => { s.m_params[0].defaultRestitution = v; } ), + new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", + 0f, + (s,cf,p,v) => { s.m_params[0].collisionMargin = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].collisionMargin; }, + (s,p,l,v) => { s.m_params[0].collisionMargin = v; } ), + new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", + -9.80665f, + (s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].gravity; }, + (s,p,l,v) => { s.m_params[0].gravity = v; s.TaintedUpdateParameter(p,l,v); } ), + + + new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", + 0f, + (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].linearDamping; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].linearDamping, p, l, v); } ), + new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", + 0f, + (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].angularDamping; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].angularDamping, p, l, v); } ), + new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", + 0.2f, + (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].deactivationTime; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].deactivationTime, p, l, v); } ), + new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", + 0.8f, + (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].linearSleepingThreshold; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ), + new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", + 1.0f, + (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].angularSleepingThreshold; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ), + new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , + 0f, // set to zero to disable + (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].ccdMotionThreshold; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ), + new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , + 0f, + (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].ccdSweptSphereRadius; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ), + new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , + 0.1f, + (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].contactProcessingThreshold; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ), + + new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , + 0.5f, + (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].terrainFriction; }, + (s,p,l,v) => { s.m_params[0].terrainFriction = v; s.TaintedUpdateParameter(p,l,v); } ), + new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , + 0.8f, + (s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].terrainHitFraction; }, + (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; s.TaintedUpdateParameter(p,l,v); } ), + new ParameterDefn("TerrainRestitution", "Bouncyness" , + 0f, + (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].terrainRestitution; }, + (s,p,l,v) => { s.m_params[0].terrainRestitution = v; s.TaintedUpdateParameter(p,l,v); } ), + new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", + 0.5f, + (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarFriction; }, + (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarFriction, p, l, v); } ), + new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", + 60f, + (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarDensity; }, + (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarDensity, p, l, v); } ), + new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", + 0f, + (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarRestitution; }, + (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarRestitution, p, l, v); } ), + new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar", + 0.37f, + (s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarCapsuleRadius; }, + (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ), + new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", + 1.5f, + (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarCapsuleHeight; }, + (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ), + new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", + 0.1f, + (s,cf,p,v) => { s.m_params[0].avatarContactProcessingThreshold = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarContactProcessingThreshold; }, + (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ), + + + new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default)", + 0f, // zero to disable + (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; }, + (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ), + new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].shouldDisableContactPoolDynamicAllocation; }, + (s,p,l,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = v; } ), + new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.m_params[0].shouldForceUpdateAllAabbs = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].shouldForceUpdateAllAabbs; }, + (s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ), + new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].shouldRandomizeSolverOrder; }, + (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ), + new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].shouldSplitSimulationIslands; }, + (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ), + new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.m_params[0].shouldEnableFrictionCaching = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].shouldEnableFrictionCaching; }, + (s,p,l,v) => { s.m_params[0].shouldEnableFrictionCaching = v; } ), + new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", + 0f, // zero says use Bullet default + (s,cf,p,v) => { s.m_params[0].numberOfSolverIterations = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].numberOfSolverIterations; }, + (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ), + + new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)", + 0f, + (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_detailedStatsStep; }, + (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), + new ParameterDefn("ShouldDebugLog", "Enables detailed DEBUG log statements", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.shouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); }, + (s) => { return s.NumericBool(s.shouldDebugLog); }, + (s,p,l,v) => { s.shouldDebugLog = s.BoolNumeric(v); } ), }; + // Convert a boolean to our numeric true and false values + protected float NumericBool(bool b) + { + return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse); + } + + // Convert numeric true and false values to a boolean + protected bool BoolNumeric(float b) + { + return (b == ConfigurationParameters.numericTrue ? true : false); + } + + // Search through the parameter definitions and return the matching + // ParameterDefn structure. + // Case does not matter as names are compared after converting to lower case. + // Returns 'false' if the parameter is not found. + private bool TryGetParameter(string paramName, out ParameterDefn defn) + { + bool ret = false; + ParameterDefn foundDefn = new ParameterDefn(); + string pName = paramName.ToLower(); + + foreach (ParameterDefn parm in ParameterDefinitions) + { + if (pName == parm.name.ToLower()) + { + foundDefn = parm; + ret = true; + break; + } + } + defn = foundDefn; + return ret; + } + + // Pass through the settable parameters and set the default values + private void SetParameterDefaultValues() + { + foreach (ParameterDefn parm in ParameterDefinitions) + { + parm.setter(this, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue); + } + } + + // Get user set values out of the ini file. + private void SetParameterConfigurationValues(IConfig cfg) + { + foreach (ParameterDefn parm in ParameterDefinitions) + { + parm.userParam(this, cfg, parm.name, parm.defaultValue); + } + } + + private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1]; + + private void BuildParameterTable() + { + if (SettableParameters.Length < ParameterDefinitions.Length) + { + + List entries = new List(); + for (int ii = 0; ii < ParameterDefinitions.Length; ii++) + { + ParameterDefn pd = ParameterDefinitions[ii]; + entries.Add(new PhysParameterEntry(pd.name, pd.desc)); + } + + // make the list in alphabetical order for estetic reasons + entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2) + { + return ppe1.name.CompareTo(ppe2.name); + }); + + SettableParameters = entries.ToArray(); + } + } + + #region IPhysicsParameters // Get the list of parameters this physics engine supports public PhysParameterEntry[] GetParameterList() { + BuildParameterTable(); return SettableParameters; } @@ -919,63 +1132,18 @@ public class BSScene : PhysicsScene, IPhysicsParameters // value activated ('terrainFriction' for instance). public bool SetPhysicsParameter(string parm, float val, uint localID) { - bool ret = true; - string lparm = parm.ToLower(); - switch (lparm) + bool ret = false; + ParameterDefn theParam; + if (TryGetParameter(parm, out theParam)) { - case "detailedstats": m_detailedStatsStep = (int)val; break; - - case "meshlod": m_meshLOD = (int)val; break; - case "sculptlod": m_sculptLOD = (int)val; break; - case "maxsubstep": m_maxSubSteps = (int)val; break; - case "fixedtimestep": m_fixedTimeStep = val; break; - case "maxobjectmass": m_maximumObjectMass = val; break; - - case "defaultfriction": m_params[0].defaultFriction = val; break; - case "defaultdensity": m_params[0].defaultDensity = val; break; - case "defaultrestitution": m_params[0].defaultRestitution = val; break; - case "collisionmargin": m_params[0].collisionMargin = val; break; - case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, localID, val); break; - - case "lineardamping": UpdateParameterPrims(ref m_params[0].linearDamping, lparm, localID, val); break; - case "angulardamping": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break; - case "deactivationtime": UpdateParameterPrims(ref m_params[0].deactivationTime, lparm, localID, val); break; - case "linearsleepingthreshold": UpdateParameterPrims(ref m_params[0].linearSleepingThreshold, lparm, localID, val); break; - case "angularsleepingthreshold": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break; - case "ccdmotionthreshold": UpdateParameterPrims(ref m_params[0].ccdMotionThreshold, lparm, localID, val); break; - case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break; - case "contactprocessingthreshold": UpdateParameterPrims(ref m_params[0].contactProcessingThreshold, lparm, localID, val); break; - // the following are used only at initialization time so setting them makes no sense - // case "maxPersistantmanifoldpoolSize": m_params[0].maxPersistantManifoldPoolSize = val; break; - // case "shoulddisablecontactpooldynamicallocation": m_params[0].shouldDisableContactPoolDynamicAllocation = val; break; - // case "shouldforceupdateallaabbs": m_params[0].shouldForceUpdateAllAabbs = val; break; - // case "shouldrandomizesolverorder": m_params[0].shouldRandomizeSolverOrder = val; break; - // case "shouldsplitsimulationislands": m_params[0].shouldSplitSimulationIslands = val; break; - // case "shouldenablefrictioncaching": m_params[0].shouldEnableFrictionCaching = val; break; - // case "numberofsolveriterations": m_params[0].numberOfSolverIterations = val; break; - - case "friction": TaintedUpdateParameter(lparm, localID, val); break; - case "restitution": TaintedUpdateParameter(lparm, localID, val); break; - - // set a terrain physical feature and cause terrain to be recalculated - case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break; - case "terrainhitfraction": m_params[0].terrainHitFraction = val; TaintedUpdateParameter("terrain", 0, val); break; - case "terrainrestitution": m_params[0].terrainRestitution = val; TaintedUpdateParameter("terrain", 0, val); break; - // set an avatar physical feature and cause avatar(s) to be recalculated - case "avatarfriction": UpdateParameterAvatars(ref m_params[0].avatarFriction, "avatar", localID, val); break; - case "avatardensity": UpdateParameterAvatars(ref m_params[0].avatarDensity, "avatar", localID, val); break; - case "avatarrestitution": UpdateParameterAvatars(ref m_params[0].avatarRestitution, "avatar", localID, val); break; - case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val); break; - case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break; - case "avatarcontactprocessingthreshold": UpdateParameterAvatars(ref m_params[0].avatarContactProcessingThreshold, "avatar", localID, val); break; - - default: ret = false; break; + theParam.setter(this, parm, localID, val); + ret = true; } return ret; } // check to see if we are updating a parameter for a particular or all of the prims - private void UpdateParameterPrims(ref float loc, string parm, uint localID, float val) + protected void UpdateParameterPrims(ref float loc, string parm, uint localID, float val) { List operateOn; lock (m_prims) operateOn = new List(m_prims.Keys); @@ -983,7 +1151,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // check to see if we are updating a parameter for a particular or all of the avatars - private void UpdateParameterAvatars(ref float loc, string parm, uint localID, float val) + protected void UpdateParameterAvatars(ref float loc, string parm, uint localID, float val) { List operateOn; lock (m_avatars) operateOn = new List(m_avatars.Keys); @@ -994,7 +1162,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // If the local ID is APPLY_TO_NONE, just change the default value // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs // If the localID is a specific object, apply the parameter change to only that object - private void UpdateParameterSet(List lIDs, ref float defaultLoc, string parm, uint localID, float val) + protected void UpdateParameterSet(List lIDs, ref float defaultLoc, string parm, uint localID, float val) { switch (localID) { @@ -1021,7 +1189,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // schedule the actual updating of the paramter to when the phys engine is not busy - private void TaintedUpdateParameter(string parm, uint localID, float val) + protected void TaintedUpdateParameter(string parm, uint localID, float val) { uint xlocalID = localID; string xparm = parm.ToLower(); @@ -1036,50 +1204,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters public bool GetPhysicsParameter(string parm, out float value) { float val = 0f; - bool ret = true; - switch (parm.ToLower()) + bool ret = false; + ParameterDefn theParam; + if (TryGetParameter(parm, out theParam)) { - case "detailedstats": val = (int)m_detailedStatsStep; break; - case "meshlod": val = (float)m_meshLOD; break; - case "sculptlod": val = (float)m_sculptLOD; break; - case "maxsubstep": val = (float)m_maxSubSteps; break; - case "fixedtimestep": val = m_fixedTimeStep; break; - case "maxobjectmass": val = m_maximumObjectMass; break; - - case "defaultfriction": val = m_params[0].defaultFriction; break; - case "defaultdensity": val = m_params[0].defaultDensity; break; - case "defaultrestitution": val = m_params[0].defaultRestitution; break; - case "collisionmargin": val = m_params[0].collisionMargin; break; - case "gravity": val = m_params[0].gravity; break; - - case "lineardamping": val = m_params[0].linearDamping; break; - case "angulardamping": val = m_params[0].angularDamping; break; - case "deactivationtime": val = m_params[0].deactivationTime; break; - case "linearsleepingthreshold": val = m_params[0].linearSleepingThreshold; break; - case "angularsleepingthreshold": val = m_params[0].angularDamping; break; - case "ccdmotionthreshold": val = m_params[0].ccdMotionThreshold; break; - case "ccdsweptsphereradius": val = m_params[0].ccdSweptSphereRadius; break; - case "contactprocessingthreshold": val = m_params[0].contactProcessingThreshold; break; - case "maxPersistantmanifoldpoolSize": val = m_params[0].maxPersistantManifoldPoolSize; break; - case "shoulddisablecontactpooldynamicallocation": val = m_params[0].shouldDisableContactPoolDynamicAllocation; break; - case "shouldforceupdateallaabbs": val = m_params[0].shouldForceUpdateAllAabbs; break; - case "shouldrandomizesolverorder": val = m_params[0].shouldRandomizeSolverOrder; break; - case "shouldsplitsimulationislands": val = m_params[0].shouldSplitSimulationIslands; break; - case "shouldenablefrictioncaching": val = m_params[0].shouldEnableFrictionCaching; break; - case "numberofsolveriterations": val = m_params[0].numberOfSolverIterations; break; - - case "terrainfriction": val = m_params[0].terrainFriction; break; - case "terrainhitfraction": val = m_params[0].terrainHitFraction; break; - case "terrainrestitution": val = m_params[0].terrainRestitution; break; - - case "avatarfriction": val = m_params[0].avatarFriction; break; - case "avatardensity": val = m_params[0].avatarDensity; break; - case "avatarrestitution": val = m_params[0].avatarRestitution; break; - case "avatarcapsuleradius": val = m_params[0].avatarCapsuleRadius; break; - case "avatarcapsuleheight": val = m_params[0].avatarCapsuleHeight; break; - case "avatarcontactprocessingthreshold": val = m_params[0].avatarContactProcessingThreshold; break; - default: ret = false; break; - + val = theParam.getter(this); + ret = true; } value = val; return ret; -- cgit v1.1 From 75f7721b0c954f8dc0bbaac6c333aba52e275ea2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 10:42:02 -0700 Subject: BulletSim: small change to use the pointer to the bullet object for zeroing forces. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index ff87955..6c8ae2e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -169,7 +169,7 @@ public sealed class BSPrim : PhysicsActor _parentPrim = null; } - // make sure there are no other prims are linked to me + // make sure there are no other prims linked to me UnlinkAllChildren(); // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. @@ -341,11 +341,10 @@ public sealed class BSPrim : PhysicsActor _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - BulletBody obj = new BulletBody(LocalID, BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID)); - BulletSimAPI.SetVelocity2(obj.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(obj.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolation2(obj.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); - BulletSimAPI.ClearForces2(obj.Ptr); + BulletSimAPI.SetVelocity2(Body.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(Body.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolation2(Body.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(Body.Ptr); } public override void LockAngularMotion(OMV.Vector3 axis) -- cgit v1.1 From d7add2940a38437e748ca74163bbf37acecfa04c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 14:52:17 -0700 Subject: BulletSim: add parameters for setting linkset constraint factors --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 24 +++++++++--------------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 25 +++++++++++++++++++++++-- 2 files changed, 32 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6c8ae2e..3be28e3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1295,10 +1295,9 @@ public sealed class BSPrim : PhysicsActor // relative to each other. void CreateLinkset() { - DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); + // DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); // remove any constraints that might be in place - DebugLog("{0}: CreateLinkset: RemoveConstraints between me and any children", LogHeader, LocalID); UnlinkAllChildren(); // create constraints between the root prim and each of the children @@ -1324,18 +1323,8 @@ public sealed class BSPrim : PhysicsActor // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); + // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); - /* - BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, childPrim.LocalID, - childRelativePosition, - childRelativeRotation, - OMV.Vector3.Zero, - OMV.Quaternion.Identity, - OMV.Vector3.Zero, OMV.Vector3.Zero, - OMV.Vector3.Zero, OMV.Vector3.Zero); - */ - // BSConstraint constrain = new BSConstraint(_scene.World, this.Body, childPrim.Body, BSConstraint constrain = _scene.Constraints.CreateConstraint( _scene.World, this.Body, childPrim.Body, childRelativePosition, @@ -1346,8 +1335,13 @@ public sealed class BSPrim : PhysicsActor constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); // tweek the constraint to increase stability - constrain.UseFrameOffset(true); - constrain.TranslationalLimitMotor(true, 5f, 0.1f); + constrain.UseFrameOffset(_scene.BoolNumeric(_scene.Params.linkConstraintUseFrameOffset)); + if (_scene.BoolNumeric(_scene.Params.linkConstraintEnableTransMotor)) + { + constrain.TranslationalLimitMotor(true, + _scene.Params.linkConstraintTransMotorMaxVel, + _scene.Params.linkConstraintTransMotorMaxForce); + } } // Remove linkage between myself and a particular child diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 07a377b..a1587a8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1025,6 +1025,27 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].numberOfSolverIterations; }, (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ), + new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].linkConstraintUseFrameOffset; }, + (s,p,l,v) => { s.m_params[0].linkConstraintUseFrameOffset = v; } ), + new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { s.m_params[0].linkConstraintEnableTransMotor = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].linkConstraintEnableTransMotor; }, + (s,p,l,v) => { s.m_params[0].linkConstraintEnableTransMotor = v; } ), + new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints", + 5.0f, + (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].linkConstraintTransMotorMaxVel; }, + (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = v; } ), + new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints", + 0.1f, + (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, + (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), + new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)", 0f, (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); }, @@ -1039,13 +1060,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters }; // Convert a boolean to our numeric true and false values - protected float NumericBool(bool b) + public float NumericBool(bool b) { return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse); } // Convert numeric true and false values to a boolean - protected bool BoolNumeric(float b) + public bool BoolNumeric(float b) { return (b == ConfigurationParameters.numericTrue ? true : false); } -- cgit v1.1 From 0a4c080e63d3159f4943a164a2085cc6a41fac80 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 14:59:00 -0700 Subject: BulletSim: fix line endings in newly added files (Is it DOS or is it UNIX? Only it's hairdresser knows for sure) --- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 246 +++++++------- .../BulletSPlugin/BSConstraintCollection.cs | 356 ++++++++++----------- 2 files changed, 301 insertions(+), 301 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index ced8565..1966395 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -1,123 +1,123 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ - -public class BSConstraint : IDisposable -{ - private BulletSim m_world; - private BulletBody m_body1; - private BulletBody m_body2; - private BulletConstraint m_constraint; - private bool m_enabled = false; - - public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, - Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot - ) - { - m_world = world; - m_body1 = obj1; - m_body2 = obj2; - /* - BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, - frame1, frame1rot, - frame2, frame2rot, - linearLow, linearHigh, - angularLow, angularHigh - ); - */ - m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, - frame1, frame1rot, - frame2, frame2rot)); - m_enabled = true; - } - - public void Dispose() - { - if (m_enabled) - { - // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); - BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); - m_enabled = false; - } - } - - public BulletBody Body1 { get { return m_body1; } } - public BulletBody Body2 { get { return m_body2; } } - - public bool SetLinearLimits(Vector3 low, Vector3 high) - { - bool ret = false; - if (m_enabled) - ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); - return ret; - } - - public bool SetAngularLimits(Vector3 low, Vector3 high) - { - bool ret = false; - if (m_enabled) - ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); - return ret; - } - - public bool UseFrameOffset(bool useOffset) - { - bool ret = false; - float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; - if (m_enabled) - ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); - return ret; - } - - public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) - { - bool ret = false; - float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; - if (m_enabled) - ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); - return ret; - } - - public bool CalculateTransforms() - { - bool ret = false; - if (m_enabled) - { - BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); - ret = true; - } - return ret; - } -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public class BSConstraint : IDisposable +{ + private BulletSim m_world; + private BulletBody m_body1; + private BulletBody m_body2; + private BulletConstraint m_constraint; + private bool m_enabled = false; + + public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot + ) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + /* + BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, + frame1, frame1rot, + frame2, frame2rot, + linearLow, linearHigh, + angularLow, angularHigh + ); + */ + m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, + frame1, frame1rot, + frame2, frame2rot)); + m_enabled = true; + } + + public void Dispose() + { + if (m_enabled) + { + // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); + BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); + m_enabled = false; + } + } + + public BulletBody Body1 { get { return m_body1; } } + public BulletBody Body2 { get { return m_body2; } } + + public bool SetLinearLimits(Vector3 low, Vector3 high) + { + bool ret = false; + if (m_enabled) + ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); + return ret; + } + + public bool SetAngularLimits(Vector3 low, Vector3 high) + { + bool ret = false; + if (m_enabled) + ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); + return ret; + } + + public bool UseFrameOffset(bool useOffset) + { + bool ret = false; + float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); + return ret; + } + + public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) + { + bool ret = false; + float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); + return ret; + } + + public bool CalculateTransforms() + { + bool ret = false; + if (m_enabled) + { + BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); + ret = true; + } + return ret; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index 6c66c5c..a2650fb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -1,178 +1,178 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; -using log4net; -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ - -public class BSConstraintCollection : IDisposable -{ - // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); - // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; - - delegate bool ConstraintAction(BSConstraint constrain); - - private List m_constraints; - private BulletSim m_world; - - public BSConstraintCollection(BulletSim world) - { - m_world = world; - m_constraints = new List(); - } - - public void Dispose() - { - this.Clear(); - } - - public void Clear() - { - foreach (BSConstraint cons in m_constraints) - { - cons.Dispose(); - } - m_constraints.Clear(); - } - - public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, - Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot) - { - BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot); - - this.AddConstraint(constrain); - return constrain; - } - - public bool AddConstraint(BSConstraint cons) - { - // There is only one constraint between any bodies. Remove any old just to make sure. - RemoveAndDestroyConstraint(cons.Body1, cons.Body2); - - m_constraints.Add(cons); - - return true; - } - - // Get the constraint between two bodies. There can be only one the way we're using them. - public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint) - { - bool found = false; - BSConstraint foundConstraint = null; - - uint lookingID1 = body1.ID; - uint lookingID2 = body2.ID; - ForEachConstraint(delegate(BSConstraint constrain) - { - if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) - || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) - { - foundConstraint = constrain; - found = true; - } - return found; - }); - returnConstraint = foundConstraint; - return found; - } - - public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) - { - // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID); - - bool ret = false; - BSConstraint constrain; - - if (this.TryGetConstraint(body1, body2, out constrain)) - { - // remove the constraint from our collection - m_constraints.Remove(constrain); - // tell the engine that all its structures need to be freed - constrain.Dispose(); - // we destroyed something - ret = true; - } - - return ret; - } - - public bool RemoveAndDestroyConstraint(BulletBody body1) - { - // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); - - List toRemove = new List(); - uint lookingID = body1.ID; - ForEachConstraint(delegate(BSConstraint constrain) - { - if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) - { - toRemove.Add(constrain); - } - return false; - }); - lock (m_constraints) - { - foreach (BSConstraint constrain in toRemove) - { - m_constraints.Remove(constrain); - constrain.Dispose(); - } - } - return (toRemove.Count > 0); - } - - public bool RecalculateAllConstraints() - { - foreach (BSConstraint constrain in m_constraints) - { - constrain.CalculateTransforms(); - } - return true; - } - - // Lock the constraint list and loop through it. - // The constraint action returns 'true' if it wants the loop aborted. - private void ForEachConstraint(ConstraintAction action) - { - lock (m_constraints) - { - foreach (BSConstraint constrain in m_constraints) - { - if (action(constrain)) - break; - } - } - } - - -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using log4net; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public class BSConstraintCollection : IDisposable +{ + // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); + // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; + + delegate bool ConstraintAction(BSConstraint constrain); + + private List m_constraints; + private BulletSim m_world; + + public BSConstraintCollection(BulletSim world) + { + m_world = world; + m_constraints = new List(); + } + + public void Dispose() + { + this.Clear(); + } + + public void Clear() + { + foreach (BSConstraint cons in m_constraints) + { + cons.Dispose(); + } + m_constraints.Clear(); + } + + public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot) + { + BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot); + + this.AddConstraint(constrain); + return constrain; + } + + public bool AddConstraint(BSConstraint cons) + { + // There is only one constraint between any bodies. Remove any old just to make sure. + RemoveAndDestroyConstraint(cons.Body1, cons.Body2); + + m_constraints.Add(cons); + + return true; + } + + // Get the constraint between two bodies. There can be only one the way we're using them. + public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint) + { + bool found = false; + BSConstraint foundConstraint = null; + + uint lookingID1 = body1.ID; + uint lookingID2 = body2.ID; + ForEachConstraint(delegate(BSConstraint constrain) + { + if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) + || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) + { + foundConstraint = constrain; + found = true; + } + return found; + }); + returnConstraint = foundConstraint; + return found; + } + + public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) + { + // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID); + + bool ret = false; + BSConstraint constrain; + + if (this.TryGetConstraint(body1, body2, out constrain)) + { + // remove the constraint from our collection + m_constraints.Remove(constrain); + // tell the engine that all its structures need to be freed + constrain.Dispose(); + // we destroyed something + ret = true; + } + + return ret; + } + + public bool RemoveAndDestroyConstraint(BulletBody body1) + { + // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); + + List toRemove = new List(); + uint lookingID = body1.ID; + ForEachConstraint(delegate(BSConstraint constrain) + { + if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) + { + toRemove.Add(constrain); + } + return false; + }); + lock (m_constraints) + { + foreach (BSConstraint constrain in toRemove) + { + m_constraints.Remove(constrain); + constrain.Dispose(); + } + } + return (toRemove.Count > 0); + } + + public bool RecalculateAllConstraints() + { + foreach (BSConstraint constrain in m_constraints) + { + constrain.CalculateTransforms(); + } + return true; + } + + // Lock the constraint list and loop through it. + // The constraint action returns 'true' if it wants the loop aborted. + private void ForEachConstraint(ConstraintAction action) + { + lock (m_constraints) + { + foreach (BSConstraint constrain in m_constraints) + { + if (action(constrain)) + break; + } + } + } + + +} +} -- cgit v1.1 From 9ca1075e7e7fd1dea92a99a2d54fdc98c3389ccb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 16:21:14 -0700 Subject: BulletSim: remove unused, commented out code in BSConstraint --- OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 8 -------- 1 file changed, 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 1966395..fbb9e21 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -48,14 +48,6 @@ public class BSConstraint : IDisposable m_world = world; m_body1 = obj1; m_body2 = obj2; - /* - BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, - frame1, frame1rot, - frame2, frame2rot, - linearLow, linearHigh, - angularLow, angularHigh - ); - */ m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, frame1, frame1rot, frame2, frame2rot)); -- cgit v1.1 From 7d30637d51c64a582cc55d41546af8f0cfc889ba Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 26 Jul 2012 14:54:57 -0700 Subject: BulletSim: refactor all the linkset logic out of the prim class and into its own class. The BulletSim data structures track individual prims as linksets of 1 so most of the prim code is not different between a linked and unlinked object. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 308 +++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 327 ++++++--------------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 7 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 2 +- 4 files changed, 409 insertions(+), 235 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs new file mode 100755 index 0000000..a1027ee --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -0,0 +1,308 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSLinkset +{ + private static string LogHeader = "[BULLETSIM LINKSET]"; + + private BSPrim m_linksetRoot; + public BSPrim Root { get { return m_linksetRoot; } } + + private BSScene m_scene; + + private List m_children; + + // We lock the diddling of linkset classes to prevent any badness. + // This locks the modification of the instances of this class. Changes + // to the physical representation is done via the tainting mechenism. + private object m_linksetActivityLock = new Object(); + + // We keep the prim's mass in the linkset structure since it could be dependent on other prims + private float m_mass; + public float Mass + { + get + { + m_mass = ComputeLinksetMass(); + return m_mass; + } + } + + public OMV.Vector3 CenterOfMass + { + get { return ComputeLinksetCenterOfMass(); } + } + + public OMV.Vector3 GeometricCenter + { + get { return ComputeLinksetGeometricCenter(); } + } + + public BSLinkset(BSScene scene, BSPrim parent) + { + // A simple linkset of one (no children) + m_scene = scene; + m_linksetRoot = parent; + m_children = new List(); + m_mass = parent.MassRaw; + } + + // Link to a linkset where the child knows the parent. + // Parent changing should not happen so do some sanity checking. + // We return the parent's linkset so the child can track it's membership. + public BSLinkset AddMeToLinkset(BSPrim child, BSPrim parent) + { + lock (m_linksetActivityLock) + { + parent.Linkset.AddChildToLinkset(child); + } + return parent.Linkset; + } + + public BSLinkset RemoveMeFromLinkset(BSPrim child) + { + lock (m_linksetActivityLock) + { + if (IsRoot(child)) + { + // if root of linkset, take the linkset apart + while (m_children.Count > 0) + { + // Note that we don't do a foreach because the remove routine + // takes it out of the list. + RemoveChildFromLinkset(m_children[0]); + } + m_children.Clear(); // just to make sure + } + else + { + // Just removing a child from an existing linkset + RemoveChildFromLinkset(child); + } + } + + // The child is down to a linkset of just itself + return new BSLinkset(m_scene, child); + } + + // An existing linkset had one of its members rebuilt or something. + // Undo all the physical linking and rebuild the physical linkset. + public bool RefreshLinkset(BSPrim requestor) + { + return true; + } + + + // Return 'true' if the passed object is the root object of this linkset + public bool IsRoot(BSPrim requestor) + { + return (requestor.LocalID == m_linksetRoot.LocalID); + } + + // Return 'true' if this linkset has any children (more than the root member) + public bool HasAnyChildren { get { return (m_children.Count > 0); } } + + // Return 'true' if this child is in this linkset + public bool HasChild(BSPrim child) + { + bool ret = false; + foreach (BSPrim bp in m_children) + { + if (child.LocalID == bp.LocalID) + { + ret = true; + break; + } + } + return ret; + } + + private float ComputeLinksetMass() + { + float mass = m_linksetRoot.Mass; + foreach (BSPrim bp in m_children) + { + mass += bp.Mass; + } + return mass; + } + + private OMV.Vector3 ComputeLinksetCenterOfMass() + { + OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw; + float totalMass = m_linksetRoot.MassRaw; + + foreach (BSPrim bp in m_children) + { + com += bp.Position * bp.MassRaw; + totalMass += bp.MassRaw; + } + com /= totalMass; + + return com; + } + + private OMV.Vector3 ComputeLinksetGeometricCenter() + { + OMV.Vector3 com = m_linksetRoot.Position; + + foreach (BSPrim bp in m_children) + { + com += bp.Position * bp.MassRaw; + } + com /= m_children.Count + 1; + + return com; + } + + // I am the root of a linkset and a new child is being added + public void AddChildToLinkset(BSPrim pchild) + { + BSPrim child = pchild; + if (!HasChild(child)) + { + m_children.Add(child); + + m_scene.TaintedObject(delegate() + { + DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); + DetailLog("{0},AddChildToLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID); + PhysicallyLinkAChildToRoot(pchild); // build the physical binding between me and the child + }); + } + return; + } + + // I am the root of a linkset and one of my children is being removed. + // Safe to call even if the child is not really in my linkset. + public void RemoveChildFromLinkset(BSPrim pchild) + { + BSPrim child = pchild; + + if (m_children.Remove(child)) + { + m_scene.TaintedObject(delegate() + { + DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); + DetailLog("{0},RemoveChildFromLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID); + + if (m_children.Count == 0) + { + // if the linkset is empty, make sure all linkages have been removed + PhysicallyUnlinkAllChildrenFromRoot(); + } + else + { + PhysicallyUnlinkAChildFromRoot(pchild); + } + }); + } + else + { + // This will happen if we remove the root of the linkset first. Non-fatal occurance. + // m_scene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); + } + return; + } + + // Create a constraint between me (root of linkset) and the passed prim (the child). + // Called at taint time! + private void PhysicallyLinkAChildToRoot(BSPrim childPrim) + { + // Zero motion for children so they don't interpolate + childPrim.ZeroMotion(); + + // relative position normalized to the root prim + OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(m_linksetRoot.Orientation); + OMV.Vector3 childRelativePosition = (childPrim.Position - m_linksetRoot.Position) * invThisOrientation; + + // relative rotation of the child to the parent + OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; + + // create a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); + DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); + BSConstraint constrain = m_scene.Constraints.CreateConstraint( + m_scene.World, m_linksetRoot.Body, childPrim.Body, + childRelativePosition, + childRelativeRotation, + OMV.Vector3.Zero, + OMV.Quaternion.Identity); + constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); + constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); + + // tweek the constraint to increase stability + constrain.UseFrameOffset(m_scene.BoolNumeric(m_scene.Params.linkConstraintUseFrameOffset)); + constrain.TranslationalLimitMotor(m_scene.BoolNumeric(m_scene.Params.linkConstraintEnableTransMotor), + m_scene.Params.linkConstraintTransMotorMaxVel, + m_scene.Params.linkConstraintTransMotorMaxForce); + + } + + // Remove linkage between myself and a particular child + // Called at taint time! + private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim) + { + DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", + LogHeader, m_linksetRoot.LocalID, childPrim.LocalID); + DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); + // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); + m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body); + } + + // Remove linkage between myself and any possible children I might have + // Called at taint time! + private void PhysicallyUnlinkAllChildrenFromRoot() + { + // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader); + DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID); + m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body); + // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); + } + + // Invoke the detailed logger and output something if it's enabled. + private void DebugLog(string msg, params Object[] args) + { + m_scene.Logger.DebugFormat(msg, args); + } + + // Invoke the detailed logger and output something if it's enabled. + private void DetailLog(string msg, params Object[] args) + { + m_scene.PhysicsLogging.Write(msg, args); + } + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 3be28e3..d604f9c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -66,7 +66,7 @@ public sealed class BSPrim : PhysicsActor private bool _isSelected; private bool _isVolumeDetect; private OMV.Vector3 _position; - private float _mass; + private float _mass; // the mass of this object private float _density; private OMV.Vector3 _force; private OMV.Vector3 _velocity; @@ -89,8 +89,13 @@ public sealed class BSPrim : PhysicsActor private bool _kinematic; private float _buoyancy; - private BSPrim _parentPrim; - private List _childrenPrims; + // Membership in a linkset is controlled by this class. + private BSLinkset _linkset; + public BSLinkset Linkset + { + get { return _linkset; } + set { _linkset = value; } + } private int _subscribedEventsMs = 0; private int _nextCollisionOkTime = 0; @@ -133,9 +138,8 @@ public sealed class BSPrim : PhysicsActor _friction = _scene.Params.defaultFriction; // TODO: compute based on object material _density = _scene.Params.defaultDensity; // TODO: compute based on object material _restitution = _scene.Params.defaultRestitution; - _parentPrim = null; // not a child or a parent + _linkset = new BSLinkset(_scene, this); // a linkset of one _vehicle = new BSDynamics(this); // add vehicleness - _childrenPrims = new List(); _mass = CalculateMass(); // do the actual object creation at taint time _scene.TaintedObject(delegate() @@ -161,16 +165,8 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject(delegate() { - // undo any dependance with/on other objects - if (_parentPrim != null) - { - // If I'm someone's child, tell them to forget about me. - _parentPrim.RemoveChildFromLinkset(this); - _parentPrim = null; - } - - // make sure there are no other prims linked to me - UnlinkAllChildren(); + // Undo any links between me and any other object + _linkset = _linkset.RemoveMeFromLinkset(this); // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); @@ -187,7 +183,7 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject(delegate() { _mass = CalculateMass(); // changing size changes the mass - BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, Mass, IsPhysical); + BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); RecreateGeomAndObject(); }); } @@ -226,32 +222,8 @@ public sealed class BSPrim : PhysicsActor BSPrim parent = obj as BSPrim; DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); DetailLog("{0},link,parent={1}", LocalID, obj.LocalID); - // TODO: decide if this parent checking needs to happen at taint time - if (_parentPrim == null) - { - if (parent != null) - { - // I don't have a parent so I am joining a linkset - parent.AddChildToLinkset(this); - } - } - else - { - // I already have a parent, is parenting changing? - if (parent != _parentPrim) - { - if (parent == null) - { - // we are being removed from a linkset - _parentPrim.RemoveChildFromLinkset(this); - } - else - { - // asking to reparent a prim should not happen - m_log.ErrorFormat("{0}: link(): Reparenting a prim. ", LogHeader); - } - } - } + + _linkset = _linkset.AddMeToLinkset(this, parent); return; } @@ -260,81 +232,18 @@ public sealed class BSPrim : PhysicsActor // TODO: decide if this parent checking needs to happen at taint time // Race condition here: if link() and delink() in same simulation tick, the delink will not happen DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, - (_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString())); - DetailLog("{0},delink,parent={1}", LocalID, (_parentPrim==null ? "NULL" : _parentPrim.LocalID.ToString())); - if (_parentPrim != null) - { - _parentPrim.RemoveChildFromLinkset(this); - } - return; - } + _linkset.Root._avName+"/"+_linkset.Root.LocalID.ToString()); + DetailLog("{0},delink,parent={1}", LocalID, _linkset.Root.LocalID.ToString()); - // I am the root of a linkset and a new child is being added - public void AddChildToLinkset(BSPrim pchild) - { - BSPrim child = pchild; - _scene.TaintedObject(delegate() - { - if (!_childrenPrims.Contains(child)) - { - DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID); - DetailLog("{0},AddChildToLinkset,child={1}", LocalID, pchild.LocalID); - _childrenPrims.Add(child); - child._parentPrim = this; // the child has gained a parent - // RecreateGeomAndObject(); // rebuild my shape with the new child added - LinkAChildToMe(pchild); // build the physical binding between me and the child - - _mass = CalculateMass(); - } - }); - return; - } - - // I am the root of a linkset and one of my children is being removed. - // Safe to call even if the child is not really in my linkset. - public void RemoveChildFromLinkset(BSPrim pchild) - { - BSPrim child = pchild; - _scene.TaintedObject(delegate() - { - if (_childrenPrims.Contains(child)) - { - DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); - DetailLog("{0},RemoveChildFromLinkset,child={1}", LocalID, pchild.LocalID); - _childrenPrims.Remove(child); - child._parentPrim = null; // the child has lost its parent - if (_childrenPrims.Count == 0) - { - // if the linkset is empty, make sure all linkages have been removed - UnlinkAllChildren(); - } - else - { - // RecreateGeomAndObject(); // rebuild my shape with the child removed - UnlinkAChildFromMe(pchild); - } - - _mass = CalculateMass(); - } - else - { - m_log.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset"); - } - }); - return; - } - - // return true if we are the root of a linkset (there are children to manage) - public bool IsRootOfLinkset - { - get { return (_parentPrim == null && _childrenPrims.Count != 0); } + _linkset.RemoveMeFromLinkset(this); + return; } // Set motion values to zero. // Do it to the properties so the values get set in the physics engine. // Push the setting of the values to the viewer. // Called at taint time! - private void ZeroMotion() + public void ZeroMotion() { _velocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; @@ -355,9 +264,10 @@ public sealed class BSPrim : PhysicsActor public override OMV.Vector3 Position { get { - // child prims move around based on their parent. Need to get the latest location - if (_parentPrim != null) + if (!_linkset.IsRoot(this)) + // child prims move around based on their parent. Need to get the latest location _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + // don't do the GetObjectPosition for root elements because this function is called a zillion times // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); return _position; @@ -373,16 +283,31 @@ public sealed class BSPrim : PhysicsActor } } - // Return the effective mass of the object. Non-physical objects do not have mass. - public override float Mass { - get { - if (IsPhysical) - return _mass; - else - return 0f; + // Return the effective mass of the object. + // If there are multiple items in the linkset, add them together for the root + public override float Mass + { + get + { + return _linkset.Mass; } } + // used when we only want this prim's mass and not the linkset thing + public float MassRaw { get { return _mass; } } + + // Is this used? + public override OMV.Vector3 CenterOfMass + { + get { return _linkset.CenterOfMass; } + } + + // Is this used? + public override OMV.Vector3 GeometricCenter + { + get { return _linkset.GeometricCenter; } + } + public override OMV.Vector3 Force { get { return _force; } set { @@ -473,8 +398,6 @@ public sealed class BSPrim : PhysicsActor return; } - public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } - public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } public override OMV.Vector3 Velocity { get { return _velocity; } set { @@ -503,9 +426,9 @@ public sealed class BSPrim : PhysicsActor } public override OMV.Quaternion Orientation { get { - if (_parentPrim != null) + if (!_linkset.IsRoot(this)) { - // children move around because tied to parent. Get a fresh value. + // Children move around because tied to parent. Get a fresh value. _orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID); } return _orientation; @@ -555,14 +478,16 @@ public sealed class BSPrim : PhysicsActor private void SetObjectDynamic() { // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid); - // non-physical things work best with a mass of zero - if (!IsStatic) - { - _mass = CalculateMass(); - RecreateGeomAndObject(); - } - DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, Mass); - BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), Mass); + + RecreateGeomAndObject(); + + float mass = _mass; + // Bullet wants static objects have a mass of zero + if (IsStatic) + mass = 0f; + + DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass); + BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); } // prims don't fly @@ -1004,6 +929,9 @@ public sealed class BSPrim : PhysicsActor returnMass = _density * volume; + /* + * This change means each object keeps its own mass and the Mass property + * will return the sum if we're part of a linkset. if (IsRootOfLinkset) { foreach (BSPrim prim in _childrenPrims) @@ -1011,6 +939,7 @@ public sealed class BSPrim : PhysicsActor returnMass += prim.CalculateMass(); } } + */ if (returnMass <= 0) returnMass = 0.0001f; @@ -1026,9 +955,11 @@ public sealed class BSPrim : PhysicsActor // 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 - private void CreateGeom(bool forceRebuild) + // Returns 'true' if the geometry was rebuilt + private bool CreateGeom(bool forceRebuild) { // the mesher thought this was too simple to mesh. Use a native Bullet collision shape. + bool ret = false; if (!_scene.NeedsMeshing(_pbs)) { if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) @@ -1036,18 +967,26 @@ public sealed class BSPrim : PhysicsActor if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) { // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); - _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; - DetailLog("{0},CreateGeom,sphere", LocalID); - // Bullet native objects are scaled by the Bullet engine so pass the size in - _scale = _size; + if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE) + { + DetailLog("{0},CreateGeom,sphere", LocalID); + _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; + ret = true; + // Bullet native objects are scaled by the Bullet engine so pass the size in + _scale = _size; + } } } else { // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size); - DetailLog("{0},CreateGeom,box", LocalID); - _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; - _scale = _size; + if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX) + { + DetailLog("{0},CreateGeom,box", LocalID); + _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; + ret = true; + _scale = _size; + } } } else @@ -1059,6 +998,7 @@ public sealed class BSPrim : PhysicsActor // physical objects require a hull for interaction. // This will create the mesh if it doesn't already exist CreateGeomHull(); + ret = true; } } else @@ -1067,9 +1007,11 @@ public sealed class BSPrim : PhysicsActor { // Static (non-physical) objects only need a mesh for bumping into CreateGeomMesh(); + ret = true; } } } + return ret; } // No locking here because this is done when we know physics is not simulating @@ -1254,20 +1196,18 @@ public sealed class BSPrim : PhysicsActor // No locking here because this is done when the physics engine is not simulating private void CreateObject() { - if (IsRootOfLinkset) - { - // Create a linkset around this object - CreateLinkset(); - } - else - { - // simple object - // 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); - BulletSimAPI.CreateObject(_scene.WorldID, shape); - } + // 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); + BulletSimAPI.CreateObject(_scene.WorldID, shape); + // the CreateObject() may have recreated the rigid body. Make sure we have the latest. + m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID); + + // The root object could have been recreated. Make sure everything linksety is up to date. + _linkset.RefreshLinkset(this); } // Copy prim's info into the BulletSim shape description structure @@ -1279,7 +1219,7 @@ public sealed class BSPrim : PhysicsActor shape.Rotation = _orientation; shape.Velocity = _velocity; shape.Scale = _scale; - shape.Mass = Mass; + shape.Mass = _isPhysical ? _mass : 0f; shape.Buoyancy = _buoyancy; shape.HullKey = _hullKey; shape.MeshKey = _meshKey; @@ -1289,83 +1229,6 @@ public sealed class BSPrim : PhysicsActor shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; } - #region Linkset creation and destruction - - // Create the linkset by putting constraints between the objects of the set so they cannot move - // relative to each other. - void CreateLinkset() - { - // DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); - - // remove any constraints that might be in place - UnlinkAllChildren(); - - // create constraints between the root prim and each of the children - foreach (BSPrim prim in _childrenPrims) - { - LinkAChildToMe(prim); - } - } - - // Create a constraint between me (root of linkset) and the passed prim (the child). - // Called at taint time! - private void LinkAChildToMe(BSPrim childPrim) - { - // Zero motion for children so they don't interpolate - childPrim.ZeroMotion(); - - // relative position normalized to the root prim - OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation); - OMV.Vector3 childRelativePosition = (childPrim._position - this._position) * invThisOrientation; - - // relative rotation of the child to the parent - OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim._orientation; - - // create a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); - DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); - BSConstraint constrain = _scene.Constraints.CreateConstraint( - _scene.World, this.Body, childPrim.Body, - childRelativePosition, - childRelativeRotation, - OMV.Vector3.Zero, - OMV.Quaternion.Identity); - constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); - constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); - - // tweek the constraint to increase stability - constrain.UseFrameOffset(_scene.BoolNumeric(_scene.Params.linkConstraintUseFrameOffset)); - if (_scene.BoolNumeric(_scene.Params.linkConstraintEnableTransMotor)) - { - constrain.TranslationalLimitMotor(true, - _scene.Params.linkConstraintTransMotorMaxVel, - _scene.Params.linkConstraintTransMotorMaxForce); - } - } - - // Remove linkage between myself and a particular child - // Called at taint time! - private void UnlinkAChildFromMe(BSPrim childPrim) - { - DebugLog("{0}: UnlinkAChildFromMe: RemoveConstraint between root prim {1} and child prim {2}", - LogHeader, LocalID, childPrim.LocalID); - DetailLog("{0},UnlinkAChildFromMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); - // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); - _scene.Constraints.RemoveAndDestroyConstraint(this.Body, childPrim.Body); - } - - // Remove linkage between myself and any possible children I might have - // Called at taint time! - private void UnlinkAllChildren() - { - DebugLog("{0}: UnlinkAllChildren:", LogHeader); - DetailLog("{0},UnlinkAllChildren,taint", LocalID); - _scene.Constraints.RemoveAndDestroyConstraint(this.Body); - // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); - } - - #endregion // Linkset creation and destruction // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. @@ -1443,7 +1306,7 @@ public sealed class BSPrim : PhysicsActor // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. // Updates only for individual prims and for the root object of a linkset. - if (_parentPrim == null) + if (_linkset.IsRoot(this)) { // Assign to the local variables so the normal set action does not happen _position = entprop.Position; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index a1587a8..c6d622b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -73,7 +73,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS SCENE]"; - private void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); } + public void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); } public string BulletSimVersion = "?"; @@ -87,6 +87,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters private uint m_worldID; public uint WorldID { get { return m_worldID; } } + // let my minuions use my logger + public ILog Logger { get { return m_log; } } + private bool m_initialized = false; private int m_detailedStatsStep = 0; @@ -1026,7 +1029,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ), new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", - ConfigurationParameters.numericTrue, + ConfigurationParameters.numericFalse, (s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, (s) => { return s.m_params[0].linkConstraintUseFrameOffset; }, (s,p,l,v) => { s.m_params[0].linkConstraintUseFrameOffset = v; } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 89fd9b7..65e3145 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -239,10 +239,10 @@ public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CreateObject(uint worldID, ShapeData shapeData); +/* Remove old functionality [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas); -/* Remove old functionality [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void AddConstraint(uint worldID, uint id1, uint id2, Vector3 frame1, Quaternion frame1rot, -- cgit v1.1 From ce812c88ccc9226167b049e49296892943409e3f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 26 Jul 2012 15:24:53 -0700 Subject: BulletSim: fix a recursive loop when fetching the mass of the root of a linkset. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 6 +++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index a1027ee..3bc2100 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -50,7 +50,7 @@ public class BSLinkset // We keep the prim's mass in the linkset structure since it could be dependent on other prims private float m_mass; - public float Mass + public float LinksetMass { get { @@ -150,10 +150,10 @@ public class BSLinkset private float ComputeLinksetMass() { - float mass = m_linksetRoot.Mass; + float mass = m_linksetRoot.MassRaw; foreach (BSPrim bp in m_children) { - mass += bp.Mass; + mass += bp.MassRaw; } return mass; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d604f9c..7590d93 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -289,7 +289,7 @@ public sealed class BSPrim : PhysicsActor { get { - return _linkset.Mass; + return _linkset.LinksetMass; } } -- cgit v1.1 From 50dbb9ffe480b08f13f7bebb8259193dc00f88dd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 31 Jul 2012 09:23:05 -0700 Subject: BulletSim: add parameters and API calls for setting ERP and CFM. Set ERP and CFM in linkset constraints. Reorder rebuilding of object bodies so they are not rebuilt everytime something is linked and unlinked. --- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 12 ++++- .../BulletSPlugin/BSConstraintCollection.cs | 8 +++- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 56 +++++++++++++++++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 38 ++++++++++----- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 34 ++++++++++++- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 45 +++++++++++++---- 6 files changed, 164 insertions(+), 29 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index fbb9e21..07f5a21 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -50,7 +50,8 @@ public class BSConstraint : IDisposable m_body2 = obj2; m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, frame1, frame1rot, - frame2, frame2rot)); + frame2, frame2rot, + true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/)); m_enabled = true; } @@ -83,6 +84,15 @@ public class BSConstraint : IDisposable return ret; } + public bool SetCFMAndERP(float cfm, float erp) + { + bool ret = false; + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + return ret; + } + public bool UseFrameOffset(bool useOffset) { bool ret = false; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index a2650fb..c88e645 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -83,7 +83,8 @@ public class BSConstraintCollection : IDisposable return true; } - // Get the constraint between two bodies. There can be only one the way we're using them. + // Get the constraint between two bodies. There can be only one. + // Return 'true' if a constraint was found. public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint) { bool found = false; @@ -105,6 +106,9 @@ public class BSConstraintCollection : IDisposable return found; } + // Remove any constraint between the passed bodies. + // Presumed there is only one such constraint possible. + // Return 'true' if a constraint was found and destroyed. public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) { // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID); @@ -125,6 +129,8 @@ public class BSConstraintCollection : IDisposable return ret; } + // Remove all constraints that reference the passed body. + // Return 'true' if any constraints were destroyed. public bool RemoveAndDestroyConstraint(BulletBody body1) { // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 3bc2100..6f8430c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -117,10 +117,50 @@ public class BSLinkset } // An existing linkset had one of its members rebuilt or something. - // Undo all the physical linking and rebuild the physical linkset. - public bool RefreshLinkset(BSPrim requestor) + // Go through the linkset and rebuild the pointers to the bodies of the linkset members. + public BSLinkset RefreshLinkset(BSPrim requestor) { - return true; + BSLinkset ret = requestor.Linkset; + + lock (m_linksetActivityLock) + { + System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID); + if (aPtr == System.IntPtr.Zero) + { + // That's odd. We can't find the root of the linkset. + // The linkset is somehow dead. The requestor is now a member of a linkset of one. + DetailLog("{0},RefreshLinkset.RemoveRoot,child={1}", m_linksetRoot.LocalID, m_linksetRoot.LocalID); + ret = RemoveMeFromLinkset(m_linksetRoot); + } + else + { + // Reconstruct the pointer to the body of the linkset root. + DetailLog("{0},RefreshLinkset.RebuildRoot,rootID={1},ptr={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, aPtr); + m_linksetRoot.Body = new BulletBody(m_linksetRoot.LocalID, aPtr); + + List toRemove = new List(); + foreach (BSPrim bsp in m_children) + { + aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, bsp.LocalID); + if (aPtr == System.IntPtr.Zero) + { + toRemove.Add(bsp); + } + else + { + // Reconstruct the pointer to the body of the linkset root. + DetailLog("{0},RefreshLinkset.RebuildChild,rootID={1},ptr={2}", bsp.LocalID, m_linksetRoot.LocalID, aPtr); + bsp.Body = new BulletBody(bsp.LocalID, aPtr); + } + } + foreach (BSPrim bsp in toRemove) + { + RemoveChildFromLinkset(bsp); + } + } + } + + return ret; } @@ -256,10 +296,13 @@ public class BSLinkset DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); BSConstraint constrain = m_scene.Constraints.CreateConstraint( m_scene.World, m_linksetRoot.Body, childPrim.Body, - childRelativePosition, - childRelativeRotation, + // childRelativePosition, + // childRelativeRotation, + OMV.Vector3.Zero, + OMV.Quaternion.Identity, OMV.Vector3.Zero, - OMV.Quaternion.Identity); + OMV.Quaternion.Identity + ); constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); @@ -268,6 +311,7 @@ public class BSLinkset constrain.TranslationalLimitMotor(m_scene.BoolNumeric(m_scene.Params.linkConstraintEnableTransMotor), m_scene.Params.linkConstraintTransMotorMaxVel, m_scene.Params.linkConstraintTransMotorMaxForce); + constrain.SetCFMAndERP(m_scene.Params.linkConstraintCFM, m_scene.Params.linkConstraintERP); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 7590d93..50d11e6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -103,7 +103,10 @@ public sealed class BSPrim : PhysicsActor long _collidingGroundStep; private BulletBody m_body; - public BulletBody Body { get { return m_body; } } + public BulletBody Body { + get { return m_body; } + set { m_body = value; } + } private BSDynamics _vehicle; @@ -477,9 +480,11 @@ public sealed class BSPrim : PhysicsActor // Only called at taint time so it is save to call into Bullet. private void SetObjectDynamic() { - // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid); - - RecreateGeomAndObject(); + // RA: remove this for the moment. + // The problem is that dynamic objects are hulls so if we are becoming physical + // the shape has to be checked and possibly built. + // Maybe a VerifyCorrectPhysicalShape() routine? + // RecreateGeomAndObject(); float mass = _mass; // Bullet wants static objects have a mass of zero @@ -971,21 +976,23 @@ public sealed class BSPrim : PhysicsActor { DetailLog("{0},CreateGeom,sphere", LocalID); _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; - ret = true; // 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}, size={2}", LogHeader, LocalID, _size); + // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX) { DetailLog("{0},CreateGeom,box", LocalID); _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; - ret = true; _scale = _size; + // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? + ret = true; } } } @@ -1203,11 +1210,9 @@ public sealed class BSPrim : PhysicsActor FillShapeInfo(out shape); // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type); BulletSimAPI.CreateObject(_scene.WorldID, shape); + // the CreateObject() may have recreated the rigid body. Make sure we have the latest. m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID); - - // The root object could have been recreated. Make sure everything linksety is up to date. - _linkset.RefreshLinkset(this); } // Copy prim's info into the BulletSim shape description structure @@ -1236,8 +1241,8 @@ public sealed class BSPrim : PhysicsActor private void RecreateGeomAndObject() { // m_log.DebugFormat("{0}: RecreateGeomAndObject. lID={1}", LogHeader, _localID); - CreateGeom(true); - CreateObject(); + if (CreateGeom(true)) + CreateObject(); return; } @@ -1322,6 +1327,15 @@ public sealed class BSPrim : PhysicsActor base.RequestPhysicsterseUpdate(); } + /* + else + { + // For debugging, we can also report the movement of children + DetailLog("{0},UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, + entprop.Acceleration, entprop.RotationalVelocity); + } + */ } // I've collided with something diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index c6d622b..28d5cb5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -315,6 +315,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying) { // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName); + + if (!m_initialized) return null; + BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying); lock (m_avatars) m_avatars.Add(localID, actor); return actor; @@ -323,6 +326,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void RemoveAvatar(PhysicsActor actor) { // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader); + + if (!m_initialized) return; + BSCharacter bsactor = actor as BSCharacter; if (bsactor != null) { @@ -341,6 +347,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void RemovePrim(PhysicsActor prim) { + if (!m_initialized) return; + BSPrim bsprim = prim as BSPrim; if (bsprim != null) { @@ -366,6 +374,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters Vector3 size, Quaternion rotation, bool isPhysical, uint localID) { // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName); + + if (!m_initialized) return null; + BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); lock (m_prims) m_prims.Add(localID, prim); return prim; @@ -807,6 +818,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters // List of all of the externally visible parameters. // For each parameter, this table maps a text name to getter and setters. + // To add a new externally referencable/settable parameter, add the paramter storage + // location somewhere in the program and make an entry in this table with the + // getters and setters. + // To add a new variable, it is easiest to find an existing definition and copy it. + // Parameter values are floats. Booleans are converted to a floating value. + // // A ParameterDefn() takes the following parameters: // -- the text name of the parameter. This is used for console input and ini file. // -- a short text description of the parameter. This shows up in the console listing. @@ -815,7 +832,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters // -- a delegate for getting the value as a float // -- a delegate for setting the value from a float // - // To add a new variable, it is best to find an existing definition and copy it. + // The single letter parameters for the delegates are: + // s = BSScene + // p = string parameter name + // l = localID of referenced object + // v = float value + // cf = parameter configuration class (for fetching values from ini file) private ParameterDefn[] ParameterDefinitions = { new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", @@ -1048,6 +1070,16 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), + new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=none, 1=all. Default=0", + 0.0f, + (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].linkConstraintCFM; }, + (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), + new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", + 0.2f, + (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].linkConstraintERP; }, + (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)", 0f, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 65e3145..fe705cc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -66,13 +66,14 @@ public struct ShapeData { public enum PhysicsShapeType { - SHAPE_AVATAR = 0, - SHAPE_BOX = 1, - SHAPE_CONE = 2, - SHAPE_CYLINDER = 3, - SHAPE_SPHERE = 4, - SHAPE_MESH = 5, - SHAPE_HULL = 6 + SHAPE_UNKNOWN = 0, + SHAPE_AVATAR = 1, + SHAPE_BOX = 2, + SHAPE_CONE = 3, + SHAPE_CYLINDER = 4, + SHAPE_SPHERE = 5, + SHAPE_MESH = 6, + SHAPE_HULL = 7 }; public uint ID; public PhysicsShapeType Type; @@ -168,6 +169,8 @@ public struct ConfigurationParameters public float linkConstraintEnableTransMotor; public float linkConstraintTransMotorMaxVel; public float linkConstraintTransMotorMaxForce; + public float linkConstraintERP; + public float linkConstraintCFM; public const float numericTrue = 1f; public const float numericFalse = 0f; @@ -189,6 +192,28 @@ public enum CollisionFlags : uint PHYSICAL_OBJECT = 1 << 12, }; +// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 +// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. +public enum ConstraintParams : int +{ + BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730 + BT_CONSTRAINT_STOP_ERP, + BT_CONSTRAINT_CFM, + BT_CONSTRAINT_STOP_CFM, +}; +public enum ConstraintParamAxis : int +{ + AXIS_LINEAR_X = 0, + AXIS_LINEAR_Y, + AXIS_LINEAR_Z, + AXIS_ANGULAR_X, + AXIS_ANGULAR_Y, + AXIS_ANGULAR_Z, + AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls + AXIS_ANGULAR_ALL, + AXIS_ALL +}; + // =============================================================================== static class BulletSimAPI { @@ -380,7 +405,8 @@ public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, Vector3 frame1loc, Quaternion frame1rot, - Vector3 frame2loc, Quaternion frame2rot); + Vector3 frame2loc, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); @@ -398,6 +424,9 @@ public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enabl public static extern bool CalculateTransforms2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From e38d26a2dc35ce7bf904c58200912a65c05aa39d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 31 Jul 2012 11:32:26 -0700 Subject: BulletSim: change boolean parameters in the shape data from int's to float's to be consistant with parameter data structure --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 ++++++-- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 10 +++++----- 2 files changed, 11 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 50d11e6..758acdc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -187,6 +187,7 @@ public sealed class BSPrim : PhysicsActor { _mass = CalculateMass(); // changing size changes the mass BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); + DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); RecreateGeomAndObject(); }); } @@ -1201,7 +1202,8 @@ public sealed class BSPrim : PhysicsActor // 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 - private void CreateObject() + // Returns 'true' if an object was actually created. + private bool CreateObject() { // this routine is called when objects are rebuilt. @@ -1209,10 +1211,12 @@ public sealed class BSPrim : PhysicsActor ShapeData shape; FillShapeInfo(out shape); // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type); - BulletSimAPI.CreateObject(_scene.WorldID, shape); + bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); // the CreateObject() may have recreated the rigid body. Make sure we have the latest. m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID); + + return ret; } // Copy prim's info into the BulletSim shape description structure diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index fe705cc..0ffbc94 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -87,12 +87,12 @@ public struct ShapeData public System.UInt64 MeshKey; public float Friction; public float Restitution; - public int Collidable; - public int Static; // true if a static object. Otherwise gravity, etc. + public float Collidable; // true of things bump into this + public float Static; // true if a static object. Otherwise gravity, etc. - // note that bools are passed as ints since bool size changes by language and architecture - public const int numericTrue = 1; - public const int numericFalse = 0; + // note that bools are passed as floats since bool size changes by language and architecture + public const float numericTrue = 1f; + public const float numericFalse = 0f; } [StructLayout(LayoutKind.Sequential)] public struct SweepHit -- cgit v1.1 From c51ef38e2d867d63d2d32b1a7d284033e60d9952 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 31 Jul 2012 16:22:50 -0700 Subject: BulletSim: fix problem where resizing a primary shape (cube or sphere) would not rebuild the physics mesh. Update the DLLs and SOs to latest version. --- OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 ++---- 2 files changed, 3 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 07f5a21..ea3093a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -86,7 +86,7 @@ public class BSConstraint : IDisposable public bool SetCFMAndERP(float cfm, float erp) { - bool ret = false; + bool ret = true; BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 758acdc..a4ab702 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -973,7 +973,7 @@ public sealed class BSPrim : PhysicsActor if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) { // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); - if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE) + if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) { DetailLog("{0},CreateGeom,sphere", LocalID); _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; @@ -987,7 +987,7 @@ public sealed class BSPrim : PhysicsActor else { // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); - if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX) + if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)) { DetailLog("{0},CreateGeom,box", LocalID); _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; @@ -1331,7 +1331,6 @@ public sealed class BSPrim : PhysicsActor base.RequestPhysicsterseUpdate(); } - /* else { // For debugging, we can also report the movement of children @@ -1339,7 +1338,6 @@ public sealed class BSPrim : PhysicsActor LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); } - */ } // I've collided with something -- cgit v1.1 From 8b04e8a297054a2c16978a1ee3c92460c11eaccc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 2 Aug 2012 16:30:23 -0700 Subject: BulletSim: Debugging log statements added. Reduced size of updata buffer trying to find a corrupted memory problem. Update DLL and SO. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +++- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 29 ++++++++++++++++++++----- 2 files changed, 27 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a4ab702..ebfd85b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1331,13 +1331,15 @@ public sealed class BSPrim : PhysicsActor base.RequestPhysicsterseUpdate(); } + /* else { - // For debugging, we can also report the movement of children + // For debugging, we also report the movement of children DetailLog("{0},UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); } + */ } // I've collided with something diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 28d5cb5..011033c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -390,9 +390,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Simulate one timestep public override float Simulate(float timeStep) { - int updatedEntityCount; + int updatedEntityCount = 0; IntPtr updatedEntitiesPtr; - int collidersCount; + int collidersCount = 0; IntPtr collidersPtr; LastSimulatedTimestep = timeStep; @@ -411,8 +411,21 @@ public class BSScene : PhysicsScene, IPhysicsParameters // step the physical world one interval m_simulationStep++; - int numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, - out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); + int numSubSteps = 0; + try + { + numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, + out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); + DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", "0000000000", numSubSteps, updatedEntityCount, collidersCount); + } + catch (Exception e) + { + m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e); + DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", "0000000000", numSubSteps, updatedEntityCount, collidersCount); + // updatedEntityCount = 0; + collidersCount = 0; + } + // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in @@ -711,7 +724,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters return true; } - // The calls to the PhysicsActors can't directly call into the physics engine + // Calls to the PhysicsActors can't directly call into the physics engine // because it might be busy. We delay changes to a known time. // We rely on C#'s closure to save and restore the context for the delegate. public void TaintedObject(TaintCallback callback) @@ -1275,5 +1288,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters #endregion Runtime settable parameters + // Invoke the detailed logger and output something if it's enabled. + private void DetailLog(string msg, params Object[] args) + { + PhysicsLogging.Write(msg, args); + } + } } -- cgit v1.1 From ea36d4a4cf716442e83cc9cd1b419a43be5adc6e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 1 Aug 2012 15:04:09 -0700 Subject: BulletSim: Add AddObjectForce to BulletSim API. Add interface 2 enhancements to BSCharacter. Modify AddForce and SetForce to use the new Bullet interface. More DetailLog statements for character. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 26 ++++++++++++++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 29 +++++++++------------- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 3 +++ 3 files changed, 38 insertions(+), 20 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 09e1f0c..a5635ff 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -40,6 +40,7 @@ public class BSCharacter : PhysicsActor private static readonly string LogHeader = "[BULLETS CHAR]"; private BSScene _scene; + public BSScene Scene { get { return _scene; } } private String _avName; // private bool _stopped; private Vector3 _size; @@ -73,6 +74,12 @@ public class BSCharacter : PhysicsActor private bool _kinematic; private float _buoyancy; + private BulletBody m_body; + public BulletBody Body { + get { return m_body; } + set { m_body = value; } + } + private int _subscribedEventsMs = 0; private int _nextCollisionOkTime = 0; @@ -116,6 +123,8 @@ public class BSCharacter : PhysicsActor _scene.TaintedObject(delegate() { BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData); + + m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); }); return; @@ -124,6 +133,7 @@ public class BSCharacter : PhysicsActor // called when this character is being destroyed and the resources should be released public void Destroy() { + // DetailLog("{0},Destroy", LocalID); _scene.TaintedObject(delegate() { BulletSimAPI.DestroyObject(_scene.WorldID, _localID); @@ -174,6 +184,7 @@ public class BSCharacter : PhysicsActor _position = value; _scene.TaintedObject(delegate() { + DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); }); } @@ -188,9 +199,10 @@ public class BSCharacter : PhysicsActor set { _force = value; // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); - _scene.TaintedObject(delegate() + Scene.TaintedObject(delegate() { - BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); + DetailLog("{0},setForce,taint,force={1}", LocalID, _force); + BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force); }); } } @@ -216,6 +228,7 @@ public class BSCharacter : PhysicsActor // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); _scene.TaintedObject(delegate() { + DetailLog("{0},setVelocity,taint,vel={1}", LocalID, _velocity); BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); }); } @@ -305,6 +318,7 @@ public class BSCharacter : PhysicsActor set { _buoyancy = value; _scene.TaintedObject(delegate() { + DetailLog("{0},setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); }); } @@ -351,7 +365,8 @@ public class BSCharacter : PhysicsActor // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); _scene.TaintedObject(delegate() { - BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); + DetailLog("{0},setAddForce,taint,addedForce={1}", LocalID, _force); + BulletSimAPI.AddObjectForce2(Body.Ptr, _force); }); } else @@ -480,5 +495,10 @@ public class BSCharacter : PhysicsActor // End kludge } + // Invoke the detailed logger and output something if it's enabled. + private void DetailLog(string msg, params Object[] args) + { + Scene.PhysicsLogging.Write(msg, args); + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index ebfd85b..22f5995 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -187,7 +187,7 @@ public sealed class BSPrim : PhysicsActor { _mass = CalculateMass(); // changing size changes the mass BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); - DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); + // DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); RecreateGeomAndObject(); }); } @@ -318,7 +318,7 @@ public sealed class BSPrim : PhysicsActor _force = value; _scene.TaintedObject(delegate() { - DetailLog("{0},SetForce,taint,force={1}", LocalID, _force); + DetailLog("{0},setForce,taint,force={1}", LocalID, _force); // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); BulletSimAPI.SetObjectForce2(Body.Ptr, _force); }); @@ -443,7 +443,7 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject(delegate() { // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); - DetailLog("{0},SetOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); }); } @@ -487,10 +487,8 @@ public sealed class BSPrim : PhysicsActor // Maybe a VerifyCorrectPhysicalShape() routine? // RecreateGeomAndObject(); - float mass = _mass; - // Bullet wants static objects have a mass of zero - if (IsStatic) - mass = 0f; + // Bullet wants static objects to have a mass of zero + float mass = IsStatic ? 0f : _mass; DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass); BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); @@ -607,6 +605,7 @@ public sealed class BSPrim : PhysicsActor private List m_accumulatedForces = new List(); public override void AddForce(OMV.Vector3 force, bool pushforce) { + // for an object, doesn't matter if force is a pushforce or not if (force.IsFinite()) { // _force += force; @@ -620,21 +619,17 @@ public sealed class BSPrim : PhysicsActor } _scene.TaintedObject(delegate() { + OMV.Vector3 fSum = OMV.Vector3.Zero; lock (m_accumulatedForces) { - if (m_accumulatedForces.Count > 0) + foreach (OMV.Vector3 v in m_accumulatedForces) { - OMV.Vector3 fSum = OMV.Vector3.Zero; - foreach (OMV.Vector3 v in m_accumulatedForces) - { - fSum += v; - } - m_accumulatedForces.Clear(); - - DetailLog("{0},SetObjectForce,taint,force={1}", LocalID, fSum); - BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, fSum); + fSum += v; } + m_accumulatedForces.Clear(); } + DetailLog("{0},AddObjectForce,taint,force={1}", LocalID, _force); + BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 0ffbc94..1881e41 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -448,6 +448,9 @@ public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocit public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool AddObjectForce2(IntPtr obj, Vector3 force); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From e7ad6ed3a3fda013cd393df6bb50236871092249 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 3 Aug 2012 14:44:07 -0700 Subject: BulletSim: pass collision subscription information to the C++ code so collisions on objects that don't care are not reported up. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 18 ++++++++++++++- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 16 +++++++++++-- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 27 +++++++++++----------- 3 files changed, 45 insertions(+), 16 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index a5635ff..494f5a6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -125,6 +125,8 @@ public class BSCharacter : PhysicsActor BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData); m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); + // avatars get all collisions no matter what + BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); return; @@ -384,11 +386,25 @@ public class BSCharacter : PhysicsActor // Turn on collision events at a rate no faster than one every the given milliseconds public override void SubscribeEvents(int ms) { _subscribedEventsMs = ms; - _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen + if (ms > 0) + { + // make sure first collision happens + _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; + + Scene.TaintedObject(delegate() + { + BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + }); + } } // Stop collision events public override void UnSubscribeEvents() { _subscribedEventsMs = 0; + // Avatars get all their collision events + // Scene.TaintedObject(delegate() + // { + // BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + // }); } // Return 'true' if someone has subscribed to events public override bool SubscribedEvents() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 22f5995..8e6685b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -642,11 +642,23 @@ public sealed class BSPrim : PhysicsActor } public override void SubscribeEvents(int ms) { _subscribedEventsMs = ms; - // make sure first collision happens - _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; + if (ms > 0) + { + // make sure first collision happens + _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; + + Scene.TaintedObject(delegate() + { + BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + }); + } } public override void UnSubscribeEvents() { _subscribedEventsMs = 0; + Scene.TaintedObject(delegate() + { + BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + }); } public override bool SubscribedEvents() { return (_subscribedEventsMs > 0); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 1881e41..4e05df6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -179,17 +179,18 @@ public struct ConfigurationParameters // Values used by Bullet and BulletSim to control collisions public enum CollisionFlags : uint { - STATIC_OBJECT = 1 << 0, - KINEMATIC_OBJECT = 1 << 1, - NO_CONTACT_RESPONSE = 1 << 2, - CUSTOM_MATERIAL_CALLBACK = 1 << 3, - CHARACTER_OBJECT = 1 << 4, - DISABLE_VISUALIZE_OBJECT = 1 << 5, - DISABLE_SPU_COLLISION_PROCESS = 1 << 6, + CF_STATIC_OBJECT = 1 << 0, + CF_KINEMATIC_OBJECT = 1 << 1, + CF_NO_CONTACT_RESPONSE = 1 << 2, + CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3, + CF_CHARACTER_OBJECT = 1 << 4, + CF_DISABLE_VISUALIZE_OBJECT = 1 << 5, + CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, // Following used by BulletSim to control collisions - VOLUME_DETECT_OBJECT = 1 << 10, - PHANTOM_OBJECT = 1 << 11, - PHYSICAL_OBJECT = 1 << 12, + BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, + BS_VOLUME_DETECT_OBJECT = 1 << 11, + BS_PHANTOM_OBJECT = 1 << 12, + BS_PHYSICAL_OBJECT = 1 << 13, }; // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 @@ -481,13 +482,13 @@ public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags); +public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags); +public static extern IntPtr AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags); +public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); -- cgit v1.1 From 4adb3471ac6e7710395a47d77aa8c1b3715a6c99 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 6 Aug 2012 12:55:52 -0700 Subject: BulletSim: update SOs and DLLs to run on more Linux versions. Correct multiple buoyancy settings when character flying. Remove chatty log message on prim destruction. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 9 ++++++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- 2 files changed, 7 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 494f5a6..ee485b4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -274,9 +274,12 @@ public class BSCharacter : PhysicsActor public override bool Flying { get { return _flying; } set { - _flying = value; - // simulate flying by changing the effect of gravity - this.Buoyancy = ComputeBuoyancyFromFlying(_flying); + if (_flying != value) + { + _flying = value; + // simulate flying by changing the effect of gravity + this.Buoyancy = ComputeBuoyancyFromFlying(_flying); + } } } private float ComputeBuoyancyFromFlying(bool ifFlying) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 011033c..7151908 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -352,7 +352,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters BSPrim bsprim = prim as BSPrim; if (bsprim != null) { - m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); + // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); try { lock (m_prims) m_prims.Remove(bsprim.LocalID); -- cgit v1.1 From 19417fca41e59e931193ee99d3e4a12092488f1f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 7 Aug 2012 17:15:06 -0700 Subject: BulletSim: Added avatar capsule scaling for size of avatar. This also fixes computation of avatar mass. Added parameter MaxPersistantManifoldPoolSize. Fixed a parameter setting bug which caused crashes of there were more than 400 or so physical objects. I tested up to 5000. Updated BulletSim DLLs and SOs. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 41 ++++++++++++++++++---- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 ++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 11 ++++-- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 1 + 4 files changed, 47 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index ee485b4..d4f5c63 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -102,7 +102,9 @@ public class BSCharacter : PhysicsActor _orientation = Quaternion.Identity; _velocity = Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); - _scale = new Vector3(1f, 1f, 1f); + // The dimensions of the avatar capsule are kept in the scale. + // Physics creates a unit capsule which is scaled by the physics engine. + _scale = new Vector3(_scene.Params.avatarCapsuleRadius, _scene.Params.avatarCapsuleRadius, size.Z); _density = _scene.Params.avatarDensity; ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale @@ -150,9 +152,28 @@ public class BSCharacter : PhysicsActor public override bool Stopped { get { return false; } } - public override Vector3 Size { - get { return _size; } - set { _size = value; + public override Vector3 Size { + get + { + // Avatar capsule size is kept in the scale parameter. + return new Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z); + } + + set { + // When an avatar's size is set, only the height is changed + // and that really only depends on the radius. + _size = value; + _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y); + + // TODO: something has to be done with the avatar's vertical position + + ComputeAvatarVolumeAndMass(); + + _scene.TaintedObject(delegate() + { + BulletSimAPI.SetObjectScaleMass(_scene.WorldID, LocalID, _scale, _mass, true); + }); + } } public override PrimitiveBaseShape Shape { @@ -419,9 +440,15 @@ public class BSCharacter : PhysicsActor { _avatarVolume = (float)( Math.PI - * _scene.Params.avatarCapsuleRadius * _scale.X - * _scene.Params.avatarCapsuleRadius * _scale.Y - * _scene.Params.avatarCapsuleHeight * _scale.Z); + * _scale.X + * _scale.Y // the area of capsule cylinder + * _scale.Z // times height of capsule cylinder + + 1.33333333f + * Math.PI + * _scale.X + * Math.Min(_scale.X, _scale.Y) + * _scale.Y // plus the volume of the capsule end caps + ); _mass = _density * _avatarVolume; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 8e6685b..11868bc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -977,8 +977,8 @@ public sealed class BSPrim : PhysicsActor { if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) { - if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) - { + // if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) + // { // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) { @@ -989,7 +989,7 @@ public sealed class BSPrim : PhysicsActor // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? ret = true; } - } + // } } else { @@ -1039,7 +1039,7 @@ public sealed class BSPrim : PhysicsActor // if this new shape is the same as last time, don't recreate the mesh if (_meshKey == newMeshKey) return; - DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, _meshKey); + DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, newMeshKey); // Since we're recreating new, get rid of any previously generated shape if (_meshKey != 0) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7151908..0e257b6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1027,14 +1027,19 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ), - new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default)", + new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 0f, // zero to disable (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; }, (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ), + new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", + 0f, // zero to disable + (s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; }, + (s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ), new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, (s) => { return s.m_params[0].shouldDisableContactPoolDynamicAllocation; }, (s,p,l,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = v; } ), new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 4e05df6..86fc9d2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -158,6 +158,7 @@ public struct ConfigurationParameters public float avatarContactProcessingThreshold; public float maxPersistantManifoldPoolSize; + public float maxCollisionAlgorithmPoolSize; public float shouldDisableContactPoolDynamicAllocation; public float shouldForceUpdateAllAabbs; public float shouldRandomizeSolverOrder; -- cgit v1.1 From 5ab151c2d69277b8c528b8ebe94d2b0d2312a2fc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 8 Aug 2012 13:48:49 -0700 Subject: BulletSim: add avatar code to keep avatars from ending up trapped under the terrain --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 56 ++++++++++------------ OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 13 ++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 26 +++++----- 4 files changed, 46 insertions(+), 53 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index d4f5c63..8149a53 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -205,6 +205,8 @@ public class BSCharacter : PhysicsActor } set { _position = value; + PositionSanityCheck(); + _scene.TaintedObject(delegate() { DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); @@ -212,6 +214,28 @@ public class BSCharacter : PhysicsActor }); } } + + // Check that the current position is sane and, if not, modify the position to make it so. + // Check for being below terrain and being out of bounds. + // Returns 'true' of the position was made sane by some action. + private bool PositionSanityCheck() + { + bool ret = false; + + // If below the ground, move the avatar up + float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position); + if (_position.Z < terrainHeight) + { + DetailLog("{0},PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation); + _position.Z = terrainHeight + 2.0f; + ret = true; + } + + // TODO: check for out of bounds + + return ret; + } + public override float Mass { get { return _mass; @@ -456,42 +480,12 @@ public class BSCharacter : PhysicsActor // the world that things have changed. public void UpdateProperties(EntityProperties entprop) { - /* - bool changed = false; - // we assign to the local variables so the normal set action does not happen - if (_position != entprop.Position) { - _position = entprop.Position; - changed = true; - } - if (_orientation != entprop.Rotation) { - _orientation = entprop.Rotation; - changed = true; - } - if (_velocity != entprop.Velocity) { - _velocity = entprop.Velocity; - changed = true; - } - if (_acceleration != entprop.Acceleration) { - _acceleration = entprop.Acceleration; - changed = true; - } - if (_rotationalVelocity != entprop.RotationalVelocity) { - _rotationalVelocity = entprop.RotationalVelocity; - changed = true; - } - if (changed) { - // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); - // Avatar movement is not done by generating this event. There is code in the heartbeat - // loop that updates avatars. - // base.RequestPhysicsterseUpdate(); - } - */ _position = entprop.Position; _orientation = entprop.Rotation; _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; - // Avatars don't report theirr changes the usual way. Changes are checked for in the heartbeat loop. + // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 6f8430c..d19c4b8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -296,13 +296,13 @@ public class BSLinkset DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); BSConstraint constrain = m_scene.Constraints.CreateConstraint( m_scene.World, m_linksetRoot.Body, childPrim.Body, - // childRelativePosition, - // childRelativeRotation, + childRelativePosition, + childRelativeRotation, OMV.Vector3.Zero, - OMV.Quaternion.Identity, - OMV.Vector3.Zero, - OMV.Quaternion.Identity + -childRelativeRotation ); + + // zero linear and angular limits makes the objects unable to move in relation to each other constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); @@ -339,7 +339,8 @@ public class BSLinkset // Invoke the detailed logger and output something if it's enabled. private void DebugLog(string msg, params Object[] args) { - m_scene.Logger.DebugFormat(msg, args); + if (m_scene.ShouldDebugLog) + m_scene.Logger.DebugFormat(msg, args); } // Invoke the detailed logger and output something if it's enabled. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 11868bc..98b69b1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -42,7 +42,7 @@ public sealed class BSPrim : PhysicsActor private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS PRIM]"; - private void DebugLog(string mm, params Object[] xx) { if (_scene.shouldDebugLog) m_log.DebugFormat(mm, xx); } + private void DebugLog(string mm, params Object[] xx) { if (_scene.ShouldDebugLog) m_log.DebugFormat(mm, xx); } private IMesh _mesh; private PrimitiveBaseShape _pbs; @@ -1338,7 +1338,6 @@ public sealed class BSPrim : PhysicsActor base.RequestPhysicsterseUpdate(); } - /* else { // For debugging, we also report the movement of children @@ -1346,7 +1345,6 @@ public sealed class BSPrim : PhysicsActor LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); } - */ } // I've collided with something diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 0e257b6..117086a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -73,7 +73,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS SCENE]"; - public void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); } + public void DebugLog(string mm, params Object[] xx) { if (ShouldDebugLog) m_log.DebugFormat(mm, xx); } public string BulletSimVersion = "?"; @@ -169,7 +169,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters ConfigurationParameters[] m_params; GCHandle m_paramsHandle; - public bool shouldDebugLog { get; private set; } + public bool ShouldDebugLog { get; private set; } private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; @@ -812,12 +812,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters private struct ParameterDefn { - public string name; - public string desc; - public float defaultValue; - public ParamUser userParam; - public ParamGet getter; - public ParamSet setter; + public string name; // string name of the parameter + public string desc; // a short description of what the parameter means + public float defaultValue; // default value if not specified anywhere else + public ParamUser userParam; // get the value from the configuration file + public ParamGet getter; // return the current value stored for this parameter + public ParamSet setter; // set the current value for this parameter public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) { name = n; @@ -834,7 +834,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // To add a new externally referencable/settable parameter, add the paramter storage // location somewhere in the program and make an entry in this table with the // getters and setters. - // To add a new variable, it is easiest to find an existing definition and copy it. + // It is easiest to find an existing definition and copy it. // Parameter values are floats. Booleans are converted to a floating value. // // A ParameterDefn() takes the following parameters: @@ -870,7 +870,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return (float)s.m_meshLOD; }, (s,p,l,v) => { s.m_meshLOD = (int)v; } ), new ParameterDefn("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", - 32, + 32f, (s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); }, (s) => { return (float)s.m_sculptLOD; }, (s,p,l,v) => { s.m_sculptLOD = (int)v; } ), @@ -1106,9 +1106,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), new ParameterDefn("ShouldDebugLog", "Enables detailed DEBUG log statements", ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.shouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); }, - (s) => { return s.NumericBool(s.shouldDebugLog); }, - (s,p,l,v) => { s.shouldDebugLog = s.BoolNumeric(v); } ), + (s,cf,p,v) => { s.ShouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); }, + (s) => { return s.NumericBool(s.ShouldDebugLog); }, + (s,p,l,v) => { s.ShouldDebugLog = s.BoolNumeric(v); } ), }; -- cgit v1.1 From 38e79b80a87d213748d55d66e8b72021999d3945 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 9 Aug 2012 15:01:05 -0700 Subject: BulletSim: separate out the constraints by type. The linksets use 6dof constraint but eventually others will be exposed so future features can use all the Bullet capabilities. Force children to generate a position update when unlinked. --- .../Physics/BulletSPlugin/BS6DofConstraint.cs | 80 ++++++++++++++++++++++ .../Region/Physics/BulletSPlugin/BSConstraint.cs | 60 +++------------- .../BulletSPlugin/BSConstraintCollection.cs | 10 --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 38 +++++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 15 ++-- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 37 +++++----- 6 files changed, 146 insertions(+), 94 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs new file mode 100755 index 0000000..72df6b9 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs @@ -0,0 +1,80 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public class BS6DofConstraint : BSConstraint +{ + // Create a btGeneric6DofConstraint + public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot ) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + m_constraint = new BulletConstraint( + BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, + frame1, frame1rot, + frame2, frame2rot, + true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/)); + m_enabled = true; + } + + public bool SetCFMAndERP(float cfm, float erp) + { + bool ret = true; + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + return ret; + } + + public bool UseFrameOffset(bool useOffset) + { + bool ret = false; + float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); + return ret; + } + + public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) + { + bool ret = false; + float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); + return ret; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index ea3093a..a17efea 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -32,30 +32,19 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSConstraint : IDisposable +public abstract class BSConstraint : IDisposable { - private BulletSim m_world; - private BulletBody m_body1; - private BulletBody m_body2; - private BulletConstraint m_constraint; - private bool m_enabled = false; + protected BulletSim m_world; + protected BulletBody m_body1; + protected BulletBody m_body2; + protected BulletConstraint m_constraint; + protected bool m_enabled = false; - public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, - Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot - ) + public BSConstraint() { - m_world = world; - m_body1 = obj1; - m_body2 = obj2; - m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, - frame1, frame1rot, - frame2, frame2rot, - true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/)); - m_enabled = true; } - public void Dispose() + public virtual void Dispose() { if (m_enabled) { @@ -68,7 +57,7 @@ public class BSConstraint : IDisposable public BulletBody Body1 { get { return m_body1; } } public BulletBody Body2 { get { return m_body2; } } - public bool SetLinearLimits(Vector3 low, Vector3 high) + public virtual bool SetLinearLimits(Vector3 low, Vector3 high) { bool ret = false; if (m_enabled) @@ -76,7 +65,7 @@ public class BSConstraint : IDisposable return ret; } - public bool SetAngularLimits(Vector3 low, Vector3 high) + public virtual bool SetAngularLimits(Vector3 low, Vector3 high) { bool ret = false; if (m_enabled) @@ -84,34 +73,7 @@ public class BSConstraint : IDisposable return ret; } - public bool SetCFMAndERP(float cfm, float erp) - { - bool ret = true; - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - return ret; - } - - public bool UseFrameOffset(bool useOffset) - { - bool ret = false; - float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; - if (m_enabled) - ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); - return ret; - } - - public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) - { - bool ret = false; - float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; - if (m_enabled) - ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); - return ret; - } - - public bool CalculateTransforms() + public virtual bool CalculateTransforms() { bool ret = false; if (m_enabled) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index c88e645..397045a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -63,16 +63,6 @@ public class BSConstraintCollection : IDisposable m_constraints.Clear(); } - public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, - Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot) - { - BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot); - - this.AddConstraint(constrain); - return constrain; - } - public bool AddConstraint(BSConstraint cons) { // There is only one constraint between any bodies. Remove any old just to make sure. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index d19c4b8..e265d6d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -101,7 +101,7 @@ public class BSLinkset { // Note that we don't do a foreach because the remove routine // takes it out of the list. - RemoveChildFromLinkset(m_children[0]); + RemoveChildFromOtherLinkset(m_children[0]); } m_children.Clear(); // just to make sure } @@ -124,6 +124,7 @@ public class BSLinkset lock (m_linksetActivityLock) { + // The body pointer is refetched in case anything has moved. System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID); if (aPtr == System.IntPtr.Zero) { @@ -155,7 +156,7 @@ public class BSLinkset } foreach (BSPrim bsp in toRemove) { - RemoveChildFromLinkset(bsp); + RemoveChildFromOtherLinkset(bsp); } } } @@ -208,7 +209,8 @@ public class BSLinkset com += bp.Position * bp.MassRaw; totalMass += bp.MassRaw; } - com /= totalMass; + if (totalMass != 0f) + com /= totalMass; return com; } @@ -221,7 +223,7 @@ public class BSLinkset { com += bp.Position * bp.MassRaw; } - com /= m_children.Count + 1; + com /= (m_children.Count + 1); return com; } @@ -237,13 +239,24 @@ public class BSLinkset m_scene.TaintedObject(delegate() { DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); - DetailLog("{0},AddChildToLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID); + DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID); PhysicallyLinkAChildToRoot(pchild); // build the physical binding between me and the child }); } return; } + // Forcefully removing a child from a linkset. + // This is not being called by the child so we have to make sure the child doesn't think + // it's still connected to the linkset. + // Normal OpenSimulator operation will never do this because other SceneObjectPart information + // has to be updated also (like pointer to prim's parent). + public void RemoveChildFromOtherLinkset(BSPrim pchild) + { + pchild.Linkset = new BSLinkset(m_scene, pchild); + RemoveChildFromLinkset(pchild); + } + // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. public void RemoveChildFromLinkset(BSPrim pchild) @@ -255,7 +268,7 @@ public class BSLinkset m_scene.TaintedObject(delegate() { DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); - DetailLog("{0},RemoveChildFromLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID); + DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID); if (m_children.Count == 0) { @@ -294,13 +307,14 @@ public class BSLinkset // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); - BSConstraint constrain = m_scene.Constraints.CreateConstraint( + BS6DofConstraint constrain = new BS6DofConstraint( m_scene.World, m_linksetRoot.Body, childPrim.Body, childRelativePosition, childRelativeRotation, OMV.Vector3.Zero, -childRelativeRotation ); + m_scene.Constraints.AddConstraint(constrain); // zero linear and angular limits makes the objects unable to move in relation to each other constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); @@ -319,11 +333,13 @@ public class BSLinkset // Called at taint time! private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim) { - DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", - LogHeader, m_linksetRoot.LocalID, childPrim.LocalID); + // DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", + // LogHeader, m_linksetRoot.LocalID, childPrim.LocalID); DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); - // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); + m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body); + // Make the child refresh its location + BulletSimAPI.PushUpdate2(childPrim.Body.Ptr); } // Remove linkage between myself and any possible children I might have @@ -332,8 +348,8 @@ public class BSLinkset { // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader); DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID); + m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body); - // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); } // Invoke the detailed logger and output something if it's enabled. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 98b69b1..e0f6ed2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -224,10 +224,12 @@ public sealed class BSPrim : PhysicsActor // link me to the specified parent public override void link(PhysicsActor obj) { BSPrim parent = obj as BSPrim; - DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); - DetailLog("{0},link,parent={1}", LocalID, obj.LocalID); - - _linkset = _linkset.AddMeToLinkset(this, parent); + if (parent != null) + { + DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID); + DetailLog("{0},link,parent={1}", LocalID, parent.LocalID); + _linkset = _linkset.AddMeToLinkset(this, parent); + } return; } @@ -478,7 +480,6 @@ public sealed class BSPrim : PhysicsActor // Make gravity work if the object is physical and not selected // No locking here because only called when it is safe - // Only called at taint time so it is save to call into Bullet. private void SetObjectDynamic() { // RA: remove this for the moment. @@ -982,7 +983,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) { - DetailLog("{0},CreateGeom,sphere", LocalID); + DetailLog("{0},CreateGeom,sphere (force={1}", LocalID, forceRebuild); _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; // Bullet native objects are scaled by the Bullet engine so pass the size in _scale = _size; @@ -996,7 +997,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)) { - DetailLog("{0},CreateGeom,box", LocalID); + DetailLog("{0},CreateGeom,box (force={1})", LocalID, forceRebuild); _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; _scale = _size; // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 86fc9d2..c016402 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -363,7 +363,7 @@ public static extern IntPtr GetSimHandle2(uint worldID); public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id); +public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); // =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -372,40 +372,43 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, int maxUpdates, IntPtr updateArray); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UpdateParameter2(IntPtr sim, uint localID, String parm, float value); +public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetHeightmap2(IntPtr sim, float[] heightmap); +public static extern void SetHeightmap2(IntPtr world, float[] heightmap); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void Shutdown2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int PhysicsStep2(IntPtr sim, float timeStep, int maxSubSteps, float fixedTimeStep, +public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out IntPtr updatedEntitiesPtr, out int collidersCount, out IntPtr collidersPtr); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool PushUpdate2(IntPtr obj); + /* [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateMesh2(IntPtr sim, int indicesCount, int* indices, int verticesCount, float* vertices ); +public static extern IntPtr CreateMesh2(IntPtr world, int indicesCount, int* indices, int verticesCount, float* vertices ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool BuildHull2(IntPtr sim, IntPtr mesh); +public static extern bool BuildHull2(IntPtr world, IntPtr mesh); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool ReleaseHull2(IntPtr sim, IntPtr mesh); +public static extern bool ReleaseHull2(IntPtr world, IntPtr mesh); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyMesh2(IntPtr sim, IntPtr mesh); +public static extern bool DestroyMesh2(IntPtr world, IntPtr mesh); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); +public static extern IntPtr CreateObject2(IntPtr world, ShapeData shapeData); */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, +public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 frame1loc, Quaternion frame1rot, Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); @@ -429,7 +432,13 @@ public static extern bool CalculateTransforms2(IntPtr constrain); public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); +public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetPosition2(IntPtr obj); @@ -510,12 +519,6 @@ public static extern bool SetMargin2(IntPtr obj, float val); public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyObject2(IntPtr world, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 320982cae388814b8e7e9e9fe62724caa9621d90 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 9 Aug 2012 15:17:19 -0700 Subject: BulletSim: add an identifier to the TaintObject call so exceptions that happen when the taint is invoked can be debugged --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 22 +++++----- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 49 ++++++++++------------ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 34 +++++++++------ 4 files changed, 57 insertions(+), 52 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 8149a53..d49a578 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -122,7 +122,7 @@ public class BSCharacter : PhysicsActor shapeData.Restitution = _scene.Params.avatarRestitution; // do actual create at taint time - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSCharacter.create", delegate() { BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData); @@ -138,7 +138,7 @@ public class BSCharacter : PhysicsActor public void Destroy() { // DetailLog("{0},Destroy", LocalID); - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSCharacter.destroy", delegate() { BulletSimAPI.DestroyObject(_scene.WorldID, _localID); }); @@ -169,7 +169,7 @@ public class BSCharacter : PhysicsActor ComputeAvatarVolumeAndMass(); - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSCharacter.setSize", delegate() { BulletSimAPI.SetObjectScaleMass(_scene.WorldID, LocalID, _scale, _mass, true); }); @@ -207,7 +207,7 @@ public class BSCharacter : PhysicsActor _position = value; PositionSanityCheck(); - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSCharacter.setPosition", delegate() { DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); @@ -246,7 +246,7 @@ public class BSCharacter : PhysicsActor set { _force = value; // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); - Scene.TaintedObject(delegate() + Scene.TaintedObject("BSCharacter.SetForce", delegate() { DetailLog("{0},setForce,taint,force={1}", LocalID, _force); BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force); @@ -273,7 +273,7 @@ public class BSCharacter : PhysicsActor set { _velocity = value; // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSCharacter.setVelocity", delegate() { DetailLog("{0},setVelocity,taint,vel={1}", LocalID, _velocity); BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); @@ -299,7 +299,7 @@ public class BSCharacter : PhysicsActor set { _orientation = value; // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSCharacter.setOrientation", delegate() { // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); @@ -366,7 +366,7 @@ public class BSCharacter : PhysicsActor public override float Buoyancy { get { return _buoyancy; } set { _buoyancy = value; - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSCharacter.setBuoyancy", delegate() { DetailLog("{0},setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); @@ -413,7 +413,7 @@ public class BSCharacter : PhysicsActor _force.Y += force.Y; _force.Z += force.Z; // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSCharacter.AddForce", delegate() { DetailLog("{0},setAddForce,taint,addedForce={1}", LocalID, _force); BulletSimAPI.AddObjectForce2(Body.Ptr, _force); @@ -439,7 +439,7 @@ public class BSCharacter : PhysicsActor // make sure first collision happens _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; - Scene.TaintedObject(delegate() + Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate() { BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); @@ -449,7 +449,7 @@ public class BSCharacter : PhysicsActor public override void UnSubscribeEvents() { _subscribedEventsMs = 0; // Avatars get all their collision events - // Scene.TaintedObject(delegate() + // Scene.TaintedObject("BSCharacter.UnSubscribeEvents", delegate() // { // BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); // }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index e265d6d..bf262c5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -236,7 +236,7 @@ public class BSLinkset { m_children.Add(child); - m_scene.TaintedObject(delegate() + m_scene.TaintedObject("AddChildToLinkset", delegate() { DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID); @@ -265,7 +265,7 @@ public class BSLinkset if (m_children.Remove(child)) { - m_scene.TaintedObject(delegate() + m_scene.TaintedObject("RemoveChildFromLinkset", delegate() { DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e0f6ed2..988e03b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -145,7 +145,7 @@ public sealed class BSPrim : PhysicsActor _vehicle = new BSDynamics(this); // add vehicleness _mass = CalculateMass(); // do the actual object creation at taint time - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.create", delegate() { RecreateGeomAndObject(); @@ -166,7 +166,7 @@ public sealed class BSPrim : PhysicsActor _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _scene.RemoveVehiclePrim(this); // just to make sure - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.destroy", delegate() { // Undo any links between me and any other object _linkset = _linkset.RemoveMeFromLinkset(this); @@ -183,7 +183,7 @@ public sealed class BSPrim : PhysicsActor get { return _size; } set { _size = value; - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.setSize", delegate() { _mass = CalculateMass(); // changing size changes the mass BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); @@ -195,7 +195,7 @@ public sealed class BSPrim : PhysicsActor public override PrimitiveBaseShape Shape { set { _pbs = value; - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.setShape", delegate() { _mass = CalculateMass(); // changing the shape changes the mass RecreateGeomAndObject(); @@ -213,7 +213,7 @@ public sealed class BSPrim : PhysicsActor public override bool Selected { set { _isSelected = value; - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.setSelected", delegate() { SetObjectDynamic(); }); @@ -281,7 +281,7 @@ public sealed class BSPrim : PhysicsActor set { _position = value; // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.setPosition", delegate() { DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); @@ -318,7 +318,7 @@ public sealed class BSPrim : PhysicsActor get { return _force; } set { _force = value; - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.setForce", delegate() { DetailLog("{0},setForce,taint,force={1}", LocalID, _force); // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); @@ -333,7 +333,7 @@ public sealed class BSPrim : PhysicsActor } set { Vehicle type = (Vehicle)value; - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.setVehicleType", delegate() { DetailLog("{0},SetVehicleType,taint,type={1}", LocalID, type); _vehicle.ProcessTypeChange(type); @@ -343,12 +343,7 @@ public sealed class BSPrim : PhysicsActor } else { - _scene.TaintedObject(delegate() - { - // Tell the physics engine to clear state - BulletSimAPI.ClearForces2(this.Body.Ptr); - }); - + BulletSimAPI.ClearForces2(this.Body.Ptr); // make it so the scene will call us each tick to do vehicle things _scene.AddVehiclePrim(this); } @@ -358,28 +353,28 @@ public sealed class BSPrim : PhysicsActor } public override void VehicleFloatParam(int param, float value) { - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); }); } public override void VehicleVectorParam(int param, OMV.Vector3 value) { - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); }); } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); }); } public override void VehicleFlags(int param, bool remove) { - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.VehicleFlags", delegate() { _vehicle.ProcessVehicleFlags(param, remove); }); @@ -397,7 +392,7 @@ public sealed class BSPrim : PhysicsActor public override void SetVolumeDetect(int param) { bool newValue = (param != 0); _isVolumeDetect = newValue; - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.SetVolumeDetect", delegate() { SetObjectDynamic(); }); @@ -408,7 +403,7 @@ public sealed class BSPrim : PhysicsActor get { return _velocity; } set { _velocity = value; - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.setVelocity", delegate() { DetailLog("{0},SetVelocity,taint,vel={1}", LocalID, _velocity); BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); @@ -442,7 +437,7 @@ public sealed class BSPrim : PhysicsActor set { _orientation = value; // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.setOrientation", delegate() { // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); DetailLog("{0},setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); @@ -459,7 +454,7 @@ public sealed class BSPrim : PhysicsActor get { return _isPhysical; } set { _isPhysical = value; - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.setIsPhysical", delegate() { SetObjectDynamic(); }); @@ -547,7 +542,7 @@ public sealed class BSPrim : PhysicsActor set { _rotationalVelocity = value; // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { DetailLog("{0},SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); @@ -564,7 +559,7 @@ public sealed class BSPrim : PhysicsActor get { return _buoyancy; } set { _buoyancy = value; - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.setBuoyancy", delegate() { DetailLog("{0},SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); @@ -618,7 +613,7 @@ public sealed class BSPrim : PhysicsActor m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); return; } - _scene.TaintedObject(delegate() + _scene.TaintedObject("BSPrim.AddForce", delegate() { OMV.Vector3 fSum = OMV.Vector3.Zero; lock (m_accumulatedForces) @@ -648,7 +643,7 @@ public sealed class BSPrim : PhysicsActor // make sure first collision happens _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; - Scene.TaintedObject(delegate() + Scene.TaintedObject("BSPrim.SubscribeEvents", delegate() { BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); @@ -656,7 +651,7 @@ public sealed class BSPrim : PhysicsActor } public override void UnSubscribeEvents() { _subscribedEventsMs = 0; - Scene.TaintedObject(delegate() + Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate() { BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 117086a..65a8014 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -162,7 +162,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters } public delegate void TaintCallback(); - private List _taintedObjects; + private struct TaintCallbackEntry + { + public String ident; + public TaintCallback callback; + public TaintCallbackEntry(string i, TaintCallback c) + { + ident = i; + callback = c; + } + } + private List _taintedObjects; private Object _taintLock = new Object(); // A pointer to an instance if this structure is passed to the C++ code @@ -232,7 +242,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); } - _taintedObjects = new List(); + _taintedObjects = new List(); mesher = meshmerizer; // The bounding box for the simulated world @@ -535,7 +545,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void SetTerrain(float[] heightMap) { m_heightMap = heightMap; - this.TaintedObject(delegate() + this.TaintedObject("BSScene.SetTerrain", delegate() { BulletSimAPI.SetHeightmap(m_worldID, m_heightMap); }); @@ -727,12 +737,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Calls to the PhysicsActors can't directly call into the physics engine // because it might be busy. We delay changes to a known time. // We rely on C#'s closure to save and restore the context for the delegate. - public void TaintedObject(TaintCallback callback) + public void TaintedObject(String ident, TaintCallback callback) { if (!m_initialized) return; lock (_taintLock) - _taintedObjects.Add(callback); + _taintedObjects.Add(new TaintCallbackEntry(ident, callback)); return; } @@ -744,22 +754,22 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process { // swizzle a new list into the list location so we can process what's there - List oldList; + List oldList; lock (_taintLock) { oldList = _taintedObjects; - _taintedObjects = new List(); + _taintedObjects = new List(); } - foreach (TaintCallback callback in oldList) + foreach (TaintCallbackEntry tcbe in oldList) { try { - callback(); + tcbe.callback(); } catch (Exception e) { - m_log.ErrorFormat("{0}: ProcessTaints: Exception: {1}", LogHeader, e); + m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e); } } oldList.Clear(); @@ -1248,7 +1258,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters List objectIDs = lIDs; string xparm = parm.ToLower(); float xval = val; - TaintedObject(delegate() { + TaintedObject("BSScene.UpdateParameterSet", delegate() { foreach (uint lID in objectIDs) { BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval); @@ -1268,7 +1278,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters uint xlocalID = localID; string xparm = parm.ToLower(); float xval = val; - TaintedObject(delegate() { + TaintedObject("BSScene.TaintedUpdateParameter", delegate() { BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval); }); } -- cgit v1.1 From 3ca770cd2c7705d53efe11bb2a2315392b1f492a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 10 Aug 2012 08:33:09 -0700 Subject: BulletSim: Add module names to DetailLog output. Fix some problems with linksets that were caused by checking data structures that are changed regularly from taint time code -- resulted in linksets not being unlinked properly. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 8 ++- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 57 +++++++++--------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 69 ++++++++++++---------- 3 files changed, 71 insertions(+), 63 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index d49a578..4f48cfb 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -248,7 +248,7 @@ public class BSCharacter : PhysicsActor // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); Scene.TaintedObject("BSCharacter.SetForce", delegate() { - DetailLog("{0},setForce,taint,force={1}", LocalID, _force); + DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force); }); } @@ -275,7 +275,7 @@ public class BSCharacter : PhysicsActor // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); _scene.TaintedObject("BSCharacter.setVelocity", delegate() { - DetailLog("{0},setVelocity,taint,vel={1}", LocalID, _velocity); + DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); }); } @@ -487,6 +487,10 @@ public class BSCharacter : PhysicsActor _rotationalVelocity = entprop.RotationalVelocity; // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); + + DetailLog("{0},BSCharacter.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, + entprop.Acceleration, entprop.RotationalVelocity); } // Called by the scene when a collision with this object is reported diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index bf262c5..f68e06e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -40,9 +40,12 @@ public class BSLinkset public BSPrim Root { get { return m_linksetRoot; } } private BSScene m_scene; + public BSScene Scene { get { return m_scene; } } private List m_children; + public int NumberOfChildren { get { return m_children.Count; } } + // We lock the diddling of linkset classes to prevent any badness. // This locks the modification of the instances of this class. Changes // to the physical representation is done via the tainting mechenism. @@ -113,9 +116,10 @@ public class BSLinkset } // The child is down to a linkset of just itself - return new BSLinkset(m_scene, child); + return new BSLinkset(Scene, child); } + /* DEPRECATED: this is really bad in that it trys to unlink other prims. // An existing linkset had one of its members rebuilt or something. // Go through the linkset and rebuild the pointers to the bodies of the linkset members. public BSLinkset RefreshLinkset(BSPrim requestor) @@ -163,6 +167,7 @@ public class BSLinkset return ret; } + */ // Return 'true' if the passed object is the root object of this linkset @@ -229,18 +234,19 @@ public class BSLinkset } // I am the root of a linkset and a new child is being added - public void AddChildToLinkset(BSPrim pchild) + // Called while LinkActivity is locked. + public void AddChildToLinkset(BSPrim child) { - BSPrim child = pchild; if (!HasChild(child)) { m_children.Add(child); + BSPrim root = Root; // capture the root as of now m_scene.TaintedObject("AddChildToLinkset", delegate() { DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); - DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID); - PhysicallyLinkAChildToRoot(pchild); // build the physical binding between me and the child + DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); + PhysicallyLinkAChildToRoot(root, child); // build the physical binding between me and the child }); } return; @@ -259,26 +265,17 @@ public class BSLinkset // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. - public void RemoveChildFromLinkset(BSPrim pchild) + public void RemoveChildFromLinkset(BSPrim child) { - BSPrim child = pchild; - if (m_children.Remove(child)) { + BSPrim root = Root; // capture the root as of now m_scene.TaintedObject("RemoveChildFromLinkset", delegate() { DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); - DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, pchild.LocalID); + DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); - if (m_children.Count == 0) - { - // if the linkset is empty, make sure all linkages have been removed - PhysicallyUnlinkAllChildrenFromRoot(); - } - else - { - PhysicallyUnlinkAChildFromRoot(pchild); - } + PhysicallyUnlinkAChildFromRoot(root, child); }); } else @@ -291,14 +288,14 @@ public class BSLinkset // Create a constraint between me (root of linkset) and the passed prim (the child). // Called at taint time! - private void PhysicallyLinkAChildToRoot(BSPrim childPrim) + private void PhysicallyLinkAChildToRoot(BSPrim rootPrim, BSPrim childPrim) { // Zero motion for children so they don't interpolate childPrim.ZeroMotion(); // relative position normalized to the root prim - OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(m_linksetRoot.Orientation); - OMV.Vector3 childRelativePosition = (childPrim.Position - m_linksetRoot.Position) * invThisOrientation; + OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); + OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation; // relative rotation of the child to the parent OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; @@ -306,9 +303,9 @@ public class BSLinkset // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); - DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); + DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); BS6DofConstraint constrain = new BS6DofConstraint( - m_scene.World, m_linksetRoot.Body, childPrim.Body, + m_scene.World, rootPrim.Body, childPrim.Body, childRelativePosition, childRelativeRotation, OMV.Vector3.Zero, @@ -331,25 +328,25 @@ public class BSLinkset // Remove linkage between myself and a particular child // Called at taint time! - private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim) + private void PhysicallyUnlinkAChildFromRoot(BSPrim rootPrim, BSPrim childPrim) { // DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", - // LogHeader, m_linksetRoot.LocalID, childPrim.LocalID); - DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); + // LogHeader, rootPrim.LocalID, childPrim.LocalID); + DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); - m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body); + m_scene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body); // Make the child refresh its location BulletSimAPI.PushUpdate2(childPrim.Body.Ptr); } // Remove linkage between myself and any possible children I might have // Called at taint time! - private void PhysicallyUnlinkAllChildrenFromRoot() + private void PhysicallyUnlinkAllChildrenFromRoot(BSPrim rootPrim) { // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader); - DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID); + DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); - m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body); + m_scene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body); } // Invoke the detailed logger and output something if it's enabled. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 988e03b..4193d22 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -160,16 +160,18 @@ public sealed class BSPrim : PhysicsActor public void Destroy() { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); - // DetailLog("{0},Destroy", LocalID); + // DetailLog("{0},BSPrim.Destroy", LocalID); // Undo any vehicle properties _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _scene.RemoveVehiclePrim(this); // just to make sure + // Undo any links between me and any other object + _linkset = _linkset.RemoveMeFromLinkset(this); + _scene.TaintedObject("BSPrim.destroy", delegate() { - // Undo any links between me and any other object - _linkset = _linkset.RemoveMeFromLinkset(this); + DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); @@ -187,7 +189,7 @@ public sealed class BSPrim : PhysicsActor { _mass = CalculateMass(); // changing size changes the mass BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); - // DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); + // DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); RecreateGeomAndObject(); }); } @@ -227,7 +229,7 @@ public sealed class BSPrim : PhysicsActor if (parent != null) { DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID); - DetailLog("{0},link,parent={1}", LocalID, parent.LocalID); + DetailLog("{0},BSPrim.link,parent={1}", LocalID, parent.LocalID); _linkset = _linkset.AddMeToLinkset(this, parent); } return; @@ -239,9 +241,14 @@ public sealed class BSPrim : PhysicsActor // Race condition here: if link() and delink() in same simulation tick, the delink will not happen DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, _linkset.Root._avName+"/"+_linkset.Root.LocalID.ToString()); - DetailLog("{0},delink,parent={1}", LocalID, _linkset.Root.LocalID.ToString()); - _linkset.RemoveMeFromLinkset(this); + BSPrim parentBefore = _linkset.Root; + int childrenBefore = _linkset.NumberOfChildren; + + _linkset = _linkset.RemoveMeFromLinkset(this); + + DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", + LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren); return; } @@ -264,7 +271,7 @@ public sealed class BSPrim : PhysicsActor public override void LockAngularMotion(OMV.Vector3 axis) { - DetailLog("{0},LockAngularMotion,call,axis={1}", LocalID, axis); + DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); return; } @@ -283,7 +290,7 @@ public sealed class BSPrim : PhysicsActor // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? _scene.TaintedObject("BSPrim.setPosition", delegate() { - DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); }); } @@ -320,7 +327,7 @@ public sealed class BSPrim : PhysicsActor _force = value; _scene.TaintedObject("BSPrim.setForce", delegate() { - DetailLog("{0},setForce,taint,force={1}", LocalID, _force); + DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); BulletSimAPI.SetObjectForce2(Body.Ptr, _force); }); @@ -335,7 +342,7 @@ public sealed class BSPrim : PhysicsActor Vehicle type = (Vehicle)value; _scene.TaintedObject("BSPrim.setVehicleType", delegate() { - DetailLog("{0},SetVehicleType,taint,type={1}", LocalID, type); + DetailLog("{0},BSPrim.SetVehicleType,taint,type={1}", LocalID, type); _vehicle.ProcessTypeChange(type); if (type == Vehicle.TYPE_NONE) { @@ -405,7 +412,7 @@ public sealed class BSPrim : PhysicsActor _velocity = value; _scene.TaintedObject("BSPrim.setVelocity", delegate() { - DetailLog("{0},SetVelocity,taint,vel={1}", LocalID, _velocity); + DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); }); } @@ -413,7 +420,7 @@ public sealed class BSPrim : PhysicsActor public override OMV.Vector3 Torque { get { return _torque; } set { _torque = value; - DetailLog("{0},SetTorque,call,torque={1}", LocalID, _torque); + DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); } } public override float CollisionScore { @@ -440,7 +447,7 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject("BSPrim.setOrientation", delegate() { // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); - DetailLog("{0},setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); }); } @@ -486,7 +493,7 @@ public sealed class BSPrim : PhysicsActor // Bullet wants static objects to have a mass of zero float mass = IsStatic ? 0f : _mass; - DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass); + DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass); BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); } @@ -544,7 +551,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { - DetailLog("{0},SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); + DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); }); } @@ -561,7 +568,7 @@ public sealed class BSPrim : PhysicsActor _buoyancy = value; _scene.TaintedObject("BSPrim.setBuoyancy", delegate() { - DetailLog("{0},SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); + DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); }); } @@ -624,17 +631,17 @@ public sealed class BSPrim : PhysicsActor } m_accumulatedForces.Clear(); } - DetailLog("{0},AddObjectForce,taint,force={1}", LocalID, _force); + DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); }); } public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { - DetailLog("{0},AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); + DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); } public override void SetMomentum(OMV.Vector3 momentum) { - DetailLog("{0},SetMomentum,call,mom={1}", LocalID, momentum); + DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); } public override void SubscribeEvents(int ms) { _subscribedEventsMs = ms; @@ -978,7 +985,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) { - DetailLog("{0},CreateGeom,sphere (force={1}", LocalID, forceRebuild); + DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild); _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; // Bullet native objects are scaled by the Bullet engine so pass the size in _scale = _size; @@ -992,7 +999,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)) { - DetailLog("{0},CreateGeom,box (force={1})", LocalID, forceRebuild); + DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild); _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; _scale = _size; // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? @@ -1035,12 +1042,12 @@ public sealed class BSPrim : PhysicsActor // if this new shape is the same as last time, don't recreate the mesh if (_meshKey == newMeshKey) return; - DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, newMeshKey); + 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},CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey); + DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey); BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); _mesh = null; _meshKey = 0; @@ -1070,7 +1077,7 @@ public sealed class BSPrim : PhysicsActor _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; // meshes are already scaled by the meshmerizer _scale = new OMV.Vector3(1f, 1f, 1f); - DetailLog("{0},CreateGeomMesh,done", LocalID); + DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID); return; } @@ -1084,17 +1091,17 @@ public sealed class BSPrim : PhysicsActor // if the hull hasn't changed, don't rebuild it if (newHullKey == _hullKey) return; - DetailLog("{0},CreateGeomHull,create,key={1}", LocalID, _meshKey); + DetailLog("{0},BSPrim.CreateGeomHull,create,key={1}", LocalID, _meshKey); // 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},CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey); + DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey); BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); _hullKey = 0; _hulls.Clear(); - DetailLog("{0},CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey); + DetailLog("{0},BSPrim.CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey); BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); _mesh = null; // the mesh cannot match either _meshKey = 0; @@ -1191,7 +1198,7 @@ public sealed class BSPrim : PhysicsActor _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; // meshes are already scaled by the meshmerizer _scale = new OMV.Vector3(1f, 1f, 1f); - DetailLog("{0},CreateGeomHull,done", LocalID); + DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID); return; } @@ -1329,7 +1336,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); - DetailLog("{0},UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); base.RequestPhysicsterseUpdate(); @@ -1337,7 +1344,7 @@ public sealed class BSPrim : PhysicsActor else { // For debugging, we also report the movement of children - DetailLog("{0},UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + DetailLog("{0},BSPrim.BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); } -- cgit v1.1 From 0c7ce4fc98d4be185d5a5d83d4cc1c596b5cb1d3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 10 Aug 2012 16:22:44 -0700 Subject: BulletSim: many, many detailed logging messages for physical linkset debugging. Linkset bugs fixed where accounting of children would get lost. Moved scene based vehicle tracking logic from prim to the scene. Added GetCollisionFlags2 method to BulletSimAPI. Updated DLLs and SOs. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 4 +- .../BulletSPlugin/BSConstraintCollection.cs | 8 ++- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 14 +++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 58 ++++++++++++---------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 27 ++++++++-- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 9 +++- 7 files changed, 78 insertions(+), 44 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 4f48cfb..f164afe 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -488,7 +488,7 @@ public class BSCharacter : PhysicsActor // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); - DetailLog("{0},BSCharacter.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index a17efea..da26b72 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -49,7 +49,9 @@ public abstract class BSConstraint : IDisposable if (m_enabled) { // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); - BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); + bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); + m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success); + m_constraint.Ptr = System.IntPtr.Zero; m_enabled = false; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index 397045a..3df2ddc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -68,6 +68,8 @@ public class BSConstraintCollection : IDisposable // There is only one constraint between any bodies. Remove any old just to make sure. RemoveAndDestroyConstraint(cons.Body1, cons.Body2); + m_world.scene.DetailLog("{0},BSConstraintCollection.AddConstraint,call,body1={1},body2={2}", BSScene.DetailLogZero, cons.Body1.ID, cons.Body2.ID); + m_constraints.Add(cons); return true; @@ -108,6 +110,7 @@ public class BSConstraintCollection : IDisposable if (this.TryGetConstraint(body1, body2, out constrain)) { + m_world.scene.DetailLog("{0},BSConstraintCollection.RemoveAndDestroyConstraint,taint,body1={1},body2={2}", BSScene.DetailLogZero, body1.ID, body2.ID); // remove the constraint from our collection m_constraints.Remove(constrain); // tell the engine that all its structures need to be freed @@ -148,10 +151,11 @@ public class BSConstraintCollection : IDisposable public bool RecalculateAllConstraints() { - foreach (BSConstraint constrain in m_constraints) + ForEachConstraint(delegate(BSConstraint constrain) { constrain.CalculateTransforms(); - } + return false; + }); return true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index f68e06e..4a71612 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -44,8 +44,6 @@ public class BSLinkset private List m_children; - public int NumberOfChildren { get { return m_children.Count; } } - // We lock the diddling of linkset classes to prevent any badness. // This locks the modification of the instances of this class. Changes // to the physical representation is done via the tainting mechenism. @@ -83,14 +81,14 @@ public class BSLinkset // Link to a linkset where the child knows the parent. // Parent changing should not happen so do some sanity checking. - // We return the parent's linkset so the child can track it's membership. - public BSLinkset AddMeToLinkset(BSPrim child, BSPrim parent) + // We return the parent's linkset so the child can track its membership. + public BSLinkset AddMeToLinkset(BSPrim child) { lock (m_linksetActivityLock) { - parent.Linkset.AddChildToLinkset(child); + AddChildToLinkset(child); } - return parent.Linkset; + return this; } public BSLinkset RemoveMeFromLinkset(BSPrim child) @@ -176,6 +174,8 @@ public class BSLinkset return (requestor.LocalID == m_linksetRoot.LocalID); } + public int NumberOfChildren { get { return m_children.Count; } } + // Return 'true' if this linkset has any children (more than the root member) public bool HasAnyChildren { get { return (m_children.Count > 0); } } @@ -303,7 +303,7 @@ public class BSLinkset // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); - DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); + DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); BS6DofConstraint constrain = new BS6DofConstraint( m_scene.World, rootPrim.Body, childPrim.Body, childRelativePosition, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4193d22..05cc822 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -138,13 +138,14 @@ public sealed class BSPrim : PhysicsActor _isPhysical = pisPhysical; _isVolumeDetect = false; _subscribedEventsMs = 0; - _friction = _scene.Params.defaultFriction; // TODO: compute based on object material - _density = _scene.Params.defaultDensity; // TODO: compute based on object material + _friction = _scene.Params.defaultFriction; // TODO: compute based on object material + _density = _scene.Params.defaultDensity; // TODO: compute based on object material _restitution = _scene.Params.defaultRestitution; _linkset = new BSLinkset(_scene, this); // a linkset of one - _vehicle = new BSDynamics(this); // add vehicleness + _vehicle = new BSDynamics(this); // add vehicleness _mass = CalculateMass(); // do the actual object creation at taint time + DetailLog("{0},BSPrim.constructor,call", LocalID); _scene.TaintedObject("BSPrim.create", delegate() { RecreateGeomAndObject(); @@ -160,19 +161,22 @@ public sealed class BSPrim : PhysicsActor public void Destroy() { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); - // DetailLog("{0},BSPrim.Destroy", LocalID); - - // Undo any vehicle properties - _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); - _scene.RemoveVehiclePrim(this); // just to make sure // Undo any links between me and any other object + BSPrim parentBefore = _linkset.Root; + int childrenBefore = _linkset.NumberOfChildren; + _linkset = _linkset.RemoveMeFromLinkset(this); + DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}", + LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren); + + // Undo any vehicle properties + this.VehicleType = (int)Vehicle.TYPE_NONE; + _scene.TaintedObject("BSPrim.destroy", delegate() { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); - // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); }); @@ -229,8 +233,13 @@ public sealed class BSPrim : PhysicsActor if (parent != null) { DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID); - DetailLog("{0},BSPrim.link,parent={1}", LocalID, parent.LocalID); - _linkset = _linkset.AddMeToLinkset(this, parent); + BSPrim parentBefore = _linkset.Root; + int childrenBefore = _linkset.NumberOfChildren; + + _linkset = parent.Linkset.AddMeToLinkset(this); + + DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", + LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren); } return; } @@ -340,21 +349,14 @@ public sealed class BSPrim : PhysicsActor } set { Vehicle type = (Vehicle)value; - _scene.TaintedObject("BSPrim.setVehicleType", delegate() + BSPrim vehiclePrim = this; + _scene.TaintedObject("setVehicleType", delegate() { - DetailLog("{0},BSPrim.SetVehicleType,taint,type={1}", LocalID, type); + // Done at taint time so we're sure the physics engine is not using the variables + // Vehicle code changes the parameters for this vehicle type. _vehicle.ProcessTypeChange(type); - if (type == Vehicle.TYPE_NONE) - { - _scene.RemoveVehiclePrim(this); - } - else - { - BulletSimAPI.ClearForces2(this.Body.Ptr); - // make it so the scene will call us each tick to do vehicle things - _scene.AddVehiclePrim(this); - } - return; + // Tell the scene about the vehicle so it will get processing each frame. + _scene.VehicleInSceneTypeChanged(this, type); }); } } @@ -493,8 +495,10 @@ public sealed class BSPrim : PhysicsActor // Bullet wants static objects to have a mass of zero float mass = IsStatic ? 0f : _mass; - DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass); BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); + + CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr); + DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); } // prims don't fly @@ -1224,7 +1228,7 @@ public sealed class BSPrim : PhysicsActor bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); // the CreateObject() may have recreated the rigid body. Make sure we have the latest. - m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID); + Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); return ret; } @@ -1344,7 +1348,7 @@ public sealed class BSPrim : PhysicsActor else { // For debugging, we also report the movement of children - DetailLog("{0},BSPrim.BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 65a8014..beaea1f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -255,7 +255,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Initialization to support the transition to a new API which puts most of the logic // into the C# code so it is easier to modify and add to. - m_worldSim = new BulletSim(m_worldID, BulletSimAPI.GetSimHandle2(m_worldID)); + m_worldSim = new BulletSim(m_worldID, this, BulletSimAPI.GetSimHandle2(m_worldID)); m_constraintCollection = new BSConstraintCollection(World); m_initialized = true; @@ -362,6 +362,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters BSPrim bsprim = prim as BSPrim; if (bsprim != null) { + DetailLog("{0},RemovePrim,call", bsprim.LocalID); // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); try { @@ -387,6 +388,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return null; + DetailLog("{0},AddPrimShape,call", localID); + BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); lock (m_prims) m_prims.Add(localID, prim); return prim; @@ -426,12 +429,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters { numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); - DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", "0000000000", numSubSteps, updatedEntityCount, collidersCount); + DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); } catch (Exception e) { m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e); - DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", "0000000000", numSubSteps, updatedEntityCount, collidersCount); + DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); // updatedEntityCount = 0; collidersCount = 0; } @@ -777,6 +780,20 @@ public class BSScene : PhysicsScene, IPhysicsParameters } #region Vehicles + + public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType) + { + if (newType == Vehicle.TYPE_NONE) + { + RemoveVehiclePrim(vehic); + } + else + { + // make it so the scene will call us each tick to do vehicle things + AddVehiclePrim(vehic); + } + } + // Make so the scene will call this prim for vehicle actions each tick. // Safe to call if prim is already in the vehicle list. public void AddVehiclePrim(BSPrim vehicle) @@ -1304,10 +1321,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters #endregion Runtime settable parameters // Invoke the detailed logger and output something if it's enabled. - private void DetailLog(string msg, params Object[] args) + public void DetailLog(string msg, params Object[] args) { PhysicsLogging.Write(msg, args); } + // used to fill in the LocalID when there isn't one + public const string DetailLogZero = "0000000000"; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index c016402..6800b96 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -35,9 +35,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // Classes to allow some type checking for the API public struct BulletSim { - public BulletSim(uint id, IntPtr xx) { ID = id; Ptr = xx; } - public IntPtr Ptr; + public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss; Ptr = xx; } public uint ID; + // The scene is only in here so very low level routines have a handle to print debug/error messages + public BSScene scene; + public IntPtr Ptr; } public struct BulletBody @@ -492,6 +494,9 @@ public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 11a4b9ec1d4f93cfd0600d090efbf257c9ea9a1b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 14 Aug 2012 16:20:07 -0700 Subject: BulletSim: rework physics FPS calculation to make a more realistic number. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index beaea1f..f63ad95 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -413,7 +413,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // prevent simulation until we've been initialized if (!m_initialized) return 10.0f; - long simulateStartTime = Util.EnvironmentTickCount(); + int simulateStartTime = Util.EnvironmentTickCount(); // update the prim states while we know the physics engine is not busy ProcessTaints(); @@ -511,8 +511,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters // long simulateTotalTime = Util.EnvironmentTickCountSubtract(simulateStartTime); // return (timeStep * (float)simulateTotalTime); - // TODO: FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation. - return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f; + // TODO: FIX THIS: fps calculation possibly wrong. + // This calculation says 1/timeStep is the ideal frame rate. Any time added to + // that by the physics simulation gives a slower frame rate. + long totalSimulationTime = Util.EnvironmentTickCountSubtract(simulateStartTime); + if (totalSimulationTime >= timeStep) + return 0; + return 1f / (timeStep + totalSimulationTime); } // Something has collided -- cgit v1.1 From 6f1f299619d0ca60e06dc03d499259efcd4eeb80 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 14 Aug 2012 16:22:21 -0700 Subject: BulletSim: Add the class BSCharacter to the DetailLog output --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index f164afe..d288ab7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -137,7 +137,7 @@ public class BSCharacter : PhysicsActor // called when this character is being destroyed and the resources should be released public void Destroy() { - // DetailLog("{0},Destroy", LocalID); + // DetailLog("{0},BSCharacter.Destroy", LocalID); _scene.TaintedObject("BSCharacter.destroy", delegate() { BulletSimAPI.DestroyObject(_scene.WorldID, _localID); @@ -209,7 +209,7 @@ public class BSCharacter : PhysicsActor _scene.TaintedObject("BSCharacter.setPosition", delegate() { - DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); }); } @@ -226,7 +226,7 @@ public class BSCharacter : PhysicsActor float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position); if (_position.Z < terrainHeight) { - DetailLog("{0},PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation); _position.Z = terrainHeight + 2.0f; ret = true; } @@ -368,7 +368,7 @@ public class BSCharacter : PhysicsActor set { _buoyancy = value; _scene.TaintedObject("BSCharacter.setBuoyancy", delegate() { - DetailLog("{0},setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); + DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); }); } @@ -415,7 +415,7 @@ public class BSCharacter : PhysicsActor // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); _scene.TaintedObject("BSCharacter.AddForce", delegate() { - DetailLog("{0},setAddForce,taint,addedForce={1}", LocalID, _force); + DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); BulletSimAPI.AddObjectForce2(Body.Ptr, _force); }); } @@ -507,6 +507,7 @@ public class BSCharacter : PhysicsActor { _collidingGroundStep = _scene.SimulationStep; } + // DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith); // throttle collisions to the rate specified in the subscription if (_subscribedEventsMs != 0) { @@ -535,7 +536,10 @@ public class BSCharacter : PhysicsActor if (collisionCollection == null) collisionCollection = new CollisionEventUpdate(); base.SendCollisionUpdate(collisionCollection); - collisionCollection.Clear(); + // If there were any collisions in the collection, make sure we don't use the + // same instance next time. + if (collisionCollection.Count > 0) + collisionCollection = null; // End kludge } -- cgit v1.1 From c1c1d48af15b4ac0ed5951816f6225a74ffa6eba Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 14 Aug 2012 16:24:34 -0700 Subject: BulletSim: add BSConstraint.RecomputConstraintVariables for the recomputation after linksets changed, etc --- OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index da26b72..cf8dbc5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -80,10 +80,27 @@ public abstract class BSConstraint : IDisposable bool ret = false; if (m_enabled) { + // Recompute the internal transforms BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); ret = true; } return ret; } + + // Reset this constraint making sure it has all its internal structures + // recomputed and is enabled and ready to go. + public virtual bool RecomputeConstraintVariables(float mass) + { + bool ret = false; + if (m_enabled) + { + ret = CalculateTransforms(); + if (ret) + { + BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true)); + } + } + return ret; + } } } -- cgit v1.1 From 77a7758cf50e14b3ed7309d0d36612d9987b987b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 14 Aug 2012 16:25:59 -0700 Subject: BulletSim: Refactor BSConstraintCollection to add a new RemoveAndDestroyConstraint(BSConstraint xx) --- .../Physics/BulletSPlugin/BSConstraintCollection.cs | 16 ++++++++++++---- 1 file changed, 12 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index 3df2ddc..862b744 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -112,16 +112,24 @@ public class BSConstraintCollection : IDisposable { m_world.scene.DetailLog("{0},BSConstraintCollection.RemoveAndDestroyConstraint,taint,body1={1},body2={2}", BSScene.DetailLogZero, body1.ID, body2.ID); // remove the constraint from our collection - m_constraints.Remove(constrain); - // tell the engine that all its structures need to be freed - constrain.Dispose(); - // we destroyed something + RemoveAndDestroyConstraint(constrain); ret = true; } return ret; } + // The constraint MUST exist in the collection + public bool RemoveAndDestroyConstraint(BSConstraint constrain) + { + // remove the constraint from our collection + m_constraints.Remove(constrain); + // tell the engine that all its structures need to be freed + constrain.Dispose(); + // we destroyed something + return true; + } + // Remove all constraints that reference the passed body. // Return 'true' if any constraints were destroyed. public bool RemoveAndDestroyConstraint(BulletBody body1) -- cgit v1.1 From 257446889b5fecf9a5e085f8e3b963dca3613e3f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 14 Aug 2012 16:38:11 -0700 Subject: BulletSim: fix problem of a null reference exception on shutdown if there were linksets in the region. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 25 +++++++++++++------------ 1 file changed, 13 insertions(+), 12 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index f63ad95..cacab01 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -511,12 +511,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters // long simulateTotalTime = Util.EnvironmentTickCountSubtract(simulateStartTime); // return (timeStep * (float)simulateTotalTime); - // TODO: FIX THIS: fps calculation possibly wrong. - // This calculation says 1/timeStep is the ideal frame rate. Any time added to - // that by the physics simulation gives a slower frame rate. - long totalSimulationTime = Util.EnvironmentTickCountSubtract(simulateStartTime); - if (totalSimulationTime >= timeStep) - return 0; + // TODO: FIX THIS: fps calculation possibly wrong. + // This calculation says 1/timeStep is the ideal frame rate. Any time added to + // that by the physics simulation gives a slower frame rate. + long totalSimulationTime = Util.EnvironmentTickCountSubtract(simulateStartTime); + if (totalSimulationTime >= timeStep) + return 0; return 1f / (timeStep + totalSimulationTime); } @@ -595,12 +595,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters // make sure no stepping happens while we're deleting stuff m_initialized = false; - if (m_constraintCollection != null) - { - m_constraintCollection.Dispose(); - m_constraintCollection = null; - } - foreach (KeyValuePair kvp in m_avatars) { kvp.Value.Destroy(); @@ -613,6 +607,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters } m_prims.Clear(); + // Now that the prims are all cleaned up, there should be no constraints left + if (m_constraintCollection != null) + { + m_constraintCollection.Dispose(); + m_constraintCollection = null; + } + // Anything left in the unmanaged code should be cleaned out BulletSimAPI.Shutdown(WorldID); -- cgit v1.1 From b05a2fc4edb632f80b16034feb4c680dbda9c006 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 14 Aug 2012 16:41:36 -0700 Subject: BulletSim: don't recreate mesh unless it needs it when rebuilding the hull. Make sure the collisionCollection is reallocated each tick to fix race condition of it being cleared while still in use. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 30 +++++++++++++------------- 1 file changed, 15 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 05cc822..38a9e46 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -497,6 +497,9 @@ public sealed class BSPrim : PhysicsActor BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); + // recompute any linkset parameters + _linkset.Refresh(this); + CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr); DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); } @@ -1095,28 +1098,21 @@ public sealed class BSPrim : PhysicsActor // if the hull hasn't changed, don't rebuild it if (newHullKey == _hullKey) return; - DetailLog("{0},BSPrim.CreateGeomHull,create,key={1}", LocalID, _meshKey); + 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, _meshKey); + DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey); BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); _hullKey = 0; - _hulls.Clear(); - DetailLog("{0},BSPrim.CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey); - BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); - _mesh = null; // the mesh cannot match either - _meshKey = 0; } _hullKey = newHullKey; - if (_meshKey != _hullKey) - { - // if the underlying mesh has changed, rebuild it - CreateGeomMesh(); - } + + // Make sure the underlying mesh exists and is correct + CreateGeomMesh(); int[] indices = _mesh.getIndexListAsInt(); List vertices = _mesh.getVertexList(); @@ -1142,7 +1138,7 @@ public sealed class BSPrim : PhysicsActor // create the hull into the _hulls variable convexBuilder.process(dcomp); - // Convert the vertices and indices for passing to unmanaged + // 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 @@ -1355,7 +1351,7 @@ public sealed class BSPrim : PhysicsActor } // I've collided with something - CollisionEventUpdate collisionCollection = null; + CollisionEventUpdate collisionCollection; public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); @@ -1367,6 +1363,8 @@ public sealed class BSPrim : PhysicsActor _collidingGroundStep = _scene.SimulationStep; } + // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith); + // if someone is subscribed to collision events.... if (_subscribedEventsMs != 0) { // throttle the collisions to the number of milliseconds specified in the subscription @@ -1387,7 +1385,9 @@ public sealed class BSPrim : PhysicsActor if (collisionCollection != null && collisionCollection.Count > 0) { base.SendCollisionUpdate(collisionCollection); - collisionCollection.Clear(); + // The collisionCollection structure is passed around in the simulator. + // Make sure we don't have a handle to that one and that a new one is used next time. + collisionCollection = null; } } -- cgit v1.1 From 68f112888bd02b33e3b2f58f5b2adb90ce23e84b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 15 Aug 2012 11:33:38 -0700 Subject: BulletSim: clean up detail logging by adding many more debug log statements and then commenting out most of the additions. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 + .../Region/Physics/BulletSPlugin/BSConstraint.cs | 6 +++ OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 60 +++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 8 +-- 5 files changed, 44 insertions(+), 34 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index d288ab7..e2f7af9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -488,9 +488,11 @@ public class BSCharacter : PhysicsActor // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); + /* DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); + */ } // Called by the scene when a collision with this object is reported diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index cf8dbc5..25084d8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -97,8 +97,14 @@ public abstract class BSConstraint : IDisposable ret = CalculateTransforms(); if (ret) { + // m_world.scene.PhysicsLogging.Write("{0},BSConstraint.RecomputeConstraintVariables,taint,enabling,A={1},B={2}", + // BSScene.DetailLogZero, Body1.ID, Body2.ID); BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true)); } + else + { + m_world.scene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID); + } } return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index c197e61..5a9f135 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -613,7 +613,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin MoveAngular(pTimestep); LimitRotation(pTimestep); - DetailLog("{0},Dynamics,done,pos={1},force={2},velocity={3},angvel={4}", + DetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); }// end Step diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 38a9e46..9c20004 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -163,13 +163,13 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // Undo any links between me and any other object - BSPrim parentBefore = _linkset.Root; + BSPrim parentBefore = _linkset.LinksetRoot; int childrenBefore = _linkset.NumberOfChildren; _linkset = _linkset.RemoveMeFromLinkset(this); DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}", - LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren); + LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren); // Undo any vehicle properties this.VehicleType = (int)Vehicle.TYPE_NONE; @@ -233,13 +233,13 @@ public sealed class BSPrim : PhysicsActor if (parent != null) { DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID); - BSPrim parentBefore = _linkset.Root; + BSPrim parentBefore = _linkset.LinksetRoot; int childrenBefore = _linkset.NumberOfChildren; _linkset = parent.Linkset.AddMeToLinkset(this); DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", - LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren); + LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren); } return; } @@ -249,15 +249,15 @@ public sealed class BSPrim : PhysicsActor // TODO: decide if this parent checking needs to happen at taint time // Race condition here: if link() and delink() in same simulation tick, the delink will not happen DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, - _linkset.Root._avName+"/"+_linkset.Root.LocalID.ToString()); + _linkset.LinksetRoot._avName+"/"+_linkset.LinksetRoot.LocalID.ToString()); - BSPrim parentBefore = _linkset.Root; + BSPrim parentBefore = _linkset.LinksetRoot; int childrenBefore = _linkset.NumberOfChildren; _linkset = _linkset.RemoveMeFromLinkset(this); DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", - LocalID, parentBefore.LocalID, childrenBefore, _linkset.Root.LocalID, _linkset.NumberOfChildren); + LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren); return; } @@ -280,7 +280,7 @@ public sealed class BSPrim : PhysicsActor public override void LockAngularMotion(OMV.Vector3 axis) { - DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); + // DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); return; } @@ -299,7 +299,7 @@ public sealed class BSPrim : PhysicsActor // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? _scene.TaintedObject("BSPrim.setPosition", delegate() { - DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); + // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); }); } @@ -336,7 +336,7 @@ public sealed class BSPrim : PhysicsActor _force = value; _scene.TaintedObject("BSPrim.setForce", delegate() { - DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); + // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); BulletSimAPI.SetObjectForce2(Body.Ptr, _force); }); @@ -414,7 +414,7 @@ public sealed class BSPrim : PhysicsActor _velocity = value; _scene.TaintedObject("BSPrim.setVelocity", delegate() { - DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); + // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); }); } @@ -422,7 +422,7 @@ public sealed class BSPrim : PhysicsActor public override OMV.Vector3 Torque { get { return _torque; } set { _torque = value; - DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); + // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); } } public override float CollisionScore { @@ -449,7 +449,7 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject("BSPrim.setOrientation", delegate() { // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); - DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); + // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); }); } @@ -501,7 +501,7 @@ public sealed class BSPrim : PhysicsActor _linkset.Refresh(this); CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr); - DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); + // DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); } // prims don't fly @@ -558,7 +558,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { - DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); + // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); }); } @@ -575,7 +575,7 @@ public sealed class BSPrim : PhysicsActor _buoyancy = value; _scene.TaintedObject("BSPrim.setBuoyancy", delegate() { - DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); + // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); }); } @@ -638,17 +638,17 @@ public sealed class BSPrim : PhysicsActor } m_accumulatedForces.Clear(); } - DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); + // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); }); } public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { - DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); + // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); } public override void SetMomentum(OMV.Vector3 momentum) { - DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); + // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); } public override void SubscribeEvents(int ms) { _subscribedEventsMs = ms; @@ -992,7 +992,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) { - DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild); + // DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild); _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; // Bullet native objects are scaled by the Bullet engine so pass the size in _scale = _size; @@ -1006,7 +1006,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)) { - DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild); + // DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild); _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; _scale = _size; // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? @@ -1049,12 +1049,12 @@ public sealed class BSPrim : PhysicsActor // if this new shape is the same as last time, don't recreate the mesh if (_meshKey == newMeshKey) return; - DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey); + // 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); + // DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey); BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); _mesh = null; _meshKey = 0; @@ -1084,7 +1084,7 @@ public sealed class BSPrim : PhysicsActor _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; // meshes are already scaled by the meshmerizer _scale = new OMV.Vector3(1f, 1f, 1f); - DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID); + // DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID); return; } @@ -1098,13 +1098,13 @@ public sealed class BSPrim : PhysicsActor // if the hull hasn't changed, don't rebuild it if (newHullKey == _hullKey) return; - DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey); + // 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); + // DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey); BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); _hullKey = 0; } @@ -1198,7 +1198,7 @@ public sealed class BSPrim : PhysicsActor _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); + // DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID); return; } @@ -1336,11 +1336,12 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); - DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", - LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); + // DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + // LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); base.RequestPhysicsterseUpdate(); } + /* else { // For debugging, we also report the movement of children @@ -1348,6 +1349,7 @@ public sealed class BSPrim : PhysicsActor LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); } + */ } // I've collided with something diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index cacab01..a31c578 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -362,7 +362,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters BSPrim bsprim = prim as BSPrim; if (bsprim != null) { - DetailLog("{0},RemovePrim,call", bsprim.LocalID); + // DetailLog("{0},RemovePrim,call", bsprim.LocalID); // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); try { @@ -388,7 +388,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return null; - DetailLog("{0},AddPrimShape,call", localID); + // DetailLog("{0},AddPrimShape,call", localID); BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); lock (m_prims) m_prims.Add(localID, prim); @@ -429,12 +429,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters { numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); - DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); + // DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); } catch (Exception e) { m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e); - DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); + // DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); // updatedEntityCount = 0; collidersCount = 0; } -- cgit v1.1 From 9efe7bf7ba741b0d61ef71c09b5848c424e3c258 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 15 Aug 2012 11:36:21 -0700 Subject: BulletSim: add locking to constraintCollection and rename some of the public method variables to reduce confusion between a physics scene and the real scene. --- .../BulletSPlugin/BSConstraintCollection.cs | 94 ++++---- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 250 +++++++++++++-------- 2 files changed, 197 insertions(+), 147 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index 862b744..22ea367 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -56,21 +56,25 @@ public class BSConstraintCollection : IDisposable public void Clear() { - foreach (BSConstraint cons in m_constraints) + lock (m_constraints) { - cons.Dispose(); + foreach (BSConstraint cons in m_constraints) + { + cons.Dispose(); + } + m_constraints.Clear(); } - m_constraints.Clear(); } public bool AddConstraint(BSConstraint cons) { - // There is only one constraint between any bodies. Remove any old just to make sure. - RemoveAndDestroyConstraint(cons.Body1, cons.Body2); - - m_world.scene.DetailLog("{0},BSConstraintCollection.AddConstraint,call,body1={1},body2={2}", BSScene.DetailLogZero, cons.Body1.ID, cons.Body2.ID); + lock (m_constraints) + { + // There is only one constraint between any bodies. Remove any old just to make sure. + RemoveAndDestroyConstraint(cons.Body1, cons.Body2); - m_constraints.Add(cons); + m_constraints.Add(cons); + } return true; } @@ -84,16 +88,19 @@ public class BSConstraintCollection : IDisposable uint lookingID1 = body1.ID; uint lookingID2 = body2.ID; - ForEachConstraint(delegate(BSConstraint constrain) + lock (m_constraints) { - if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) - || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) + foreach (BSConstraint constrain in m_constraints) { - foundConstraint = constrain; - found = true; + if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) + || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) + { + foundConstraint = constrain; + found = true; + break; + } } - return found; - }); + } returnConstraint = foundConstraint; return found; } @@ -103,17 +110,16 @@ public class BSConstraintCollection : IDisposable // Return 'true' if a constraint was found and destroyed. public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) { - // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID); - bool ret = false; - BSConstraint constrain; - - if (this.TryGetConstraint(body1, body2, out constrain)) + lock (m_constraints) { - m_world.scene.DetailLog("{0},BSConstraintCollection.RemoveAndDestroyConstraint,taint,body1={1},body2={2}", BSScene.DetailLogZero, body1.ID, body2.ID); - // remove the constraint from our collection - RemoveAndDestroyConstraint(constrain); - ret = true; + BSConstraint constrain; + if (this.TryGetConstraint(body1, body2, out constrain)) + { + // remove the constraint from our collection + RemoveAndDestroyConstraint(constrain); + ret = true; + } } return ret; @@ -122,8 +128,11 @@ public class BSConstraintCollection : IDisposable // The constraint MUST exist in the collection public bool RemoveAndDestroyConstraint(BSConstraint constrain) { - // remove the constraint from our collection - m_constraints.Remove(constrain); + lock (m_constraints) + { + // remove the constraint from our collection + m_constraints.Remove(constrain); + } // tell the engine that all its structures need to be freed constrain.Dispose(); // we destroyed something @@ -138,16 +147,15 @@ public class BSConstraintCollection : IDisposable List toRemove = new List(); uint lookingID = body1.ID; - ForEachConstraint(delegate(BSConstraint constrain) + lock (m_constraints) { - if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) + foreach (BSConstraint constrain in m_constraints) { - toRemove.Add(constrain); + if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) + { + toRemove.Add(constrain); + } } - return false; - }); - lock (m_constraints) - { foreach (BSConstraint constrain in toRemove) { m_constraints.Remove(constrain); @@ -159,28 +167,16 @@ public class BSConstraintCollection : IDisposable public bool RecalculateAllConstraints() { - ForEachConstraint(delegate(BSConstraint constrain) - { - constrain.CalculateTransforms(); - return false; - }); - return true; - } - - // Lock the constraint list and loop through it. - // The constraint action returns 'true' if it wants the loop aborted. - private void ForEachConstraint(ConstraintAction action) - { + bool ret = false; lock (m_constraints) { foreach (BSConstraint constrain in m_constraints) { - if (action(constrain)) - break; + constrain.CalculateTransforms(); + ret = true; } } + return ret; } - - } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 4a71612..087b9bb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -37,11 +37,12 @@ public class BSLinkset private static string LogHeader = "[BULLETSIM LINKSET]"; private BSPrim m_linksetRoot; - public BSPrim Root { get { return m_linksetRoot; } } + public BSPrim LinksetRoot { get { return m_linksetRoot; } } - private BSScene m_scene; - public BSScene Scene { get { return m_scene; } } + private BSScene m_physicsScene; + public BSScene PhysicsScene { get { return m_physicsScene; } } + // The children under the root in this linkset private List m_children; // We lock the diddling of linkset classes to prevent any badness. @@ -73,7 +74,7 @@ public class BSLinkset public BSLinkset(BSScene scene, BSPrim parent) { // A simple linkset of one (no children) - m_scene = scene; + m_physicsScene = scene; m_linksetRoot = parent; m_children = new List(); m_mass = parent.MassRaw; @@ -91,6 +92,9 @@ public class BSLinkset return this; } + // Remove a child from a linkset. + // Returns a new linkset for the child which is a linkset of one (just the + // orphened child). public BSLinkset RemoveMeFromLinkset(BSPrim child) { lock (m_linksetActivityLock) @@ -114,60 +118,9 @@ public class BSLinkset } // The child is down to a linkset of just itself - return new BSLinkset(Scene, child); + return new BSLinkset(PhysicsScene, child); } - /* DEPRECATED: this is really bad in that it trys to unlink other prims. - // An existing linkset had one of its members rebuilt or something. - // Go through the linkset and rebuild the pointers to the bodies of the linkset members. - public BSLinkset RefreshLinkset(BSPrim requestor) - { - BSLinkset ret = requestor.Linkset; - - lock (m_linksetActivityLock) - { - // The body pointer is refetched in case anything has moved. - System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID); - if (aPtr == System.IntPtr.Zero) - { - // That's odd. We can't find the root of the linkset. - // The linkset is somehow dead. The requestor is now a member of a linkset of one. - DetailLog("{0},RefreshLinkset.RemoveRoot,child={1}", m_linksetRoot.LocalID, m_linksetRoot.LocalID); - ret = RemoveMeFromLinkset(m_linksetRoot); - } - else - { - // Reconstruct the pointer to the body of the linkset root. - DetailLog("{0},RefreshLinkset.RebuildRoot,rootID={1},ptr={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, aPtr); - m_linksetRoot.Body = new BulletBody(m_linksetRoot.LocalID, aPtr); - - List toRemove = new List(); - foreach (BSPrim bsp in m_children) - { - aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, bsp.LocalID); - if (aPtr == System.IntPtr.Zero) - { - toRemove.Add(bsp); - } - else - { - // Reconstruct the pointer to the body of the linkset root. - DetailLog("{0},RefreshLinkset.RebuildChild,rootID={1},ptr={2}", bsp.LocalID, m_linksetRoot.LocalID, aPtr); - bsp.Body = new BulletBody(bsp.LocalID, aPtr); - } - } - foreach (BSPrim bsp in toRemove) - { - RemoveChildFromOtherLinkset(bsp); - } - } - } - - return ret; - } - */ - - // Return 'true' if the passed object is the root object of this linkset public bool IsRoot(BSPrim requestor) { @@ -183,12 +136,15 @@ public class BSLinkset public bool HasChild(BSPrim child) { bool ret = false; - foreach (BSPrim bp in m_children) + lock (m_linksetActivityLock) { - if (child.LocalID == bp.LocalID) + foreach (BSPrim bp in m_children) { - ret = true; - break; + if (child.LocalID == bp.LocalID) + { + ret = true; + break; + } } } return ret; @@ -209,13 +165,16 @@ public class BSLinkset OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw; float totalMass = m_linksetRoot.MassRaw; - foreach (BSPrim bp in m_children) + lock (m_linksetActivityLock) { - com += bp.Position * bp.MassRaw; - totalMass += bp.MassRaw; + foreach (BSPrim bp in m_children) + { + com += bp.Position * bp.MassRaw; + totalMass += bp.MassRaw; + } + if (totalMass != 0f) + com /= totalMass; } - if (totalMass != 0f) - com /= totalMass; return com; } @@ -224,29 +183,84 @@ public class BSLinkset { OMV.Vector3 com = m_linksetRoot.Position; - foreach (BSPrim bp in m_children) + lock (m_linksetActivityLock) { - com += bp.Position * bp.MassRaw; + foreach (BSPrim bp in m_children) + { + com += bp.Position * bp.MassRaw; + } + com /= (m_children.Count + 1); } - com /= (m_children.Count + 1); return com; } + // When physical properties are changed the linkset needs to recalculate + // its internal properties. + public void Refresh(BSPrim requestor) + { + // If there are no children, there aren't any constraints to recompute + if (!HasAnyChildren) + return; + + // Only the root does the recomputation + if (IsRoot(requestor)) + { + PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate() + { + RecomputeLinksetConstraintVariables(); + }); + } + } + + // Call each of the constraints that make up this linkset and recompute the + // various transforms and variables. Used when objects are added or removed + // from a linkset to make sure the constraints know about the new mass and + // geometry. + // Must only be called at taint time!! + private bool RecomputeLinksetConstraintVariables() + { + float linksetMass = LinksetMass; + lock (m_linksetActivityLock) + { + foreach (BSPrim child in m_children) + { + BSConstraint constrain; + if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.Body, child.Body, out constrain)) + { + // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", + // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); + constrain.RecomputeConstraintVariables(linksetMass); + } + else + { + // Non-fatal error that can happen when children are being added to the linkset but + // their constraints have not been created yet. + // Caused by the fact that m_children is built at run time but building constraints + // happens at taint time. + // m_physicsScene.Logger.ErrorFormat("[BULLETSIM LINKSET] RecomputeLinksetConstraintVariables: constraint not found for root={0}, child={1}", + // m_linksetRoot.Body.ID, child.Body.ID); + } + } + } + return false; + } + // I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. - public void AddChildToLinkset(BSPrim child) + private void AddChildToLinkset(BSPrim child) { if (!HasChild(child)) { m_children.Add(child); - BSPrim root = Root; // capture the root as of now - m_scene.TaintedObject("AddChildToLinkset", delegate() + BSPrim rootx = LinksetRoot; // capture the root as of now + BSPrim childx = child; + m_physicsScene.TaintedObject("AddChildToLinkset", delegate() { - DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); - DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); - PhysicallyLinkAChildToRoot(root, child); // build the physical binding between me and the child + // DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); + // DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); + PhysicallyLinkAChildToRoot(rootx, childx); // build the physical binding between me and the child }); } return; @@ -257,31 +271,34 @@ public class BSLinkset // it's still connected to the linkset. // Normal OpenSimulator operation will never do this because other SceneObjectPart information // has to be updated also (like pointer to prim's parent). - public void RemoveChildFromOtherLinkset(BSPrim pchild) + private void RemoveChildFromOtherLinkset(BSPrim pchild) { - pchild.Linkset = new BSLinkset(m_scene, pchild); + pchild.Linkset = new BSLinkset(m_physicsScene, pchild); RemoveChildFromLinkset(pchild); } // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. - public void RemoveChildFromLinkset(BSPrim child) + private void RemoveChildFromLinkset(BSPrim child) { if (m_children.Remove(child)) { - BSPrim root = Root; // capture the root as of now - m_scene.TaintedObject("RemoveChildFromLinkset", delegate() + BSPrim rootx = LinksetRoot; // capture the root as of now + BSPrim childx = child; + m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate() { - DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); - DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); + // DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); + // DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); - PhysicallyUnlinkAChildFromRoot(root, child); + PhysicallyUnlinkAChildFromRoot(rootx, childx); }); + + RecomputeLinksetConstraintVariables(); } else { // This will happen if we remove the root of the linkset first. Non-fatal occurance. - // m_scene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); + // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); } return; } @@ -293,37 +310,72 @@ public class BSLinkset // Zero motion for children so they don't interpolate childPrim.ZeroMotion(); + // Relative position normalized to the root prim + // Essentually a vector pointing from center of rootPrim to center of childPrim + OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position; + + // real world coordinate of midpoint between the two objects + OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); + + // create a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); + DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", + rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint); + BS6DofConstraint constrain = new BS6DofConstraint( + m_physicsScene.World, rootPrim.Body, childPrim.Body, + midPoint, + true, + true + ); + /* NOTE: attempt to build constraint with full frame computation, etc. + * Using the midpoint is easier since it lets the Bullet code use the transforms + * of the objects. + * Code left here as an example. + // ================================================================================== // relative position normalized to the root prim OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation; // relative rotation of the child to the parent OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; + OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation); // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); BS6DofConstraint constrain = new BS6DofConstraint( - m_scene.World, rootPrim.Body, childPrim.Body, - childRelativePosition, - childRelativeRotation, + PhysicsScene.World, rootPrim.Body, childPrim.Body, OMV.Vector3.Zero, - -childRelativeRotation + OMV.Quaternion.Inverse(rootPrim.Orientation), + OMV.Vector3.Zero, + OMV.Quaternion.Inverse(childPrim.Orientation), + // A point half way between the parent and child + // childRelativePosition/2, + // childRelativeRotation, + // childRelativePosition/2, + // inverseChildRelativeRotation, + true, + true ); - m_scene.Constraints.AddConstraint(constrain); + // ================================================================================== + */ + + m_physicsScene.Constraints.AddConstraint(constrain); // zero linear and angular limits makes the objects unable to move in relation to each other constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); // tweek the constraint to increase stability - constrain.UseFrameOffset(m_scene.BoolNumeric(m_scene.Params.linkConstraintUseFrameOffset)); - constrain.TranslationalLimitMotor(m_scene.BoolNumeric(m_scene.Params.linkConstraintEnableTransMotor), - m_scene.Params.linkConstraintTransMotorMaxVel, - m_scene.Params.linkConstraintTransMotorMaxForce); - constrain.SetCFMAndERP(m_scene.Params.linkConstraintCFM, m_scene.Params.linkConstraintERP); + constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset)); + constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor), + PhysicsScene.Params.linkConstraintTransMotorMaxVel, + PhysicsScene.Params.linkConstraintTransMotorMaxForce); + constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); + RecomputeLinksetConstraintVariables(); } // Remove linkage between myself and a particular child @@ -334,7 +386,9 @@ public class BSLinkset // LogHeader, rootPrim.LocalID, childPrim.LocalID); DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); - m_scene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body); + // Find the constraint for this link and get rid of it from the overall collection and from my list + m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body); + // Make the child refresh its location BulletSimAPI.PushUpdate2(childPrim.Body.Ptr); } @@ -346,20 +400,20 @@ public class BSLinkset // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader); DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); - m_scene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body); + m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body); } // Invoke the detailed logger and output something if it's enabled. private void DebugLog(string msg, params Object[] args) { - if (m_scene.ShouldDebugLog) - m_scene.Logger.DebugFormat(msg, args); + if (m_physicsScene.ShouldDebugLog) + m_physicsScene.Logger.DebugFormat(msg, args); } // Invoke the detailed logger and output something if it's enabled. private void DetailLog(string msg, params Object[] args) { - m_scene.PhysicsLogging.Write(msg, args); + m_physicsScene.PhysicsLogging.Write(msg, args); } } -- cgit v1.1 From dd10cf01e70f757f70f18d442974688a45a2d433 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 15 Aug 2012 11:36:50 -0700 Subject: BulletSim: add hinge constraint. Update BulletSimAPI with new constraint related function calls. Reorganize locking in BS6DofConstraint. Update BS6DofConstraint to do constraint reset correctly. Add new 'midpoint' construction of 6Dof constraint. --- .../Physics/BulletSPlugin/BS6DofConstraint.cs | 50 +++++++++++++++++--- .../Physics/BulletSPlugin/BSHingeConstraint.cs | 55 ++++++++++++++++++++++ .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 27 +++++++++++ 3 files changed, 126 insertions(+), 6 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs index 72df6b9..683bc51 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs @@ -37,7 +37,8 @@ public class BS6DofConstraint : BSConstraint // Create a btGeneric6DofConstraint public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot ) + Vector3 frame2, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { m_world = world; m_body1 = obj1; @@ -46,16 +47,45 @@ public class BS6DofConstraint : BSConstraint BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, frame1, frame1rot, frame2, frame2rot, - true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/)); + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); m_enabled = true; } + public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 joinPoint, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + m_constraint = new BulletConstraint( + BulletSimAPI.Create6DofConstraintToPoint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, + joinPoint, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + m_enabled = true; + } + + public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) + { + bool ret = false; + if (m_enabled) + { + BulletSimAPI.SetFrames2(m_constraint.Ptr, frameA, frameArot, frameB, frameBrot); + ret = true; + } + return ret; + } + public bool SetCFMAndERP(float cfm, float erp) { - bool ret = true; - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + bool ret = false; + if (m_enabled) + { + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + ret = true; + } return ret; } @@ -76,5 +106,13 @@ public class BS6DofConstraint : BSConstraint ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); return ret; } + + public bool SetBreakingImpulseThreshold(float threshold) + { + bool ret = false; + if (m_enabled) + ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.Ptr, threshold); + return ret; + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs new file mode 100755 index 0000000..d68048b --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs @@ -0,0 +1,55 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +class BSHingeConstraint : BSConstraint +{ + public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 pivotInA, Vector3 pivotInB, + Vector3 axisInA, Vector3 axisInB, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + m_constraint = new BulletConstraint( + BulletSimAPI.CreateHingeConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, + pivotInA, pivotInB, + axisInA, axisInB, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + m_enabled = true; + } + +} + +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 6800b96..504bd3c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -416,6 +416,27 @@ public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, Int bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 joinPoint, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 pivotinA, Vector3 pivotinB, + Vector3 axisInA, Vector3 axisInB, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetFrames2(IntPtr constrain, + Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -428,6 +449,9 @@ public static extern bool UseFrameOffset2(IntPtr constrain, float enable); public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CalculateTransforms2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -518,6 +542,9 @@ public static extern bool SetGravity2(IntPtr obj, Vector3 val); public static extern IntPtr ClearForces2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr ClearAllForces2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetMargin2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 376441e5507052b36279279f64896542d44ec12a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 15 Aug 2012 16:27:30 -0700 Subject: BulletSim: make it so objects in a linkset do not generate collisions with each other. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 7 +++++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 10 ++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 12 ++++++++++-- 3 files changed, 27 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 087b9bb..1b3ba3f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -42,6 +42,9 @@ public class BSLinkset private BSScene m_physicsScene; public BSScene PhysicsScene { get { return m_physicsScene; } } + static int m_nextLinksetID = 1; + public int LinksetID { get; private set; } + // The children under the root in this linkset private List m_children; @@ -74,6 +77,10 @@ public class BSLinkset public BSLinkset(BSScene scene, BSPrim parent) { // A simple linkset of one (no children) + LinksetID = m_nextLinksetID++; + // We create LOTS of linksets. + if (m_nextLinksetID < 0) + m_nextLinksetID = 1; m_physicsScene = scene; m_linksetRoot = parent; m_children = new List(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 9c20004..c157669 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1353,6 +1353,7 @@ public sealed class BSPrim : PhysicsActor } // I've collided with something + // Called at taint time from within the Step() function CollisionEventUpdate collisionCollection; public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { @@ -1366,6 +1367,15 @@ public sealed class BSPrim : PhysicsActor } // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith); + BSPrim collidingWithPrim; + if (_scene.Prims.TryGetValue(collidingWith, out collidingWithPrim)) + { + // prims in the same linkset cannot collide with each other + if (this.Linkset.LinksetID == collidingWithPrim.Linkset.LinksetID) + { + return; + } + } // if someone is subscribed to collision events.... if (_subscribedEventsMs != 0) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index a31c578..0a0e27e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -78,10 +78,16 @@ public class BSScene : PhysicsScene, IPhysicsParameters public string BulletSimVersion = "?"; private Dictionary m_avatars = new Dictionary(); + public Dictionary Characters { get { return m_avatars; } } + private Dictionary m_prims = new Dictionary(); + public Dictionary Prims { get { return m_prims; } } + private HashSet m_avatarsWithCollisions = new HashSet(); private HashSet m_primsWithCollisions = new HashSet(); + private List m_vehicles = new List(); + private float[] m_heightMap; private float m_waterLevel; private uint m_worldID; @@ -429,13 +435,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters { numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); - // DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); + DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); } catch (Exception e) { m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e); // DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); - // updatedEntityCount = 0; + updatedEntityCount = 0; collidersCount = 0; } @@ -534,6 +540,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters else if (m_avatars.ContainsKey(collidingWith)) type = ActorTypes.Agent; + DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); + BSPrim prim; if (m_prims.TryGetValue(localID, out prim)) { prim.Collide(collidingWith, type, collidePoint, collideNormal, penitration); -- cgit v1.1 From e31e23d68d9935457ad86559bea37b2b4a63a8dc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 15 Aug 2012 16:49:05 -0700 Subject: BulletSim: in BSDynamics, merge 'flags' and 'hoverFlags' as they are defined for the same bits and it makes the code less complicated. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 178 +++------------------ 1 file changed, 20 insertions(+), 158 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 5a9f135..78bfa05 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -74,7 +74,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // HOVER_UP_ONLY // LIMIT_MOTOR_UP // LIMIT_ROLL_ONLY - private VehicleFlag m_Hoverflags = (VehicleFlag)0; private Vector3 m_BlockingEndPoint = Vector3.Zero; private Quaternion m_RollreferenceFrame = Quaternion.Identity; // Linear properties @@ -281,157 +280,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessVehicleFlags(int pParam, bool remove) { DetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove); + VehicleFlag parm = (VehicleFlag)pParam; if (remove) { if (pParam == -1) { m_flags = (VehicleFlag)0; - m_Hoverflags = (VehicleFlag)0; - return; } - if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) - { - if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != (VehicleFlag)0) - m_Hoverflags &= ~(VehicleFlag.HOVER_GLOBAL_HEIGHT); - } - if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY) - { - if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != (VehicleFlag)0) - m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY); - } - if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY) - { - if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != (VehicleFlag)0) - m_Hoverflags &= ~(VehicleFlag.HOVER_UP_ONLY); - } - if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY) - { - if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != (VehicleFlag)0) - m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY); - } - if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP) - { - if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != (VehicleFlag)0) - m_flags &= ~(VehicleFlag.LIMIT_MOTOR_UP); - } - if ((pParam & (int)VehicleFlag.LIMIT_ROLL_ONLY) == (int)VehicleFlag.LIMIT_ROLL_ONLY) - { - if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != (VehicleFlag)0) - m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY); - } - if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK) - { - if ((m_flags & VehicleFlag.MOUSELOOK_BANK) != (VehicleFlag)0) - m_flags &= ~(VehicleFlag.MOUSELOOK_BANK); - } - if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER) - { - if ((m_flags & VehicleFlag.MOUSELOOK_STEER) != (VehicleFlag)0) - m_flags &= ~(VehicleFlag.MOUSELOOK_STEER); - } - if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP) - { - if ((m_flags & VehicleFlag.NO_DEFLECTION_UP) != (VehicleFlag)0) - m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP); - } - if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED) - { - if ((m_flags & VehicleFlag.CAMERA_DECOUPLED) != (VehicleFlag)0) - m_flags &= ~(VehicleFlag.CAMERA_DECOUPLED); - } - if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X) - { - if ((m_flags & VehicleFlag.NO_X) != (VehicleFlag)0) - m_flags &= ~(VehicleFlag.NO_X); - } - if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y) - { - if ((m_flags & VehicleFlag.NO_Y) != (VehicleFlag)0) - m_flags &= ~(VehicleFlag.NO_Y); - } - if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z) - { - if ((m_flags & VehicleFlag.NO_Z) != (VehicleFlag)0) - m_flags &= ~(VehicleFlag.NO_Z); - } - if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT) - { - if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != (VehicleFlag)0) - m_Hoverflags &= ~(VehicleFlag.LOCK_HOVER_HEIGHT); - } - if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION) - { - if ((m_flags & VehicleFlag.NO_DEFLECTION) != (VehicleFlag)0) - m_flags &= ~(VehicleFlag.NO_DEFLECTION); - } - if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION) + else { - if ((m_flags & VehicleFlag.LOCK_ROTATION) != (VehicleFlag)0) - m_flags &= ~(VehicleFlag.LOCK_ROTATION); + m_flags &= ~parm; } } - else - { - if ((pParam & (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) == (int)VehicleFlag.HOVER_GLOBAL_HEIGHT) - { - m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT | m_flags); - } - if ((pParam & (int)VehicleFlag.HOVER_TERRAIN_ONLY) == (int)VehicleFlag.HOVER_TERRAIN_ONLY) - { - m_Hoverflags |= (VehicleFlag.HOVER_TERRAIN_ONLY | m_flags); - } - if ((pParam & (int)VehicleFlag.HOVER_UP_ONLY) == (int)VehicleFlag.HOVER_UP_ONLY) - { - m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY | m_flags); - } - if ((pParam & (int)VehicleFlag.HOVER_WATER_ONLY) == (int)VehicleFlag.HOVER_WATER_ONLY) - { - m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY | m_flags); - } - if ((pParam & (int)VehicleFlag.LIMIT_MOTOR_UP) == (int)VehicleFlag.LIMIT_MOTOR_UP) - { - m_flags |= (VehicleFlag.LIMIT_MOTOR_UP | m_flags); - } - if ((pParam & (int)VehicleFlag.MOUSELOOK_BANK) == (int)VehicleFlag.MOUSELOOK_BANK) - { - m_flags |= (VehicleFlag.MOUSELOOK_BANK | m_flags); - } - if ((pParam & (int)VehicleFlag.MOUSELOOK_STEER) == (int)VehicleFlag.MOUSELOOK_STEER) - { - m_flags |= (VehicleFlag.MOUSELOOK_STEER | m_flags); - } - if ((pParam & (int)VehicleFlag.NO_DEFLECTION_UP) == (int)VehicleFlag.NO_DEFLECTION_UP) - { - m_flags |= (VehicleFlag.NO_DEFLECTION_UP | m_flags); - } - if ((pParam & (int)VehicleFlag.CAMERA_DECOUPLED) == (int)VehicleFlag.CAMERA_DECOUPLED) - { - m_flags |= (VehicleFlag.CAMERA_DECOUPLED | m_flags); - } - if ((pParam & (int)VehicleFlag.NO_X) == (int)VehicleFlag.NO_X) - { - m_flags |= (VehicleFlag.NO_X); - } - if ((pParam & (int)VehicleFlag.NO_Y) == (int)VehicleFlag.NO_Y) - { - m_flags |= (VehicleFlag.NO_Y); - } - if ((pParam & (int)VehicleFlag.NO_Z) == (int)VehicleFlag.NO_Z) - { - m_flags |= (VehicleFlag.NO_Z); - } - if ((pParam & (int)VehicleFlag.LOCK_HOVER_HEIGHT) == (int)VehicleFlag.LOCK_HOVER_HEIGHT) - { - m_Hoverflags |= (VehicleFlag.LOCK_HOVER_HEIGHT); - } - if ((pParam & (int)VehicleFlag.NO_DEFLECTION) == (int)VehicleFlag.NO_DEFLECTION) - { - m_flags |= (VehicleFlag.NO_DEFLECTION); - } - if ((pParam & (int)VehicleFlag.LOCK_ROTATION) == (int)VehicleFlag.LOCK_ROTATION) - { - m_flags |= (VehicleFlag.LOCK_ROTATION); - } + else { + m_flags |= parm; } }//end ProcessVehicleFlags @@ -478,10 +340,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_bankingMix = 1; // m_bankingTimescale = 10; // m_referenceFrame = Quaternion.Identity; - m_Hoverflags &= + m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); + m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); break; case Vehicle.TYPE_CAR: m_linearFrictionTimescale = new Vector3(100, 2, 1000); @@ -506,10 +368,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_bankingMix = 1; // m_bankingTimescale = 1; // m_referenceFrame = Quaternion.Identity; - m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); - m_Hoverflags |= (VehicleFlag.HOVER_UP_ONLY); + m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); + m_flags |= (VehicleFlag.HOVER_UP_ONLY); break; case Vehicle.TYPE_BOAT: m_linearFrictionTimescale = new Vector3(10, 3, 2); @@ -534,12 +396,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_bankingMix = 0.8f; // m_bankingTimescale = 1; // m_referenceFrame = Quaternion.Identity; - m_Hoverflags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | + m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY); m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); - m_Hoverflags |= (VehicleFlag.HOVER_WATER_ONLY); + m_flags |= (VehicleFlag.HOVER_WATER_ONLY); break; case Vehicle.TYPE_AIRPLANE: m_linearFrictionTimescale = new Vector3(200, 10, 5); @@ -564,7 +426,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_bankingMix = 0.7f; // m_bankingTimescale = 2; // m_referenceFrame = Quaternion.Identity; - m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | + m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); @@ -592,11 +454,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_bankingMix = 0.7f; // m_bankingTimescale = 5; // m_referenceFrame = Quaternion.Identity; - m_Hoverflags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | + m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_UP_ONLY); m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); - m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); + m_flags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); break; } }//end SetDefaultsForType @@ -736,28 +598,28 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // Check if hovering - if ((m_Hoverflags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) + if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) { // We should hover, get the target height - if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0) + if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) { m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight; } - if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) + if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; } - if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) + if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) { m_VhoverTargetHeight = m_VhoverHeight; } - if ((m_Hoverflags & VehicleFlag.HOVER_UP_ONLY) != 0) + if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) { // If body is aready heigher, use its height as target height if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z; } - if ((m_Hoverflags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) + if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) { if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) { -- cgit v1.1 From 8eda290262bb7049aa55a7df2bdb1565bad85a99 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 17 Aug 2012 09:37:02 -0700 Subject: BulletSim: comments and parameter changes in dynamics engine. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 50 ++++++++++++---------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 +-- 2 files changed, 30 insertions(+), 26 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 78bfa05..d7213fc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -57,6 +57,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private int frcount = 0; // Used to limit dynamics debug output to // every 100th frame + private BSScene m_physicsScene; private BSPrim m_prim; // the prim this dynamic controller belongs to // Vehicle properties @@ -123,15 +124,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_verticalAttractionEfficiency = 1.0f; // damped private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. - public BSDynamics(BSPrim myPrim) + public BSDynamics(BSScene myScene, BSPrim myPrim) { + m_physicsScene = myScene; m_prim = myPrim; m_type = Vehicle.TYPE_NONE; } internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep) { - DetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); + VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: @@ -230,7 +232,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep) { - DetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); + VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_FRICTION_TIMESCALE: @@ -265,7 +267,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) { - DetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); + VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.REFERENCE_FRAME: @@ -279,7 +281,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessVehicleFlags(int pParam, bool remove) { - DetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove); + VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove); VehicleFlag parm = (VehicleFlag)pParam; if (remove) { @@ -297,9 +299,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin } }//end ProcessVehicleFlags - internal void ProcessTypeChange(Vehicle pType) + internal void ProcessTypeChange(Vehicle pType, float stepSize) { - DetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); + VDetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); // Set Defaults For Type m_type = pType; switch (pType) @@ -475,7 +477,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin MoveAngular(pTimestep); LimitRotation(pTimestep); - DetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", + VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); }// end Step @@ -519,7 +521,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin */ - DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", + VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector); } else @@ -531,7 +533,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_lastLinearVelocityVector = Vector3.Zero; } - // convert requested object velocity to world-referenced vector + // convert requested object velocity to object relative vector Quaternion rotq = m_prim.Orientation; m_dir = m_lastLinearVelocityVector * rotq; @@ -584,7 +586,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (changed) { m_prim.Position = pos; - DetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", + VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", m_prim.LocalID, m_BlockingEndPoint, posChange, pos); } } @@ -594,7 +596,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2; m_prim.Position = pos; - DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); + VDetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); } // Check if hovering @@ -641,7 +643,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } - DetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight); + VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight); // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped // m_VhoverTimescale = 0f; // time to acheive height @@ -677,7 +679,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { grav.Z = (float)(grav.Z * 1.037125); } - DetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav); + VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav); //End Experimental Values } if ((m_flags & (VehicleFlag.NO_X)) != 0) @@ -706,7 +708,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; - DetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", + VDetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount); } // end MoveLinear() @@ -732,13 +734,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // There are m_angularMotorApply steps. Vector3 origAngularVelocity = m_angularMotorVelocity; // ramp up to new value - // current velocity += error / (time to get there / step interval) + // current velocity += error / (time to get there / step interval) // requested speed - last motor speed m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); - DetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", + VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected @@ -749,6 +751,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // No motor recently applied, keep the body velocity // and decay the velocity m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); + if (m_angularMotorVelocity.LengthSquared() < 0.00001) + m_angularMotorVelocity = Vector3.Zero; } // end motor section // Vertical attractor section @@ -786,7 +790,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin vertattr.X += bounce * angularVelocity.X; vertattr.Y += bounce * angularVelocity.Y; - DetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", + VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", m_prim.LocalID, verterr, bounce, vertattr); } // else vertical attractor is off @@ -804,13 +808,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin { m_lastAngularVelocity.X = 0; m_lastAngularVelocity.Y = 0; - DetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); + VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); } if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. - DetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); + VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); } // apply friction @@ -820,7 +824,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Apply to the body m_prim.RotationalVelocity = m_lastAngularVelocity; - DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); + VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); } //end MoveAngular internal void LimitRotation(float timestep) @@ -867,11 +871,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (changed) m_prim.Orientation = m_rot; - DetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot); + VDetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot); } // Invoke the detailed logger and output something if it's enabled. - private void DetailLog(string msg, params Object[] args) + private void VDetailLog(string msg, params Object[] args) { if (m_prim.Scene.VehicleLoggingEnabled) m_prim.Scene.PhysicsLogging.Write(msg, args); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index c157669..b918f84 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -141,8 +141,8 @@ public sealed class BSPrim : PhysicsActor _friction = _scene.Params.defaultFriction; // TODO: compute based on object material _density = _scene.Params.defaultDensity; // TODO: compute based on object material _restitution = _scene.Params.defaultRestitution; - _linkset = new BSLinkset(_scene, this); // a linkset of one - _vehicle = new BSDynamics(this); // add vehicleness + _linkset = new BSLinkset(Scene, this); // a linkset of one + _vehicle = new BSDynamics(Scene, this); // add vehicleness _mass = CalculateMass(); // do the actual object creation at taint time DetailLog("{0},BSPrim.constructor,call", LocalID); @@ -354,7 +354,7 @@ public sealed class BSPrim : PhysicsActor { // Done at taint time so we're sure the physics engine is not using the variables // Vehicle code changes the parameters for this vehicle type. - _vehicle.ProcessTypeChange(type); + _vehicle.ProcessTypeChange(type, Scene.LastSimulatedTimestep); // Tell the scene about the vehicle so it will get processing each frame. _scene.VehicleInSceneTypeChanged(this, type); }); -- cgit v1.1 From ccc69d66a135e149dbe9c6b70df0c8efe1265f65 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 17 Aug 2012 10:40:34 -0700 Subject: BulletSim: add parameters and functionality to specify the mesh level of detail for large meshes. Remove parameter and code for DetailLog (conditional logging into regular log file). --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 14 ------ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 14 +++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 54 +++++++++++------------ 3 files changed, 34 insertions(+), 48 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 1b3ba3f..a075995 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -265,7 +265,6 @@ public class BSLinkset BSPrim childx = child; m_physicsScene.TaintedObject("AddChildToLinkset", delegate() { - // DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); // DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); PhysicallyLinkAChildToRoot(rootx, childx); // build the physical binding between me and the child }); @@ -294,7 +293,6 @@ public class BSLinkset BSPrim childx = child; m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate() { - // DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); // DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); PhysicallyUnlinkAChildFromRoot(rootx, childx); @@ -326,7 +324,6 @@ public class BSLinkset // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint); BS6DofConstraint constrain = new BS6DofConstraint( @@ -350,7 +347,6 @@ public class BSLinkset // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); BS6DofConstraint constrain = new BS6DofConstraint( PhysicsScene.World, rootPrim.Body, childPrim.Body, @@ -389,8 +385,6 @@ public class BSLinkset // Called at taint time! private void PhysicallyUnlinkAChildFromRoot(BSPrim rootPrim, BSPrim childPrim) { - // DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", - // LogHeader, rootPrim.LocalID, childPrim.LocalID); DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); // Find the constraint for this link and get rid of it from the overall collection and from my list @@ -404,20 +398,12 @@ public class BSLinkset // Called at taint time! private void PhysicallyUnlinkAllChildrenFromRoot(BSPrim rootPrim) { - // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader); DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body); } // Invoke the detailed logger and output something if it's enabled. - private void DebugLog(string msg, params Object[] args) - { - if (m_physicsScene.ShouldDebugLog) - m_physicsScene.Logger.DebugFormat(msg, args); - } - - // Invoke the detailed logger and output something if it's enabled. private void DetailLog(string msg, params Object[] args) { m_physicsScene.PhysicsLogging.Write(msg, args); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b918f84..48cd89b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -42,8 +42,6 @@ public sealed class BSPrim : PhysicsActor private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS PRIM]"; - private void DebugLog(string mm, params Object[] xx) { if (_scene.ShouldDebugLog) m_log.DebugFormat(mm, xx); } - private IMesh _mesh; private PrimitiveBaseShape _pbs; private ShapeData.PhysicsShapeType _shapeType; @@ -232,7 +230,6 @@ public sealed class BSPrim : PhysicsActor BSPrim parent = obj as BSPrim; if (parent != null) { - DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, parent.LocalID); BSPrim parentBefore = _linkset.LinksetRoot; int childrenBefore = _linkset.NumberOfChildren; @@ -248,8 +245,6 @@ public sealed class BSPrim : PhysicsActor public override void delink() { // TODO: decide if this parent checking needs to happen at taint time // Race condition here: if link() and delink() in same simulation tick, the delink will not happen - DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, - _linkset.LinksetRoot._avName+"/"+_linkset.LinksetRoot.LocalID.ToString()); BSPrim parentBefore = _linkset.LinksetRoot; int childrenBefore = _linkset.NumberOfChildren; @@ -1042,7 +1037,14 @@ public sealed class BSPrim : PhysicsActor // No locking here because this is done when we know physics is not simulating private void CreateGeomMesh() { - float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD; + // level of detail based on size and type of the object + float lod = _scene.MeshLOD; + if (_pbs.SculptEntry) + lod = _scene.SculptLOD; + float maxAxis = Math.Max(_size.X, Math.Max(_size.Y, _size.Z)); + if (maxAxis > _scene.MeshMegaPrimThreshold) + lod = _scene.MeshMegaPrimLOD; + ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod); // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 0a0e27e..d901ff0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -73,8 +73,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS SCENE]"; - public void DebugLog(string mm, params Object[] xx) { if (ShouldDebugLog) m_log.DebugFormat(mm, xx); } - public string BulletSimVersion = "?"; private Dictionary m_avatars = new Dictionary(); @@ -101,16 +99,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters private int m_detailedStatsStep = 0; public IMesher mesher; - private float m_meshLOD; - public float MeshLOD - { - get { return m_meshLOD; } - } - private float m_sculptLOD; - public float SculptLOD - { - get { return m_sculptLOD; } - } + // Level of Detail values kept as float because that's what the Meshmerizer wants + public float MeshLOD { get; private set; } + public float MeshMegaPrimLOD { get; private set; } + public float MeshMegaPrimThreshold { get; private set; } + public float SculptLOD { get; private set; } private BulletSim m_worldSim; public BulletSim World @@ -185,8 +178,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters ConfigurationParameters[] m_params; GCHandle m_paramsHandle; - public bool ShouldDebugLog { get; private set; } - + // Handle to the callback used by the unmanaged code to call into the managed code. + // Used for debug logging. + // Need to store the handle in a persistant variable so it won't be freed. private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; // Sometimes you just have to log everything. @@ -905,16 +899,26 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.NumericBool(s._forceSimplePrimMeshing); }, (s,p,l,v) => { s._forceSimplePrimMeshing = s.BoolNumeric(v); } ), - new ParameterDefn("MeshLOD", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", + new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 8f, - (s,cf,p,v) => { s.m_meshLOD = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_meshLOD; }, - (s,p,l,v) => { s.m_meshLOD = (int)v; } ), - new ParameterDefn("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", + (s,cf,p,v) => { s.MeshLOD = (float)cf.GetInt(p, (int)v); }, + (s) => { return s.MeshLOD; }, + (s,p,l,v) => { s.MeshLOD = v; } ), + new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", + 16f, + (s,cf,p,v) => { s.MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); }, + (s) => { return s.MeshMegaPrimLOD; }, + (s,p,l,v) => { s.MeshMegaPrimLOD = v; } ), + new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD", + 10f, + (s,cf,p,v) => { s.MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); }, + (s) => { return s.MeshMegaPrimThreshold; }, + (s,p,l,v) => { s.MeshMegaPrimThreshold = v; } ), + new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", 32f, - (s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_sculptLOD; }, - (s,p,l,v) => { s.m_sculptLOD = (int)v; } ), + (s,cf,p,v) => { s.SculptLOD = (float)cf.GetInt(p, (int)v); }, + (s) => { return s.SculptLOD; }, + (s,p,l,v) => { s.SculptLOD = v; } ), new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", 10f, @@ -1145,12 +1149,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); }, (s) => { return (float)s.m_detailedStatsStep; }, (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), - new ParameterDefn("ShouldDebugLog", "Enables detailed DEBUG log statements", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.ShouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); }, - (s) => { return s.NumericBool(s.ShouldDebugLog); }, - (s,p,l,v) => { s.ShouldDebugLog = s.BoolNumeric(v); } ), - }; // Convert a boolean to our numeric true and false values -- cgit v1.1 From 03d76e94034bbaa82d1872284d1fadbaa263411d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 17 Aug 2012 13:30:46 -0700 Subject: BulletSim: restore most of the Detail logging statements. Will have no effect on non-logging running. Capture region name that is passed to the physics engine and use it for detail logging file name prefix. Fix problem with avatars dropping when flying across region boundries. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 21 +++++----- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 8 ++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 46 +++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 16 ++++++-- 4 files changed, 51 insertions(+), 40 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e2f7af9..1b23a36 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -124,10 +124,14 @@ public class BSCharacter : PhysicsActor // do actual create at taint time _scene.TaintedObject("BSCharacter.create", delegate() { + DetailLog("{0},BSCharacter.create", _localID); BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData); + // Set the buoyancy for flying. This will be refactored when all the settings happen in C# + BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); + m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); - // avatars get all collisions no matter what + // avatars get all collisions no matter what (makes walking on ground and such work) BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); @@ -137,7 +141,7 @@ public class BSCharacter : PhysicsActor // called when this character is being destroyed and the resources should be released public void Destroy() { - // DetailLog("{0},BSCharacter.Destroy", LocalID); + DetailLog("{0},BSCharacter.Destroy", LocalID); _scene.TaintedObject("BSCharacter.destroy", delegate() { BulletSimAPI.DestroyObject(_scene.WorldID, _localID); @@ -319,14 +323,13 @@ public class BSCharacter : PhysicsActor public override bool Flying { get { return _flying; } set { - if (_flying != value) - { - _flying = value; - // simulate flying by changing the effect of gravity - this.Buoyancy = ComputeBuoyancyFromFlying(_flying); - } + _flying = value; + // simulate flying by changing the effect of gravity + this.Buoyancy = ComputeBuoyancyFromFlying(_flying); } } + // Flying is implimented by changing the avatar's buoyancy. + // Would this be done better with a vehicle type? private float ComputeBuoyancyFromFlying(bool ifFlying) { return ifFlying ? 1f : 0f; } @@ -488,11 +491,9 @@ public class BSCharacter : PhysicsActor // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); - /* DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); - */ } // Called by the scene when a collision with this object is reported diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index a075995..9e3f0db 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -265,7 +265,7 @@ public class BSLinkset BSPrim childx = child; m_physicsScene.TaintedObject("AddChildToLinkset", delegate() { - // DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); + DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); PhysicallyLinkAChildToRoot(rootx, childx); // build the physical binding between me and the child }); } @@ -293,7 +293,7 @@ public class BSLinkset BSPrim childx = child; m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate() { - // DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); + DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); PhysicallyUnlinkAChildFromRoot(rootx, childx); }); @@ -332,10 +332,10 @@ public class BSLinkset true, true ); - /* NOTE: attempt to build constraint with full frame computation, etc. + /* NOTE: below is an attempt to build constraint with full frame computation, etc. * Using the midpoint is easier since it lets the Bullet code use the transforms * of the objects. - * Code left here as an example. + * Code left as a warning to future programmers. // ================================================================================== // relative position normalized to the root prim OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 48cd89b..a6bc8e2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -191,7 +191,7 @@ public sealed class BSPrim : PhysicsActor { _mass = CalculateMass(); // changing size changes the mass BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); - // DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); + DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); RecreateGeomAndObject(); }); } @@ -275,7 +275,7 @@ public sealed class BSPrim : PhysicsActor public override void LockAngularMotion(OMV.Vector3 axis) { - // DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); + DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); return; } @@ -294,7 +294,7 @@ public sealed class BSPrim : PhysicsActor // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? _scene.TaintedObject("BSPrim.setPosition", delegate() { - // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); }); } @@ -331,7 +331,7 @@ public sealed class BSPrim : PhysicsActor _force = value; _scene.TaintedObject("BSPrim.setForce", delegate() { - // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); + DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); BulletSimAPI.SetObjectForce2(Body.Ptr, _force); }); @@ -409,7 +409,7 @@ public sealed class BSPrim : PhysicsActor _velocity = value; _scene.TaintedObject("BSPrim.setVelocity", delegate() { - // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); + DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); }); } @@ -417,7 +417,7 @@ public sealed class BSPrim : PhysicsActor public override OMV.Vector3 Torque { get { return _torque; } set { _torque = value; - // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); + DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); } } public override float CollisionScore { @@ -444,7 +444,7 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject("BSPrim.setOrientation", delegate() { // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); - // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); }); } @@ -496,13 +496,15 @@ public sealed class BSPrim : PhysicsActor _linkset.Refresh(this); CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr); - // DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); + DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); } // prims don't fly public override bool Flying { get { return _flying; } - set { _flying = value; } + set { + _flying = value; + } } public override bool SetAlwaysRun { get { return _setAlwaysRun; } @@ -553,7 +555,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { - // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); + DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); }); } @@ -570,7 +572,7 @@ public sealed class BSPrim : PhysicsActor _buoyancy = value; _scene.TaintedObject("BSPrim.setBuoyancy", delegate() { - // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); + DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); }); } @@ -633,17 +635,17 @@ public sealed class BSPrim : PhysicsActor } m_accumulatedForces.Clear(); } - // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); + DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); }); } public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { - // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); + DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); } public override void SetMomentum(OMV.Vector3 momentum) { - // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); + DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); } public override void SubscribeEvents(int ms) { _subscribedEventsMs = ms; @@ -987,7 +989,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) { - // DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild); + DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild); _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; // Bullet native objects are scaled by the Bullet engine so pass the size in _scale = _size; @@ -1001,7 +1003,7 @@ public sealed class BSPrim : PhysicsActor // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)) { - // DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild); + DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild); _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; _scale = _size; // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? @@ -1051,12 +1053,12 @@ public sealed class BSPrim : PhysicsActor // if this new shape is the same as last time, don't recreate the mesh if (_meshKey == newMeshKey) return; - // DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey); + 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); + DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey); BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); _mesh = null; _meshKey = 0; @@ -1086,7 +1088,7 @@ public sealed class BSPrim : PhysicsActor _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; // meshes are already scaled by the meshmerizer _scale = new OMV.Vector3(1f, 1f, 1f); - // DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID); + DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID); return; } @@ -1100,13 +1102,13 @@ public sealed class BSPrim : PhysicsActor // if the hull hasn't changed, don't rebuild it if (newHullKey == _hullKey) return; - // DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey); + 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); + DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey); BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); _hullKey = 0; } @@ -1200,7 +1202,7 @@ public sealed class BSPrim : PhysicsActor _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); + DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID); return; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index d901ff0..56924aa 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -73,6 +73,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS SCENE]"; + // The name of the region we're working for. + public string RegionName { get; private set; } + public string BulletSimVersion = "?"; private Dictionary m_avatars = new Dictionary(); @@ -196,6 +199,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters public BSScene(string identifier) { m_initialized = false; + // we are passed the name of the region we're working for. + RegionName = identifier; } public override void Initialise(IMesher meshmerizer, IConfigSource config) @@ -281,10 +286,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Very detailed logging for physics debugging m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", "."); - m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-"); + m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-"); m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); // Very detailed logging for vehicle debugging m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); + + // Do any replacements in the parameters + m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName); } } } @@ -362,7 +370,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters BSPrim bsprim = prim as BSPrim; if (bsprim != null) { - // DetailLog("{0},RemovePrim,call", bsprim.LocalID); + DetailLog("{0},RemovePrim,call", bsprim.LocalID); // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); try { @@ -388,7 +396,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return null; - // DetailLog("{0},AddPrimShape,call", localID); + DetailLog("{0},AddPrimShape,call", localID); BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); lock (m_prims) m_prims.Add(localID, prim); @@ -534,7 +542,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters else if (m_avatars.ContainsKey(collidingWith)) type = ActorTypes.Agent; - DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); + // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); BSPrim prim; if (m_prims.TryGetValue(localID, out prim)) { -- cgit v1.1 From 7243d4f84248092eb5fe4ebe3673501bc84ce250 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 17 Aug 2012 14:45:18 -0700 Subject: BulletSim: Properly regenerate hulls when objects made physical. This fixes the problem of non-base shapes (cubes and spheres) falling through the terrain. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 34 +++++++++++++++++++------- 1 file changed, 25 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a6bc8e2..d3f1e9c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -481,11 +481,8 @@ public sealed class BSPrim : PhysicsActor // No locking here because only called when it is safe private void SetObjectDynamic() { - // RA: remove this for the moment. - // The problem is that dynamic objects are hulls so if we are becoming physical - // the shape has to be checked and possibly built. - // Maybe a VerifyCorrectPhysicalShape() routine? - // RecreateGeomAndObject(); + // If it's becoming dynamic, it will need hullness + VerifyCorrectPhysicalShape(); // Bullet wants static objects to have a mass of zero float mass = IsStatic ? 0f : _mass; @@ -1214,6 +1211,27 @@ public sealed class BSPrim : PhysicsActor return; } + private void VerifyCorrectPhysicalShape() + { + if (IsStatic) + { + // if static, we don't need a hull so, if there is one, rebuild without it + if (_hullKey != 0) + { + RecreateGeomAndObject(); + } + } + else + { + // if not static, it will need a hull to efficiently collide with things + if (_hullKey == 0) + { + RecreateGeomAndObject(); + } + + } + } + // 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. @@ -1338,10 +1356,8 @@ public sealed class BSPrim : PhysicsActor _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; - // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", - // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); - // DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", - // LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); + DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); base.RequestPhysicsterseUpdate(); } -- cgit v1.1 From 0376b8ddbc4101627aa045a1deb18202fb51fffe Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 24 Aug 2012 10:10:55 -0700 Subject: BulletSim: add new interface for mesh, hull and terrain creation that will move nearly all of the logic into the C# code. --- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 27 ++++++++++++++++------ 1 file changed, 20 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 504bd3c..dab2420 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -392,23 +392,36 @@ public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSt [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool PushUpdate2(IntPtr obj); -/* +// ===================================================================================== +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateMeshShape2(IntPtr world, + int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, + int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateHullShape2(IntPtr world, + int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); + [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateMesh2(IntPtr world, int indicesCount, int* indices, int verticesCount, float* vertices ); +public static extern IntPtr BuildHullShape2(IntPtr world, IntPtr meshShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool BuildHull2(IntPtr world, IntPtr mesh); +public static extern IntPtr BuildNativeShape2(IntPtr world, + float shapeType, float collisionMargin, Vector3 scale); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool ReleaseHull2(IntPtr world, IntPtr mesh); +public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); +// ===================================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyMesh2(IntPtr world, IntPtr mesh); +public static extern IntPtr CreateGroundPlaneBody2(uint id, Vector3 center, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateObject2(IntPtr world, ShapeData shapeData); -*/ +public static extern IntPtr CreateTerrainBody2(uint id, + Vector3 minCoords, Vector3 maxCoords, float collisionMargin, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); +// ===================================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 frame1loc, Quaternion frame1rot, -- cgit v1.1 From 7b6987ce83d16871f6070f3cc7d56280ad3d5dbe Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 24 Aug 2012 12:58:42 -0700 Subject: BulletSim: unify physical objects under BSPhysObjects. Now BSScene and BSLinkset only know of BSPhysObject's and there is only one list to search in BSScene. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 31 +++-- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 50 ++++---- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 58 +++++++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 84 ++++++------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 137 +++++++++------------ 5 files changed, 200 insertions(+), 160 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 1b23a36..784076d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -34,7 +34,7 @@ using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSCharacter : PhysicsActor +public class BSCharacter : BSPhysObject { private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS CHAR]"; @@ -74,11 +74,8 @@ public class BSCharacter : PhysicsActor private bool _kinematic; private float _buoyancy; - private BulletBody m_body; - public BulletBody Body { - get { return m_body; } - set { m_body = value; } - } + public override BulletBody Body { get; set; } + public override BSLinkset Linkset { get; set; } private int _subscribedEventsMs = 0; private int _nextCollisionOkTime = 0; @@ -108,6 +105,8 @@ public class BSCharacter : PhysicsActor _density = _scene.Params.avatarDensity; ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale + Linkset = new BSLinkset(_scene, this); + ShapeData shapeData = new ShapeData(); shapeData.ID = _localID; shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR; @@ -130,7 +129,7 @@ public class BSCharacter : PhysicsActor // Set the buoyancy for flying. This will be refactored when all the settings happen in C# BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); - m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); + Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); // avatars get all collisions no matter what (makes walking on ground and such work) BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); @@ -139,7 +138,7 @@ public class BSCharacter : PhysicsActor } // called when this character is being destroyed and the resources should be released - public void Destroy() + public override void Destroy() { DetailLog("{0},BSCharacter.Destroy", LocalID); _scene.TaintedObject("BSCharacter.destroy", delegate() @@ -245,6 +244,10 @@ public class BSCharacter : PhysicsActor return _mass; } } + + // used when we only want this prim's mass and not the linkset thing + public override float MassRaw { get {return _mass; } } + public override Vector3 Force { get { return _force; } set { @@ -448,6 +451,12 @@ public class BSCharacter : PhysicsActor }); } } + + public override void ZeroMotion() + { + return; + } + // Stop collision events public override void UnSubscribeEvents() { _subscribedEventsMs = 0; @@ -481,7 +490,7 @@ public class BSCharacter : PhysicsActor // The physics engine says that properties have updated. Update same and inform // the world that things have changed. - public void UpdateProperties(EntityProperties entprop) + public override void UpdateProperties(EntityProperties entprop) { _position = entprop.Position; _orientation = entprop.Rotation; @@ -500,7 +509,7 @@ public class BSCharacter : PhysicsActor // The collision, if it should be reported to the character, is placed in a collection // that will later be sent to the simulator when SendCollisions() is called. CollisionEventUpdate collisionCollection = null; - public void Collide(uint collidingWith, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) + public override void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) { // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); @@ -525,7 +534,7 @@ public class BSCharacter : PhysicsActor } } - public void SendCollisions() + public override void SendCollisions() { /* if (collisionCollection != null && collisionCollection.Count > 0) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 9e3f0db..b04e1b6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -36,8 +36,8 @@ public class BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET]"; - private BSPrim m_linksetRoot; - public BSPrim LinksetRoot { get { return m_linksetRoot; } } + private BSPhysObject m_linksetRoot; + public BSPhysObject LinksetRoot { get { return m_linksetRoot; } } private BSScene m_physicsScene; public BSScene PhysicsScene { get { return m_physicsScene; } } @@ -46,7 +46,7 @@ public class BSLinkset public int LinksetID { get; private set; } // The children under the root in this linkset - private List m_children; + private List m_children; // We lock the diddling of linkset classes to prevent any badness. // This locks the modification of the instances of this class. Changes @@ -74,7 +74,7 @@ public class BSLinkset get { return ComputeLinksetGeometricCenter(); } } - public BSLinkset(BSScene scene, BSPrim parent) + public BSLinkset(BSScene scene, BSPhysObject parent) { // A simple linkset of one (no children) LinksetID = m_nextLinksetID++; @@ -83,14 +83,14 @@ public class BSLinkset m_nextLinksetID = 1; m_physicsScene = scene; m_linksetRoot = parent; - m_children = new List(); + m_children = new List(); m_mass = parent.MassRaw; } // Link to a linkset where the child knows the parent. // Parent changing should not happen so do some sanity checking. // We return the parent's linkset so the child can track its membership. - public BSLinkset AddMeToLinkset(BSPrim child) + public BSLinkset AddMeToLinkset(BSPhysObject child) { lock (m_linksetActivityLock) { @@ -102,7 +102,7 @@ public class BSLinkset // Remove a child from a linkset. // Returns a new linkset for the child which is a linkset of one (just the // orphened child). - public BSLinkset RemoveMeFromLinkset(BSPrim child) + public BSLinkset RemoveMeFromLinkset(BSPhysObject child) { lock (m_linksetActivityLock) { @@ -129,7 +129,7 @@ public class BSLinkset } // Return 'true' if the passed object is the root object of this linkset - public bool IsRoot(BSPrim requestor) + public bool IsRoot(BSPhysObject requestor) { return (requestor.LocalID == m_linksetRoot.LocalID); } @@ -140,12 +140,12 @@ public class BSLinkset public bool HasAnyChildren { get { return (m_children.Count > 0); } } // Return 'true' if this child is in this linkset - public bool HasChild(BSPrim child) + public bool HasChild(BSPhysObject child) { bool ret = false; lock (m_linksetActivityLock) { - foreach (BSPrim bp in m_children) + foreach (BSPhysObject bp in m_children) { if (child.LocalID == bp.LocalID) { @@ -160,7 +160,7 @@ public class BSLinkset private float ComputeLinksetMass() { float mass = m_linksetRoot.MassRaw; - foreach (BSPrim bp in m_children) + foreach (BSPhysObject bp in m_children) { mass += bp.MassRaw; } @@ -174,7 +174,7 @@ public class BSLinkset lock (m_linksetActivityLock) { - foreach (BSPrim bp in m_children) + foreach (BSPhysObject bp in m_children) { com += bp.Position * bp.MassRaw; totalMass += bp.MassRaw; @@ -192,7 +192,7 @@ public class BSLinkset lock (m_linksetActivityLock) { - foreach (BSPrim bp in m_children) + foreach (BSPhysObject bp in m_children) { com += bp.Position * bp.MassRaw; } @@ -204,7 +204,7 @@ public class BSLinkset // When physical properties are changed the linkset needs to recalculate // its internal properties. - public void Refresh(BSPrim requestor) + public void Refresh(BSPhysObject requestor) { // If there are no children, there aren't any constraints to recompute if (!HasAnyChildren) @@ -230,7 +230,7 @@ public class BSLinkset float linksetMass = LinksetMass; lock (m_linksetActivityLock) { - foreach (BSPrim child in m_children) + foreach (BSPhysObject child in m_children) { BSConstraint constrain; if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.Body, child.Body, out constrain)) @@ -255,14 +255,14 @@ public class BSLinkset // I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. - private void AddChildToLinkset(BSPrim child) + private void AddChildToLinkset(BSPhysObject child) { if (!HasChild(child)) { m_children.Add(child); - BSPrim rootx = LinksetRoot; // capture the root as of now - BSPrim childx = child; + BSPhysObject rootx = LinksetRoot; // capture the root as of now + BSPhysObject childx = child; m_physicsScene.TaintedObject("AddChildToLinkset", delegate() { DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); @@ -277,7 +277,7 @@ public class BSLinkset // it's still connected to the linkset. // Normal OpenSimulator operation will never do this because other SceneObjectPart information // has to be updated also (like pointer to prim's parent). - private void RemoveChildFromOtherLinkset(BSPrim pchild) + private void RemoveChildFromOtherLinkset(BSPhysObject pchild) { pchild.Linkset = new BSLinkset(m_physicsScene, pchild); RemoveChildFromLinkset(pchild); @@ -285,12 +285,12 @@ public class BSLinkset // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. - private void RemoveChildFromLinkset(BSPrim child) + private void RemoveChildFromLinkset(BSPhysObject child) { if (m_children.Remove(child)) { - BSPrim rootx = LinksetRoot; // capture the root as of now - BSPrim childx = child; + BSPhysObject rootx = LinksetRoot; // capture the root as of now + BSPhysObject childx = child; m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate() { DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); @@ -310,7 +310,7 @@ public class BSLinkset // Create a constraint between me (root of linkset) and the passed prim (the child). // Called at taint time! - private void PhysicallyLinkAChildToRoot(BSPrim rootPrim, BSPrim childPrim) + private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) { // Zero motion for children so they don't interpolate childPrim.ZeroMotion(); @@ -383,7 +383,7 @@ public class BSLinkset // Remove linkage between myself and a particular child // Called at taint time! - private void PhysicallyUnlinkAChildFromRoot(BSPrim rootPrim, BSPrim childPrim) + private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) { DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); @@ -396,7 +396,7 @@ public class BSLinkset // Remove linkage between myself and any possible children I might have // Called at taint time! - private void PhysicallyUnlinkAllChildrenFromRoot(BSPrim rootPrim) + private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) { DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs new file mode 100755 index 0000000..6e205a9 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -0,0 +1,58 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OMV = OpenMetaverse; +using OpenSim.Framework; +using OpenSim.Region.Physics.Manager; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +// Class to wrap all objects. +// The rest of BulletSim doesn't need to keep checking for avatars or prims +// unless the difference is significant. +public abstract class BSPhysObject : PhysicsActor +{ + public abstract BSLinkset Linkset { get; set; } + + public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, + OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); + public abstract void SendCollisions(); + + // Return the object mass without calculating it or side effects + public abstract float MassRaw { get; } + + public abstract BulletBody Body { get; set; } + public abstract void ZeroMotion(); + + public abstract void UpdateProperties(EntityProperties entprop); + + public abstract void Destroy(); +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d3f1e9c..036fd4f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -37,7 +37,7 @@ using OpenSim.Region.Physics.ConvexDecompositionDotNet; namespace OpenSim.Region.Physics.BulletSPlugin { [Serializable] -public sealed class BSPrim : PhysicsActor +public sealed class BSPrim : BSPhysObject { private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS PRIM]"; @@ -88,23 +88,14 @@ public sealed class BSPrim : PhysicsActor private float _buoyancy; // Membership in a linkset is controlled by this class. - private BSLinkset _linkset; - public BSLinkset Linkset - { - get { return _linkset; } - set { _linkset = value; } - } + public override BSLinkset Linkset { get; set; } private int _subscribedEventsMs = 0; private int _nextCollisionOkTime = 0; long _collidingStep; long _collidingGroundStep; - private BulletBody m_body; - public BulletBody Body { - get { return m_body; } - set { m_body = value; } - } + public override BulletBody Body { get; set; } private BSDynamics _vehicle; @@ -139,7 +130,7 @@ public sealed class BSPrim : PhysicsActor _friction = _scene.Params.defaultFriction; // TODO: compute based on object material _density = _scene.Params.defaultDensity; // TODO: compute based on object material _restitution = _scene.Params.defaultRestitution; - _linkset = new BSLinkset(Scene, this); // a linkset of one + Linkset = new BSLinkset(Scene, this); // a linkset of one _vehicle = new BSDynamics(Scene, this); // add vehicleness _mass = CalculateMass(); // do the actual object creation at taint time @@ -151,23 +142,23 @@ public sealed class BSPrim : PhysicsActor // Get the pointer to the physical body for this object. // At the moment, we're still letting BulletSim manage the creation and destruction // of the object. Someday we'll move that into the C# code. - m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); + Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); }); } // called when this prim is being destroyed and we should free all the resources - public void Destroy() + public override void Destroy() { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // Undo any links between me and any other object - BSPrim parentBefore = _linkset.LinksetRoot; - int childrenBefore = _linkset.NumberOfChildren; + BSPhysObject parentBefore = Linkset.LinksetRoot; + int childrenBefore = Linkset.NumberOfChildren; - _linkset = _linkset.RemoveMeFromLinkset(this); + Linkset = Linkset.RemoveMeFromLinkset(this); DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}", - LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren); + LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); // Undo any vehicle properties this.VehicleType = (int)Vehicle.TYPE_NONE; @@ -230,13 +221,13 @@ public sealed class BSPrim : PhysicsActor BSPrim parent = obj as BSPrim; if (parent != null) { - BSPrim parentBefore = _linkset.LinksetRoot; - int childrenBefore = _linkset.NumberOfChildren; + BSPhysObject parentBefore = Linkset.LinksetRoot; + int childrenBefore = Linkset.NumberOfChildren; - _linkset = parent.Linkset.AddMeToLinkset(this); + Linkset = parent.Linkset.AddMeToLinkset(this); DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", - LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren); + LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); } return; } @@ -246,13 +237,13 @@ public sealed class BSPrim : PhysicsActor // TODO: decide if this parent checking needs to happen at taint time // Race condition here: if link() and delink() in same simulation tick, the delink will not happen - BSPrim parentBefore = _linkset.LinksetRoot; - int childrenBefore = _linkset.NumberOfChildren; + BSPhysObject parentBefore = Linkset.LinksetRoot; + int childrenBefore = Linkset.NumberOfChildren; - _linkset = _linkset.RemoveMeFromLinkset(this); + Linkset = Linkset.RemoveMeFromLinkset(this); DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", - LocalID, parentBefore.LocalID, childrenBefore, _linkset.LinksetRoot.LocalID, _linkset.NumberOfChildren); + LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); return; } @@ -260,7 +251,7 @@ public sealed class BSPrim : PhysicsActor // Do it to the properties so the values get set in the physics engine. // Push the setting of the values to the viewer. // Called at taint time! - public void ZeroMotion() + public override void ZeroMotion() { _velocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; @@ -281,7 +272,7 @@ public sealed class BSPrim : PhysicsActor public override OMV.Vector3 Position { get { - if (!_linkset.IsRoot(this)) + if (!Linkset.IsRoot(this)) // child prims move around based on their parent. Need to get the latest location _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); @@ -306,23 +297,23 @@ public sealed class BSPrim : PhysicsActor { get { - return _linkset.LinksetMass; + return Linkset.LinksetMass; } } // used when we only want this prim's mass and not the linkset thing - public float MassRaw { get { return _mass; } } + public override float MassRaw { get { return _mass; } } // Is this used? public override OMV.Vector3 CenterOfMass { - get { return _linkset.CenterOfMass; } + get { return Linkset.CenterOfMass; } } // Is this used? public override OMV.Vector3 GeometricCenter { - get { return _linkset.GeometricCenter; } + get { return Linkset.GeometricCenter; } } public override OMV.Vector3 Force { @@ -431,7 +422,7 @@ public sealed class BSPrim : PhysicsActor } public override OMV.Quaternion Orientation { get { - if (!_linkset.IsRoot(this)) + if (!Linkset.IsRoot(this)) { // Children move around because tied to parent. Get a fresh value. _orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID); @@ -490,7 +481,7 @@ public sealed class BSPrim : PhysicsActor BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); // recompute any linkset parameters - _linkset.Refresh(this); + Linkset.Refresh(this); CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr); DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); @@ -1299,7 +1290,7 @@ public sealed class BSPrim : PhysicsActor const float ACCELERATION_TOLERANCE = 0.01f; const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; - public void UpdateProperties(EntityProperties entprop) + public override void UpdateProperties(EntityProperties entprop) { /* UpdatedProperties changed = 0; @@ -1347,7 +1338,7 @@ public sealed class BSPrim : PhysicsActor // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. // Updates only for individual prims and for the root object of a linkset. - if (_linkset.IsRoot(this)) + if (Linkset.IsRoot(this)) { // Assign to the local variables so the normal set action does not happen _position = entprop.Position; @@ -1375,7 +1366,7 @@ public sealed class BSPrim : PhysicsActor // I've collided with something // Called at taint time from within the Step() function CollisionEventUpdate collisionCollection; - public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) + public override void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); @@ -1387,18 +1378,15 @@ public sealed class BSPrim : PhysicsActor } // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith); - BSPrim collidingWithPrim; - if (_scene.Prims.TryGetValue(collidingWith, out collidingWithPrim)) + + // prims in the same linkset cannot collide with each other + if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) { - // prims in the same linkset cannot collide with each other - if (this.Linkset.LinksetID == collidingWithPrim.Linkset.LinksetID) - { - return; - } + return; } - // if someone is subscribed to collision events.... - if (_subscribedEventsMs != 0) { + // if someone has subscribed for collision events.... + if (SubscribedEvents()) { // throttle the collisions to the number of milliseconds specified in the subscription int nowTime = _scene.SimulationNowTime; if (nowTime >= _nextCollisionOkTime) { @@ -1412,7 +1400,7 @@ public sealed class BSPrim : PhysicsActor } // The scene is telling us it's time to pass our collected collisions into the simulator - public void SendCollisions() + public override void SendCollisions() { if (collisionCollection != null && collisionCollection.Count > 0) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 56924aa..ce64b9b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -78,14 +78,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters public string BulletSimVersion = "?"; - private Dictionary m_avatars = new Dictionary(); - public Dictionary Characters { get { return m_avatars; } } - - private Dictionary m_prims = new Dictionary(); - public Dictionary Prims { get { return m_prims; } } + public Dictionary PhysObjects = new Dictionary(); + private HashSet m_objectsWithCollisions = new HashSet(); + // Following is a kludge and can be removed when avatar animation updating is + // moved to a better place. private HashSet m_avatarsWithCollisions = new HashSet(); - private HashSet m_primsWithCollisions = new HashSet(); private List m_vehicles = new List(); @@ -235,7 +233,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // BulletSimVersion = BulletSimAPI.GetVersion(); // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); - // if Debug, enable logging from the unmanaged code + // If Debug logging level, enable logging from the unmanaged code if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) { m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); @@ -243,13 +241,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog); else m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); - // the handle is saved in a variable to make sure it doesn't get freed after this call + // The handle is saved in a variable to make sure it doesn't get freed after this call BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); } _taintedObjects = new List(); mesher = meshmerizer; + // The bounding box for the simulated world Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f); @@ -337,7 +336,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return null; BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying); - lock (m_avatars) m_avatars.Add(localID, actor); + lock (PhysObjects) PhysObjects.Add(localID, actor); + + // Remove kludge someday + lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Add(actor); + return actor; } @@ -352,7 +355,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters { try { - lock (m_avatars) m_avatars.Remove(actor.LocalID); + lock (PhysObjects) PhysObjects.Remove(actor.LocalID); + // Remove kludge someday + lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Remove(bsactor); } catch (Exception e) { @@ -374,7 +379,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); try { - lock (m_prims) m_prims.Remove(bsprim.LocalID); + lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID); } catch (Exception e) { @@ -399,7 +404,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters DetailLog("{0},AddPrimShape,call", localID); BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); - lock (m_prims) m_prims.Add(localID, prim); + lock (PhysObjects) PhysObjects.Add(localID, prim); return prim; } @@ -470,19 +475,16 @@ public class BSScene : PhysicsScene, IPhysicsParameters // The above SendCollision's batch up the collisions on the objects. // Now push the collisions into the simulator. - foreach (BSPrim bsp in m_primsWithCollisions) + foreach (BSPhysObject bsp in m_objectsWithCollisions) bsp.SendCollisions(); - m_primsWithCollisions.Clear(); + m_objectsWithCollisions.Clear(); // This is a kludge to get avatar movement updated. - // Don't send collisions only if there were collisions -- send everytime. // ODE sends collisions even if there are none and this is used to update // avatar animations and stuff. - // foreach (BSCharacter bsc in m_avatarsWithCollisions) - // bsc.SendCollisions(); - foreach (KeyValuePair kvp in m_avatars) - kvp.Value.SendCollisions(); - m_avatarsWithCollisions.Clear(); + foreach (BSPhysObject bpo in m_avatarsWithCollisions) + bpo.SendCollisions(); + // m_avatarsWithCollisions.Clear(); // If any of the objects had updated properties, tell the object it has been changed by the physics engine if (updatedEntityCount > 0) @@ -490,16 +492,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters for (int ii = 0; ii < updatedEntityCount; ii++) { EntityProperties entprop = m_updateArray[ii]; - BSPrim prim; - if (m_prims.TryGetValue(entprop.ID, out prim)) - { - prim.UpdateProperties(entprop); - continue; - } - BSCharacter actor; - if (m_avatars.TryGetValue(entprop.ID, out actor)) + BSPhysObject pobj; + if (PhysObjects.TryGetValue(entprop.ID, out pobj)) { - actor.UpdateProperties(entprop); + pobj.UpdateProperties(entprop); continue; } } @@ -529,33 +525,36 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // Something has collided - private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penitration) + private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration) { if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID) { return; // don't send collisions to the terrain } + BSPhysObject collider = PhysObjects[localID]; + // TODO: as of this code, terrain was not in the physical object list. + // When BSTerrain is created and it will be in the list, we can remove + // the possibility that it's not there and just fetch the collidee. + BSPhysObject collidee = null; + ActorTypes type = ActorTypes.Prim; if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID) + { type = ActorTypes.Ground; - else if (m_avatars.ContainsKey(collidingWith)) - type = ActorTypes.Agent; + } + else + { + collidee = PhysObjects[collidingWith]; + if (collidee is BSCharacter) + type = ActorTypes.Agent; + } // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); - BSPrim prim; - if (m_prims.TryGetValue(localID, out prim)) { - prim.Collide(collidingWith, type, collidePoint, collideNormal, penitration); - m_primsWithCollisions.Add(prim); - return; - } - BSCharacter actor; - if (m_avatars.TryGetValue(localID, out actor)) { - actor.Collide(collidingWith, type, collidePoint, collideNormal, penitration); - m_avatarsWithCollisions.Add(actor); - return; - } + collider.Collide(collidingWith, collidee, type, collidePoint, collideNormal, penetration); + m_objectsWithCollisions.Add(collider); + return; } @@ -605,17 +604,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters // make sure no stepping happens while we're deleting stuff m_initialized = false; - foreach (KeyValuePair kvp in m_avatars) - { - kvp.Value.Destroy(); - } - m_avatars.Clear(); - - foreach (KeyValuePair kvp in m_prims) + foreach (KeyValuePair kvp in PhysObjects) { kvp.Value.Destroy(); } - m_prims.Clear(); + PhysObjects.Clear(); // Now that the prims are all cleaned up, there should be no constraints left if (m_constraintCollection != null) @@ -996,42 +989,42 @@ public class BSScene : PhysicsScene, IPhysicsParameters 0f, (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linearDamping; }, - (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].linearDamping, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); } ), new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", 0f, (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].angularDamping; }, - (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].angularDamping, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); } ), new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", 0.2f, (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].deactivationTime; }, - (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].deactivationTime, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); } ), new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", 0.8f, (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linearSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ), new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", 1.0f, (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].angularSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ), new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , 0f, // set to zero to disable (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].ccdMotionThreshold; }, - (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ), new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , 0f, (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].ccdSweptSphereRadius; }, - (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ), new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , 0.1f, (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].contactProcessingThreshold; }, - (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ), new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , 0.5f, @@ -1052,32 +1045,32 @@ public class BSScene : PhysicsScene, IPhysicsParameters 0.5f, (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarFriction; }, - (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarFriction, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ), new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", 60f, (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarDensity; }, - (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarDensity, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarDensity, p, l, v); } ), new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", 0f, (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarRestitution; }, - (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarRestitution, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ), new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar", 0.37f, (s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarCapsuleRadius; }, - (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ), new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", 1.5f, (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarCapsuleHeight; }, - (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ), new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 0.1f, (s,cf,p,v) => { s.m_params[0].avatarContactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarContactProcessingThreshold; }, - (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ), new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", @@ -1264,18 +1257,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // check to see if we are updating a parameter for a particular or all of the prims - protected void UpdateParameterPrims(ref float loc, string parm, uint localID, float val) - { - List operateOn; - lock (m_prims) operateOn = new List(m_prims.Keys); - UpdateParameterSet(operateOn, ref loc, parm, localID, val); - } - - // check to see if we are updating a parameter for a particular or all of the avatars - protected void UpdateParameterAvatars(ref float loc, string parm, uint localID, float val) + protected void UpdateParameterObject(ref float loc, string parm, uint localID, float val) { List operateOn; - lock (m_avatars) operateOn = new List(m_avatars.Keys); + lock (PhysObjects) operateOn = new List(PhysObjects.Keys); UpdateParameterSet(operateOn, ref loc, parm, localID, val); } -- cgit v1.1 From 7c140570db3b01eb83efc0d42a47715d3047e376 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 25 Aug 2012 23:18:46 -0700 Subject: BulletSim: Changes to terrain storage and management so mega-regions work. Moved all terrain code out of BSScene and into new BSTerrainManager. Added logic to manage multiple terrains for mega-regions. Added new functions to BulletSimAPI to match the library. Moved all of the terrain creation and setup logic from C++ code to C# code. The unused code has not yet been removed from either place. Soon. Moved checks for avatar above ground and in bounds into BSCharacter. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 37 ++- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 3 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 9 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 118 ++++---- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 245 ++++++++-------- .../Physics/BulletSPlugin/BSTerrainManager.cs | 307 +++++++++++++++++++++ .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 61 +++- 8 files changed, 597 insertions(+), 185 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 784076d..e76d8a4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -226,16 +226,37 @@ public class BSCharacter : BSPhysObject bool ret = false; // If below the ground, move the avatar up - float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position); - if (_position.Z < terrainHeight) + float terrainHeight = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); + if (Position.Z < terrainHeight) { - DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation); - _position.Z = terrainHeight + 2.0f; + DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); + Vector3 newPos = _position; + newPos.Z = terrainHeight + 2.0f; + _position = newPos; ret = true; } // TODO: check for out of bounds + return ret; + } + // A version of the sanity check that also makes sure a new position value is + // pushed back to the physics engine. This routine would be used by anyone + // who is not already pushing the value. + private bool PositionSanityCheck2() + { + bool ret = false; + if (PositionSanityCheck()) + { + // The new position value must be pushed into the physics engine but we can't + // just assign to "Position" because of potential call loops. + _scene.TaintedObject("BSCharacter.PositionSanityCheck", delegate() + { + DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); + BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); + }); + ret = true; + } return ret; } @@ -500,9 +521,13 @@ public class BSCharacter : BSPhysObject // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); - DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. + PositionSanityCheck2(); + + float heightHere = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); // just for debug + DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}", LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, - entprop.Acceleration, entprop.RotationalVelocity); + entprop.Acceleration, entprop.RotationalVelocity, heightHere); } // Called by the scene when a collision with this object is reported diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 25084d8..d9270d1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -48,11 +48,10 @@ public abstract class BSConstraint : IDisposable { if (m_enabled) { - // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); + m_enabled = false; bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success); m_constraint.Ptr = System.IntPtr.Zero; - m_enabled = false; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index d7213fc..8169e99 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -465,6 +465,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } }//end SetDefaultsForType + // One step of the vehicle properties for the next 'pTimestep' seconds. internal void Step(float pTimestep) { if (m_type == Vehicle.TYPE_NONE) return; @@ -592,9 +593,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // If below the terrain, move us above the ground a little. - if (pos.Z < m_prim.Scene.GetTerrainHeightAtXYZ(pos)) + if (pos.Z < m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos)) { - pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2; + pos.Z = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2; m_prim.Position = pos; VDetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); } @@ -609,7 +610,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { - m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; + m_VhoverTargetHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) { @@ -673,7 +674,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { grav.Z = (float)(grav.Z * 1.125); } - float terraintemp = m_prim.Scene.GetTerrainHeightAtXYZ(pos); + float terraintemp = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos); float postemp = (pos.Z - terraintemp); if (postemp > 2.5f) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 6e205a9..ef463ca 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -1,58 +1,60 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; - -using OMV = OpenMetaverse; -using OpenSim.Framework; -using OpenSim.Region.Physics.Manager; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -// Class to wrap all objects. -// The rest of BulletSim doesn't need to keep checking for avatars or prims -// unless the difference is significant. -public abstract class BSPhysObject : PhysicsActor -{ - public abstract BSLinkset Linkset { get; set; } - - public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, - OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); - public abstract void SendCollisions(); - - // Return the object mass without calculating it or side effects - public abstract float MassRaw { get; } - - public abstract BulletBody Body { get; set; } - public abstract void ZeroMotion(); - - public abstract void UpdateProperties(EntityProperties entprop); - - public abstract void Destroy(); -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OMV = OpenMetaverse; +using OpenSim.Framework; +using OpenSim.Region.Physics.Manager; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +// Class to wrap all objects. +// The rest of BulletSim doesn't need to keep checking for avatars or prims +// unless the difference is significant. +public abstract class BSPhysObject : PhysicsActor +{ + public abstract BSLinkset Linkset { get; set; } + + public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, + OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); + public abstract void SendCollisions(); + + // Return the object mass without calculating it or side effects + public abstract float MassRaw { get; } + + public abstract BulletBody Body { get; set; } + public abstract void ZeroMotion(); + + public virtual void StepVehicle(float timeStep) { } + + public abstract void UpdateProperties(EntityProperties entprop); + + public abstract void Destroy(); +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 036fd4f..6bfce5c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -377,7 +377,7 @@ public sealed class BSPrim : BSPhysObject // Called each simulation step to advance vehicle characteristics. // Called from Scene when doing simulation step so we're in taint processing time. - public void StepVehicle(float timeStep) + public override void StepVehicle(float timeStep) { if (IsPhysical) _vehicle.Step(timeStep); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index ce64b9b..f80304d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -39,8 +39,6 @@ using log4net; using OpenMetaverse; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) -// Debug linkset -// Test with multiple regions in one simulator // Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) // Test sculpties // Compute physics FPS reasonably @@ -54,10 +52,8 @@ using OpenMetaverse; // Use collision masks for collision with terrain and phantom objects // Check out llVolumeDetect. Must do something for that. // Should prim.link() and prim.delink() membership checking happen at taint time? -// changing the position and orientation of a linked prim must rebuild the constraint with the root. // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect -// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions) // Implement LockAngularMotion // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) // Does NeedsMeshing() really need to exclude all the different shapes? @@ -85,18 +81,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters // moved to a better place. private HashSet m_avatarsWithCollisions = new HashSet(); - private List m_vehicles = new List(); - - private float[] m_heightMap; - private float m_waterLevel; - private uint m_worldID; - public uint WorldID { get { return m_worldID; } } + // List of all the objects that have vehicle properties and should be called + // to update each physics step. + private List m_vehicles = new List(); // let my minuions use my logger public ILog Logger { get { return m_log; } } - private bool m_initialized = false; - + // If non-zero, the number of simulation steps between calls to the physics + // engine to output detailed physics stats. Debug logging level must be on also. private int m_detailedStatsStep = 0; public IMesher mesher; @@ -106,29 +99,31 @@ public class BSScene : PhysicsScene, IPhysicsParameters public float MeshMegaPrimThreshold { get; private set; } public float SculptLOD { get; private set; } - private BulletSim m_worldSim; - public BulletSim World - { - get { return m_worldSim; } - } - private BSConstraintCollection m_constraintCollection; - public BSConstraintCollection Constraints - { - get { return m_constraintCollection; } - } + public uint WorldID { get; private set; } + public BulletSim World { get; private set; } + + // All the constraints that have been allocated in this instance. + public BSConstraintCollection Constraints { get; private set; } + // Simulation parameters private int m_maxSubSteps; private float m_fixedTimeStep; private long m_simulationStep = 0; public long SimulationStep { get { return m_simulationStep; } } + // The length of the last timestep we were asked to simulate. + // This is used by the vehicle code. Since the vehicle code is called + // once per simulation step, its constants need to be scaled by this. public float LastSimulatedTimestep { get; private set; } // A value of the time now so all the collision and update routines do not have to get their own - // Set to 'now' just before all the prims and actors are called for collisions and updates - private int m_simulationNowTime; - public int SimulationNowTime { get { return m_simulationNowTime; } } + // Set to 'now' just before all the prims and actors are called for collisions and updates + public int SimulationNowTime { get; private set; } + + // True if initialized and ready to do simulation steps + private bool m_initialized = false; + // Pinned memory used to pass step information between managed and unmanaged private int m_maxCollisionsPerFrame; private CollisionDesc[] m_collisionArray; private GCHandle m_collisionArrayPinnedHandle; @@ -145,6 +140,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero public const uint GROUNDPLANE_ID = 1; + public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here + + private float m_waterLevel; + public BSTerrainManager TerrainManager { get; private set; } public ConfigurationParameters Params { @@ -155,12 +154,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters get { return new Vector3(0f, 0f, Params.gravity); } } - private float m_maximumObjectMass; - public float MaximumObjectMass - { - get { return m_maximumObjectMass; } - } + public float MaximumObjectMass { get; private set; } + // When functions in the unmanaged code must be called, it is only + // done at a known time just before the simulation step. The taint + // system saves all these function calls and executes them in + // order before the simulation. public delegate void TaintCallback(); private struct TaintCallbackEntry { @@ -176,6 +175,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters private Object _taintLock = new Object(); // A pointer to an instance if this structure is passed to the C++ code + // Used to pass basic configuration values to the unmanaged code. ConfigurationParameters[] m_params; GCHandle m_paramsHandle; @@ -189,11 +189,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters private bool m_physicsLoggingEnabled; private string m_physicsLoggingDir; private string m_physicsLoggingPrefix; - private int m_physicsLoggingFileMinutes; - - private bool m_vehicleLoggingEnabled; - public bool VehicleLoggingEnabled { get { return m_vehicleLoggingEnabled; } } + private int m_physicsLoggingFileMinutes; + // 'true' of the vehicle code is to log lots of details + public bool VehicleLoggingEnabled { get; private set; } + #region Construction and Initialization public BSScene(string identifier) { m_initialized = false; @@ -216,6 +216,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); + mesher = meshmerizer; + _taintedObjects = new List(); + // Enable very detailed logging. // By creating an empty logger when not logging, the log message invocation code // can be left in and every call doesn't have to check for null. @@ -228,11 +231,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters PhysicsLogging = new Logging.LogWriter(); } - // Get the version of the DLL - // TODO: this doesn't work yet. Something wrong with marshaling the returned string. - // BulletSimVersion = BulletSimAPI.GetVersion(); - // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); - // If Debug logging level, enable logging from the unmanaged code if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) { @@ -245,22 +243,32 @@ public class BSScene : PhysicsScene, IPhysicsParameters BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); } - _taintedObjects = new List(); - - mesher = meshmerizer; + // Get the version of the DLL + // TODO: this doesn't work yet. Something wrong with marshaling the returned string. + // BulletSimVersion = BulletSimAPI.GetVersion(); + // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); - // The bounding box for the simulated world + // The bounding box for the simulated world. The origin is 0,0,0 unless we're + // a child in a mega-region. + // Turns out that Bullet really doesn't care about the extents of the simulated + // area. It tracks active objects no matter where they are. Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f); // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); - m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), + WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); // Initialization to support the transition to a new API which puts most of the logic // into the C# code so it is easier to modify and add to. - m_worldSim = new BulletSim(m_worldID, this, BulletSimAPI.GetSimHandle2(m_worldID)); - m_constraintCollection = new BSConstraintCollection(World); + World = new BulletSim(WorldID, this, BulletSimAPI.GetSimHandle2(WorldID)); + + Constraints = new BSConstraintCollection(World); + + // Note: choose one of the two following lines + // BulletSimAPI.CreateInitialGroundPlaneAndTerrain(WorldID); + TerrainManager = new BSTerrainManager(this); + TerrainManager.CreateInitialGroundPlaneAndTerrain(); m_initialized = true; } @@ -288,7 +296,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-"); m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); // Very detailed logging for vehicle debugging - m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); + VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); // Do any replacements in the parameters m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName); @@ -323,6 +331,38 @@ public class BSScene : PhysicsScene, IPhysicsParameters PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg); } + public override void Dispose() + { + // m_log.DebugFormat("{0}: Dispose()", LogHeader); + + // make sure no stepping happens while we're deleting stuff + m_initialized = false; + + TerrainManager.ReleaseGroundPlaneAndTerrain(); + + foreach (KeyValuePair kvp in PhysObjects) + { + kvp.Value.Destroy(); + } + PhysObjects.Clear(); + + // Now that the prims are all cleaned up, there should be no constraints left + if (Constraints != null) + { + Constraints.Dispose(); + Constraints = null; + } + + // Anything left in the unmanaged code should be cleaned out + BulletSimAPI.Shutdown(WorldID); + + // Not logging any more + PhysicsLogging.Close(); + } + #endregion // Construction and Initialization + + #region Prim and Avatar addition and removal + public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) { m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader); @@ -413,6 +453,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters // information call is not needed. public override void AddPhysicsActorTaint(PhysicsActor prim) { } + #endregion // Prim and Avatar addition and removal + + #region Simulation // Simulate one timestep public override float Simulate(float timeStep) { @@ -428,7 +471,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters int simulateStartTime = Util.EnvironmentTickCount(); - // update the prim states while we know the physics engine is not busy + // update the prim states while we know the physics engine is not busy + int numTaints = _taintedObjects.Count; ProcessTaints(); // Some of the prims operate with special vehicle properties @@ -440,14 +484,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters int numSubSteps = 0; try { - numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, + numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); - DetailLog("{0},Simulate,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); + DetailLog("{0},Simulate,call, nTaints= {1}, substeps={2}, updates={3}, colliders={4}", + DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); } catch (Exception e) { - m_log.WarnFormat("{0},PhysicsStep Exception: substeps={1}, updates={2}, colliders={3}, e={4}", LogHeader, numSubSteps, updatedEntityCount, collidersCount, e); - // DetailLog("{0},PhysicsStepException,call, substeps={1}, updates={2}, colliders={3}", DetailLogZero, numSubSteps, updatedEntityCount, collidersCount); + m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}", + LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e); + DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}", + DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); updatedEntityCount = 0; collidersCount = 0; } @@ -456,7 +503,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in // Get a value for 'now' so all the collision and update routines don't have to get their own - m_simulationNowTime = Util.EnvironmentTickCount(); + SimulationNowTime = Util.EnvironmentTickCount(); // If there were collisions, process them by sending the event to the prim. // Collisions must be processed before updates. @@ -527,7 +574,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Something has collided private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration) { - if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID) + if (localID <= TerrainManager.HighestTerrainID) { return; // don't send collisions to the terrain } @@ -539,7 +586,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters BSPhysObject collidee = null; ActorTypes type = ActorTypes.Prim; - if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID) + if (collidingWith <= TerrainManager.HighestTerrainID) { type = ActorTypes.Ground; } @@ -558,28 +605,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters return; } + #endregion // Simulation + public override void GetResults() { } - public override void SetTerrain(float[] heightMap) { - m_heightMap = heightMap; - this.TaintedObject("BSScene.SetTerrain", delegate() - { - BulletSimAPI.SetHeightmap(m_worldID, m_heightMap); - }); - } + #region Terrain - // Someday we will have complex terrain with caves and tunnels - // For the moment, it's flat and convex - public float GetTerrainHeightAtXYZ(Vector3 loc) - { - return GetTerrainHeightAtXY(loc.X, loc.Y); - } - - public float GetTerrainHeightAtXY(float tX, float tY) - { - if (tX < 0 || tX >= Constants.RegionSize || tY < 0 || tY >= Constants.RegionSize) - return 30; - return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)]; + public override void SetTerrain(float[] heightMap) { + TerrainManager.SetTerrain(heightMap); } public override void SetWaterLevel(float baseheight) @@ -595,35 +628,29 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void DeleteTerrain() { // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); + } + + // Although no one seems to check this, I do support combining. + public override bool SupportsCombining() + { + return TerrainManager.SupportsCombining(); } - - public override void Dispose() - { - // m_log.DebugFormat("{0}: Dispose()", LogHeader); - - // make sure no stepping happens while we're deleting stuff - m_initialized = false; - - foreach (KeyValuePair kvp in PhysObjects) - { - kvp.Value.Destroy(); - } - PhysObjects.Clear(); - - // Now that the prims are all cleaned up, there should be no constraints left - if (m_constraintCollection != null) - { - m_constraintCollection.Dispose(); - m_constraintCollection = null; - } - - // Anything left in the unmanaged code should be cleaned out - BulletSimAPI.Shutdown(WorldID); - - // Not logging any more - PhysicsLogging.Close(); + // This call says I am a child to region zero in a mega-region. 'pScene' is that + // of region zero, 'offset' is my offset from regions zero's origin, and + // 'extents' is the largest XY that is handled in my region. + public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) + { + TerrainManager.Combine(pScene, offset, extents); + } + + // Unhook all the combining that I know about. + public override void UnCombine(PhysicsScene pScene) + { + TerrainManager.UnCombine(pScene); } + #endregion // Terrain + public override Dictionary GetTopColliders() { return new Dictionary(); @@ -833,14 +860,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters // no locking because only called when physics engine is not busy private void ProcessVehicles(float timeStep) { - foreach (BSPrim prim in m_vehicles) + foreach (BSPhysObject pobj in m_vehicles) { - prim.StepVehicle(timeStep); + pobj.StepVehicle(timeStep); } } #endregion Vehicles - #region Parameters + #region INI and command line parameter processing delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); delegate float ParamGet(BSScene scene); @@ -943,9 +970,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", 10000.01f, - (s,cf,p,v) => { s.m_maximumObjectMass = cf.GetFloat(p, v); }, - (s) => { return (float)s.m_maximumObjectMass; }, - (s,p,l,v) => { s.m_maximumObjectMass = v; } ), + (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); }, + (s) => { return (float)s.MaximumObjectMass; }, + (s,p,l,v) => { s.MaximumObjectMass = v; } ), new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", 2200f, @@ -1207,6 +1234,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1]; + // This creates an array in the correct format for returning the list of + // parameters. This is used by the 'list' option of the 'physics' command. private void BuildParameterTable() { if (SettableParameters.Length < ParameterDefinitions.Length) @@ -1283,7 +1312,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters TaintedObject("BSScene.UpdateParameterSet", delegate() { foreach (uint lID in objectIDs) { - BulletSimAPI.UpdateParameter(m_worldID, lID, xparm, xval); + BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval); } }); break; @@ -1301,7 +1330,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters string xparm = parm.ToLower(); float xval = val; TaintedObject("BSScene.TaintedUpdateParameter", delegate() { - BulletSimAPI.UpdateParameter(m_worldID, xlocalID, xparm, xval); + BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs new file mode 100755 index 0000000..28c1940 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -0,0 +1,307 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OpenSim.Framework; +using OpenSim.Region.Framework; +using OpenSim.Region.CoreModules; +using OpenSim.Region.Physics.Manager; + +using Nini.Config; +using log4net; + +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSTerrainManager +{ + static string LogHeader = "[BULLETSIM TERRAIN MANAGER]"; + + BSScene m_physicsScene; + + private BulletBody m_groundPlane; + + // If doing mega-regions, if we're region zero we will be managing multiple + // region terrains since region zero does the physics for the whole mega-region. + private Dictionary m_terrains; + private Dictionary m_heightMaps; + + // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount. + // This is incremented before assigning to new region so it is the last ID allocated. + private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1; + public uint HighestTerrainID { get {return m_terrainCount; } } + + // If doing mega-regions, this holds our offset from region zero of + // the mega-regions. "parentScene" points to the PhysicsScene of region zero. + private Vector3 m_worldOffset = Vector3.Zero; + public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); + private PhysicsScene m_parentScene = null; + + public BSTerrainManager(BSScene physicsScene) + { + m_physicsScene = physicsScene; + m_terrains = new Dictionary(); + m_heightMaps = new Dictionary(); + } + + // Create the initial instance of terrain and the underlying ground plane. + // The objects are allocated in the unmanaged space and the pointers are tracked + // by the managed code. + // The terrains and the groundPlane are not added to the list of PhysObjects. + // This is called from the initialization routine so we presume it is + // safe to call Bullet in real time. We hope no one is moving around prim yet. + public void CreateInitialGroundPlaneAndTerrain() + { + // The ground plane is here to catch things that are trying to drop to negative infinity + m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, + BulletSimAPI.CreateGroundPlaneBody2(BSScene.GROUNDPLANE_ID, 1f, 0.4f)); + BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr); + + Vector3 minTerrainCoords = new Vector3(0f, 0f, 24f); + Vector3 maxTerrainCoords = new Vector3(Constants.RegionSize, Constants.RegionSize, 25f); + int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; + float[] initialMap = new float[totalHeights]; + for (int ii = 0; ii < totalHeights; ii++) + { + initialMap[ii] = 25f; + } + CreateNewTerrainSegment(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords); + } + + public void ReleaseGroundPlaneAndTerrain() + { + if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr)) + { + BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, m_groundPlane.Ptr); + } + m_groundPlane.Ptr = IntPtr.Zero; + + foreach (KeyValuePair kvp in m_terrains) + { + if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, kvp.Value.Ptr)) + { + BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, kvp.Value.Ptr); + BulletSimAPI.ReleaseHeightmapInfo2(m_heightMaps[kvp.Key].Ptr); + } + } + m_terrains.Clear(); + m_heightMaps.Clear(); + } + + // Create a new terrain description. This is used for mega-regions where + // the children of region zero give region zero all of the terrain + // segments since region zero does all the physics for the mega-region. + // Call at taint time!! + public void CreateNewTerrainSegment(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) + { + // The Z coordinates are recalculated to be the min and max height of the terrain + // itself. The caller may have passed us the real region extent. + float minZ = float.MaxValue; + float maxZ = float.MinValue; + int hSize = heightMap.Length; + for (int ii = 0; ii < hSize; ii++) + { + minZ = heightMap[ii] < minZ ? heightMap[ii] : minZ; + maxZ = heightMap[ii] > maxZ ? heightMap[ii] : maxZ; + } + minCoords.Z = minZ; + maxCoords.Z = maxZ; + // If the terrain is flat, make a difference so we get a good bounding box + if (minZ == maxZ) + minZ -= 0.2f; + Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y); + + // Create the heightmap data structure in the unmanaged space + BulletHeightMapInfo mapInfo = new BulletHeightMapInfo( + BulletSimAPI.CreateHeightmap2(minCoords, maxCoords, heightMap), heightMap); + mapInfo.terrainRegionBase = terrainRegionBase; + mapInfo.maxRegionExtent = maxCoords; + mapInfo.minZ = minZ; + mapInfo.maxZ = maxZ; + mapInfo.sizeX = maxCoords.X - minCoords.X; + mapInfo.sizeY = maxCoords.Y - minCoords.Y; + + DetailLog("{0},BSScene.CreateNewTerrainSegment,call,minZ={1},maxZ={2},hMapPtr={3},minC={4},maxC={5}", + BSScene.DetailLogZero, minZ, maxZ, mapInfo.Ptr, minCoords, maxCoords); + // Create the terrain body from that heightmap + BulletBody terrainBody = new BulletBody(id, BulletSimAPI.CreateTerrainBody2(id, mapInfo.Ptr, 0.01f)); + + BulletSimAPI.SetFriction2(terrainBody.Ptr, m_physicsScene.Params.terrainFriction); + BulletSimAPI.SetHitFraction2(terrainBody.Ptr, m_physicsScene.Params.terrainHitFraction); + BulletSimAPI.SetRestitution2(terrainBody.Ptr, m_physicsScene.Params.terrainRestitution); + BulletSimAPI.SetCollisionFlags2(terrainBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + BulletSimAPI.Activate2(terrainBody.Ptr, true); + + // Add the new terrain to the dynamics world + BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, terrainBody.Ptr); + BulletSimAPI.UpdateSingleAabb2(m_physicsScene.World.Ptr, terrainBody.Ptr); + + + // Add the created terrain to the management set. If we are doing mega-regions, + // the terrains of our children will be added. + m_terrains.Add(terrainRegionBase, terrainBody); + m_heightMaps.Add(terrainRegionBase, mapInfo); + } + + public void SetTerrain(float[] heightMap) { + if (m_worldOffset != Vector3.Zero && m_parentScene != null) + { + // If doing the mega-prim stuff and we are the child of the zero region, + // the terrain is really added to our parent + if (m_parentScene is BSScene) + { + ((BSScene)m_parentScene).TerrainManager.SetTerrain(heightMap, m_worldOffset); + } + } + else + { + // if not doing the mega-prim thing, just change the terrain + SetTerrain(heightMap, m_worldOffset); + } + } + + private void SetTerrain(float[] heightMap, Vector3 tOffset) + { + float minZ = float.MaxValue; + float maxZ = float.MinValue; + + // Copy heightMap local and compute some statistics. + // Not really sure if we need to do this deep copy but, given + // the magic that happens to make the closure for taint + // below, I don't want there to be any problem with sharing + // locations of there are multiple calls to this routine + // within one tick. + int heightMapSize = heightMap.Length; + float[] localHeightMap = new float[heightMapSize]; + for (int ii = 0; ii < heightMapSize; ii++) + { + float height = heightMap[ii]; + if (height < minZ) minZ = height; + if (height > maxZ) maxZ = height; + localHeightMap[ii] = height; + } + + Vector2 terrainRegionBase = new Vector2(tOffset.X, tOffset.Y); + BulletHeightMapInfo mapInfo; + if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo)) + { + // If this is terrain we know about, it's easy to update + mapInfo.heightMap = localHeightMap; + m_physicsScene.TaintedObject("BSScene.SetTerrain:UpdateExisting", delegate() + { + DetailLog("{0},SetTerrain:UpdateExisting,baseX={1},baseY={2},minZ={3},maxZ={4}", + BSScene.DetailLogZero, tOffset.X, tOffset.Y, minZ, maxZ); + BulletSimAPI.UpdateHeightMap2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.heightMap); + }); + } + else + { + // Our mega-prim child is giving us a new terrain to add to the phys world + uint newTerrainID = ++m_terrainCount; + + Vector3 minCoords = tOffset; + minCoords.Z = minZ; + Vector3 maxCoords = new Vector3(tOffset.X + Constants.RegionSize, + tOffset.Y + Constants.RegionSize, + maxZ); + m_physicsScene.TaintedObject("BSScene.SetTerrain:NewTerrain", delegate() + { + DetailLog("{0},SetTerrain:NewTerrain,baseX={1},baseY={2}", BSScene.DetailLogZero, tOffset.X, tOffset.Y); + CreateNewTerrainSegment(newTerrainID, heightMap, minCoords, maxCoords); + }); + } + } + + // Someday we will have complex terrain with caves and tunnels + // For the moment, it's flat and convex + public float GetTerrainHeightAtXYZ(Vector3 loc) + { + return GetTerrainHeightAtXY(loc.X, loc.Y); + } + + // Given an X and Y, find the height of the terrain. + // Since we could be handling multiple terrains for a mega-region, + // the base of the region is calcuated assuming all regions are + // the same size and that is the default. + // Once the heightMapInfo is found, we have all the information to + // compute the offset into the array. + public float GetTerrainHeightAtXY(float tX, float tY) + { + float ret = 30f; + + int offsetX = ((int)(tX / (int)Constants.RegionSize)) * (int)Constants.RegionSize; + int offsetY = ((int)(tY / (int)Constants.RegionSize)) * (int)Constants.RegionSize; + Vector2 terrainBaseXY = new Vector2(offsetX, offsetY); + + BulletHeightMapInfo mapInfo; + if (m_heightMaps.TryGetValue(terrainBaseXY, out mapInfo)) + { + float regionX = tX - offsetX; + float regionY = tY - offsetY; + regionX = regionX > mapInfo.sizeX ? 0 : regionX; + regionY = regionY > mapInfo.sizeY ? 0 : regionY; + ret = mapInfo.heightMap[(int)(regionX * mapInfo.sizeX + regionY)]; + } + else + { + m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: x={1}, y={2}", + LogHeader, tX, tY); + } + return ret; + } + + // Although no one seems to check this, I do support combining. + public bool SupportsCombining() + { + return true; + } + // This call says I am a child to region zero in a mega-region. 'pScene' is that + // of region zero, 'offset' is my offset from regions zero's origin, and + // 'extents' is the largest XY that is handled in my region. + public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) + { + m_worldOffset = offset; + WorldExtents = new Vector2(extents.X, extents.Y); + m_parentScene = pScene; + } + + // Unhook all the combining that I know about. + public void UnCombine(PhysicsScene pScene) + { + // Just like ODE, for the moment a NOP + } + + + private void DetailLog(string msg, params Object[] args) + { + m_physicsScene.PhysicsLogging.Write(msg, args); + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index dab2420..3b319fb 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -33,6 +33,9 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { // Classes to allow some type checking for the API +// These hold pointers to allocated objects in the unmanaged space. + +// The physics engine controller class created at initialization public struct BulletSim { public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss; Ptr = xx; } @@ -42,6 +45,7 @@ public struct BulletSim public IntPtr Ptr; } +// An allocated Bullet btRigidBody public struct BulletBody { public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } @@ -49,12 +53,35 @@ public struct BulletBody public uint ID; } +// An allocated Bullet btConstraint public struct BulletConstraint { public BulletConstraint(IntPtr xx) { Ptr = xx; } public IntPtr Ptr; } +// An allocated HeightMapThing which hold various heightmap info +// Made a class rather than a struct so there would be only one +// instance of this and C# will pass around pointers rather +// than making copies. +public class BulletHeightMapInfo +{ + public BulletHeightMapInfo(IntPtr xx, float[] hm) { + Ptr = xx; + heightMap = hm; + terrainRegionBase = new Vector2(0f, 0f); + maxRegionExtent = new Vector3(100f, 100f, 25f); + minZ = maxZ = 0f; + sizeX = sizeY = 256f; + } + public IntPtr Ptr; + public float[] heightMap; + public Vector2 terrainRegionBase; + public Vector3 maxRegionExtent; + public float sizeX, sizeY; + public float minZ, maxZ; +} + // =============================================================================== [StructLayout(LayoutKind.Sequential)] public struct ConvexHull @@ -231,6 +258,9 @@ public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, int maxUpdates, IntPtr updateArray); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -414,12 +444,23 @@ public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); // ===================================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateGroundPlaneBody2(uint id, Vector3 center, float collisionMargin); +public static extern IntPtr CreateGroundPlaneBody2(uint id, float height, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateTerrainBody2(uint id, - Vector3 minCoords, Vector3 maxCoords, float collisionMargin, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); + IntPtr heightMapInfo, + float collisionMargin); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateHeightmap2(Vector3 minCoords, Vector3 maxCoords, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ReleaseHeightmapInfo2(IntPtr heightMapInfo); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateHeightMap2(IntPtr world, IntPtr heightMapInfo, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); // ===================================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -473,11 +514,16 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); +// ===================================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 AddObjectToWorld2(IntPtr world, IntPtr obj); +public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 RemoveObjectFromWorld2(IntPtr world, IntPtr obj); +public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); + +// ===================================================================================== +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Activate2(IntPtr obj, bool forceActivation); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetPosition2(IntPtr obj); @@ -522,6 +568,9 @@ public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); public static extern bool SetFriction2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetHitFraction2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetRestitution2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -564,7 +613,7 @@ public static extern bool SetMargin2(IntPtr obj, float val); public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyObject2(IntPtr world, uint id); +public static extern bool DestroyObject2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpPhysicsStatistics2(IntPtr sim); -- cgit v1.1 From d3adf9b2b3bd8e0e76168cd6eb6414f3123c5f02 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 25 Aug 2012 23:25:29 -0700 Subject: BulletSim: fix line endings. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 44 ++++++++++++------------- 1 file changed, 22 insertions(+), 22 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index f80304d..7b4802e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -102,7 +102,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters public uint WorldID { get; private set; } public BulletSim World { get; private set; } - // All the constraints that have been allocated in this instance. + // All the constraints that have been allocated in this instance. public BSConstraintCollection Constraints { get; private set; } // Simulation parameters @@ -117,7 +117,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters public float LastSimulatedTimestep { get; private set; } // A value of the time now so all the collision and update routines do not have to get their own - // Set to 'now' just before all the prims and actors are called for collisions and updates + // Set to 'now' just before all the prims and actors are called for collisions and updates public int SimulationNowTime { get; private set; } // True if initialized and ready to do simulation steps @@ -140,8 +140,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero public const uint GROUNDPLANE_ID = 1; - public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here - + public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here + private float m_waterLevel; public BSTerrainManager TerrainManager { get; private set; } @@ -189,8 +189,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters private bool m_physicsLoggingEnabled; private string m_physicsLoggingDir; private string m_physicsLoggingPrefix; - private int m_physicsLoggingFileMinutes; - // 'true' of the vehicle code is to log lots of details + private int m_physicsLoggingFileMinutes; + // 'true' of the vehicle code is to log lots of details public bool VehicleLoggingEnabled { get; private set; } #region Construction and Initialization @@ -266,7 +266,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters Constraints = new BSConstraintCollection(World); // Note: choose one of the two following lines - // BulletSimAPI.CreateInitialGroundPlaneAndTerrain(WorldID); + // BulletSimAPI.CreateInitialGroundPlaneAndTerrain(WorldID); TerrainManager = new BSTerrainManager(this); TerrainManager.CreateInitialGroundPlaneAndTerrain(); @@ -471,7 +471,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters int simulateStartTime = Util.EnvironmentTickCount(); - // update the prim states while we know the physics engine is not busy + // update the prim states while we know the physics engine is not busy int numTaints = _taintedObjects.Count; ProcessTaints(); @@ -611,7 +611,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters #region Terrain - public override void SetTerrain(float[] heightMap) { + public override void SetTerrain(float[] heightMap) { TerrainManager.SetTerrain(heightMap); } @@ -628,25 +628,25 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void DeleteTerrain() { // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); - } - - // Although no one seems to check this, I do support combining. - public override bool SupportsCombining() - { - return TerrainManager.SupportsCombining(); + } + + // Although no one seems to check this, I do support combining. + public override bool SupportsCombining() + { + return TerrainManager.SupportsCombining(); } // This call says I am a child to region zero in a mega-region. 'pScene' is that // of region zero, 'offset' is my offset from regions zero's origin, and // 'extents' is the largest XY that is handled in my region. public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) - { + { TerrainManager.Combine(pScene, offset, extents); - } - - // Unhook all the combining that I know about. - public override void UnCombine(PhysicsScene pScene) - { - TerrainManager.UnCombine(pScene); + } + + // Unhook all the combining that I know about. + public override void UnCombine(PhysicsScene pScene) + { + TerrainManager.UnCombine(pScene); } #endregion // Terrain -- cgit v1.1 From ae852bb8738c7bce60c8fee9fbf6038288bd9363 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 29 Aug 2012 09:20:09 -0700 Subject: BulletSim: clean up some variable naming for consistancy. Update DLL API for new terrain and shape/body pattern methods. Terrain creation and modification uses new shape/body pattern. Move debug logging callback set to initialization call so logging is per physics engine. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 78 ++++++------ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 13 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 139 +++++++++++++++------ .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 55 +++++--- 4 files changed, 183 insertions(+), 102 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e76d8a4..fa21233 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -39,8 +39,7 @@ public class BSCharacter : BSPhysObject private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS CHAR]"; - private BSScene _scene; - public BSScene Scene { get { return _scene; } } + public BSScene Scene { get; private set; } private String _avName; // private bool _stopped; private Vector3 _size; @@ -92,7 +91,7 @@ public class BSCharacter : BSPhysObject { _localID = localID; _avName = avName; - _scene = parent_scene; + Scene = parent_scene; _position = pos; _size = size; _flying = isFlying; @@ -101,11 +100,11 @@ public class BSCharacter : BSPhysObject _buoyancy = ComputeBuoyancyFromFlying(isFlying); // The dimensions of the avatar capsule are kept in the scale. // Physics creates a unit capsule which is scaled by the physics engine. - _scale = new Vector3(_scene.Params.avatarCapsuleRadius, _scene.Params.avatarCapsuleRadius, size.Z); - _density = _scene.Params.avatarDensity; + _scale = new Vector3(Scene.Params.avatarCapsuleRadius, Scene.Params.avatarCapsuleRadius, size.Z); + _density = Scene.Params.avatarDensity; ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale - Linkset = new BSLinkset(_scene, this); + Linkset = new BSLinkset(Scene, this); ShapeData shapeData = new ShapeData(); shapeData.ID = _localID; @@ -117,19 +116,19 @@ public class BSCharacter : BSPhysObject shapeData.Mass = _mass; shapeData.Buoyancy = _buoyancy; shapeData.Static = ShapeData.numericFalse; - shapeData.Friction = _scene.Params.avatarFriction; - shapeData.Restitution = _scene.Params.avatarRestitution; + shapeData.Friction = Scene.Params.avatarFriction; + shapeData.Restitution = Scene.Params.avatarRestitution; // do actual create at taint time - _scene.TaintedObject("BSCharacter.create", delegate() + Scene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create", _localID); - BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData); + BulletSimAPI.CreateObject(Scene.WorldID, shapeData); // Set the buoyancy for flying. This will be refactored when all the settings happen in C# - BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); + BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); - Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); + Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID)); // avatars get all collisions no matter what (makes walking on ground and such work) BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); @@ -141,9 +140,9 @@ public class BSCharacter : BSPhysObject public override void Destroy() { DetailLog("{0},BSCharacter.Destroy", LocalID); - _scene.TaintedObject("BSCharacter.destroy", delegate() + Scene.TaintedObject("BSCharacter.destroy", delegate() { - BulletSimAPI.DestroyObject(_scene.WorldID, _localID); + BulletSimAPI.DestroyObject(Scene.WorldID, _localID); }); } @@ -172,9 +171,9 @@ public class BSCharacter : BSPhysObject ComputeAvatarVolumeAndMass(); - _scene.TaintedObject("BSCharacter.setSize", delegate() + Scene.TaintedObject("BSCharacter.setSize", delegate() { - BulletSimAPI.SetObjectScaleMass(_scene.WorldID, LocalID, _scale, _mass, true); + BulletSimAPI.SetObjectScaleMass(Scene.WorldID, LocalID, _scale, _mass, true); }); } @@ -203,17 +202,17 @@ public class BSCharacter : BSPhysObject public override Vector3 Position { get { - // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); return _position; } set { _position = value; PositionSanityCheck(); - _scene.TaintedObject("BSCharacter.setPosition", delegate() + Scene.TaintedObject("BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); + BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation); }); } } @@ -229,10 +228,8 @@ public class BSCharacter : BSPhysObject float terrainHeight = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); if (Position.Z < terrainHeight) { - DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); - Vector3 newPos = _position; - newPos.Z = terrainHeight + 2.0f; - _position = newPos; + DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); + _position.Z = terrainHeight + 2.0f; ret = true; } @@ -250,10 +247,10 @@ public class BSCharacter : BSPhysObject { // The new position value must be pushed into the physics engine but we can't // just assign to "Position" because of potential call loops. - _scene.TaintedObject("BSCharacter.PositionSanityCheck", delegate() + Scene.TaintedObject("BSCharacter.PositionSanityCheck", delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); + BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation); }); ret = true; } @@ -301,10 +298,10 @@ public class BSCharacter : BSPhysObject set { _velocity = value; // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); - _scene.TaintedObject("BSCharacter.setVelocity", delegate() + Scene.TaintedObject("BSCharacter.setVelocity", delegate() { DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); - BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); + BulletSimAPI.SetObjectVelocity(Scene.WorldID, _localID, _velocity); }); } } @@ -327,10 +324,10 @@ public class BSCharacter : BSPhysObject set { _orientation = value; // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); - _scene.TaintedObject("BSCharacter.setOrientation", delegate() + Scene.TaintedObject("BSCharacter.setOrientation", delegate() { - // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); - BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); + // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); + BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation); }); } } @@ -367,11 +364,11 @@ public class BSCharacter : BSPhysObject set { _throttleUpdates = value; } } public override bool IsColliding { - get { return (_collidingStep == _scene.SimulationStep); } + get { return (_collidingStep == Scene.SimulationStep); } set { _isColliding = value; } } public override bool CollidingGround { - get { return (_collidingGroundStep == _scene.SimulationStep); } + get { return (_collidingGroundStep == Scene.SimulationStep); } set { _collidingGround = value; } } public override bool CollidingObj { @@ -393,10 +390,10 @@ public class BSCharacter : BSPhysObject public override float Buoyancy { get { return _buoyancy; } set { _buoyancy = value; - _scene.TaintedObject("BSCharacter.setBuoyancy", delegate() + Scene.TaintedObject("BSCharacter.setBuoyancy", delegate() { DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); - BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); + BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); }); } } @@ -440,7 +437,7 @@ public class BSCharacter : BSPhysObject _force.Y += force.Y; _force.Z += force.Z; // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); - _scene.TaintedObject("BSCharacter.AddForce", delegate() + Scene.TaintedObject("BSCharacter.AddForce", delegate() { DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); BulletSimAPI.AddObjectForce2(Body.Ptr, _force); @@ -524,10 +521,9 @@ public class BSCharacter : BSPhysObject // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. PositionSanityCheck2(); - float heightHere = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); // just for debug + float heightHere = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}", - LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, - entprop.Acceleration, entprop.RotationalVelocity, heightHere); + LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere); } // Called by the scene when a collision with this object is reported @@ -539,16 +535,16 @@ public class BSCharacter : BSPhysObject // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); // The following makes IsColliding() and IsCollidingGround() work - _collidingStep = _scene.SimulationStep; + _collidingStep = Scene.SimulationStep; if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID) { - _collidingGroundStep = _scene.SimulationStep; + _collidingGroundStep = Scene.SimulationStep; } // DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith); // throttle collisions to the rate specified in the subscription if (_subscribedEventsMs != 0) { - int nowTime = _scene.SimulationNowTime; + int nowTime = Scene.SimulationNowTime; if (nowTime >= _nextCollisionOkTime) { _nextCollisionOkTime = nowTime + _subscribedEventsMs; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7b4802e..2f55ba4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -232,15 +232,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // If Debug logging level, enable logging from the unmanaged code + m_DebugLogCallbackHandle = null; if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) { m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); if (PhysicsLogging.Enabled) + // The handle is saved in a variable to make sure it doesn't get freed after this call m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog); else m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); - // The handle is saved in a variable to make sure it doesn't get freed after this call - BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); } // Get the version of the DLL @@ -257,7 +257,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), - m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); + m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(), + m_DebugLogCallbackHandle); // Initialization to support the transition to a new API which puts most of the logic // into the C# code so it is easier to modify and add to. @@ -265,8 +266,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters Constraints = new BSConstraintCollection(World); - // Note: choose one of the two following lines - // BulletSimAPI.CreateInitialGroundPlaneAndTerrain(WorldID); TerrainManager = new BSTerrainManager(this); TerrainManager.CreateInitialGroundPlaneAndTerrain(); @@ -378,7 +377,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying); lock (PhysObjects) PhysObjects.Add(localID, actor); - // Remove kludge someday + // TODO: Remove kludge someday. + // We must generate a collision for avatars whether they collide or not. + // This is required by OpenSim to update avatar animations, etc. lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Add(actor); return actor; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 28c1940..733d9c2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -44,8 +44,22 @@ public class BSTerrainManager { static string LogHeader = "[BULLETSIM TERRAIN MANAGER]"; + // These height values are fractional so the odd values will be + // noticable when debugging. + public const float HEIGHT_INITIALIZATION = 24.987f; + public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f; + public const float HEIGHT_GETHEIGHT_RET = 24.765f; + + // If the min and max height are equal, we reduce the min by this + // amount to make sure that a bounding box is built for the terrain. + public const float HEIGHT_EQUAL_FUDGE = 0.2f; + + public const float TERRAIN_COLLISION_MARGIN = 0.2f; + + // The scene that I am part of BSScene m_physicsScene; + // The ground plane created to keep thing from falling to infinity. private BulletBody m_groundPlane; // If doing mega-regions, if we're region zero we will be managing multiple @@ -53,6 +67,10 @@ public class BSTerrainManager private Dictionary m_terrains; private Dictionary m_heightMaps; + // True of the terrain has been modified. + // Used to force recalculation of terrain height after terrain has been modified + private bool m_terrainModified; + // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount. // This is incremented before assigning to new region so it is the last ID allocated. private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1; @@ -69,6 +87,7 @@ public class BSTerrainManager m_physicsScene = physicsScene; m_terrains = new Dictionary(); m_heightMaps = new Dictionary(); + m_terrainModified = false; } // Create the initial instance of terrain and the underlying ground plane. @@ -80,17 +99,18 @@ public class BSTerrainManager public void CreateInitialGroundPlaneAndTerrain() { // The ground plane is here to catch things that are trying to drop to negative infinity + BulletShape groundPlaneShape = new BulletShape(BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN)); m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, - BulletSimAPI.CreateGroundPlaneBody2(BSScene.GROUNDPLANE_ID, 1f, 0.4f)); + BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.Ptr, Vector3.Zero, Quaternion.Identity)); BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr); - Vector3 minTerrainCoords = new Vector3(0f, 0f, 24f); - Vector3 maxTerrainCoords = new Vector3(Constants.RegionSize, Constants.RegionSize, 25f); + Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE); + Vector3 maxTerrainCoords = new Vector3(Constants.RegionSize, Constants.RegionSize, HEIGHT_INITIALIZATION); int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; float[] initialMap = new float[totalHeights]; for (int ii = 0; ii < totalHeights; ii++) { - initialMap[ii] = 25f; + initialMap[ii] = HEIGHT_INITIALIZATION; } CreateNewTerrainSegment(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords); } @@ -108,7 +128,7 @@ public class BSTerrainManager if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, kvp.Value.Ptr)) { BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, kvp.Value.Ptr); - BulletSimAPI.ReleaseHeightmapInfo2(m_heightMaps[kvp.Key].Ptr); + BulletSimAPI.ReleaseHeightMapInfo2(m_heightMaps[kvp.Key].Ptr); } } m_terrains.Clear(); @@ -128,30 +148,41 @@ public class BSTerrainManager int hSize = heightMap.Length; for (int ii = 0; ii < hSize; ii++) { - minZ = heightMap[ii] < minZ ? heightMap[ii] : minZ; - maxZ = heightMap[ii] > maxZ ? heightMap[ii] : maxZ; + float height = heightMap[ii]; + if (height < minZ) minZ = height; + if (height > maxZ) maxZ = height; } + // If the terrain is flat, make a difference so we get a bounding box + if (minZ == maxZ) + minZ -= HEIGHT_EQUAL_FUDGE; + minCoords.Z = minZ; maxCoords.Z = maxZ; - // If the terrain is flat, make a difference so we get a good bounding box - if (minZ == maxZ) - minZ -= 0.2f; Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y); // Create the heightmap data structure in the unmanaged space - BulletHeightMapInfo mapInfo = new BulletHeightMapInfo( - BulletSimAPI.CreateHeightmap2(minCoords, maxCoords, heightMap), heightMap); + BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(id, heightMap, + BulletSimAPI.CreateHeightMapInfo2(id, minCoords, maxCoords, heightMap, TERRAIN_COLLISION_MARGIN)); mapInfo.terrainRegionBase = terrainRegionBase; - mapInfo.maxRegionExtent = maxCoords; + mapInfo.minCoords = minCoords; + mapInfo.maxCoords = maxCoords; mapInfo.minZ = minZ; mapInfo.maxZ = maxZ; mapInfo.sizeX = maxCoords.X - minCoords.X; mapInfo.sizeY = maxCoords.Y - minCoords.Y; + Vector3 centerPos; + centerPos.X = minCoords.X + (mapInfo.sizeX / 2f); + centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f); + centerPos.Z = minZ + (maxZ - minZ) / 2f; + DetailLog("{0},BSScene.CreateNewTerrainSegment,call,minZ={1},maxZ={2},hMapPtr={3},minC={4},maxC={5}", BSScene.DetailLogZero, minZ, maxZ, mapInfo.Ptr, minCoords, maxCoords); - // Create the terrain body from that heightmap - BulletBody terrainBody = new BulletBody(id, BulletSimAPI.CreateTerrainBody2(id, mapInfo.Ptr, 0.01f)); + // Create the terrain shape from the mapInfo + BulletShape terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr)); + + BulletBody terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2(terrainShape.Ptr, + centerPos, Quaternion.Identity)); BulletSimAPI.SetFriction2(terrainBody.Ptr, m_physicsScene.Params.terrainFriction); BulletSimAPI.SetHitFraction2(terrainBody.Ptr, m_physicsScene.Params.terrainHitFraction); @@ -163,11 +194,12 @@ public class BSTerrainManager BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, terrainBody.Ptr); BulletSimAPI.UpdateSingleAabb2(m_physicsScene.World.Ptr, terrainBody.Ptr); - // Add the created terrain to the management set. If we are doing mega-regions, // the terrains of our children will be added. m_terrains.Add(terrainRegionBase, terrainBody); m_heightMaps.Add(terrainRegionBase, mapInfo); + + m_terrainModified = true; } public void SetTerrain(float[] heightMap) { @@ -191,34 +223,57 @@ public class BSTerrainManager { float minZ = float.MaxValue; float maxZ = float.MinValue; + Vector2 terrainRegionBase = new Vector2(tOffset.X, tOffset.Y); - // Copy heightMap local and compute some statistics. - // Not really sure if we need to do this deep copy but, given - // the magic that happens to make the closure for taint - // below, I don't want there to be any problem with sharing - // locations of there are multiple calls to this routine - // within one tick. int heightMapSize = heightMap.Length; - float[] localHeightMap = new float[heightMapSize]; for (int ii = 0; ii < heightMapSize; ii++) { float height = heightMap[ii]; if (height < minZ) minZ = height; if (height > maxZ) maxZ = height; - localHeightMap[ii] = height; } - Vector2 terrainRegionBase = new Vector2(tOffset.X, tOffset.Y); + // The shape of the terrain is from its base to its extents. + Vector3 minCoords, maxCoords; + minCoords = tOffset; + minCoords.Z = minZ; + maxCoords = tOffset; + maxCoords.X += Constants.RegionSize; + maxCoords.Y += Constants.RegionSize; + maxCoords.Z = maxZ; + + BulletBody terrainBody; BulletHeightMapInfo mapInfo; if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo)) { + terrainBody = m_terrains[terrainRegionBase]; + // Copy heightMap local and compute some statistics. + for (int ii = 0; ii < heightMapSize; ii++) + { + mapInfo.heightMap[ii] = heightMap[ii]; + } + // If this is terrain we know about, it's easy to update - mapInfo.heightMap = localHeightMap; m_physicsScene.TaintedObject("BSScene.SetTerrain:UpdateExisting", delegate() { DetailLog("{0},SetTerrain:UpdateExisting,baseX={1},baseY={2},minZ={3},maxZ={4}", BSScene.DetailLogZero, tOffset.X, tOffset.Y, minZ, maxZ); - BulletSimAPI.UpdateHeightMap2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.heightMap); + // Fill the existing height map info with the new location and size information + BulletSimAPI.FillHeightMapInfo2(mapInfo.Ptr, mapInfo.ID, minCoords, maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); + + // Create a terrain shape based on the new info + BulletShape terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr)); + + // Swap the shape in the terrain body (this also deletes the old shape) + bool success = BulletSimAPI.ReplaceBodyShape2(m_physicsScene.World.Ptr, terrainBody.Ptr, terrainShape.Ptr); + + if (!success) + { + DetailLog("{0},SetTerrain:UpdateExisting,Failed", BSScene.DetailLogZero); + m_physicsScene.Logger.ErrorFormat("{0} Failed updating terrain heightmap. Region={1}", + LogHeader, m_physicsScene.RegionName); + + } }); } else @@ -226,11 +281,6 @@ public class BSTerrainManager // Our mega-prim child is giving us a new terrain to add to the phys world uint newTerrainID = ++m_terrainCount; - Vector3 minCoords = tOffset; - minCoords.Z = minZ; - Vector3 maxCoords = new Vector3(tOffset.X + Constants.RegionSize, - tOffset.Y + Constants.RegionSize, - maxZ); m_physicsScene.TaintedObject("BSScene.SetTerrain:NewTerrain", delegate() { DetailLog("{0},SetTerrain:NewTerrain,baseX={1},baseY={2}", BSScene.DetailLogZero, tOffset.X, tOffset.Y); @@ -240,9 +290,9 @@ public class BSTerrainManager } // Someday we will have complex terrain with caves and tunnels - // For the moment, it's flat and convex public float GetTerrainHeightAtXYZ(Vector3 loc) { + // For the moment, it's flat and convex return GetTerrainHeightAtXY(loc.X, loc.Y); } @@ -252,9 +302,19 @@ public class BSTerrainManager // the same size and that is the default. // Once the heightMapInfo is found, we have all the information to // compute the offset into the array. + private float lastHeightTX = 999999f; + private float lastHeightTY = 999999f; + private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT; public float GetTerrainHeightAtXY(float tX, float tY) { - float ret = 30f; + // You'd be surprized at the number of times this routine is called + // with the same parameters as last time. + if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY) + return lastHeight; + + lastHeightTX = tX; + lastHeightTY = tY; + float ret = HEIGHT_GETHEIGHT_RET; int offsetX = ((int)(tX / (int)Constants.RegionSize)) * (int)Constants.RegionSize; int offsetY = ((int)(tY / (int)Constants.RegionSize)) * (int)Constants.RegionSize; @@ -265,15 +325,20 @@ public class BSTerrainManager { float regionX = tX - offsetX; float regionY = tY - offsetY; - regionX = regionX > mapInfo.sizeX ? 0 : regionX; - regionY = regionY > mapInfo.sizeY ? 0 : regionY; - ret = mapInfo.heightMap[(int)(regionX * mapInfo.sizeX + regionY)]; + if (regionX > mapInfo.sizeX) regionX = 0; + if (regionY > mapInfo.sizeY) regionY = 0; + int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX; + ret = mapInfo.heightMap[mapIndex]; + m_terrainModified = false; + DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}", + BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret); } else { m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: x={1}, y={2}", LogHeader, tX, tY); } + lastHeight = ret; return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 3b319fb..804d2ea 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -38,13 +38,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // The physics engine controller class created at initialization public struct BulletSim { - public BulletSim(uint id, BSScene bss, IntPtr xx) { ID = id; scene = bss; Ptr = xx; } - public uint ID; + public BulletSim(uint worldId, BSScene bss, IntPtr xx) { worldID = worldId; scene = bss; Ptr = xx; } + public uint worldID; // The scene is only in here so very low level routines have a handle to print debug/error messages public BSScene scene; public IntPtr Ptr; } +public struct BulletShape +{ + public BulletShape(IntPtr xx) { Ptr = xx; } + public IntPtr Ptr; +} + // An allocated Bullet btRigidBody public struct BulletBody { @@ -66,18 +72,22 @@ public struct BulletConstraint // than making copies. public class BulletHeightMapInfo { - public BulletHeightMapInfo(IntPtr xx, float[] hm) { + public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) { + ID = id; Ptr = xx; heightMap = hm; terrainRegionBase = new Vector2(0f, 0f); - maxRegionExtent = new Vector3(100f, 100f, 25f); + minCoords = new Vector3(100f, 100f, 25f); + maxCoords = new Vector3(101f, 101f, 26f); minZ = maxZ = 0f; sizeX = sizeY = 256f; } + public uint ID; public IntPtr Ptr; public float[] heightMap; public Vector2 terrainRegionBase; - public Vector3 maxRegionExtent; + public Vector3 minCoords; + public Vector3 maxCoords; public float sizeX, sizeY; public float minZ, maxZ; } @@ -248,6 +258,10 @@ public enum ConstraintParamAxis : int // =============================================================================== static class BulletSimAPI { +// Link back to the managed code for outputting log messages +[UnmanagedFunctionPointer(CallingConvention.Cdecl)] +public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); + [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [return: MarshalAs(UnmanagedType.LPStr)] public static extern string GetVersion(); @@ -255,7 +269,8 @@ public static extern string GetVersion(); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, int maxCollisions, IntPtr collisionArray, - int maxUpdates, IntPtr updateArray); + int maxUpdates, IntPtr updateArray, + DebugLogCallback logRoutine); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID); @@ -372,8 +387,6 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id); public static extern void DumpBulletStatistics(); // Log a debug message -[UnmanagedFunctionPointer(CallingConvention.Cdecl)] -public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetDebugLogCallback(DebugLogCallback callback); @@ -407,7 +420,7 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetHeightmap2(IntPtr world, float[] heightmap); +public static extern void SetHeightMap2(IntPtr world, float[] heightmap); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void Shutdown2(IntPtr sim); @@ -442,25 +455,31 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ReplaceBodyShape2(IntPtr sim, IntPtr obj, IntPtr shape); // ===================================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateGroundPlaneBody2(uint id, float height, float collisionMargin); +public static extern IntPtr CreateHeightMapInfo2(uint id, Vector3 minCoords, Vector3 maxCoords, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateTerrainBody2(uint id, - IntPtr heightMapInfo, - float collisionMargin); +public static extern IntPtr FillHeightMapInfo2(IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateHeightmap2(Vector3 minCoords, Vector3 maxCoords, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); +public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool ReleaseHeightmapInfo2(IntPtr heightMapInfo); +public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void UpdateHeightMap2(IntPtr world, IntPtr heightMapInfo, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); +public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo); // ===================================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From ffdc7987207de279116a077e2042ed3a1f381a5f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 31 Aug 2012 11:33:36 -0700 Subject: BulletSim: Update BulletSimAPI to match the DLL interface. Major rework of terrain management which finally makes mega-regions work. Update heightmap of terrain by rebuilding the terrain's body and shape. There is a problem with just replacing the shape so this workaround will do for the moment but it will need to be resolved for mesh and hull switching. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 356 +++++++++++++-------- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 8 +- 4 files changed, 231 insertions(+), 137 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index fa21233..747ae71 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -228,7 +228,7 @@ public class BSCharacter : BSPhysObject float terrainHeight = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); if (Position.Z < terrainHeight) { - DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); + DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); _position.Z = terrainHeight + 2.0f; ret = true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 2f55ba4..4a468af 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1070,7 +1070,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].terrainRestitution; }, (s,p,l,v) => { s.m_params[0].terrainRestitution = v; s.TaintedUpdateParameter(p,l,v); } ), new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", - 0.5f, + 0.2f, (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarFriction; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 733d9c2..ab45f8f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -54,17 +54,19 @@ public class BSTerrainManager // amount to make sure that a bounding box is built for the terrain. public const float HEIGHT_EQUAL_FUDGE = 0.2f; - public const float TERRAIN_COLLISION_MARGIN = 0.2f; + public const float TERRAIN_COLLISION_MARGIN = 0.0f; + + // Until the whole simulator is changed to pass us the region size, we rely on constants. + public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, 0f); // The scene that I am part of - BSScene m_physicsScene; + private BSScene m_physicsScene; // The ground plane created to keep thing from falling to infinity. private BulletBody m_groundPlane; // If doing mega-regions, if we're region zero we will be managing multiple // region terrains since region zero does the physics for the whole mega-region. - private Dictionary m_terrains; private Dictionary m_heightMaps; // True of the terrain has been modified. @@ -78,16 +80,22 @@ public class BSTerrainManager // If doing mega-regions, this holds our offset from region zero of // the mega-regions. "parentScene" points to the PhysicsScene of region zero. - private Vector3 m_worldOffset = Vector3.Zero; - public Vector2 WorldExtents = new Vector2((int)Constants.RegionSize, (int)Constants.RegionSize); - private PhysicsScene m_parentScene = null; + private Vector3 m_worldOffset; + // If the parent region (region 0), this is the extent of the combined regions + // relative to the origin of region zero + private Vector3 m_worldMax; + private PhysicsScene m_parentScene; public BSTerrainManager(BSScene physicsScene) { m_physicsScene = physicsScene; - m_terrains = new Dictionary(); m_heightMaps = new Dictionary(); m_terrainModified = false; + + // Assume one region of default size + m_worldOffset = Vector3.Zero; + m_worldMax = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, 4096f); + m_parentScene = null; } // Create the initial instance of terrain and the underlying ground plane. @@ -95,7 +103,7 @@ public class BSTerrainManager // by the managed code. // The terrains and the groundPlane are not added to the list of PhysObjects. // This is called from the initialization routine so we presume it is - // safe to call Bullet in real time. We hope no one is moving around prim yet. + // safe to call Bullet in real time. We hope no one is moving prims around yet. public void CreateInitialGroundPlaneAndTerrain() { // The ground plane is here to catch things that are trying to drop to negative infinity @@ -105,125 +113,91 @@ public class BSTerrainManager BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr); Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE); - Vector3 maxTerrainCoords = new Vector3(Constants.RegionSize, Constants.RegionSize, HEIGHT_INITIALIZATION); + Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION); int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; float[] initialMap = new float[totalHeights]; for (int ii = 0; ii < totalHeights; ii++) { initialMap[ii] = HEIGHT_INITIALIZATION; } - CreateNewTerrainSegment(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords); + UpdateOrCreateTerrain(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords, true); } + // Release all the terrain structures we might have allocated public void ReleaseGroundPlaneAndTerrain() { - if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr)) + if (m_groundPlane.Ptr != IntPtr.Zero) { - BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, m_groundPlane.Ptr); - } - m_groundPlane.Ptr = IntPtr.Zero; - - foreach (KeyValuePair kvp in m_terrains) - { - if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, kvp.Value.Ptr)) + if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr)) { - BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, kvp.Value.Ptr); - BulletSimAPI.ReleaseHeightMapInfo2(m_heightMaps[kvp.Key].Ptr); + BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, m_groundPlane.Ptr); } + m_groundPlane.Ptr = IntPtr.Zero; } - m_terrains.Clear(); - m_heightMaps.Clear(); + + ReleaseTerrain(); } - // Create a new terrain description. This is used for mega-regions where - // the children of region zero give region zero all of the terrain - // segments since region zero does all the physics for the mega-region. - // Call at taint time!! - public void CreateNewTerrainSegment(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) + // Release all the terrain we have allocated + public void ReleaseTerrain() { - // The Z coordinates are recalculated to be the min and max height of the terrain - // itself. The caller may have passed us the real region extent. - float minZ = float.MaxValue; - float maxZ = float.MinValue; - int hSize = heightMap.Length; - for (int ii = 0; ii < hSize; ii++) + foreach (KeyValuePair kvp in m_heightMaps) { - float height = heightMap[ii]; - if (height < minZ) minZ = height; - if (height > maxZ) maxZ = height; + if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, kvp.Value.terrainBody.Ptr)) + { + BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, kvp.Value.terrainBody.Ptr); + BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr); + } } - // If the terrain is flat, make a difference so we get a bounding box - if (minZ == maxZ) - minZ -= HEIGHT_EQUAL_FUDGE; - - minCoords.Z = minZ; - maxCoords.Z = maxZ; - Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y); - - // Create the heightmap data structure in the unmanaged space - BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(id, heightMap, - BulletSimAPI.CreateHeightMapInfo2(id, minCoords, maxCoords, heightMap, TERRAIN_COLLISION_MARGIN)); - mapInfo.terrainRegionBase = terrainRegionBase; - mapInfo.minCoords = minCoords; - mapInfo.maxCoords = maxCoords; - mapInfo.minZ = minZ; - mapInfo.maxZ = maxZ; - mapInfo.sizeX = maxCoords.X - minCoords.X; - mapInfo.sizeY = maxCoords.Y - minCoords.Y; - - Vector3 centerPos; - centerPos.X = minCoords.X + (mapInfo.sizeX / 2f); - centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f); - centerPos.Z = minZ + (maxZ - minZ) / 2f; - - DetailLog("{0},BSScene.CreateNewTerrainSegment,call,minZ={1},maxZ={2},hMapPtr={3},minC={4},maxC={5}", - BSScene.DetailLogZero, minZ, maxZ, mapInfo.Ptr, minCoords, maxCoords); - // Create the terrain shape from the mapInfo - BulletShape terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr)); - - BulletBody terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2(terrainShape.Ptr, - centerPos, Quaternion.Identity)); - - BulletSimAPI.SetFriction2(terrainBody.Ptr, m_physicsScene.Params.terrainFriction); - BulletSimAPI.SetHitFraction2(terrainBody.Ptr, m_physicsScene.Params.terrainHitFraction); - BulletSimAPI.SetRestitution2(terrainBody.Ptr, m_physicsScene.Params.terrainRestitution); - BulletSimAPI.SetCollisionFlags2(terrainBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); - BulletSimAPI.Activate2(terrainBody.Ptr, true); - - // Add the new terrain to the dynamics world - BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, terrainBody.Ptr); - BulletSimAPI.UpdateSingleAabb2(m_physicsScene.World.Ptr, terrainBody.Ptr); - - // Add the created terrain to the management set. If we are doing mega-regions, - // the terrains of our children will be added. - m_terrains.Add(terrainRegionBase, terrainBody); - m_heightMaps.Add(terrainRegionBase, mapInfo); - - m_terrainModified = true; + m_heightMaps.Clear(); } + // The simulator wants to set a new heightmap for the terrain. public void SetTerrain(float[] heightMap) { if (m_worldOffset != Vector3.Zero && m_parentScene != null) { + // If a child of a mega-region, we shouldn't have any terrain allocated for us + ReleaseGroundPlaneAndTerrain(); // If doing the mega-prim stuff and we are the child of the zero region, - // the terrain is really added to our parent + // the terrain is added to our parent if (m_parentScene is BSScene) { - ((BSScene)m_parentScene).TerrainManager.SetTerrain(heightMap, m_worldOffset); + DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", + BSScene.DetailLogZero, m_worldOffset, m_worldMax); + ((BSScene)m_parentScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID, + heightMap, m_worldOffset, m_worldOffset+DefaultRegionSize, false); } } else { - // if not doing the mega-prim thing, just change the terrain - SetTerrain(heightMap, m_worldOffset); + // If not doing the mega-prim thing, just change the terrain + DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); + + UpdateOrCreateTerrain(BSScene.TERRAIN_ID, heightMap, m_worldOffset, m_worldOffset+DefaultRegionSize, false); } } - private void SetTerrain(float[] heightMap, Vector3 tOffset) + // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain + // based on the passed information. The 'id' should be either the terrain id or + // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used. + // The latter feature is for creating child terrains for mega-regions. + // If called with a mapInfo in m_heightMaps but the terrain has no body yet (mapInfo.terrainBody.Ptr == 0) + // then a new body and shape is created and the mapInfo is filled. + // This call is used for doing the initial terrain creation. + // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new + // terrain shape is created and added to the body. + // This call is most often used to update the heightMap and parameters of the terrain. + // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when + // calling this routine from initialization or taint-time routines) or whether to delay + // all the unmanaged activities to taint-time. + private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool doNow) { + DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},doNow={3}", + BSScene.DetailLogZero, minCoords, maxCoords, doNow); + float minZ = float.MaxValue; float maxZ = float.MinValue; - Vector2 terrainRegionBase = new Vector2(tOffset.X, tOffset.Y); + Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y); int heightMapSize = heightMap.Length; for (int ii = 0; ii < heightMapSize; ii++) @@ -234,58 +208,162 @@ public class BSTerrainManager } // The shape of the terrain is from its base to its extents. - Vector3 minCoords, maxCoords; - minCoords = tOffset; minCoords.Z = minZ; - maxCoords = tOffset; - maxCoords.X += Constants.RegionSize; - maxCoords.Y += Constants.RegionSize; maxCoords.Z = maxZ; - BulletBody terrainBody; BulletHeightMapInfo mapInfo; if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo)) { - terrainBody = m_terrains[terrainRegionBase]; - // Copy heightMap local and compute some statistics. - for (int ii = 0; ii < heightMapSize; ii++) - { - mapInfo.heightMap[ii] = heightMap[ii]; - } - // If this is terrain we know about, it's easy to update - m_physicsScene.TaintedObject("BSScene.SetTerrain:UpdateExisting", delegate() + + mapInfo.heightMap = heightMap; + mapInfo.minCoords = minCoords; + mapInfo.maxCoords = maxCoords; + mapInfo.minZ = minZ; + mapInfo.maxZ = maxZ; + mapInfo.sizeX = maxCoords.X - minCoords.X; + mapInfo.sizeY = maxCoords.Y - minCoords.Y; + DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", + BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); + + BSScene.TaintCallback rebuildOperation = delegate() { - DetailLog("{0},SetTerrain:UpdateExisting,baseX={1},baseY={2},minZ={3},maxZ={4}", - BSScene.DetailLogZero, tOffset.X, tOffset.Y, minZ, maxZ); - // Fill the existing height map info with the new location and size information - BulletSimAPI.FillHeightMapInfo2(mapInfo.Ptr, mapInfo.ID, minCoords, maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); + if (m_parentScene != null) + { + // It's possible that Combine() was called after this code was queued. + // If we are a child of combined regions, we don't create any terrain for us. + DetailLog("{0},UpdateOrCreateTerrain:AmACombineChild,taint", BSScene.DetailLogZero); - // Create a terrain shape based on the new info - BulletShape terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr)); + // Get rid of any terrain that may have been allocated for us. + ReleaseGroundPlaneAndTerrain(); - // Swap the shape in the terrain body (this also deletes the old shape) - bool success = BulletSimAPI.ReplaceBodyShape2(m_physicsScene.World.Ptr, terrainBody.Ptr, terrainShape.Ptr); + // I hate doing this, but just bail + return; + } - if (!success) + if (mapInfo.terrainBody.Ptr != IntPtr.Zero) { - DetailLog("{0},SetTerrain:UpdateExisting,Failed", BSScene.DetailLogZero); - m_physicsScene.Logger.ErrorFormat("{0} Failed updating terrain heightmap. Region={1}", - LogHeader, m_physicsScene.RegionName); - + // Updating an existing terrain. + DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", + BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); + + // Remove from the dynamics world because we're going to mangle this object + BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr); + + // Get rid of the old terrain + BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr); + BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr); + mapInfo.Ptr = IntPtr.Zero; + + /* + // NOTE: This routine is half here because I can't get the terrain shape replacement + // to work. In the short term, the above three lines completely delete the old + // terrain and the code below recreates one from scratch. + // Hopefully the Bullet community will help me out on this one. + + // First, release the old collision shape (there is only one terrain) + BulletSimAPI.DeleteCollisionShape2(m_physicsScene.World.Ptr, mapInfo.terrainShape.Ptr); + + // Fill the existing height map info with the new location and size information + BulletSimAPI.FillHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.ID, + mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); + + // Create a terrain shape based on the new info + mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr)); + + // Stuff the shape into the existing terrain body + BulletSimAPI.SetBodyShape2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr, mapInfo.terrainShape.Ptr); + */ } - }); + // else + { + // Creating a new terrain. + DetailLog("{0},UpdateOrCreateTerrain:CreateNewTerrain,taint,baseX={1},baseY={2},minZ={3},maxZ={4}", + BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ); + + mapInfo.ID = id; + mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.ID, + mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); + + // The terrain object initial position is at the center of the object + Vector3 centerPos; + centerPos.X = minCoords.X + (mapInfo.sizeX / 2f); + centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f); + centerPos.Z = minZ + ((maxZ - minZ) / 2f); + + // Create the terrain shape from the mapInfo + mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr)); + + mapInfo.terrainBody = new BulletBody(mapInfo.ID, + BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.Ptr, + centerPos, Quaternion.Identity)); + } + + // Make sure the entry is in the heightmap table + m_heightMaps[terrainRegionBase] = mapInfo; + + // Set current terrain attributes + BulletSimAPI.SetFriction2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainFriction); + BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainHitFraction); + BulletSimAPI.SetRestitution2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainRestitution); + BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + + BulletSimAPI.SetMassProps2(mapInfo.terrainBody.Ptr, 0f, Vector3.Zero); + BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.Ptr); + + // Return the new terrain to the world of physical objects + BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr); + + // redo its bounding box now that it is in the world + BulletSimAPI.UpdateSingleAabb2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr); + + // Make sure the new shape is processed. + BulletSimAPI.Activate2(mapInfo.terrainBody.Ptr, true); + }; + + // There is the option to do the changes now (we're already in 'taint time'), or + // to do the Bullet operations later. + if (doNow) + rebuildOperation(); + else + m_physicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation); } else { - // Our mega-prim child is giving us a new terrain to add to the phys world - uint newTerrainID = ++m_terrainCount; + // We don't know about this terrain so either we are creating a new terrain or + // our mega-prim child is giving us a new terrain to add to the phys world - m_physicsScene.TaintedObject("BSScene.SetTerrain:NewTerrain", delegate() + // if this is a child terrain, calculate a unique terrain id + uint newTerrainID = id; + if (newTerrainID >= BSScene.CHILDTERRAIN_ID) + newTerrainID = ++m_terrainCount; + + float[] heightMapX = heightMap; + Vector3 minCoordsX = minCoords; + Vector3 maxCoordsX = maxCoords; + + DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}", + BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); + + // Code that must happen at taint-time + BSScene.TaintCallback createOperation = delegate() { - DetailLog("{0},SetTerrain:NewTerrain,baseX={1},baseY={2}", BSScene.DetailLogZero, tOffset.X, tOffset.Y); - CreateNewTerrainSegment(newTerrainID, heightMap, minCoords, maxCoords); - }); + DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y); + // Create a new mapInfo that will be filled with the new info + mapInfo = new BulletHeightMapInfo(id, heightMapX, + BulletSimAPI.CreateHeightMapInfo2(m_physicsScene.World.Ptr, newTerrainID, + minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN)); + // Put the unfilled heightmap info into the collection of same + m_heightMaps.Add(terrainRegionBase, mapInfo); + // Build the terrain + UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true); + }; + + // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time. + if (doNow) + createOperation(); + else + m_physicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation); } } @@ -316,8 +394,8 @@ public class BSTerrainManager lastHeightTY = tY; float ret = HEIGHT_GETHEIGHT_RET; - int offsetX = ((int)(tX / (int)Constants.RegionSize)) * (int)Constants.RegionSize; - int offsetY = ((int)(tY / (int)Constants.RegionSize)) * (int)Constants.RegionSize; + int offsetX = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; + int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; Vector2 terrainBaseXY = new Vector2(offsetX, offsetY); BulletHeightMapInfo mapInfo; @@ -335,8 +413,8 @@ public class BSTerrainManager } else { - m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: x={1}, y={2}", - LogHeader, tX, tY); + m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", + LogHeader, m_physicsScene.RegionName, tX, tY); } lastHeight = ret; return ret; @@ -347,20 +425,34 @@ public class BSTerrainManager { return true; } - // This call says I am a child to region zero in a mega-region. 'pScene' is that - // of region zero, 'offset' is my offset from regions zero's origin, and - // 'extents' is the largest XY that is handled in my region. + + // This routine is called two ways: + // One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum + // extent of the combined regions. This is to inform the parent of the size + // of the combined regions. + // and one with 'offset' as the offset of the child region to the base region, + // 'pScene' pointing to the parent and 'extents' of zero. This informs the + // child of its relative base and new parent. public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) { m_worldOffset = offset; - WorldExtents = new Vector2(extents.X, extents.Y); + m_worldMax = extents; m_parentScene = pScene; + if (pScene != null) + { + // We are a child. + // We want m_worldMax to be the highest coordinate of our piece of terrain. + m_worldMax = offset + DefaultRegionSize; + } + DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}", + BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax); } // Unhook all the combining that I know about. public void UnCombine(PhysicsScene pScene) { // Just like ODE, for the moment a NOP + DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 804d2ea..a0bad3a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -90,6 +90,8 @@ public class BulletHeightMapInfo public Vector3 maxCoords; public float sizeX, sizeY; public float minZ, maxZ; + public BulletShape terrainShape; + public BulletBody terrainBody; } // =============================================================================== @@ -462,14 +464,14 @@ public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vecto public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool ReplaceBodyShape2(IntPtr sim, IntPtr obj, IntPtr shape); +public static extern bool SetBodyShape2(IntPtr sim, IntPtr obj, IntPtr shape); // ===================================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateHeightMapInfo2(uint id, Vector3 minCoords, Vector3 maxCoords, +public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr FillHeightMapInfo2(IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, +public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 76dc29dc379036aa44f1ef78782f7ac94760a80f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 31 Aug 2012 13:32:22 -0700 Subject: BulletSim: Modify collision flag calls to return the current flags. Track current collision flags in BSPrim. Add BulletSimAPI calls for saving and restoring rigidBodies using construction information structure. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 9 +++++---- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 16 +++++++++++++--- 2 files changed, 18 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6bfce5c..6fcd416 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -94,6 +94,7 @@ public sealed class BSPrim : BSPhysObject private int _nextCollisionOkTime = 0; long _collidingStep; long _collidingGroundStep; + CollisionFlags m_currentCollisionFlags = 0; public override BulletBody Body { get; set; } @@ -143,6 +144,7 @@ public sealed class BSPrim : BSPhysObject // At the moment, we're still letting BulletSim manage the creation and destruction // of the object. Someday we'll move that into the C# code. Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); + m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(Body.Ptr); }); } @@ -483,8 +485,7 @@ public sealed class BSPrim : BSPhysObject // recompute any linkset parameters Linkset.Refresh(this); - CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr); - DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); + DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, m_currentCollisionFlags); } // prims don't fly @@ -644,7 +645,7 @@ public sealed class BSPrim : BSPhysObject Scene.TaintedObject("BSPrim.SubscribeEvents", delegate() { - BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } } @@ -652,7 +653,7 @@ public sealed class BSPrim : BSPhysObject _subscribedEventsMs = 0; Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate() { - BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } public override bool SubscribedEvents() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index a0bad3a..d28c14b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -461,10 +461,20 @@ public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetBodyShape2(IntPtr sim, IntPtr obj, IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr AllocateBodyInfo2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ReleaseBodyInfo2(IntPtr obj); + // ===================================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, @@ -604,13 +614,13 @@ public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags); +public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); +public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); +public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); -- cgit v1.1 From 189f51233e48026347a3443628350044e4b6fe8a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 31 Aug 2012 13:39:29 -0700 Subject: BulletSim: PhysicsActorType() now returns the correct value rather than 'unknown'. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++-- 2 files changed, 3 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 747ae71..dc2b595 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -92,6 +92,7 @@ public class BSCharacter : BSPhysObject _localID = localID; _avName = avName; Scene = parent_scene; + _physicsActorType = (int)ActorTypes.Agent; _position = pos; _size = size; _flying = isFlying; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6fcd416..de182f8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -114,6 +114,7 @@ public sealed class BSPrim : BSPhysObject // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); _localID = localID; _avName = primName; + _physicsActorType = (int)ActorTypes.Prim; _scene = parent_scene; _position = pos; _size = size; @@ -444,8 +445,7 @@ public sealed class BSPrim : BSPhysObject } public override int PhysicsActorType { get { return _physicsActorType; } - set { _physicsActorType = value; - } + set { _physicsActorType = value; } } public override bool IsPhysical { get { return _isPhysical; } -- cgit v1.1 From 3c097cb7a9634f711fffb56c0a6912487694aa53 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 6 Sep 2012 08:05:53 -0700 Subject: BulletSim: Add some comments (gasp) and log messages. --- OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 4 ++++ OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 5 +++++ OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 4 ++-- 4 files changed, 13 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index d9270d1..2e15ced 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -98,6 +98,10 @@ public abstract class BSConstraint : IDisposable { // m_world.scene.PhysicsLogging.Write("{0},BSConstraint.RecomputeConstraintVariables,taint,enabling,A={1},B={2}", // BSScene.DetailLogZero, Body1.ID, Body2.ID); + + // Setting an object's mass to zero (making it static like when it's selected) + // automatically disables the constraints. + // If enabled, be sure to set the constraint itself to enabled. BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true)); } else diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index b04e1b6..3111258 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -245,8 +245,8 @@ public class BSLinkset // their constraints have not been created yet. // Caused by the fact that m_children is built at run time but building constraints // happens at taint time. - // m_physicsScene.Logger.ErrorFormat("[BULLETSIM LINKSET] RecomputeLinksetConstraintVariables: constraint not found for root={0}, child={1}", - // m_linksetRoot.Body.ID, child.Body.ID); + // m_physicsScene.Logger.ErrorFormat("{0} RecomputeLinksetConstraintVariables: constraint not found for root={1}, child={2}", + // LogHeader, m_linksetRoot.Body.ID, child.Body.ID); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index de182f8..01f231b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -472,6 +472,10 @@ public sealed class BSPrim : BSPhysObject // Make gravity work if the object is physical and not selected // No locking here because only called when it is safe + // There are three flags we're interested in: + // IsStatic: Object does not move, otherwise the object has mass and moves + // isSolid: other objects bounce off of this object + // collisionEvents: whether this object returns collision events private void SetObjectDynamic() { // If it's becoming dynamic, it will need hullness @@ -481,6 +485,7 @@ public sealed class BSPrim : BSPhysObject float mass = IsStatic ? 0f : _mass; BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); + m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(Body.Ptr); // recompute any linkset parameters Linkset.Refresh(this); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index ab45f8f..4285073 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -408,8 +408,8 @@ public class BSTerrainManager int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX; ret = mapInfo.heightMap[mapIndex]; m_terrainModified = false; - DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}", - BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret); + // DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}", + // BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret); } else { -- cgit v1.1 From 126eae71009001c5455e4896cf12317422bbac51 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 7 Sep 2012 15:46:14 -0700 Subject: BulletSim: Add Bullet body and shape to BSPhysObject and rename 'Body' to 'BSBody' for disambiguation when reading code. Complete the API2 interface so nearly all methods on bullet classes are available to the managed code. The efficient single call simulation step is kept in place while all other creation/destruction/parameterization can be done in the managed code. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 11 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 10 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 6 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 96 ++++- .../Physics/BulletSPlugin/BSTerrainManager.cs | 4 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 440 +++++++++++++++++++-- 6 files changed, 505 insertions(+), 62 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index dc2b595..fa22c78 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -73,7 +73,8 @@ public class BSCharacter : BSPhysObject private bool _kinematic; private float _buoyancy; - public override BulletBody Body { get; set; } + public override BulletBody BSBody { get; set; } + public override BulletShape BSShape { get; set; } public override BSLinkset Linkset { get; set; } private int _subscribedEventsMs = 0; @@ -129,9 +130,9 @@ public class BSCharacter : BSPhysObject // Set the buoyancy for flying. This will be refactored when all the settings happen in C# BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); - Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID)); + BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID)); // avatars get all collisions no matter what (makes walking on ground and such work) - BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); return; @@ -441,7 +442,7 @@ public class BSCharacter : BSPhysObject Scene.TaintedObject("BSCharacter.AddForce", delegate() { DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); - BulletSimAPI.AddObjectForce2(Body.Ptr, _force); + BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); }); } else @@ -466,7 +467,7 @@ public class BSCharacter : BSPhysObject Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate() { - BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 3111258..5f6601d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -233,7 +233,7 @@ public class BSLinkset foreach (BSPhysObject child in m_children) { BSConstraint constrain; - if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.Body, child.Body, out constrain)) + if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) { // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); @@ -327,7 +327,7 @@ public class BSLinkset DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint); BS6DofConstraint constrain = new BS6DofConstraint( - m_physicsScene.World, rootPrim.Body, childPrim.Body, + m_physicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true @@ -388,10 +388,10 @@ public class BSLinkset DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); // Find the constraint for this link and get rid of it from the overall collection and from my list - m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body, childPrim.Body); + m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody); // Make the child refresh its location - BulletSimAPI.PushUpdate2(childPrim.Body.Ptr); + BulletSimAPI.PushUpdate2(childPrim.BSBody.Ptr); } // Remove linkage between myself and any possible children I might have @@ -400,7 +400,7 @@ public class BSLinkset { DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); - m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.Body); + m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); } // Invoke the detailed logger and output something if it's enabled. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index ef463ca..e411fcb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -48,7 +48,11 @@ public abstract class BSPhysObject : PhysicsActor // Return the object mass without calculating it or side effects public abstract float MassRaw { get; } - public abstract BulletBody Body { get; set; } + // Reference to the physical body (btCollisionObject) of this object + public abstract BulletBody BSBody { get; set; } + // Reference to the physical shape (btCollisionShape) of this object + public abstract BulletShape BSShape { get; set; } + public abstract void ZeroMotion(); public virtual void StepVehicle(float timeStep) { } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 01f231b..6d0af63 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -96,7 +96,8 @@ public sealed class BSPrim : BSPhysObject long _collidingGroundStep; CollisionFlags m_currentCollisionFlags = 0; - public override BulletBody Body { get; set; } + public override BulletBody BSBody { get; set; } + public override BulletShape BSShape { get; set; } private BSDynamics _vehicle; @@ -144,8 +145,9 @@ public sealed class BSPrim : BSPhysObject // Get the pointer to the physical body for this object. // At the moment, we're still letting BulletSim manage the creation and destruction // of the object. Someday we'll move that into the C# code. - Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); - m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(Body.Ptr); + BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); + BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); + m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); }); } @@ -261,10 +263,10 @@ public sealed class BSPrim : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - BulletSimAPI.SetVelocity2(Body.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(Body.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolation2(Body.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); - BulletSimAPI.ClearForces2(Body.Ptr); + BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(BSBody.Ptr); } public override void LockAngularMotion(OMV.Vector3 axis) @@ -327,7 +329,7 @@ public sealed class BSPrim : BSPhysObject { DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); - BulletSimAPI.SetObjectForce2(Body.Ptr, _force); + BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); }); } } @@ -472,10 +474,11 @@ public sealed class BSPrim : BSPhysObject // Make gravity work if the object is physical and not selected // No locking here because only called when it is safe - // There are three flags we're interested in: - // IsStatic: Object does not move, otherwise the object has mass and moves - // isSolid: other objects bounce off of this object - // collisionEvents: whether this object returns collision events + // There are four flags we're interested in: + // IsStatic: Object does not move, otherwise the object has mass and moves + // isSolid: other objects bounce off of this object + // isVolumeDetect: other objects pass through but can generate collisions + // collisionEvents: whether this object returns collision events private void SetObjectDynamic() { // If it's becoming dynamic, it will need hullness @@ -485,14 +488,68 @@ public sealed class BSPrim : BSPhysObject float mass = IsStatic ? 0f : _mass; BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); - m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(Body.Ptr); + /* + BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr); + + // Set up the object physicalness (static or dynamic) + MakeDynamic(); + + // Make solid or not and arrange for collisions, etc + MakeSolid(); - // recompute any linkset parameters + m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); + + BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr); + */ + + // Recompute any linkset parameters. + // When going from non-physical to physical, this re-enables the constraints that + // had been automatically disabled when the mass was set to zero. Linkset.Refresh(this); DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, m_currentCollisionFlags); } + // "Making dynamic" means changing to and from static. + // When static, gravity does not effect the object and it is fixed in space. + // When dynamic, the object can fall and be pushed by others. + // This is independent of its 'solidness' which controls what passes through + // this object and what interacts with it. + private void MakeDynamic() + { + if (IsStatic) + { + // Become a Bullet 'static' object type + BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + // Stop all movement + BulletSimAPI.ClearAllForces2(BSBody.Ptr); + // Mass is zero which disables a bunch of physics stuff in Bullet + BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero); + // There is no inertia in a static object + BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); + // The activation state is 'sleeping' so Bullet will not try to act on it + BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING); + } + else + { + // Not a Bullet static object + BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + // A dynamic object has mass + BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, OMV.Vector3.Zero); + // The shape is interesting and has mass and a center of gravity + IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr); + BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass, OMV.Vector3.Zero); + // Inertia is based on our new mass + BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); + // Force activation of the object so Bullet will act on it. + BulletSimAPI.Activate2(BSBody.Ptr, true); + } + } + + private void MakeSolid() + { + } + // prims don't fly public override bool Flying { get { return _flying; } @@ -615,7 +672,7 @@ public sealed class BSPrim : BSPhysObject } else { - m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); + m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); return; } _scene.TaintedObject("BSPrim.AddForce", delegate() @@ -630,7 +687,8 @@ public sealed class BSPrim : BSPhysObject m_accumulatedForces.Clear(); } DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); - BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); + // For unknown reason, "ApplyCentralForce" is really additive. + BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum); }); } @@ -650,7 +708,7 @@ public sealed class BSPrim : BSPhysObject Scene.TaintedObject("BSPrim.SubscribeEvents", delegate() { - m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } } @@ -658,7 +716,7 @@ public sealed class BSPrim : BSPhysObject _subscribedEventsMs = 0; Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate() { - m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } public override bool SubscribedEvents() { @@ -1243,7 +1301,7 @@ public sealed class BSPrim : BSPhysObject bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); // the CreateObject() may have recreated the rigid body. Make sure we have the latest. - Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); + BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 4285073..47d7199 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -403,8 +403,8 @@ public class BSTerrainManager { float regionX = tX - offsetX; float regionY = tY - offsetY; - if (regionX > mapInfo.sizeX) regionX = 0; - if (regionY > mapInfo.sizeY) regionY = 0; + if (regionX >= mapInfo.sizeX || regionX < 0f) regionX = 0; + if (regionY >= mapInfo.sizeY || regionY < 0f) regionY = 0; int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX; ret = mapInfo.heightMap[mapIndex]; m_terrainModified = false; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index d28c14b..e579cf2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -218,7 +218,20 @@ public struct ConfigurationParameters public const float numericFalse = 0f; } -// Values used by Bullet and BulletSim to control collisions + +// The states a bullet collision object can have +public enum ActivationState : uint +{ + ACTIVE_TAG = 1, + ISLAND_SLEEPING, + WANTS_DEACTIVATION, + DISABLE_DEACTIVATION, + DISABLE_SIMULATION +} + +// Values used by Bullet and BulletSim to control object properties. +// Bullet's "CollisionFlags" has more to do with operations on the +// object (if collisions happen, if gravity effects it, ...). public enum CollisionFlags : uint { CF_STATIC_OBJECT = 1 << 0, @@ -233,8 +246,75 @@ public enum CollisionFlags : uint BS_VOLUME_DETECT_OBJECT = 1 << 11, BS_PHANTOM_OBJECT = 1 << 12, BS_PHYSICAL_OBJECT = 1 << 13, + BS_TERRAIN_OBJECT = 1 << 14, + BS_NONE = 0, + BS_ALL = 0xFFFFFFFF +}; + +// Values for collisions groups and masks +public enum CollisionFilterGroups : uint +{ + NoneFilter = 0, + DefaultFilter = 1 << 0, + StaticFilter = 1 << 1, + KinematicFilter = 1 << 2, + DebrisFilter = 1 << 3, + SensorTrigger = 1 << 4, + CharacterFilter = 1 << 5, + AllFilter = 0xFFFFFFFF, + // Filter groups defined by BulletSim + GroundPlaneFilter = 1 << 10, + TerrainFilter = 1 << 11, + RaycastFilter = 1 << 12, + SolidFilter = 1 << 13, }; + // For each type, we first clear and then set the collision flags +public enum ClearCollisionFlag : uint +{ + Terrain = CollisionFlags.BS_ALL, + Phantom = CollisionFlags.BS_ALL, + VolumeDetect = CollisionFlags.BS_ALL, + PhysicalObject = CollisionFlags.BS_ALL, + StaticObject = CollisionFlags.BS_ALL +} + +public enum SetCollisionFlag : uint +{ + Terrain = CollisionFlags.CF_STATIC_OBJECT + | CollisionFlags.BS_TERRAIN_OBJECT, + Phantom = CollisionFlags.CF_STATIC_OBJECT + | CollisionFlags.BS_PHANTOM_OBJECT + | CollisionFlags.CF_NO_CONTACT_RESPONSE, + VolumeDetect = CollisionFlags.CF_STATIC_OBJECT + | CollisionFlags.BS_VOLUME_DETECT_OBJECT + | CollisionFlags.CF_NO_CONTACT_RESPONSE, + PhysicalObject = CollisionFlags.BS_PHYSICAL_OBJECT, + StaticObject = CollisionFlags.CF_STATIC_OBJECT, +} + +// Collision filters used for different types of objects +public enum SetCollisionFilter : uint +{ + Terrain = CollisionFilterGroups.AllFilter, + Phantom = CollisionFilterGroups.GroundPlaneFilter + | CollisionFilterGroups.TerrainFilter, + VolumeDetect = CollisionFilterGroups.AllFilter, + PhysicalObject = CollisionFilterGroups.AllFilter, + StaticObject = CollisionFilterGroups.AllFilter, +} + +// Collision masks used for different types of objects +public enum SetCollisionMask : uint +{ + Terrain = CollisionFilterGroups.AllFilter, + Phantom = CollisionFilterGroups.GroundPlaneFilter + | CollisionFilterGroups.TerrainFilter, + VolumeDetect = CollisionFilterGroups.AllFilter, + PhysicalObject = CollisionFilterGroups.AllFilter, + StaticObject = CollisionFilterGroups.AllFilter +} + // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. public enum ConstraintParams : int @@ -347,6 +427,7 @@ public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 veloc [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity); +// Set the current force acting on the object [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force); @@ -403,6 +484,7 @@ public static extern void SetDebugLogCallback(DebugLogCallback callback); // The names have a "2" tacked on. This will be removed as the C# code gets rebuilt // and the old code is removed. +// Functions use while converting from API1 to API2. Can be removed when totally converted. [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetSimHandle2(uint worldID); @@ -413,6 +495,7 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); // =============================================================================== +// Initialization and simulation [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, int maxCollisions, IntPtr collisionArray, @@ -438,6 +521,7 @@ public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSt public static extern bool PushUpdate2(IntPtr obj); // ===================================================================================== +// Mesh, hull, shape and body creation helper routines [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateMeshShape2(IntPtr world, int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, @@ -467,15 +551,19 @@ public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetBodyShape2(IntPtr sim, IntPtr obj, IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr AllocateBodyInfo2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void ReleaseBodyInfo2(IntPtr obj); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DestroyObject2(IntPtr sim, IntPtr obj); + // ===================================================================================== +// Terrain creation and helper routines +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpMapInfo(IntPtr sim, IntPtr manInfo); + [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); @@ -494,6 +582,7 @@ public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo); // ===================================================================================== +// Constraint creation and helper routines [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 frame1loc, Quaternion frame1rot, @@ -546,69 +635,145 @@ public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); // ===================================================================================== +// btCollisionWorld entries +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateAabbs2(IntPtr world); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool GetForceUpdateAllAabbs2(IntPtr world); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force); + +// ===================================================================================== +// btDynamicsWorld entries [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain); // ===================================================================================== +// btCollisionObject entries +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool HasAnisotripicFriction2(IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetContactProcessingThreshold2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetContactProcessingThreshold2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsStaticObject2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsKinematicObject2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsStaticOrKinematicObject2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool HasContactResponse2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetCollisionShape2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetActivationState2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetActivationState2(IntPtr obj, int state); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetDeactivationTime2(IntPtr obj, float dtime); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetDeactivationTime2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ForceActivationState2(IntPtr obj, ActivationState state); + [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void Activate2(IntPtr obj, bool forceActivation); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetPosition2(IntPtr obj); +public static extern bool IsActive2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Quaternion GetOrientation2(IntPtr obj); +public static extern void SetRestitution2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); +public static extern float GetRestitution2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity); +public static extern void SetFriction2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); +public static extern float GetFriction2(IntPtr obj); + /* Haven't defined the type 'Transform' [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); +public static extern Transform GetWorldTransform2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool AddObjectForce2(IntPtr obj, Vector3 force); +public static extern void setWorldTransform2(IntPtr obj, Transform trans); + */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); +public static extern Vector3 GetPosition2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val); +public static extern Quaternion GetOrientation2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping); +public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetDeactivationTime2(IntPtr obj, float val); +public static extern IntPtr GetBroadphaseHandle2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); +public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle); + /* [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); +public static extern Transform GetInterpolationWorldTransform2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetFriction2(IntPtr obj, float val); +public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); + */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetHitFraction2(IntPtr obj, float val); +public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetRestitution2(IntPtr obj, float val); +public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); +public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); +public static extern float GetHitFraction2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetHitFraction2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); @@ -623,30 +788,245 @@ public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFl public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); +public static extern float GetCcdMotionThreshold2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCcdMotionThreshold2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetCcdSweepSphereRadius2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCcdSweepSphereRadius2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetUserPointer2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetUserPointer2(IntPtr obj, IntPtr val); + +// ===================================================================================== +// btRigidBody entries +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyGravity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetGravity2(IntPtr obj, Vector3 val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetGravity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetLinearDamping2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetAngularDamping2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetLinearSleepingThreshold2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetAngularSleepingThreshold2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyDamping2(IntPtr obj, float timeStep); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UpdateInertiaTensor2(IntPtr obj); +public static extern Vector3 GetLinearFactor2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetGravity2(IntPtr obj, Vector3 val); +public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor); + /* [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr ClearForces2(IntPtr obj); +public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans); + */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr ClearAllForces2(IntPtr obj); +public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot); +// Add a force to the object as if its mass is one. [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetMargin2(IntPtr obj, float val); +public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force); +// Set the force being applied to the object as if its mass is one. [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); +public static extern void SetObjectForce2(IntPtr obj, Vector3 force); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyObject2(IntPtr world, IntPtr obj); +public static extern Vector3 GetTotalForce2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetTotalTorque2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyTorque2(IntPtr obj, Vector3 torque); + +// Apply force at the given point. Will add torque to the object. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos); + +// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp); + +// Apply impulse to the object's torque. Force is scaled by object's mass. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp); + +// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ClearForces2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ClearAllForces2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateInertiaTensor2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj); + + /* +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Transform GetCenterOfMassTransform2(IntPtr obj); + */ + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetLinearVelocity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetAngularVelocity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Translate2(IntPtr obj, Vector3 trans); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateDeactivation2(IntPtr obj, float timeStep); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool WantsSleeping2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetAngularFactor2(IntPtr obj, float factor); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetAngularFactor2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsInWorld2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetConstraintRef2(IntPtr obj, int index); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetNumConstraintRefs2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetDeltaLinearVelocity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetDeltaAngularVelocity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetPushVelocity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetTurnVelocity2(IntPtr obj); + +// ===================================================================================== +// btCollisionShape entries + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetAngularMotionDisc2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsPolyhedral2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsConvex2d2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsConvex2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsNonMoving2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsConcave2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsCompound2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsSoftBody2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsInfinite2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetLocalScaling2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void CalculateLocalInertia2(IntPtr shape, float mass, Vector3 inertia); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetShapeType2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetMargin2(IntPtr shape, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetMargin2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint mask); + +// ===================================================================================== +// Debugging +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpPhysicsStatistics2(IntPtr sim); } -- cgit v1.1 From 2c5ff9399063080276a23bcd06fb696d653bef2e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Sep 2012 08:11:54 -0700 Subject: BulletSim: Way too many changes in one commit. Many changes to BSDynamic for readability and commentary. Linkset hacking for vehicles: don't over mass the root prim. Add parameter for link constraint solver iterations. Correct uses of timestep in timescale calculations for vehicles. Reorganize code/logic for making objects static and dynamic for readability and use of API2. Changed most calls in BSPrim to use API2 calls (the new way). Avatars do not generate default Bullet collision events but do call up to the simulator for every avatar. Reduces overhead. Objects added to collision list only if they are processing collisions. Reduces overhead especially for large numbers of avatars. Generalize call for water height to GetWaterHeightAtXYZ(). Catch and correct exception getting terrain height when out of bounds. Correct race condition in Terrain Manager where creation wasn't at taint-time. Add API calls for constructing compound shapes. Move NeedsMeshing() logic into object class. Reorganize logic for object meshing to reduce rebuilding of meshs/hulls. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 17 +- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 16 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 218 +++++++++------------ OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 32 ++- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 196 ++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 67 ++++--- .../Physics/BulletSPlugin/BSTerrainManager.cs | 60 +++--- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 29 ++- 9 files changed, 351 insertions(+), 286 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index fa22c78..a9b1365 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -131,8 +131,6 @@ public class BSCharacter : BSPhysObject BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID)); - // avatars get all collisions no matter what (makes walking on ground and such work) - BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); return; @@ -480,11 +478,10 @@ public class BSCharacter : BSPhysObject // Stop collision events public override void UnSubscribeEvents() { _subscribedEventsMs = 0; - // Avatars get all their collision events - // Scene.TaintedObject("BSCharacter.UnSubscribeEvents", delegate() - // { - // BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - // }); + Scene.TaintedObject("BSCharacter.UnSubscribeEvents", delegate() + { + BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + }); } // Return 'true' if someone has subscribed to events public override bool SubscribedEvents() { @@ -532,10 +529,12 @@ public class BSCharacter : BSPhysObject // The collision, if it should be reported to the character, is placed in a collection // that will later be sent to the simulator when SendCollisions() is called. CollisionEventUpdate collisionCollection = null; - public override void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) + public override bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) { // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); + bool ret = false; + // The following makes IsColliding() and IsCollidingGround() work _collidingStep = Scene.SimulationStep; if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID) @@ -553,8 +552,10 @@ public class BSCharacter : BSPhysObject if (collisionCollection == null) collisionCollection = new CollisionEventUpdate(); collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + ret = true; } } + return ret; } public override void SendCollisions() diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 2e15ced..1376a29 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -74,6 +74,17 @@ public abstract class BSConstraint : IDisposable return ret; } + public virtual bool SetSolverIterations(float cnt) + { + bool ret = false; + if (m_enabled) + { + BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.Ptr, cnt); + ret = true; + } + return ret; + } + public virtual bool CalculateTransforms() { bool ret = false; @@ -96,12 +107,9 @@ public abstract class BSConstraint : IDisposable ret = CalculateTransforms(); if (ret) { - // m_world.scene.PhysicsLogging.Write("{0},BSConstraint.RecomputeConstraintVariables,taint,enabling,A={1},B={2}", - // BSScene.DetailLogZero, Body1.ID, Body2.ID); - // Setting an object's mass to zero (making it static like when it's selected) // automatically disables the constraints. - // If enabled, be sure to set the constraint itself to enabled. + // If the link is enabled, be sure to set the constraint itself to enabled. BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true)); } else diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 8169e99..098fea7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -80,7 +80,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Linear properties private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL - private Vector3 m_dir = Vector3.Zero; // velocity applied to body + private Vector3 m_newVelocity = Vector3.Zero; // velocity computed to be applied to body private Vector3 m_linearFrictionTimescale = Vector3.Zero; private float m_linearMotorDecayTimescale = 0; private float m_linearMotorTimescale = 0; @@ -475,32 +475,33 @@ namespace OpenSim.Region.Physics.BulletSPlugin frcount = 0; MoveLinear(pTimestep); - MoveAngular(pTimestep); + // MoveAngular(pTimestep); LimitRotation(pTimestep); + // remember the position so next step we can limit absolute movement effects + m_lastPositionVector = m_prim.Position; + VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); }// end Step private void MoveLinear(float pTimestep) { - // requested m_linearMotorDirection is significant - // if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) - if (m_linearMotorDirection.LengthSquared() > 0.0001f) + // m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates + // m_lastLinearVelocityVector is the speed we are moving in that direction + if (m_linearMotorDirection.LengthSquared() > 0.001f) { Vector3 origDir = m_linearMotorDirection; Vector3 origVel = m_lastLinearVelocityVector; // add drive to body - // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); - Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale); - // lastLinearVelocityVector is the current body velocity vector? + // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale / pTimestep); + Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep); + // lastLinearVelocityVector is the current body velocity vector // RA: Not sure what the *10 is for. A correction for pTimestep? // m_lastLinearVelocityVector += (addAmount*10); m_lastLinearVelocityVector += addAmount; - // This will work temporarily, but we really need to compare speed on an axis - // KF: Limit body velocity to applied velocity? // Limit the velocity vector to less than the last set linear motor direction if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; @@ -509,34 +510,29 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z)) m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z; + /* // decay applied velocity - Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); + Vector3 decayfraction = Vector3.One/(m_linearMotorDecayTimescale / pTimestep); + // (RA: do not know where the 0.5f comes from) m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; - - /* - Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/m_linearMotorTimescale; - m_lastLinearVelocityVector += addAmount; - - float decayfraction = (1.0f - 1.0f / m_linearMotorDecayTimescale); - m_linearMotorDirection *= decayfraction; - */ + float keepfraction = 1.0f - (1.0f / (m_linearMotorDecayTimescale / pTimestep)); + m_linearMotorDirection *= keepfraction; - VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", - m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector); + VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}", + m_prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector); } else { - // if what remains of applied is small, zero it. - // if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f)) - // m_lastLinearVelocityVector = Vector3.Zero; + // if what remains of direction is very small, zero it. m_linearMotorDirection = Vector3.Zero; m_lastLinearVelocityVector = Vector3.Zero; + VDetailLog("{0},MoveLinear,zeroed", m_prim.LocalID); } // convert requested object velocity to object relative vector Quaternion rotq = m_prim.Orientation; - m_dir = m_lastLinearVelocityVector * rotq; + m_newVelocity = m_lastLinearVelocityVector * rotq; // Add the various forces into m_dir which will be our new direction vector (velocity) @@ -544,60 +540,31 @@ namespace OpenSim.Region.Physics.BulletSPlugin // KF: So far I have found no good method to combine a script-requested // .Z velocity and gravity. Therefore only 0g will used script-requested // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. - Vector3 grav = Vector3.Zero; // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - grav.Z = m_prim.Scene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy); + Vector3 grav = m_prim.Scene.DefaultGravity * (m_prim.Mass * (1f - m_VehicleBuoyancy)); + + /* + * RA: Not sure why one would do this // Preserve the current Z velocity Vector3 vel_now = m_prim.Velocity; m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity + */ Vector3 pos = m_prim.Position; - Vector3 posChange = pos; // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); - double Zchange = Math.Abs(posChange.Z); - if (m_BlockingEndPoint != Vector3.Zero) - { - bool changed = false; - if (pos.X >= (m_BlockingEndPoint.X - (float)1)) - { - pos.X -= posChange.X + 1; - changed = true; - } - if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) - { - pos.Y -= posChange.Y + 1; - changed = true; - } - if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) - { - pos.Z -= posChange.Z + 1; - changed = true; - } - if (pos.X <= 0) - { - pos.X += posChange.X + 1; - changed = true; - } - if (pos.Y <= 0) - { - pos.Y += posChange.Y + 1; - changed = true; - } - if (changed) - { - m_prim.Position = pos; - VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", - m_prim.LocalID, m_BlockingEndPoint, posChange, pos); - } - } // If below the terrain, move us above the ground a little. - if (pos.Z < m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos)) + float terrainHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos); + // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. + // Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. + // Vector3 rotatedSize = m_prim.Size * m_prim.Orientation; + // if (rotatedSize.Z < terrainHeight) + if (pos.Z < terrainHeight) { - pos.Z = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2; + pos.Z = terrainHeight + 2; m_prim.Position = pos; - VDetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); + VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", m_prim.LocalID, terrainHeight, pos); } // Check if hovering @@ -606,11 +573,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // We should hover, get the target height if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) { - m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight; + m_VhoverTargetHeight = m_prim.Scene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { - m_VhoverTargetHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; + m_VhoverTargetHeight = terrainHeight + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) { @@ -635,82 +602,92 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Replace Vertical speed with correction figure if significant if (Math.Abs(herr0) > 0.01f) { - m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale); + m_newVelocity.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale); //KF: m_VhoverEfficiency is not yet implemented } else { - m_dir.Z = 0f; + m_newVelocity.Z = 0f; } } - VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight); + VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight); + } -// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped -// m_VhoverTimescale = 0f; // time to acheive height -// pTimestep is time since last frame,in secs + Vector3 posChange = pos - m_lastPositionVector; + if (m_BlockingEndPoint != Vector3.Zero) + { + bool changed = false; + if (pos.X >= (m_BlockingEndPoint.X - (float)1)) + { + pos.X -= posChange.X + 1; + changed = true; + } + if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) + { + pos.Y -= posChange.Y + 1; + changed = true; + } + if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) + { + pos.Z -= posChange.Z + 1; + changed = true; + } + if (pos.X <= 0) + { + pos.X += posChange.X + 1; + changed = true; + } + if (pos.Y <= 0) + { + pos.Y += posChange.Y + 1; + changed = true; + } + if (changed) + { + m_prim.Position = pos; + VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", + m_prim.LocalID, m_BlockingEndPoint, posChange, pos); + } } + float Zchange = Math.Abs(posChange.Z); if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { - //Start Experimental Values if (Zchange > .3) - { grav.Z = (float)(grav.Z * 3); - } if (Zchange > .15) - { grav.Z = (float)(grav.Z * 2); - } if (Zchange > .75) - { grav.Z = (float)(grav.Z * 1.5); - } if (Zchange > .05) - { grav.Z = (float)(grav.Z * 1.25); - } if (Zchange > .025) - { grav.Z = (float)(grav.Z * 1.125); - } - float terraintemp = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos); - float postemp = (pos.Z - terraintemp); + float postemp = (pos.Z - terrainHeight); if (postemp > 2.5f) - { grav.Z = (float)(grav.Z * 1.037125); - } VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav); - //End Experimental Values } if ((m_flags & (VehicleFlag.NO_X)) != 0) - { - m_dir.X = 0; - } + m_newVelocity.X = 0; if ((m_flags & (VehicleFlag.NO_Y)) != 0) - { - m_dir.Y = 0; - } + m_newVelocity.Y = 0; if ((m_flags & (VehicleFlag.NO_Z)) != 0) - { - m_dir.Z = 0; - } - - m_lastPositionVector = m_prim.Position; + m_newVelocity.Z = 0; // Apply velocity - m_prim.Velocity = m_dir; + m_prim.Velocity = m_newVelocity; // apply gravity force // Why is this set here? The physics engine already does gravity. // m_prim.AddForce(grav, false); - // m_prim.Force = grav; // Apply friction - Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); - m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; + Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); + m_lastLinearVelocityVector *= keepFraction; - VDetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", - m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount); + VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}", + m_prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction); } // end MoveLinear() @@ -735,17 +712,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin // There are m_angularMotorApply steps. Vector3 origAngularVelocity = m_angularMotorVelocity; // ramp up to new value - // current velocity += error / (time to get there / step interval) - // requested speed - last motor speed + // current velocity += error / ( time to get there / step interval) + // requested speed - last motor speed m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); - VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", - m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); + VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}", + m_prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); - m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected - // velocity may still be acheived. + // This is done so that if script request rate is less than phys frame rate the expected + // velocity may still be acheived. + m_angularMotorApply--; } else { @@ -760,7 +738,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 vertattr = Vector3.Zero; if (m_verticalAttractionTimescale < 300) { - float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); + float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep); // get present body rotation Quaternion rotq = m_prim.Orientation; // make a vector pointing up @@ -863,16 +841,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_rot.Y = 0; changed = true; } - if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) - { - m_rot.X = 0; - m_rot.Y = 0; - changed = true; - } if (changed) + { m_prim.Orientation = m_rot; + VDetailLog("{0},LimitRotation,done,orig={1},new={2}", m_prim.LocalID, rotq, m_rot); + } - VDetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot); } // Invoke the detailed logger and output something if it's enabled. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 5f6601d..dc1de6c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -206,7 +206,7 @@ public class BSLinkset // its internal properties. public void Refresh(BSPhysObject requestor) { - // If there are no children, there aren't any constraints to recompute + // If there are no children, there can't be any constraints to recompute if (!HasAnyChildren) return; @@ -225,11 +225,12 @@ public class BSLinkset // from a linkset to make sure the constraints know about the new mass and // geometry. // Must only be called at taint time!! - private bool RecomputeLinksetConstraintVariables() + private void RecomputeLinksetConstraintVariables() { float linksetMass = LinksetMass; lock (m_linksetActivityLock) { + bool somethingMissing = false; foreach (BSPhysObject child in m_children) { BSConstraint constrain; @@ -241,16 +242,29 @@ public class BSLinkset } else { - // Non-fatal error that can happen when children are being added to the linkset but + // Non-fatal error that happens when children are being added to the linkset but // their constraints have not been created yet. // Caused by the fact that m_children is built at run time but building constraints // happens at taint time. - // m_physicsScene.Logger.ErrorFormat("{0} RecomputeLinksetConstraintVariables: constraint not found for root={1}, child={2}", - // LogHeader, m_linksetRoot.Body.ID, child.Body.ID); + somethingMissing = true; + break; } } + + // If the whole linkset is not here, doesn't make sense to recompute the root prim now. + if (!somethingMissing) + { + // The root prim takes on the weight of the whole linkset + /* + OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(LinksetRoot.BSShape.Ptr, linksetMass); + BulletSimAPI.SetMassProps2(LinksetRoot.BSBody.Ptr, linksetMass, inertia); + OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); + BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); + BulletSimAPI.UpdateInertiaTensor2(LinksetRoot.BSBody.Ptr); + */ + } } - return false; + return; } // I am the root of a linkset and a new child is being added @@ -296,9 +310,9 @@ public class BSLinkset DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); PhysicallyUnlinkAChildFromRoot(rootx, childx); + RecomputeLinksetConstraintVariables(); }); - RecomputeLinksetConstraintVariables(); } else { @@ -377,6 +391,10 @@ public class BSLinkset PhysicsScene.Params.linkConstraintTransMotorMaxVel, PhysicsScene.Params.linkConstraintTransMotorMaxForce); constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); + if (PhysicsScene.Params.linkConstraintSolverIterations != 0f) + { + constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations); + } RecomputeLinksetConstraintVariables(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index e411fcb..969c53e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -41,7 +41,7 @@ public abstract class BSPhysObject : PhysicsActor { public abstract BSLinkset Linkset { get; set; } - public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, + public abstract bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); public abstract void SendCollisions(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6d0af63..481a8db 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -136,11 +136,11 @@ public sealed class BSPrim : BSPhysObject Linkset = new BSLinkset(Scene, this); // a linkset of one _vehicle = new BSDynamics(Scene, this); // add vehicleness _mass = CalculateMass(); - // do the actual object creation at taint time DetailLog("{0},BSPrim.constructor,call", LocalID); + // do the actual object creation at taint time _scene.TaintedObject("BSPrim.create", delegate() { - RecreateGeomAndObject(); + CreateGeomAndObject(true); // Get the pointer to the physical body for this object. // At the moment, we're still letting BulletSim manage the creation and destruction @@ -186,9 +186,10 @@ public sealed class BSPrim : BSPhysObject _scene.TaintedObject("BSPrim.setSize", delegate() { _mass = CalculateMass(); // changing size changes the mass - BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); - DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); - RecreateGeomAndObject(); + // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct + // scale and margins are set. + CreateGeomAndObject(true); + DetailLog("{0}: BSPrim.setSize: size={1}, scale={2}, mass={3}, physical={4}", LocalID, _size, _scale, _mass, IsPhysical); }); } } @@ -198,7 +199,7 @@ public sealed class BSPrim : BSPhysObject _scene.TaintedObject("BSPrim.setShape", delegate() { _mass = CalculateMass(); // changing the shape changes the mass - RecreateGeomAndObject(); + CreateGeomAndObject(false); }); } } @@ -279,7 +280,7 @@ public sealed class BSPrim : BSPhysObject get { if (!Linkset.IsRoot(this)) // child prims move around based on their parent. Need to get the latest location - _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + _position = BulletSimAPI.GetPosition2(BSBody.Ptr); // don't do the GetObjectPosition for root elements because this function is called a zillion times // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); @@ -291,7 +292,7 @@ public sealed class BSPrim : BSPhysObject _scene.TaintedObject("BSPrim.setPosition", delegate() { DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); + BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation); }); } } @@ -302,7 +303,8 @@ public sealed class BSPrim : BSPhysObject { get { - return Linkset.LinksetMass; + // return Linkset.LinksetMass; + return _mass; } } @@ -328,7 +330,6 @@ public sealed class BSPrim : BSPhysObject _scene.TaintedObject("BSPrim.setForce", delegate() { DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); - // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); }); } @@ -406,7 +407,7 @@ public sealed class BSPrim : BSPhysObject _scene.TaintedObject("BSPrim.setVelocity", delegate() { DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); - BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); + BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, _velocity); }); } } @@ -430,7 +431,7 @@ public sealed class BSPrim : BSPhysObject if (!Linkset.IsRoot(this)) { // Children move around because tied to parent. Get a fresh value. - _orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID); + _orientation = BulletSimAPI.GetOrientation2(BSBody.Ptr); } return _orientation; } @@ -441,7 +442,7 @@ public sealed class BSPrim : BSPhysObject { // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); + BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation); }); } } @@ -483,31 +484,37 @@ public sealed class BSPrim : BSPhysObject { // If it's becoming dynamic, it will need hullness VerifyCorrectPhysicalShape(); + UpdatePhysicalParameters(); + } + private void UpdatePhysicalParameters() + { + /* // Bullet wants static objects to have a mass of zero float mass = IsStatic ? 0f : _mass; BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); - /* + */ BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr); - // Set up the object physicalness (static or dynamic) - MakeDynamic(); + // Set up the object physicalness (does gravity and collisions move this object) + MakeDynamic(IsStatic); - // Make solid or not and arrange for collisions, etc - MakeSolid(); + // Make solid or not (do things bounce off or pass through this object) + MakeSolid(IsSolid); - m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); + // Arrange for collisions events if the simulator wants them + EnableCollisions(SubscribedEvents()); BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr); - */ // Recompute any linkset parameters. // When going from non-physical to physical, this re-enables the constraints that // had been automatically disabled when the mass was set to zero. Linkset.Refresh(this); - DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, m_currentCollisionFlags); + DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,static={1},solid={2},mass={3}, cf={4}", + LocalID, IsStatic, IsSolid, _mass, m_currentCollisionFlags); } // "Making dynamic" means changing to and from static. @@ -515,12 +522,12 @@ public sealed class BSPrim : BSPhysObject // When dynamic, the object can fall and be pushed by others. // This is independent of its 'solidness' which controls what passes through // this object and what interacts with it. - private void MakeDynamic() + private void MakeDynamic(bool makeStatic) { - if (IsStatic) + if (makeStatic) { // Become a Bullet 'static' object type - BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement BulletSimAPI.ClearAllForces2(BSBody.Ptr); // Mass is zero which disables a bunch of physics stuff in Bullet @@ -533,12 +540,11 @@ public sealed class BSPrim : BSPhysObject else { // Not a Bullet static object - BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); // A dynamic object has mass - BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, OMV.Vector3.Zero); - // The shape is interesting and has mass and a center of gravity IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr); - BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass, OMV.Vector3.Zero); + OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass); + BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, inertia); // Inertia is based on our new mass BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); // Force activation of the object so Bullet will act on it. @@ -546,8 +552,31 @@ public sealed class BSPrim : BSPhysObject } } - private void MakeSolid() + // "Making solid" means that other object will not pass through this object. + private void MakeSolid(bool makeSolid) { + if (makeSolid) + { + // Easy in Bullet -- just remove the object flag that controls collision response + m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + } + else + { + m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + } + } + + // Turn on or off the flag controlling whether collision events are returned to the simulator. + private void EnableCollisions(bool wantsCollisionEvents) + { + if (wantsCollisionEvents) + { + m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + } + else + { + m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + } } // prims don't fly @@ -607,7 +636,7 @@ public sealed class BSPrim : BSPhysObject _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); - BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); + BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, _rotationalVelocity); }); } } @@ -624,7 +653,10 @@ public sealed class BSPrim : BSPhysObject _scene.TaintedObject("BSPrim.setBuoyancy", delegate() { DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); - BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); + // Buoyancy is faked by changing the gravity applied to the object + float grav = Scene.Params.gravity * (1f - _buoyancy); + BulletSimAPI.SetGravity2(BSBody.Ptr, new OMV.Vector3(0f, 0f, grav)); + // BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); }); } } @@ -686,8 +718,8 @@ public sealed class BSPrim : BSPhysObject } m_accumulatedForces.Clear(); } - DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); - // For unknown reason, "ApplyCentralForce" is really additive. + DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); + // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum); }); } @@ -1030,29 +1062,36 @@ public sealed class BSPrim : BSPhysObject // Returns 'true' if the geometry was rebuilt private bool CreateGeom(bool forceRebuild) { - // the mesher thought this was too simple to mesh. Use a native Bullet collision shape. bool ret = false; - if (!_scene.NeedsMeshing(_pbs)) + bool haveShape = false; + + // If the prim attributes are simple, this could be a simple Bullet native shape + if ((_pbs.SculptEntry && !Scene.ShouldMeshSculptedPrim) + || (_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) ) { if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) { - // if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) - // { - // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); - if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) - { - DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild); - _shapeType = ShapeData.PhysicsShapeType.SHAPE_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; - } - // } + haveShape = true; + if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) + { + DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild); + _shapeType = ShapeData.PhysicsShapeType.SHAPE_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); @@ -1063,16 +1102,16 @@ public sealed class BSPrim : BSPhysObject } } } - else + // 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 will create the mesh if it doesn't already exist - CreateGeomHull(); - ret = true; + // This also creates the mesh if it doesn't already exist + ret = CreateGeomHull(); } } else @@ -1080,8 +1119,7 @@ public sealed class BSPrim : BSPhysObject if (forceRebuild || _meshKey == 0) { // Static (non-physical) objects only need a mesh for bumping into - CreateGeomMesh(); - ret = true; + ret = CreateGeomMesh(); } } } @@ -1089,7 +1127,8 @@ public sealed class BSPrim : BSPhysObject } // No locking here because this is done when we know physics is not simulating - private void CreateGeomMesh() + // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs). + private bool CreateGeomMesh() { // level of detail based on size and type of the object float lod = _scene.MeshLOD; @@ -1103,7 +1142,7 @@ public sealed class BSPrim : BSPhysObject // 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; + 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 @@ -1140,19 +1179,19 @@ public sealed class BSPrim : BSPhysObject _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; // meshes are already scaled by the meshmerizer _scale = new OMV.Vector3(1f, 1f, 1f); - DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID); - return; + return true; } // No locking here because this is done when we know physics is not simulating - private void CreateGeomHull() + // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs). + private bool CreateGeomHull() { float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.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; + if (newHullKey == _hullKey) return false; DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey); @@ -1255,7 +1294,7 @@ public sealed class BSPrim : BSPhysObject // meshes are already scaled by the meshmerizer _scale = new OMV.Vector3(1f, 1f, 1f); DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID); - return; + return true; } // Callback from convex hull creater with a newly created hull. @@ -1268,20 +1307,12 @@ public sealed class BSPrim : BSPhysObject private void VerifyCorrectPhysicalShape() { - if (IsStatic) - { - // if static, we don't need a hull so, if there is one, rebuild without it - if (_hullKey != 0) - { - RecreateGeomAndObject(); - } - } - else + if (!IsStatic) { // if not static, it will need a hull to efficiently collide with things if (_hullKey == 0) { - RecreateGeomAndObject(); + CreateGeomAndObject(false); } } @@ -1300,8 +1331,9 @@ public sealed class BSPrim : BSPhysObject // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type); bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); - // the CreateObject() may have recreated the rigid body. Make sure we have the latest. + // the CreateObject() may have recreated the rigid body. Make sure we have the latest address. BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); + BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); return ret; } @@ -1325,15 +1357,20 @@ public sealed class BSPrim : BSPhysObject shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; } - // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. // No locking here because this is done when the physics engine is not simulating - private void RecreateGeomAndObject() + private void CreateGeomAndObject(bool forceRebuild) { - // m_log.DebugFormat("{0}: RecreateGeomAndObject. lID={1}", LogHeader, _localID); - if (CreateGeom(true)) + // 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(); + // Make sure the properties are set on the new object + UpdatePhysicalParameters(); + } return; } @@ -1430,9 +1467,10 @@ public sealed class BSPrim : BSPhysObject // I've collided with something // Called at taint time from within the Step() function CollisionEventUpdate collisionCollection; - public override void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) + public override bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); + bool ret = false; // The following lines make IsColliding() and IsCollidingGround() work _collidingStep = _scene.SimulationStep; @@ -1446,7 +1484,7 @@ public sealed class BSPrim : BSPhysObject // prims in the same linkset cannot collide with each other if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) { - return; + return ret; } // if someone has subscribed for collision events.... @@ -1459,8 +1497,10 @@ public sealed class BSPrim : BSPhysObject if (collisionCollection == null) collisionCollection = new CollisionEventUpdate(); collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + ret = true; } } + return ret; } // The scene is telling us it's time to pass our collected collisions into the simulator diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 4a468af..eea899f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -79,7 +79,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters private HashSet m_objectsWithCollisions = new HashSet(); // Following is a kludge and can be removed when avatar animation updating is // moved to a better place. - private HashSet m_avatarsWithCollisions = new HashSet(); + private HashSet m_avatarsWithCollisions = new HashSet(); // List of all the objects that have vehicle properties and should be called // to update each physics step. @@ -132,8 +132,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters private EntityProperties[] m_updateArray; private GCHandle m_updateArrayPinnedHandle; - private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed - private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes + public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed + public bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes public float PID_D { get; private set; } // derivative public float PID_P { get; private set; } // proportional @@ -153,6 +153,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters { get { return new Vector3(0f, 0f, Params.gravity); } } + // Just the Z value of the gravity + public float DefaultGravityZ + { + get { return Params.gravity; } + } public float MaximumObjectMass { get; private set; } @@ -171,8 +176,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters callback = c; } } + private Object _taintLock = new Object(); // lock for using the next object private List _taintedObjects; - private Object _taintLock = new Object(); // A pointer to an instance if this structure is passed to the C++ code // Used to pass basic configuration values to the unmanaged code. @@ -478,6 +483,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Some of the prims operate with special vehicle properties ProcessVehicles(timeStep); + numTaints += _taintedObjects.Count; ProcessTaints(); // the vehicles might have added taints // step the physical world one interval @@ -506,6 +512,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Get a value for 'now' so all the collision and update routines don't have to get their own SimulationNowTime = Util.EnvironmentTickCount(); + // This is a kludge to get avatar movement updates. + // ODE sends collisions for avatars even if there are have been no collisions. This updates + // avatar animations and stuff. + // If you fix avatar animation updates, remove this overhead and let collisions happen. + m_objectsWithCollisions = new HashSet(m_avatarsWithCollisions); + // If there were collisions, process them by sending the event to the prim. // Collisions must be processed before updates. if (collidersCount > 0) @@ -527,13 +539,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters bsp.SendCollisions(); m_objectsWithCollisions.Clear(); - // This is a kludge to get avatar movement updated. - // ODE sends collisions even if there are none and this is used to update - // avatar animations and stuff. - foreach (BSPhysObject bpo in m_avatarsWithCollisions) - bpo.SendCollisions(); - // m_avatarsWithCollisions.Clear(); - // If any of the objects had updated properties, tell the object it has been changed by the physics engine if (updatedEntityCount > 0) { @@ -544,7 +549,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (PhysObjects.TryGetValue(entprop.ID, out pobj)) { pobj.UpdateProperties(entprop); - continue; } } } @@ -600,8 +604,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); - collider.Collide(collidingWith, collidee, type, collidePoint, collideNormal, penetration); - m_objectsWithCollisions.Add(collider); + if (collider.Collide(collidingWith, collidee, type, collidePoint, collideNormal, penetration)) + { + // If a collision was posted, remember to send it to the simulator + m_objectsWithCollisions.Add(collider); + } return; } @@ -619,9 +626,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void SetWaterLevel(float baseheight) { m_waterLevel = baseheight; - // TODO: pass to physics engine so things will float? } - public float GetWaterLevel() + // Someday.... + public float GetWaterLevelAtXYZ(Vector3 loc) { return m_waterLevel; } @@ -672,7 +679,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // int iPropertiesNotSupportedDefault = 0; - if (pbs.SculptEntry && !_meshSculptedPrim) + if (pbs.SculptEntry && !ShouldMeshSculptedPrim) { // Render sculpties as boxes return false; @@ -680,7 +687,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since Bullet // can use an internal representation for the prim - if (!_forceSimplePrimMeshing) + if (!ShouldForceSimplePrimMeshing) { if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) || (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 @@ -782,7 +789,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return; lock (_taintLock) + { _taintedObjects.Add(new TaintCallbackEntry(ident, callback)); + } + return; } @@ -919,14 +929,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters { new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s._meshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); }, - (s) => { return s.NumericBool(s._meshSculptedPrim); }, - (s,p,l,v) => { s._meshSculptedPrim = s.BoolNumeric(v); } ), + (s,cf,p,v) => { s.ShouldMeshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); }, + (s) => { return s.NumericBool(s.ShouldMeshSculptedPrim); }, + (s,p,l,v) => { s.ShouldMeshSculptedPrim = s.BoolNumeric(v); } ), new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s._forceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, - (s) => { return s.NumericBool(s._forceSimplePrimMeshing); }, - (s,p,l,v) => { s._forceSimplePrimMeshing = s.BoolNumeric(v); } ), + (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, + (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); }, + (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ), new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 8f, @@ -1162,8 +1172,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), - new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=none, 1=all. Default=0", - 0.0f, + new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", + 0.1f, (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linkConstraintCFM; }, (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), @@ -1172,6 +1182,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linkConstraintERP; }, (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), + new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", + 40, + (s,cf,p,v) => { s.m_params[0].linkConstraintSolverIterations = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].linkConstraintSolverIterations; }, + (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ), new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)", 0f, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 47d7199..d48462e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -154,27 +154,31 @@ public class BSTerrainManager // The simulator wants to set a new heightmap for the terrain. public void SetTerrain(float[] heightMap) { - if (m_worldOffset != Vector3.Zero && m_parentScene != null) + float[] localHeightMap = heightMap; + m_physicsScene.TaintedObject("TerrainManager.SetTerrain", delegate() { - // If a child of a mega-region, we shouldn't have any terrain allocated for us - ReleaseGroundPlaneAndTerrain(); - // If doing the mega-prim stuff and we are the child of the zero region, - // the terrain is added to our parent - if (m_parentScene is BSScene) + if (m_worldOffset != Vector3.Zero && m_parentScene != null) { - DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", - BSScene.DetailLogZero, m_worldOffset, m_worldMax); - ((BSScene)m_parentScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID, - heightMap, m_worldOffset, m_worldOffset+DefaultRegionSize, false); + // If a child of a mega-region, we shouldn't have any terrain allocated for us + ReleaseGroundPlaneAndTerrain(); + // If doing the mega-prim stuff and we are the child of the zero region, + // the terrain is added to our parent + if (m_parentScene is BSScene) + { + DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", + BSScene.DetailLogZero, m_worldOffset, m_worldMax); + ((BSScene)m_parentScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID, + localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true); + } } - } - else - { - // If not doing the mega-prim thing, just change the terrain - DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); + else + { + // If not doing the mega-prim thing, just change the terrain + DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); - UpdateOrCreateTerrain(BSScene.TERRAIN_ID, heightMap, m_worldOffset, m_worldOffset+DefaultRegionSize, false); - } + UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true); + } + }); } // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain @@ -319,6 +323,8 @@ public class BSTerrainManager // Make sure the new shape is processed. BulletSimAPI.Activate2(mapInfo.terrainBody.Ptr, true); + + m_terrainModified = true; }; // There is the option to do the changes now (we're already in 'taint time'), or @@ -357,6 +363,8 @@ public class BSTerrainManager m_heightMaps.Add(terrainRegionBase, mapInfo); // Build the terrain UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true); + + m_terrainModified = true; }; // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time. @@ -383,7 +391,7 @@ public class BSTerrainManager private float lastHeightTX = 999999f; private float lastHeightTY = 999999f; private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT; - public float GetTerrainHeightAtXY(float tX, float tY) + private float GetTerrainHeightAtXY(float tX, float tY) { // You'd be surprized at the number of times this routine is called // with the same parameters as last time. @@ -403,11 +411,18 @@ public class BSTerrainManager { float regionX = tX - offsetX; float regionY = tY - offsetY; - if (regionX >= mapInfo.sizeX || regionX < 0f) regionX = 0; - if (regionY >= mapInfo.sizeY || regionY < 0f) regionY = 0; int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX; - ret = mapInfo.heightMap[mapIndex]; - m_terrainModified = false; + try + { + ret = mapInfo.heightMap[mapIndex]; + } + catch + { + // Sometimes they give us wonky values of X and Y. Give a warning and return something. + m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}", + LogHeader, terrainBaseXY, regionX, regionY); + ret = HEIGHT_GETHEIGHT_RET; + } // DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}", // BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret); } @@ -416,6 +431,7 @@ public class BSTerrainManager m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", LogHeader, m_physicsScene.RegionName, tX, tY); } + m_terrainModified = false; lastHeight = ret; return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index e579cf2..043423e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -213,6 +213,7 @@ public struct ConfigurationParameters public float linkConstraintTransMotorMaxForce; public float linkConstraintERP; public float linkConstraintCFM; + public float linkConstraintSolverIterations; public const float numericTrue = 1f; public const float numericFalse = 0f; @@ -395,23 +396,6 @@ public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CreateObject(uint worldID, ShapeData shapeData); -/* Remove old functionality -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void AddConstraint(uint worldID, uint id1, uint id2, - Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot, - Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool RemoveConstraintByID(uint worldID, uint id1); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); - */ - [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetObjectPosition(uint WorldID, uint id); @@ -545,6 +529,15 @@ public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateCompoundShape2(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -1010,7 +1003,7 @@ public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale); public static extern Vector3 GetLocalScaling2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void CalculateLocalInertia2(IntPtr shape, float mass, Vector3 inertia); +public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int GetShapeType2(IntPtr shape); -- cgit v1.1 From c0fec70b1ad3047b8e543558a6aaee2916bd7b3f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Sep 2012 10:10:29 -0700 Subject: BulletSim: Add 'IsNativeShape2' call --- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 043423e..087c61b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -523,10 +523,7 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, float shapeType, float collisionMargin, Vector3 scale); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); +public static extern bool IsNativeShape2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateCompoundShape2(IntPtr sim); @@ -541,6 +538,12 @@ public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr re public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From d86cbe637943acde05528d0bce6dc61a77257cc0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Sep 2012 10:11:25 -0700 Subject: BulletSim: remove unused NeedsMeshing() code from BSScene. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 116 ------------------------ 1 file changed, 116 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index eea899f..9c958d5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -56,7 +56,6 @@ using OpenMetaverse; // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect // Implement LockAngularMotion // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) -// Does NeedsMeshing() really need to exclude all the different shapes? // Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet. // Add PID movement operations. What does ScenePresence.MoveToTarget do? // Check terrain size. 128 or 127? @@ -666,121 +665,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override bool IsThreaded { get { return false; } } - /// - /// Routine to figure out if we need to mesh this prim with our mesher - /// - /// - /// true if the prim needs meshing - public bool NeedsMeshing(PrimitiveBaseShape pbs) - { - // most of this is redundant now as the mesher will return null if it cant mesh a prim - // but we still need to check for sculptie meshing being enabled so this is the most - // convenient place to do it for now... - - // int iPropertiesNotSupportedDefault = 0; - - if (pbs.SculptEntry && !ShouldMeshSculptedPrim) - { - // Render sculpties as boxes - return false; - } - - // if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since Bullet - // can use an internal representation for the prim - if (!ShouldForceSimplePrimMeshing) - { - if ((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)) - { - - if (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) - { - return false; - } - } - } - - /* TODO: verify that the mesher will now do all these shapes - if (pbs.ProfileHollow != 0) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathBegin != 0) || pbs.PathEnd != 0) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0)) - iPropertiesNotSupportedDefault++; - - if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100)) - iPropertiesNotSupportedDefault++; - - if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0)) - iPropertiesNotSupportedDefault++; - - if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight) - iPropertiesNotSupportedDefault++; - - if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X)) - iPropertiesNotSupportedDefault++; - - if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1) - iPropertiesNotSupportedDefault++; - - // test for torus - if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square) - { - if (pbs.PathCurve == (byte)Extrusion.Curve1) - { - iPropertiesNotSupportedDefault++; - } - } - else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle) - { - if (pbs.PathCurve == (byte)Extrusion.Straight) - { - iPropertiesNotSupportedDefault++; - } - // ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits - else if (pbs.PathCurve == (byte)Extrusion.Curve1) - { - iPropertiesNotSupportedDefault++; - } - } - else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle) - { - if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2) - { - iPropertiesNotSupportedDefault++; - } - } - else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle) - { - if (pbs.PathCurve == (byte)Extrusion.Straight) - { - iPropertiesNotSupportedDefault++; - } - else if (pbs.PathCurve == (byte)Extrusion.Curve1) - { - iPropertiesNotSupportedDefault++; - } - } - if (iPropertiesNotSupportedDefault == 0) - { - return false; - } - */ - return true; - } - // Calls to the PhysicsActors can't directly call into the physics engine // because it might be busy. We delay changes to a known time. // We rely on C#'s closure to save and restore the context for the delegate. -- cgit v1.1 From 7c347f4c5c966848669b979b367e1bc3912621d5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Sep 2012 10:11:39 -0700 Subject: BulletSim: Add calls to linkset class when object going static or dynamic. Reset center of mass on an object when going dynamic. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 20 ++++++++++++++++++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 20 ++++++++++++++------ 2 files changed, 32 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index dc1de6c..3d73887 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -202,6 +202,24 @@ public class BSLinkset return com; } + // The object is going dynamic (physical). Do any setup necessary + // for a dynamic linkset. + // Return 'true' if any properties updated on the passed object. + // Called at taint-time! + public bool MakeDynamic(BSPhysObject child) + { + return false; + } + + // The object is going static (non-physical). Do any setup necessary + // for a static linkset. + // Return 'true' if any properties updated on the passed object. + // Called at taint-time! + public bool MakeStatic(BSPhysObject child) + { + return false; + } + // When physical properties are changed the linkset needs to recalculate // its internal properties. public void Refresh(BSPhysObject requestor) @@ -255,13 +273,11 @@ public class BSLinkset if (!somethingMissing) { // The root prim takes on the weight of the whole linkset - /* OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(LinksetRoot.BSShape.Ptr, linksetMass); BulletSimAPI.SetMassProps2(LinksetRoot.BSBody.Ptr, linksetMass, inertia); OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); BulletSimAPI.UpdateInertiaTensor2(LinksetRoot.BSBody.Ptr); - */ } } return; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 481a8db..04b7be5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -530,10 +530,14 @@ public sealed class BSPrim : BSPhysObject m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement BulletSimAPI.ClearAllForces2(BSBody.Ptr); + // Center of mass is at the center of the object + BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.Ptr, _position, _orientation); // Mass is zero which disables a bunch of physics stuff in Bullet BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero); // There is no inertia in a static object BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); + // There can be special things needed for implementing linksets + Linkset.MakeStatic(this); // The activation state is 'sleeping' so Bullet will not try to act on it BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING); } @@ -543,10 +547,12 @@ public sealed class BSPrim : BSPhysObject m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); // A dynamic object has mass IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr); - OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass); + OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass); BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, inertia); // Inertia is based on our new mass BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); + // There can be special things needed for implementing linksets + Linkset.MakeDynamic(this); // Force activation of the object so Bullet will act on it. BulletSimAPI.Activate2(BSBody.Ptr, true); } @@ -1055,11 +1061,12 @@ public sealed class BSPrim : BSPhysObject }// end CalculateMass #endregion Mass Calculation - // 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 + // 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; @@ -1128,6 +1135,7 @@ public sealed class BSPrim : BSPhysObject // 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 -- cgit v1.1 From f0a098924e8a3f64692de5d3326bfbdfb2b208a2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Sep 2012 13:51:28 -0700 Subject: BulletSim: set all linkset objects center of mass to the whole linkset's center of mass --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 3d73887..7e784eb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -204,11 +204,14 @@ public class BSLinkset // The object is going dynamic (physical). Do any setup necessary // for a dynamic linkset. + // Only the state of the passed object can be modified. The rest of the linkset + // has not yet been fully constructed. // Return 'true' if any properties updated on the passed object. // Called at taint-time! public bool MakeDynamic(BSPhysObject child) { - return false; + bool ret = false; + return ret; } // The object is going static (non-physical). Do any setup necessary @@ -217,6 +220,7 @@ public class BSLinkset // Called at taint-time! public bool MakeStatic(BSPhysObject child) { + // What is done for each object in BSPrim is what we want. return false; } @@ -269,15 +273,24 @@ public class BSLinkset } } - // If the whole linkset is not here, doesn't make sense to recompute the root prim now. + // If the whole linkset is not here, doesn't make sense to recompute linkset wide values if (!somethingMissing) { + // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass + OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); + BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); + foreach (BSPhysObject child in m_children) + { + BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); + } + /* // The root prim takes on the weight of the whole linkset OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(LinksetRoot.BSShape.Ptr, linksetMass); BulletSimAPI.SetMassProps2(LinksetRoot.BSBody.Ptr, linksetMass, inertia); OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); BulletSimAPI.UpdateInertiaTensor2(LinksetRoot.BSBody.Ptr); + */ } } return; -- cgit v1.1 From 6632eb7c051e2638ea1c58c2876e7d6825398556 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Sep 2012 13:51:42 -0700 Subject: BulletSim: Remove calculation and passing of unused collied object type. Fix collision code to properly sense mega-region children regions as terrain. When setting an object physical, reset all the physical properties (friction, ...). --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 8 +++---- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 28 +++++++++++++++++----- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 26 ++++++++------------ 4 files changed, 36 insertions(+), 28 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index a9b1365..526dbad 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -529,22 +529,20 @@ public class BSCharacter : BSPhysObject // The collision, if it should be reported to the character, is placed in a collection // that will later be sent to the simulator when SendCollisions() is called. CollisionEventUpdate collisionCollection = null; - public override bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) + public override bool Collide(uint collidingWith, BSPhysObject collidee, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) { - // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); - bool ret = false; // The following makes IsColliding() and IsCollidingGround() work _collidingStep = Scene.SimulationStep; - if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID) + if (collidingWith <= Scene.TerrainManager.HighestTerrainID) { _collidingGroundStep = Scene.SimulationStep; } // DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith); // throttle collisions to the rate specified in the subscription - if (_subscribedEventsMs != 0) { + if (SubscribedEvents()) { int nowTime = Scene.SimulationNowTime; if (nowTime >= _nextCollisionOkTime) { _nextCollisionOkTime = nowTime + _subscribedEventsMs; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 969c53e..3fe71e1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -41,7 +41,7 @@ public abstract class BSPhysObject : PhysicsActor { public abstract BSLinkset Linkset { get; set; } - public abstract bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, + public abstract bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); public abstract void SendCollisions(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 04b7be5..6827be0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -545,14 +545,31 @@ public sealed class BSPrim : BSPhysObject { // Not a Bullet static object m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + + // Set various physical properties so internal things will get computed correctly as they are set + BulletSimAPI.SetFriction2(BSBody.Ptr, Scene.Params.defaultFriction); + BulletSimAPI.SetRestitution2(BSBody.Ptr, Scene.Params.defaultRestitution); + // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 + BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + // A dynamic object has mass IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr); OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass); BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, inertia); // Inertia is based on our new mass BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); + + // Various values for simulation limits + BulletSimAPI.SetDamping2(BSBody.Ptr, Scene.Params.linearDamping, Scene.Params.angularDamping); + BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, Scene.Params.deactivationTime); + BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, Scene.Params.linearSleepingThreshold, Scene.Params.angularSleepingThreshold); + BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, Scene.Params.contactProcessingThreshold); + // There can be special things needed for implementing linksets Linkset.MakeDynamic(this); + // Force activation of the object so Bullet will act on it. BulletSimAPI.Activate2(BSBody.Ptr, true); } @@ -1475,16 +1492,15 @@ public sealed class BSPrim : BSPhysObject // I've collided with something // Called at taint time from within the Step() function CollisionEventUpdate collisionCollection; - public override bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) + public override bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { - // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); bool ret = false; // The following lines make IsColliding() and IsCollidingGround() work - _collidingStep = _scene.SimulationStep; - if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID) + _collidingStep = Scene.SimulationStep; + if (collidingWith <= Scene.TerrainManager.HighestTerrainID) { - _collidingGroundStep = _scene.SimulationStep; + _collidingGroundStep = Scene.SimulationStep; } // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith); @@ -1498,7 +1514,7 @@ public sealed class BSPrim : BSPhysObject // if someone has subscribed for collision events.... if (SubscribedEvents()) { // throttle the collisions to the number of milliseconds specified in the subscription - int nowTime = _scene.SimulationNowTime; + int nowTime = Scene.SimulationNowTime; if (nowTime >= _nextCollisionOkTime) { _nextCollisionOkTime = nowTime + _subscribedEventsMs; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 9c958d5..c38867f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -583,27 +583,21 @@ public class BSScene : PhysicsScene, IPhysicsParameters return; // don't send collisions to the terrain } - BSPhysObject collider = PhysObjects[localID]; - // TODO: as of this code, terrain was not in the physical object list. - // When BSTerrain is created and it will be in the list, we can remove - // the possibility that it's not there and just fetch the collidee. - BSPhysObject collidee = null; - - ActorTypes type = ActorTypes.Prim; - if (collidingWith <= TerrainManager.HighestTerrainID) + BSPhysObject collider; + if (!PhysObjects.TryGetValue(localID, out collider)) { - type = ActorTypes.Ground; - } - else - { - collidee = PhysObjects[collidingWith]; - if (collidee is BSCharacter) - type = ActorTypes.Agent; + // If the object that is colliding cannot be found, just ignore the collision. + return; } + // The terrain is not in the physical object list so 'collidee' + // can be null when Collide() is called. + BSPhysObject collidee = null; + PhysObjects.TryGetValue(collidingWith, out collidee); + // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); - if (collider.Collide(collidingWith, collidee, type, collidePoint, collideNormal, penetration)) + if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) { // If a collision was posted, remember to send it to the simulator m_objectsWithCollisions.Add(collider); -- cgit v1.1 From dcb94b8a242dff0f3a33f084565af49d6582f663 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 14 Sep 2012 11:11:43 -0700 Subject: BulletSim: remove timeStep parameter from calls for vehicle parameter setting. There is no reason these should be using the simulation time interval for parameter calculation. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 9 +++------ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 +++--- 2 files changed, 6 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 098fea7..5f62b12 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -131,7 +131,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_type = Vehicle.TYPE_NONE; } - internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep) + internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) @@ -230,7 +230,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } }//end ProcessFloatVehicleParam - internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep) + internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) { VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) @@ -299,7 +299,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } }//end ProcessVehicleFlags - internal void ProcessTypeChange(Vehicle pType, float stepSize) + internal void ProcessTypeChange(Vehicle pType) { VDetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); // Set Defaults For Type @@ -537,9 +537,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Add the various forces into m_dir which will be our new direction vector (velocity) // add Gravity and Buoyancy - // KF: So far I have found no good method to combine a script-requested - // .Z velocity and gravity. Therefore only 0g will used script-requested - // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; Vector3 grav = m_prim.Scene.DefaultGravity * (m_prim.Mass * (1f - m_VehicleBuoyancy)); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6827be0..d97231c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -346,7 +346,7 @@ public sealed class BSPrim : BSPhysObject { // Done at taint time so we're sure the physics engine is not using the variables // Vehicle code changes the parameters for this vehicle type. - _vehicle.ProcessTypeChange(type, Scene.LastSimulatedTimestep); + _vehicle.ProcessTypeChange(type); // Tell the scene about the vehicle so it will get processing each frame. _scene.VehicleInSceneTypeChanged(this, type); }); @@ -356,14 +356,14 @@ public sealed class BSPrim : BSPhysObject { _scene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { - _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); + _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); }); } public override void VehicleVectorParam(int param, OMV.Vector3 value) { _scene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { - _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); + _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); }); } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) -- cgit v1.1 From f35bd6eb7d5b0eb1a6d385f5f1d0147acfc3c8ef Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 14 Sep 2012 11:12:23 -0700 Subject: BulletSim: another attempt at computing physics FPS correctly. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 29 +++++-------------------- 1 file changed, 6 insertions(+), 23 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index c38867f..52997dd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -110,11 +110,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters private long m_simulationStep = 0; public long SimulationStep { get { return m_simulationStep; } } - // The length of the last timestep we were asked to simulate. - // This is used by the vehicle code. Since the vehicle code is called - // once per simulation step, its constants need to be scaled by this. - public float LastSimulatedTimestep { get; private set; } - // A value of the time now so all the collision and update routines do not have to get their own // Set to 'now' just before all the prims and actors are called for collisions and updates public int SimulationNowTime { get; private set; } @@ -469,12 +464,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters int collidersCount = 0; IntPtr collidersPtr; - LastSimulatedTimestep = timeStep; - // prevent simulation until we've been initialized - if (!m_initialized) return 10.0f; - - int simulateStartTime = Util.EnvironmentTickCount(); + if (!m_initialized) return 5.0f; // update the prim states while we know the physics engine is not busy int numTaints = _taintedObjects.Count; @@ -514,7 +505,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // This is a kludge to get avatar movement updates. // ODE sends collisions for avatars even if there are have been no collisions. This updates // avatar animations and stuff. - // If you fix avatar animation updates, remove this overhead and let collisions happen. + // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. m_objectsWithCollisions = new HashSet(m_avatarsWithCollisions); // If there were collisions, process them by sending the event to the prim. @@ -561,18 +552,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } - // this is a waste since the outside routine also calcuates the physics simulation - // period. TODO: There should be a way of computing physics frames from simulator computation. - // long simulateTotalTime = Util.EnvironmentTickCountSubtract(simulateStartTime); - // return (timeStep * (float)simulateTotalTime); - - // TODO: FIX THIS: fps calculation possibly wrong. - // This calculation says 1/timeStep is the ideal frame rate. Any time added to - // that by the physics simulation gives a slower frame rate. - long totalSimulationTime = Util.EnvironmentTickCountSubtract(simulateStartTime); - if (totalSimulationTime >= timeStep) - return 0; - return 1f / (timeStep + totalSimulationTime); + // The physics engine returns the number of milliseconds it simulated this call. + // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. + // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS. + return numSubSteps * m_fixedTimeStep; } // Something has collided -- cgit v1.1 From 1826b2b18e8d82a91ca34787e17cf4ef0d1f46a6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 14 Sep 2012 11:13:05 -0700 Subject: BulletSim: add the debugging routine DumpRigidBody2() to API2. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 087c61b..9221cdb 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -558,9 +558,6 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj); // ===================================================================================== // Terrain creation and helper routines [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpMapInfo(IntPtr sim, IntPtr manInfo); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); @@ -1023,6 +1020,12 @@ public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint // ===================================================================================== // Debugging [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpPhysicsStatistics2(IntPtr sim); } -- cgit v1.1 From c77be802d2879c0504438905359c1b865a92d3a1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 15 Sep 2012 15:23:54 -0700 Subject: BulletSim: some debugging prints in BSPrim for tracking changes in linkset children. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d97231c..26a581f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1476,12 +1476,14 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); + // BulletSimAPI.DumpRigidBody2(Scene.World.Ptr, BSBody.Ptr); + base.RequestPhysicsterseUpdate(); } /* else { - // For debugging, we also report the movement of children + // For debugging, we can also report the movement of children DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); -- cgit v1.1 From b602b476adafe8e6eab9ec257db029a3d05db224 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 15 Sep 2012 15:36:13 -0700 Subject: BulletSim: update DLLs and SOs and remove some debugging code. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 5f62b12..61006f0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -475,7 +475,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin frcount = 0; MoveLinear(pTimestep); - // MoveAngular(pTimestep); + MoveAngular(pTimestep); LimitRotation(pTimestep); // remember the position so next step we can limit absolute movement effects -- cgit v1.1 From ee7cda261cbbc9dcd558c35eabc070cc0bf45644 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 18 Sep 2012 08:39:52 -0700 Subject: BulletSim: move a bunch of common logic out of BSPrim and BSCharacter and into the parent class BSPhysObject. Rework collision logic to enable extra collision after done colliding. Rename 'Scene' to 'PhysicsScene' to differentiate it from the simulator 'Scene'. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 238 +++++++-------------- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 10 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 42 ++-- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 138 +++++++++++- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 232 +++++++------------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 60 ++++-- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 57 +---- 7 files changed, 361 insertions(+), 416 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 526dbad..57d5726 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -28,7 +28,7 @@ using System; using System.Collections.Generic; using System.Reflection; using log4net; -using OpenMetaverse; +using OMV = OpenMetaverse; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; @@ -39,25 +39,24 @@ public class BSCharacter : BSPhysObject private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS CHAR]"; - public BSScene Scene { get; private set; } private String _avName; // private bool _stopped; - private Vector3 _size; - private Vector3 _scale; + private OMV.Vector3 _size; + private OMV.Vector3 _scale; private PrimitiveBaseShape _pbs; private uint _localID = 0; private bool _grabbed; private bool _selected; - private Vector3 _position; + private OMV.Vector3 _position; private float _mass; public float _density; public float _avatarVolume; - private Vector3 _force; - private Vector3 _velocity; - private Vector3 _torque; + private OMV.Vector3 _force; + private OMV.Vector3 _velocity; + private OMV.Vector3 _torque; private float _collisionScore; - private Vector3 _acceleration; - private Quaternion _orientation; + private OMV.Vector3 _acceleration; + private OMV.Quaternion _orientation; private int _physicsActorType; private bool _isPhysical; private bool _flying; @@ -69,18 +68,14 @@ public class BSCharacter : BSPhysObject private long _collidingGroundStep; private bool _collidingObj; private bool _floatOnWater; - private Vector3 _rotationalVelocity; + private OMV.Vector3 _rotationalVelocity; private bool _kinematic; private float _buoyancy; - public override BulletBody BSBody { get; set; } - public override BulletShape BSShape { get; set; } - public override BSLinkset Linkset { get; set; } - private int _subscribedEventsMs = 0; private int _nextCollisionOkTime = 0; - private Vector3 _PIDTarget; + private OMV.Vector3 _PIDTarget; private bool _usePID; private float _PIDTau; private bool _useHoverPID; @@ -88,26 +83,24 @@ public class BSCharacter : BSPhysObject private PIDHoverType _PIDHoverType; private float _PIDHoverTao; - public BSCharacter(uint localID, String avName, BSScene parent_scene, Vector3 pos, Vector3 size, bool isFlying) + public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) { + base.BaseInitialize(parent_scene); _localID = localID; _avName = avName; - Scene = parent_scene; _physicsActorType = (int)ActorTypes.Agent; _position = pos; _size = size; _flying = isFlying; - _orientation = Quaternion.Identity; - _velocity = Vector3.Zero; + _orientation = OMV.Quaternion.Identity; + _velocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); // The dimensions of the avatar capsule are kept in the scale. // Physics creates a unit capsule which is scaled by the physics engine. - _scale = new Vector3(Scene.Params.avatarCapsuleRadius, Scene.Params.avatarCapsuleRadius, size.Z); - _density = Scene.Params.avatarDensity; + _scale = new OMV.Vector3(PhysicsScene.Params.avatarCapsuleRadius, PhysicsScene.Params.avatarCapsuleRadius, size.Z); + _density = PhysicsScene.Params.avatarDensity; ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale - Linkset = new BSLinkset(Scene, this); - ShapeData shapeData = new ShapeData(); shapeData.ID = _localID; shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR; @@ -118,19 +111,19 @@ public class BSCharacter : BSPhysObject shapeData.Mass = _mass; shapeData.Buoyancy = _buoyancy; shapeData.Static = ShapeData.numericFalse; - shapeData.Friction = Scene.Params.avatarFriction; - shapeData.Restitution = Scene.Params.avatarRestitution; + shapeData.Friction = PhysicsScene.Params.avatarFriction; + shapeData.Restitution = PhysicsScene.Params.avatarRestitution; // do actual create at taint time - Scene.TaintedObject("BSCharacter.create", delegate() + PhysicsScene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create", _localID); - BulletSimAPI.CreateObject(Scene.WorldID, shapeData); + BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData); // Set the buoyancy for flying. This will be refactored when all the settings happen in C# - BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); + BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy); - BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID)); + BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID)); }); return; @@ -140,9 +133,9 @@ public class BSCharacter : BSPhysObject public override void Destroy() { DetailLog("{0},BSCharacter.Destroy", LocalID); - Scene.TaintedObject("BSCharacter.destroy", delegate() + PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() { - BulletSimAPI.DestroyObject(Scene.WorldID, _localID); + BulletSimAPI.DestroyObject(PhysicsScene.WorldID, _localID); }); } @@ -154,11 +147,11 @@ public class BSCharacter : BSPhysObject public override bool Stopped { get { return false; } } - public override Vector3 Size { + public override OMV.Vector3 Size { get { // Avatar capsule size is kept in the scale parameter. - return new Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z); + return new OMV.Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z); } set { @@ -171,9 +164,9 @@ public class BSCharacter : BSPhysObject ComputeAvatarVolumeAndMass(); - Scene.TaintedObject("BSCharacter.setSize", delegate() + PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { - BulletSimAPI.SetObjectScaleMass(Scene.WorldID, LocalID, _scale, _mass, true); + BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true); }); } @@ -198,9 +191,27 @@ public class BSCharacter : BSPhysObject public override void CrossingFailure() { return; } public override void link(PhysicsActor obj) { return; } public override void delink() { return; } - public override void LockAngularMotion(Vector3 axis) { return; } - public override Vector3 Position { + // Set motion values to zero. + // Do it to the properties so the values get set in the physics engine. + // Push the setting of the values to the viewer. + // Called at taint time! + public override void ZeroMotion() + { + _velocity = OMV.Vector3.Zero; + _acceleration = OMV.Vector3.Zero; + _rotationalVelocity = OMV.Vector3.Zero; + + // Zero some other properties directly into the physics engine + BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(BSBody.Ptr); + } + + public override void LockAngularMotion(OMV.Vector3 axis) { return; } + + public override OMV.Vector3 Position { get { // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); return _position; @@ -209,10 +220,10 @@ public class BSCharacter : BSPhysObject _position = value; PositionSanityCheck(); - Scene.TaintedObject("BSCharacter.setPosition", delegate() + PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation); + BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation); }); } } @@ -225,7 +236,7 @@ public class BSCharacter : BSPhysObject bool ret = false; // If below the ground, move the avatar up - float terrainHeight = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); + float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); if (Position.Z < terrainHeight) { DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); @@ -247,10 +258,10 @@ public class BSCharacter : BSPhysObject { // The new position value must be pushed into the physics engine but we can't // just assign to "Position" because of potential call loops. - Scene.TaintedObject("BSCharacter.PositionSanityCheck", delegate() + PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation); + BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation); }); ret = true; } @@ -266,15 +277,15 @@ public class BSCharacter : BSPhysObject // used when we only want this prim's mass and not the linkset thing public override float MassRaw { get {return _mass; } } - public override Vector3 Force { + public override OMV.Vector3 Force { get { return _force; } set { _force = value; // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); - Scene.TaintedObject("BSCharacter.SetForce", delegate() + PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() { DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); - BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force); + BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force); }); } } @@ -284,28 +295,28 @@ public class BSCharacter : BSPhysObject set { return; } } public override void VehicleFloatParam(int param, float value) { } - public override void VehicleVectorParam(int param, Vector3 value) {} - public override void VehicleRotationParam(int param, Quaternion rotation) { } + public override void VehicleVectorParam(int param, OMV.Vector3 value) {} + public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { } public override void VehicleFlags(int param, bool remove) { } // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more public override void SetVolumeDetect(int param) { return; } - public override Vector3 GeometricCenter { get { return Vector3.Zero; } } - public override Vector3 CenterOfMass { get { return Vector3.Zero; } } - public override Vector3 Velocity { + public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } + public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } + public override OMV.Vector3 Velocity { get { return _velocity; } set { _velocity = value; // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); - Scene.TaintedObject("BSCharacter.setVelocity", delegate() + PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() { DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); - BulletSimAPI.SetObjectVelocity(Scene.WorldID, _localID, _velocity); + BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, _localID, _velocity); }); } } - public override Vector3 Torque { + public override OMV.Vector3 Torque { get { return _torque; } set { _torque = value; } @@ -315,19 +326,19 @@ public class BSCharacter : BSPhysObject set { _collisionScore = value; } } - public override Vector3 Acceleration { + public override OMV.Vector3 Acceleration { get { return _acceleration; } set { _acceleration = value; } } - public override Quaternion Orientation { + public override OMV.Quaternion Orientation { get { return _orientation; } set { _orientation = value; // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); - Scene.TaintedObject("BSCharacter.setOrientation", delegate() + PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() { // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); - BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation); + BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation); }); } } @@ -364,11 +375,11 @@ public class BSCharacter : BSPhysObject set { _throttleUpdates = value; } } public override bool IsColliding { - get { return (_collidingStep == Scene.SimulationStep); } + get { return (_collidingStep == PhysicsScene.SimulationStep); } set { _isColliding = value; } } public override bool CollidingGround { - get { return (_collidingGroundStep == Scene.SimulationStep); } + get { return (_collidingGroundStep == PhysicsScene.SimulationStep); } set { _collidingGround = value; } } public override bool CollidingObj { @@ -378,7 +389,7 @@ public class BSCharacter : BSPhysObject public override bool FloatOnWater { set { _floatOnWater = value; } } - public override Vector3 RotationalVelocity { + public override OMV.Vector3 RotationalVelocity { get { return _rotationalVelocity; } set { _rotationalVelocity = value; } } @@ -390,16 +401,16 @@ public class BSCharacter : BSPhysObject public override float Buoyancy { get { return _buoyancy; } set { _buoyancy = value; - Scene.TaintedObject("BSCharacter.setBuoyancy", delegate() + PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate() { DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); - BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); + BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy); }); } } // Used for MoveTo - public override Vector3 PIDTarget { + public override OMV.Vector3 PIDTarget { set { _PIDTarget = value; } } public override bool PIDActive { @@ -425,19 +436,19 @@ public class BSCharacter : BSPhysObject } // For RotLookAt - public override Quaternion APIDTarget { set { return; } } + public override OMV.Quaternion APIDTarget { set { return; } } public override bool APIDActive { set { return; } } public override float APIDStrength { set { return; } } public override float APIDDamping { set { return; } } - public override void AddForce(Vector3 force, bool pushforce) { + public override void AddForce(OMV.Vector3 force, bool pushforce) { if (force.IsFinite()) { _force.X += force.X; _force.Y += force.Y; _force.Z += force.Z; // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); - Scene.TaintedObject("BSCharacter.AddForce", delegate() + PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate() { DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); @@ -450,42 +461,9 @@ public class BSCharacter : BSPhysObject //m_lastUpdateSent = false; } - public override void AddAngularForce(Vector3 force, bool pushforce) { - } - public override void SetMomentum(Vector3 momentum) { - } - - // Turn on collision events at a rate no faster than one every the given milliseconds - public override void SubscribeEvents(int ms) { - _subscribedEventsMs = ms; - if (ms > 0) - { - // make sure first collision happens - _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; - - Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate() - { - BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - }); - } + public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { } - - public override void ZeroMotion() - { - return; - } - - // Stop collision events - public override void UnSubscribeEvents() { - _subscribedEventsMs = 0; - Scene.TaintedObject("BSCharacter.UnSubscribeEvents", delegate() - { - BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - }); - } - // Return 'true' if someone has subscribed to events - public override bool SubscribedEvents() { - return (_subscribedEventsMs > 0); + public override void SetMomentum(OMV.Vector3 momentum) { } // set _avatarVolume and _mass based on capsule size, _density and _scale @@ -520,67 +498,15 @@ public class BSCharacter : BSPhysObject // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. PositionSanityCheck2(); - float heightHere = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug + float heightHere = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}", LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere); } - // Called by the scene when a collision with this object is reported - // The collision, if it should be reported to the character, is placed in a collection - // that will later be sent to the simulator when SendCollisions() is called. - CollisionEventUpdate collisionCollection = null; - public override bool Collide(uint collidingWith, BSPhysObject collidee, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) - { - bool ret = false; - - // The following makes IsColliding() and IsCollidingGround() work - _collidingStep = Scene.SimulationStep; - if (collidingWith <= Scene.TerrainManager.HighestTerrainID) - { - _collidingGroundStep = Scene.SimulationStep; - } - // DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith); - - // throttle collisions to the rate specified in the subscription - if (SubscribedEvents()) { - int nowTime = Scene.SimulationNowTime; - if (nowTime >= _nextCollisionOkTime) { - _nextCollisionOkTime = nowTime + _subscribedEventsMs; - - if (collisionCollection == null) - collisionCollection = new CollisionEventUpdate(); - collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - ret = true; - } - } - return ret; - } - - public override void SendCollisions() - { - /* - if (collisionCollection != null && collisionCollection.Count > 0) - { - base.SendCollisionUpdate(collisionCollection); - collisionCollection = null; - } - */ - // Kludge to make a collision call even if there are no collisions. - // This causes the avatar animation to get updated. - if (collisionCollection == null) - collisionCollection = new CollisionEventUpdate(); - base.SendCollisionUpdate(collisionCollection); - // If there were any collisions in the collection, make sure we don't use the - // same instance next time. - if (collisionCollection.Count > 0) - collisionCollection = null; - // End kludge - } - // Invoke the detailed logger and output something if it's enabled. private void DetailLog(string msg, params Object[] args) { - Scene.PhysicsLogging.Write(msg, args); + PhysicsScene.PhysicsLogging.Write(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 61006f0..2da2331 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -539,7 +539,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // add Gravity and Buoyancy // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - Vector3 grav = m_prim.Scene.DefaultGravity * (m_prim.Mass * (1f - m_VehicleBuoyancy)); + Vector3 grav = m_prim.PhysicsScene.DefaultGravity * (m_prim.Mass * (1f - m_VehicleBuoyancy)); /* * RA: Not sure why one would do this @@ -552,7 +552,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); // If below the terrain, move us above the ground a little. - float terrainHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos); + float terrainHeight = m_prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. // Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. // Vector3 rotatedSize = m_prim.Size * m_prim.Orientation; @@ -570,7 +570,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // We should hover, get the target height if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) { - m_VhoverTargetHeight = m_prim.Scene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; + m_VhoverTargetHeight = m_prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { @@ -849,8 +849,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Invoke the detailed logger and output something if it's enabled. private void VDetailLog(string msg, params Object[] args) { - if (m_prim.Scene.VehicleLoggingEnabled) - m_prim.Scene.PhysicsLogging.Write(msg, args); + if (m_prim.PhysicsScene.VehicleLoggingEnabled) + m_prim.PhysicsScene.PhysicsLogging.Write(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 7e784eb..005a758 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -36,11 +36,9 @@ public class BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET]"; - private BSPhysObject m_linksetRoot; - public BSPhysObject LinksetRoot { get { return m_linksetRoot; } } + public BSPhysObject LinksetRoot { get; protected set; } - private BSScene m_physicsScene; - public BSScene PhysicsScene { get { return m_physicsScene; } } + public BSScene PhysicsScene { get; private set; } static int m_nextLinksetID = 1; public int LinksetID { get; private set; } @@ -81,8 +79,8 @@ public class BSLinkset // We create LOTS of linksets. if (m_nextLinksetID < 0) m_nextLinksetID = 1; - m_physicsScene = scene; - m_linksetRoot = parent; + PhysicsScene = scene; + LinksetRoot = parent; m_children = new List(); m_mass = parent.MassRaw; } @@ -131,7 +129,7 @@ public class BSLinkset // Return 'true' if the passed object is the root object of this linkset public bool IsRoot(BSPhysObject requestor) { - return (requestor.LocalID == m_linksetRoot.LocalID); + return (requestor.LocalID == LinksetRoot.LocalID); } public int NumberOfChildren { get { return m_children.Count; } } @@ -159,7 +157,7 @@ public class BSLinkset private float ComputeLinksetMass() { - float mass = m_linksetRoot.MassRaw; + float mass = LinksetRoot.MassRaw; foreach (BSPhysObject bp in m_children) { mass += bp.MassRaw; @@ -169,8 +167,8 @@ public class BSLinkset private OMV.Vector3 ComputeLinksetCenterOfMass() { - OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw; - float totalMass = m_linksetRoot.MassRaw; + OMV.Vector3 com = LinksetRoot.Position * LinksetRoot.MassRaw; + float totalMass = LinksetRoot.MassRaw; lock (m_linksetActivityLock) { @@ -188,7 +186,7 @@ public class BSLinkset private OMV.Vector3 ComputeLinksetGeometricCenter() { - OMV.Vector3 com = m_linksetRoot.Position; + OMV.Vector3 com = LinksetRoot.Position; lock (m_linksetActivityLock) { @@ -256,7 +254,7 @@ public class BSLinkset foreach (BSPhysObject child in m_children) { BSConstraint constrain; - if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) + if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) { // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); @@ -306,9 +304,9 @@ public class BSLinkset BSPhysObject rootx = LinksetRoot; // capture the root as of now BSPhysObject childx = child; - m_physicsScene.TaintedObject("AddChildToLinkset", delegate() + PhysicsScene.TaintedObject("AddChildToLinkset", delegate() { - DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); + DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); PhysicallyLinkAChildToRoot(rootx, childx); // build the physical binding between me and the child }); } @@ -322,7 +320,7 @@ public class BSLinkset // has to be updated also (like pointer to prim's parent). private void RemoveChildFromOtherLinkset(BSPhysObject pchild) { - pchild.Linkset = new BSLinkset(m_physicsScene, pchild); + pchild.Linkset = new BSLinkset(PhysicsScene, pchild); RemoveChildFromLinkset(pchild); } @@ -334,9 +332,9 @@ public class BSLinkset { BSPhysObject rootx = LinksetRoot; // capture the root as of now BSPhysObject childx = child; - m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate() + PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() { - DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); + DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); PhysicallyUnlinkAChildFromRoot(rootx, childx); RecomputeLinksetConstraintVariables(); @@ -370,7 +368,7 @@ public class BSLinkset DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint); BS6DofConstraint constrain = new BS6DofConstraint( - m_physicsScene.World, rootPrim.BSBody, childPrim.BSBody, + PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true @@ -408,7 +406,7 @@ public class BSLinkset // ================================================================================== */ - m_physicsScene.Constraints.AddConstraint(constrain); + PhysicsScene.Constraints.AddConstraint(constrain); // zero linear and angular limits makes the objects unable to move in relation to each other constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); @@ -435,7 +433,7 @@ public class BSLinkset DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); // Find the constraint for this link and get rid of it from the overall collection and from my list - m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody); + PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody); // Make the child refresh its location BulletSimAPI.PushUpdate2(childPrim.BSBody.Ptr); @@ -447,13 +445,13 @@ public class BSLinkset { DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); - m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); + PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); } // Invoke the detailed logger and output something if it's enabled. private void DetailLog(string msg, params Object[] args) { - m_physicsScene.PhysicsLogging.Write(msg, args); + PhysicsScene.PhysicsLogging.Write(msg, args); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 3fe71e1..242aa80 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -39,26 +39,150 @@ namespace OpenSim.Region.Physics.BulletSPlugin // unless the difference is significant. public abstract class BSPhysObject : PhysicsActor { - public abstract BSLinkset Linkset { get; set; } + protected void BaseInitialize(BSScene parentScene) + { + PhysicsScene = parentScene; + Linkset = new BSLinkset(PhysicsScene, this); - public abstract bool Collide(uint collidingWith, BSPhysObject collidee, - OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); - public abstract void SendCollisions(); + CollisionCollection = new CollisionEventUpdate(); + SubscribedEventsMs = 0; + CollidingStep = 0; + CollidingGroundStep = 0; + } - // Return the object mass without calculating it or side effects + public BSScene PhysicsScene { get; protected set; } + + public BSLinkset Linkset { get; set; } + + // Return the object mass without calculating it or having side effects public abstract float MassRaw { get; } // Reference to the physical body (btCollisionObject) of this object - public abstract BulletBody BSBody { get; set; } + public BulletBody BSBody { get; protected set; } // Reference to the physical shape (btCollisionShape) of this object - public abstract BulletShape BSShape { get; set; } + public BulletShape BSShape { get; protected set; } + // Stop all physical motion. public abstract void ZeroMotion(); + // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured. public virtual void StepVehicle(float timeStep) { } + // Update the physical location and motion of the object. Called with data from Bullet. public abstract void UpdateProperties(EntityProperties entprop); + // Tell the object to clean up. public abstract void Destroy(); + + #region Collisions + + // Requested number of milliseconds between collision events. Zero means disabled. + protected int SubscribedEventsMs { get; set; } + // Given subscription, the time that a collision may be passed up + protected int NextCollisionOkTime { get; set; } + // The simulation step that last had a collision + protected long CollidingStep { get; set; } + // The simulation step that last had a collision with the ground + protected long CollidingGroundStep { get; set; } + // The collision flags we think are set in Bullet + protected CollisionFlags CurrentCollisionFlags { get; set; } + + // The collisions that have been collected this tick + protected CollisionEventUpdate CollisionCollection; + + // The simulation step is telling this object about a collision. + // Return 'true' if a collision was processed and should be sent up. + // Called at taint time from within the Step() function + public virtual bool Collide(uint collidingWith, BSPhysObject collidee, + OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) + { + bool ret = false; + + // The following lines make IsColliding() and IsCollidingGround() work + CollidingStep = PhysicsScene.SimulationStep; + if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID) + { + CollidingGroundStep = PhysicsScene.SimulationStep; + } + + // prims in the same linkset cannot collide with each other + if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) + { + return ret; + } + + PhysicsScene.PhysicsLogging.Write("{0},BSPhysObject.Collison,call,with={1}", LocalID, collidingWith); + + // if someone has subscribed for collision events.... + if (SubscribedEvents()) { + CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + PhysicsScene.PhysicsLogging.Write("{0},BSPhysObject.Collison.AddCollider,call,with={1},point={2},normal={3},depth={4},next={5}", + LocalID, collidingWith, contactPoint, contactNormal, pentrationDepth, NextCollisionOkTime.ToString("yyyyMMddHHmmssfff")); + ret = true; + } + return ret; + } + + // Routine to send the collected collisions into the simulator. + // Also handles removal of this from the collection of objects with collisions if + // there are no collisions from this object. Mechanism is create one last + // collision event to make collision_end work. + public virtual void SendCollisions() + { + // throttle the collisions to the number of milliseconds specified in the subscription + int nowTime = PhysicsScene.SimulationNowTime; + if (nowTime >= NextCollisionOkTime) + { + NextCollisionOkTime = nowTime + SubscribedEventsMs; + + // We are called if we previously had collisions. If there are no collisions + // this time, send up one last empty event so OpenSim can sense collision end. + if (CollisionCollection.Count == 0) + PhysicsScene.ObjectsWithNoMoreCollisions.Add(this); + + base.SendCollisionUpdate(CollisionCollection); + + // The collisionCollection structure is passed around in the simulator. + // Make sure we don't have a handle to that one and that a new one is used next time. + CollisionCollection = new CollisionEventUpdate(); + } + } + + // Subscribe for collision events. + // Parameter is the millisecond rate the caller wishes collision events to occur. + public override void SubscribeEvents(int ms) { + SubscribedEventsMs = ms; + if (ms > 0) + { + // make sure first collision happens + NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); + PhysicsScene.PhysicsLogging.Write("{0},SubscribeEvents,call,ms={1},nextOKTime={2}", + LocalID, SubscribedEventsMs, NextCollisionOkTime.ToString("yyyyMMddHHmmssfff")); + + PhysicsScene.TaintedObject("BSPhysObject.SubscribeEvents", delegate() + { + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + }); + } + else + { + // Subscribing for zero or less is the same as unsubscribing + UnSubscribeEvents(); + } + } + public override void UnSubscribeEvents() { + SubscribedEventsMs = 0; + PhysicsScene.PhysicsLogging.Write("{0},UnSubscribeEvents,call", LocalID); + PhysicsScene.TaintedObject("BSPhysObject.UnSubscribeEvents", delegate() + { + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + }); + } + // Return 'true' if the simulator wants collision events + public override bool SubscribedEvents() { + return (SubscribedEventsMs > 0); + } + + #endregion // Collisions } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 26a581f..29f27e8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -49,8 +49,6 @@ public sealed class BSPrim : BSPhysObject private ulong _hullKey; private List _hulls; - private BSScene _scene; - public BSScene Scene { get { return _scene; } } private String _avName; private uint _localID = 0; @@ -87,18 +85,6 @@ public sealed class BSPrim : BSPhysObject private bool _kinematic; private float _buoyancy; - // Membership in a linkset is controlled by this class. - public override BSLinkset Linkset { get; set; } - - private int _subscribedEventsMs = 0; - private int _nextCollisionOkTime = 0; - long _collidingStep; - long _collidingGroundStep; - CollisionFlags m_currentCollisionFlags = 0; - - public override BulletBody BSBody { get; set; } - public override BulletShape BSShape { get; set; } - private BSDynamics _vehicle; private OMV.Vector3 _PIDTarget; @@ -113,10 +99,10 @@ public sealed class BSPrim : BSPhysObject OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) { // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); + base.BaseInitialize(parent_scene); _localID = localID; _avName = primName; _physicsActorType = (int)ActorTypes.Prim; - _scene = parent_scene; _position = pos; _size = size; _scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type @@ -129,25 +115,23 @@ public sealed class BSPrim : BSPhysObject _pbs = pbs; _isPhysical = pisPhysical; _isVolumeDetect = false; - _subscribedEventsMs = 0; - _friction = _scene.Params.defaultFriction; // TODO: compute based on object material - _density = _scene.Params.defaultDensity; // TODO: compute based on object material - _restitution = _scene.Params.defaultRestitution; - Linkset = new BSLinkset(Scene, this); // a linkset of one - _vehicle = new BSDynamics(Scene, this); // add vehicleness + _friction = PhysicsScene.Params.defaultFriction; // TODO: compute based on object material + _density = PhysicsScene.Params.defaultDensity; // TODO: compute based on object material + _restitution = PhysicsScene.Params.defaultRestitution; + _vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness _mass = CalculateMass(); DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time - _scene.TaintedObject("BSPrim.create", delegate() + PhysicsScene.TaintedObject("BSPrim.create", delegate() { CreateGeomAndObject(true); // Get the pointer to the physical body for this object. // At the moment, we're still letting BulletSim manage the creation and destruction // of the object. Someday we'll move that into the C# code. - BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); + BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID)); BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); - m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); + CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); }); } @@ -168,11 +152,11 @@ public sealed class BSPrim : BSPhysObject // Undo any vehicle properties this.VehicleType = (int)Vehicle.TYPE_NONE; - _scene.TaintedObject("BSPrim.destroy", delegate() + PhysicsScene.TaintedObject("BSPrim.destroy", delegate() { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. - BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); + BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID); }); } @@ -183,7 +167,7 @@ public sealed class BSPrim : BSPhysObject get { return _size; } set { _size = value; - _scene.TaintedObject("BSPrim.setSize", delegate() + PhysicsScene.TaintedObject("BSPrim.setSize", delegate() { _mass = CalculateMass(); // changing size changes the mass // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct @@ -196,7 +180,7 @@ public sealed class BSPrim : BSPhysObject public override PrimitiveBaseShape Shape { set { _pbs = value; - _scene.TaintedObject("BSPrim.setShape", delegate() + PhysicsScene.TaintedObject("BSPrim.setShape", delegate() { _mass = CalculateMass(); // changing the shape changes the mass CreateGeomAndObject(false); @@ -214,7 +198,7 @@ public sealed class BSPrim : BSPhysObject public override bool Selected { set { _isSelected = value; - _scene.TaintedObject("BSPrim.setSelected", delegate() + PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() { SetObjectDynamic(); }); @@ -283,13 +267,13 @@ public sealed class BSPrim : BSPhysObject _position = BulletSimAPI.GetPosition2(BSBody.Ptr); // don't do the GetObjectPosition for root elements because this function is called a zillion times - // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); return _position; } set { _position = value; // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? - _scene.TaintedObject("BSPrim.setPosition", delegate() + PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation); @@ -327,7 +311,7 @@ public sealed class BSPrim : BSPhysObject get { return _force; } set { _force = value; - _scene.TaintedObject("BSPrim.setForce", delegate() + PhysicsScene.TaintedObject("BSPrim.setForce", delegate() { DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); @@ -342,40 +326,40 @@ public sealed class BSPrim : BSPhysObject set { Vehicle type = (Vehicle)value; BSPrim vehiclePrim = this; - _scene.TaintedObject("setVehicleType", delegate() + PhysicsScene.TaintedObject("setVehicleType", delegate() { // Done at taint time so we're sure the physics engine is not using the variables // Vehicle code changes the parameters for this vehicle type. _vehicle.ProcessTypeChange(type); // Tell the scene about the vehicle so it will get processing each frame. - _scene.VehicleInSceneTypeChanged(this, type); + PhysicsScene.VehicleInSceneTypeChanged(this, type); }); } } public override void VehicleFloatParam(int param, float value) { - _scene.TaintedObject("BSPrim.VehicleFloatParam", delegate() + PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); }); } public override void VehicleVectorParam(int param, OMV.Vector3 value) { - _scene.TaintedObject("BSPrim.VehicleVectorParam", delegate() + PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); }); } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { - _scene.TaintedObject("BSPrim.VehicleRotationParam", delegate() + PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); }); } public override void VehicleFlags(int param, bool remove) { - _scene.TaintedObject("BSPrim.VehicleFlags", delegate() + PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate() { _vehicle.ProcessVehicleFlags(param, remove); }); @@ -393,8 +377,9 @@ public sealed class BSPrim : BSPhysObject public override void SetVolumeDetect(int param) { bool newValue = (param != 0); _isVolumeDetect = newValue; - _scene.TaintedObject("BSPrim.SetVolumeDetect", delegate() + PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() { + DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); SetObjectDynamic(); }); return; @@ -404,7 +389,7 @@ public sealed class BSPrim : BSPhysObject get { return _velocity; } set { _velocity = value; - _scene.TaintedObject("BSPrim.setVelocity", delegate() + PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() { DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, _velocity); @@ -438,9 +423,9 @@ public sealed class BSPrim : BSPhysObject set { _orientation = value; // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? - _scene.TaintedObject("BSPrim.setOrientation", delegate() + PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() { - // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation); }); @@ -454,8 +439,9 @@ public sealed class BSPrim : BSPhysObject get { return _isPhysical; } set { _isPhysical = value; - _scene.TaintedObject("BSPrim.setIsPhysical", delegate() + PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() { + DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); SetObjectDynamic(); }); } @@ -493,9 +479,9 @@ public sealed class BSPrim : BSPhysObject // Bullet wants static objects to have a mass of zero float mass = IsStatic ? 0f : _mass; - BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); + BulletSimAPI.SetObjectProperties(Scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); */ - BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr); + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); // Set up the object physicalness (does gravity and collisions move this object) MakeDynamic(IsStatic); @@ -506,15 +492,15 @@ public sealed class BSPrim : BSPhysObject // Arrange for collisions events if the simulator wants them EnableCollisions(SubscribedEvents()); - BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr); + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); // Recompute any linkset parameters. // When going from non-physical to physical, this re-enables the constraints that // had been automatically disabled when the mass was set to zero. Linkset.Refresh(this); - DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,static={1},solid={2},mass={3}, cf={4}", - LocalID, IsStatic, IsSolid, _mass, m_currentCollisionFlags); + DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,static={1},solid={2},mass={3},collide={4},cf={5}", + LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags); } // "Making dynamic" means changing to and from static. @@ -527,7 +513,7 @@ public sealed class BSPrim : BSPhysObject if (makeStatic) { // Become a Bullet 'static' object type - m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement BulletSimAPI.ClearAllForces2(BSBody.Ptr); // Center of mass is at the center of the object @@ -539,16 +525,17 @@ public sealed class BSPrim : BSPhysObject // There can be special things needed for implementing linksets Linkset.MakeStatic(this); // The activation state is 'sleeping' so Bullet will not try to act on it - BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING); + // BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING); + BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.DISABLE_SIMULATION); } else { // Not a Bullet static object - m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); - // Set various physical properties so internal things will get computed correctly as they are set - BulletSimAPI.SetFriction2(BSBody.Ptr, Scene.Params.defaultFriction); - BulletSimAPI.SetRestitution2(BSBody.Ptr, Scene.Params.defaultRestitution); + // Set various physical properties so internal dynamic properties will get computed correctly as they are set + BulletSimAPI.SetFriction2(BSBody.Ptr, PhysicsScene.Params.defaultFriction); + BulletSimAPI.SetRestitution2(BSBody.Ptr, PhysicsScene.Params.defaultRestitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero); BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero); @@ -562,10 +549,10 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); // Various values for simulation limits - BulletSimAPI.SetDamping2(BSBody.Ptr, Scene.Params.linearDamping, Scene.Params.angularDamping); - BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, Scene.Params.deactivationTime); - BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, Scene.Params.linearSleepingThreshold, Scene.Params.angularSleepingThreshold); - BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, Scene.Params.contactProcessingThreshold); + BulletSimAPI.SetDamping2(BSBody.Ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping); + BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, PhysicsScene.Params.deactivationTime); + BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); + BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, PhysicsScene.Params.contactProcessingThreshold); // There can be special things needed for implementing linksets Linkset.MakeDynamic(this); @@ -581,11 +568,11 @@ public sealed class BSPrim : BSPhysObject if (makeSolid) { // Easy in Bullet -- just remove the object flag that controls collision response - m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); } else { - m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); } } @@ -594,11 +581,11 @@ public sealed class BSPrim : BSPhysObject { if (wantsCollisionEvents) { - m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } else { - m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } } @@ -618,11 +605,11 @@ public sealed class BSPrim : BSPhysObject set { _throttleUpdates = value; } } public override bool IsColliding { - get { return (_collidingStep == _scene.SimulationStep); } + get { return (CollidingStep == PhysicsScene.SimulationStep); } set { _isColliding = value; } } public override bool CollidingGround { - get { return (_collidingGroundStep == _scene.SimulationStep); } + get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } set { _collidingGround = value; } } public override bool CollidingObj { @@ -656,7 +643,7 @@ public sealed class BSPrim : BSPhysObject set { _rotationalVelocity = value; // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); - _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate() + PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, _rotationalVelocity); @@ -673,13 +660,13 @@ public sealed class BSPrim : BSPhysObject get { return _buoyancy; } set { _buoyancy = value; - _scene.TaintedObject("BSPrim.setBuoyancy", delegate() + PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() { DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object - float grav = Scene.Params.gravity * (1f - _buoyancy); + float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); BulletSimAPI.SetGravity2(BSBody.Ptr, new OMV.Vector3(0f, 0f, grav)); - // BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); + // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, _localID, _buoyancy); }); } } @@ -730,7 +717,7 @@ public sealed class BSPrim : BSPhysObject m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); return; } - _scene.TaintedObject("BSPrim.AddForce", delegate() + PhysicsScene.TaintedObject("BSPrim.AddForce", delegate() { OMV.Vector3 fSum = OMV.Vector3.Zero; lock (m_accumulatedForces) @@ -754,30 +741,6 @@ public sealed class BSPrim : BSPhysObject public override void SetMomentum(OMV.Vector3 momentum) { DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); } - public override void SubscribeEvents(int ms) { - _subscribedEventsMs = ms; - if (ms > 0) - { - // make sure first collision happens - _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; - - Scene.TaintedObject("BSPrim.SubscribeEvents", delegate() - { - m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - }); - } - } - public override void UnSubscribeEvents() { - _subscribedEventsMs = 0; - Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate() - { - m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - }); - } - public override bool SubscribedEvents() { - return (_subscribedEventsMs > 0); - } - #region Mass Calculation private float CalculateMass() @@ -1071,8 +1034,8 @@ public sealed class BSPrim : BSPhysObject if (returnMass <= 0) returnMass = 0.0001f; - if (returnMass > _scene.MaximumObjectMass) - returnMass = _scene.MaximumObjectMass; + if (returnMass > PhysicsScene.MaximumObjectMass) + returnMass = PhysicsScene.MaximumObjectMass; return returnMass; }// end CalculateMass @@ -1090,7 +1053,7 @@ public sealed class BSPrim : BSPhysObject bool haveShape = false; // If the prim attributes are simple, this could be a simple Bullet native shape - if ((_pbs.SculptEntry && !Scene.ShouldMeshSculptedPrim) + if ((_pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) || (_pbs.ProfileBegin == 0 && _pbs.ProfileEnd == 0 && _pbs.ProfileHollow == 0 && _pbs.PathTwist == 0 && _pbs.PathTwistBegin == 0 @@ -1156,12 +1119,12 @@ public sealed class BSPrim : BSPhysObject private bool CreateGeomMesh() { // level of detail based on size and type of the object - float lod = _scene.MeshLOD; + float lod = PhysicsScene.MeshLOD; if (_pbs.SculptEntry) - lod = _scene.SculptLOD; + lod = PhysicsScene.SculptLOD; float maxAxis = Math.Max(_size.X, Math.Max(_size.Y, _size.Z)); - if (maxAxis > _scene.MeshMegaPrimThreshold) - lod = _scene.MeshMegaPrimLOD; + 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); @@ -1175,14 +1138,14 @@ public sealed class BSPrim : BSPhysObject { // 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(_scene.WorldID, _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 = _scene.mesher.CreateMesh(_avName, _pbs, _size, lod, false); + _mesh = PhysicsScene.mesher.CreateMesh(_avName, _pbs, _size, lod, false); int[] indices = _mesh.getIndexListAsInt(); List vertices = _mesh.getVertexList(); @@ -1198,7 +1161,7 @@ public sealed class BSPrim : BSPhysObject // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", // LogHeader, _localID, _meshKey, indices.Length, vertices.Count); - BulletSimAPI.CreateMesh(_scene.WorldID, _meshKey, indices.GetLength(0), indices, + BulletSimAPI.CreateMesh(PhysicsScene.WorldID, _meshKey, indices.GetLength(0), indices, vertices.Count, verticesAsFloats); _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; @@ -1211,7 +1174,7 @@ public sealed class BSPrim : BSPhysObject // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs). private bool CreateGeomHull() { - float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD; + 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); @@ -1225,7 +1188,7 @@ public sealed class BSPrim : BSPhysObject { // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey); DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey); - BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); + BulletSimAPI.DestroyHull(PhysicsScene.WorldID, _hullKey); _hullKey = 0; } @@ -1314,7 +1277,7 @@ public sealed class BSPrim : BSPhysObject // 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(_scene.WorldID, _hullKey, hullCount, convHulls); + 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); @@ -1354,10 +1317,10 @@ public sealed class BSPrim : BSPhysObject ShapeData shape; FillShapeInfo(out shape); // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type); - bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); + bool ret = BulletSimAPI.CreateObject(PhysicsScene.WorldID, shape); // the CreateObject() may have recreated the rigid body. Make sure we have the latest address. - BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); + BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID)); BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); return ret; @@ -1490,61 +1453,10 @@ public sealed class BSPrim : BSPhysObject } */ } - - // I've collided with something - // Called at taint time from within the Step() function - CollisionEventUpdate collisionCollection; - public override bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) - { - bool ret = false; - - // The following lines make IsColliding() and IsCollidingGround() work - _collidingStep = Scene.SimulationStep; - if (collidingWith <= Scene.TerrainManager.HighestTerrainID) - { - _collidingGroundStep = Scene.SimulationStep; - } - - // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith); - - // prims in the same linkset cannot collide with each other - if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) - { - return ret; - } - - // if someone has subscribed for collision events.... - if (SubscribedEvents()) { - // throttle the collisions to the number of milliseconds specified in the subscription - int nowTime = Scene.SimulationNowTime; - if (nowTime >= _nextCollisionOkTime) { - _nextCollisionOkTime = nowTime + _subscribedEventsMs; - - if (collisionCollection == null) - collisionCollection = new CollisionEventUpdate(); - collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - ret = true; - } - } - return ret; - } - - // The scene is telling us it's time to pass our collected collisions into the simulator - public override void SendCollisions() - { - if (collisionCollection != null && collisionCollection.Count > 0) - { - base.SendCollisionUpdate(collisionCollection); - // The collisionCollection structure is passed around in the simulator. - // Make sure we don't have a handle to that one and that a new one is used next time. - collisionCollection = null; - } - } - // Invoke the detailed logger and output something if it's enabled. private void DetailLog(string msg, params Object[] args) { - Scene.PhysicsLogging.Write(msg, args); + PhysicsScene.PhysicsLogging.Write(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 52997dd..dabced5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -75,10 +75,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters public Dictionary PhysObjects = new Dictionary(); - private HashSet m_objectsWithCollisions = new HashSet(); - // Following is a kludge and can be removed when avatar animation updating is - // moved to a better place. - private HashSet m_avatarsWithCollisions = new HashSet(); + public HashSet ObjectsWithCollisions = new HashSet(); + public HashSet ObjectsWithNoMoreCollisions = new HashSet(); + // Keep track of all the avatars so we can send them a collision event + // every tick so OpenSim will update its animation. + private HashSet m_avatars = new HashSet(); // List of all the objects that have vehicle properties and should be called // to update each physics step. @@ -379,7 +380,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // TODO: Remove kludge someday. // We must generate a collision for avatars whether they collide or not. // This is required by OpenSim to update avatar animations, etc. - lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Add(actor); + lock (m_avatars) m_avatars.Add(actor); return actor; } @@ -397,7 +398,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters { lock (PhysObjects) PhysObjects.Remove(actor.LocalID); // Remove kludge someday - lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Remove(bsactor); + lock (m_avatars) m_avatars.Remove(bsactor); } catch (Exception e) { @@ -464,6 +465,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters int collidersCount = 0; IntPtr collidersPtr; + int beforeTime = 0; + int simTime = 0; + // prevent simulation until we've been initialized if (!m_initialized) return 5.0f; @@ -481,10 +485,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters int numSubSteps = 0; try { + if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); + numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); - DetailLog("{0},Simulate,call, nTaints= {1}, substeps={2}, updates={3}, colliders={4}", - DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); + + if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); + DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}", + DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); } catch (Exception e) { @@ -502,12 +510,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Get a value for 'now' so all the collision and update routines don't have to get their own SimulationNowTime = Util.EnvironmentTickCount(); - // This is a kludge to get avatar movement updates. - // ODE sends collisions for avatars even if there are have been no collisions. This updates - // avatar animations and stuff. - // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. - m_objectsWithCollisions = new HashSet(m_avatarsWithCollisions); - // If there were collisions, process them by sending the event to the prim. // Collisions must be processed before updates. if (collidersCount > 0) @@ -523,11 +525,31 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } + // This is a kludge to get avatar movement updates. + // ODE sends collisions for avatars even if there are have been no collisions. This updates + // avatar animations and stuff. + // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. + foreach (BSPhysObject bsp in m_avatars) + bsp.SendCollisions(); + // The above SendCollision's batch up the collisions on the objects. // Now push the collisions into the simulator. - foreach (BSPhysObject bsp in m_objectsWithCollisions) - bsp.SendCollisions(); - m_objectsWithCollisions.Clear(); + // If the object is done colliding, it will add itself to the ObjectsWithNoMoreCollisions list. + if (ObjectsWithCollisions.Count > 0) + { + foreach (BSPhysObject bsp in ObjectsWithCollisions) + if (!m_avatars.Contains(bsp)) // don't call avatars twice + bsp.SendCollisions(); + } + + // Objects that are done colliding are removed from the ObjectsWithCollisions list. + // This can't be done by SendCollisions because it is inside an iteration of ObjectWithCollisions. + if (ObjectsWithNoMoreCollisions.Count > 0) + { + foreach (BSPhysObject po in ObjectsWithNoMoreCollisions) + ObjectsWithCollisions.Remove(po); + ObjectsWithNoMoreCollisions.Clear(); + } // If any of the objects had updated properties, tell the object it has been changed by the physics engine if (updatedEntityCount > 0) @@ -555,7 +577,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS. - return numSubSteps * m_fixedTimeStep; + return numSubSteps * m_fixedTimeStep * 1000; } // Something has collided @@ -583,7 +605,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) { // If a collision was posted, remember to send it to the simulator - m_objectsWithCollisions.Add(collider); + ObjectsWithCollisions.Add(collider); } return; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 9221cdb..4d2d962 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -249,7 +249,16 @@ public enum CollisionFlags : uint BS_PHYSICAL_OBJECT = 1 << 13, BS_TERRAIN_OBJECT = 1 << 14, BS_NONE = 0, - BS_ALL = 0xFFFFFFFF + BS_ALL = 0xFFFFFFFF, + + // These are the collision flags switched depending on physical state. + // The other flags are used for other things and should not be fooled with. + BS_ACTIVE = CF_STATIC_OBJECT + | CF_KINEMATIC_OBJECT + | CF_NO_CONTACT_RESPONSE + | BS_VOLUME_DETECT_OBJECT + | BS_PHANTOM_OBJECT + | BS_PHYSICAL_OBJECT, }; // Values for collisions groups and masks @@ -270,52 +279,6 @@ public enum CollisionFilterGroups : uint SolidFilter = 1 << 13, }; - // For each type, we first clear and then set the collision flags -public enum ClearCollisionFlag : uint -{ - Terrain = CollisionFlags.BS_ALL, - Phantom = CollisionFlags.BS_ALL, - VolumeDetect = CollisionFlags.BS_ALL, - PhysicalObject = CollisionFlags.BS_ALL, - StaticObject = CollisionFlags.BS_ALL -} - -public enum SetCollisionFlag : uint -{ - Terrain = CollisionFlags.CF_STATIC_OBJECT - | CollisionFlags.BS_TERRAIN_OBJECT, - Phantom = CollisionFlags.CF_STATIC_OBJECT - | CollisionFlags.BS_PHANTOM_OBJECT - | CollisionFlags.CF_NO_CONTACT_RESPONSE, - VolumeDetect = CollisionFlags.CF_STATIC_OBJECT - | CollisionFlags.BS_VOLUME_DETECT_OBJECT - | CollisionFlags.CF_NO_CONTACT_RESPONSE, - PhysicalObject = CollisionFlags.BS_PHYSICAL_OBJECT, - StaticObject = CollisionFlags.CF_STATIC_OBJECT, -} - -// Collision filters used for different types of objects -public enum SetCollisionFilter : uint -{ - Terrain = CollisionFilterGroups.AllFilter, - Phantom = CollisionFilterGroups.GroundPlaneFilter - | CollisionFilterGroups.TerrainFilter, - VolumeDetect = CollisionFilterGroups.AllFilter, - PhysicalObject = CollisionFilterGroups.AllFilter, - StaticObject = CollisionFilterGroups.AllFilter, -} - -// Collision masks used for different types of objects -public enum SetCollisionMask : uint -{ - Terrain = CollisionFilterGroups.AllFilter, - Phantom = CollisionFilterGroups.GroundPlaneFilter - | CollisionFilterGroups.TerrainFilter, - VolumeDetect = CollisionFilterGroups.AllFilter, - PhysicalObject = CollisionFilterGroups.AllFilter, - StaticObject = CollisionFilterGroups.AllFilter -} - // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. public enum ConstraintParams : int -- cgit v1.1 From 91efccabdcb45ed95ae35ab24ed5d3ed5508b463 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 18 Sep 2012 11:26:19 -0700 Subject: BulletSim: Convert BSCharacter to use common BSPhysObject code and variables. Fix avatar height calculation to properly account for the capsule ends. Rearrange some locking in TerrainManager to eliminate possible race conditions. Move DetailLog() definition into common BSPhysObject class. Some variable renaming to make usage clearer (refactor.rename makes this so easy). --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 66 +++++++++------------ OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 28 +++++---- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 29 +++++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 40 +++++-------- .../Physics/BulletSPlugin/BSTerrainManager.cs | 67 +++++++++++----------- 5 files changed, 113 insertions(+), 117 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 57d5726..19eb1e6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -39,18 +39,16 @@ public class BSCharacter : BSPhysObject private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS CHAR]"; - private String _avName; // private bool _stopped; private OMV.Vector3 _size; private OMV.Vector3 _scale; private PrimitiveBaseShape _pbs; - private uint _localID = 0; private bool _grabbed; private bool _selected; private OMV.Vector3 _position; private float _mass; - public float _density; - public float _avatarVolume; + private float _avatarDensity; + private float _avatarVolume; private OMV.Vector3 _force; private OMV.Vector3 _velocity; private OMV.Vector3 _torque; @@ -63,18 +61,12 @@ public class BSCharacter : BSPhysObject private bool _setAlwaysRun; private bool _throttleUpdates; private bool _isColliding; - private long _collidingStep; - private bool _collidingGround; - private long _collidingGroundStep; private bool _collidingObj; private bool _floatOnWater; private OMV.Vector3 _rotationalVelocity; private bool _kinematic; private float _buoyancy; - private int _subscribedEventsMs = 0; - private int _nextCollisionOkTime = 0; - private OMV.Vector3 _PIDTarget; private bool _usePID; private float _PIDTau; @@ -85,9 +77,7 @@ public class BSCharacter : BSPhysObject public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) { - base.BaseInitialize(parent_scene); - _localID = localID; - _avName = avName; + base.BaseInitialize(parent_scene, localID, avName); _physicsActorType = (int)ActorTypes.Agent; _position = pos; _size = size; @@ -95,14 +85,15 @@ public class BSCharacter : BSPhysObject _orientation = OMV.Quaternion.Identity; _velocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); + // The dimensions of the avatar capsule are kept in the scale. // Physics creates a unit capsule which is scaled by the physics engine. - _scale = new OMV.Vector3(PhysicsScene.Params.avatarCapsuleRadius, PhysicsScene.Params.avatarCapsuleRadius, size.Z); - _density = PhysicsScene.Params.avatarDensity; + ComputeAvatarScale(_size); + _avatarDensity = PhysicsScene.Params.avatarDensity; ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale ShapeData shapeData = new ShapeData(); - shapeData.ID = _localID; + shapeData.ID = LocalID; shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR; shapeData.Position = _position; shapeData.Rotation = _orientation; @@ -117,7 +108,7 @@ public class BSCharacter : BSPhysObject // do actual create at taint time PhysicsScene.TaintedObject("BSCharacter.create", delegate() { - DetailLog("{0},BSCharacter.create", _localID); + DetailLog("{0},BSCharacter.create,taint", LocalID); BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData); // Set the buoyancy for flying. This will be refactored when all the settings happen in C# @@ -135,7 +126,7 @@ public class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.Destroy", LocalID); PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() { - BulletSimAPI.DestroyObject(PhysicsScene.WorldID, _localID); + BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID); }); } @@ -158,7 +149,7 @@ public class BSCharacter : BSPhysObject // When an avatar's size is set, only the height is changed // and that really only depends on the radius. _size = value; - _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y); + ComputeAvatarScale(_size); // TODO: something has to be done with the avatar's vertical position @@ -175,11 +166,6 @@ public class BSCharacter : BSPhysObject set { _pbs = value; } } - public override uint LocalID { - set { _localID = value; - } - get { return _localID; } - } public override bool Grabbed { set { _grabbed = value; } @@ -223,7 +209,7 @@ public class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation); + BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); }); } } @@ -261,7 +247,7 @@ public class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation); + BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); }); ret = true; } @@ -312,7 +298,7 @@ public class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() { DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); - BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, _localID, _velocity); + BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity); }); } } @@ -338,7 +324,7 @@ public class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() { // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); - BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, _localID, _position, _orientation); + BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); }); } } @@ -375,12 +361,12 @@ public class BSCharacter : BSPhysObject set { _throttleUpdates = value; } } public override bool IsColliding { - get { return (_collidingStep == PhysicsScene.SimulationStep); } + get { return (CollidingStep == PhysicsScene.SimulationStep); } set { _isColliding = value; } } public override bool CollidingGround { - get { return (_collidingGroundStep == PhysicsScene.SimulationStep); } - set { _collidingGround = value; } + get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } + set { CollidingGround = value; } } public override bool CollidingObj { get { return _collidingObj; } @@ -466,6 +452,16 @@ public class BSCharacter : BSPhysObject public override void SetMomentum(OMV.Vector3 momentum) { } + private void ComputeAvatarScale(OMV.Vector3 size) + { + _scale.X = PhysicsScene.Params.avatarCapsuleRadius; + _scale.Y = PhysicsScene.Params.avatarCapsuleRadius; + + // The 1.15 came from ODE but it seems to cause the avatar to float off the ground + // _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y); + _scale.Z = (_size.Z) - (_scale.X + _scale.Y); + } + // set _avatarVolume and _mass based on capsule size, _density and _scale private void ComputeAvatarVolumeAndMass() { @@ -480,7 +476,7 @@ public class BSCharacter : BSPhysObject * Math.Min(_scale.X, _scale.Y) * _scale.Y // plus the volume of the capsule end caps ); - _mass = _density * _avatarVolume; + _mass = _avatarDensity * _avatarVolume; } // The physics engine says that properties have updated. Update same and inform @@ -502,11 +498,5 @@ public class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}", LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere); } - - // Invoke the detailed logger and output something if it's enabled. - private void DetailLog(string msg, params Object[] args) - { - PhysicsScene.PhysicsLogging.Write(msg, args); - } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 005a758..1e8fe52 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -77,7 +77,7 @@ public class BSLinkset // A simple linkset of one (no children) LinksetID = m_nextLinksetID++; // We create LOTS of linksets. - if (m_nextLinksetID < 0) + if (m_nextLinksetID <= 0) m_nextLinksetID = 1; PhysicsScene = scene; LinksetRoot = parent; @@ -157,21 +157,26 @@ public class BSLinkset private float ComputeLinksetMass() { - float mass = LinksetRoot.MassRaw; - foreach (BSPhysObject bp in m_children) + float mass; + lock (m_linksetActivityLock) { - mass += bp.MassRaw; + mass = LinksetRoot.MassRaw; + foreach (BSPhysObject bp in m_children) + { + mass += bp.MassRaw; + } } return mass; } private OMV.Vector3 ComputeLinksetCenterOfMass() { - OMV.Vector3 com = LinksetRoot.Position * LinksetRoot.MassRaw; - float totalMass = LinksetRoot.MassRaw; - + OMV.Vector3 com; lock (m_linksetActivityLock) { + com = LinksetRoot.Position * LinksetRoot.MassRaw; + float totalMass = LinksetRoot.MassRaw; + foreach (BSPhysObject bp in m_children) { com += bp.Position * bp.MassRaw; @@ -186,10 +191,11 @@ public class BSLinkset private OMV.Vector3 ComputeLinksetGeometricCenter() { - OMV.Vector3 com = LinksetRoot.Position; - + OMV.Vector3 com; lock (m_linksetActivityLock) { + com = LinksetRoot.Position; + foreach (BSPhysObject bp in m_children) { com += bp.Position * bp.MassRaw; @@ -208,8 +214,8 @@ public class BSLinkset // Called at taint-time! public bool MakeDynamic(BSPhysObject child) { - bool ret = false; - return ret; + // What is done for each object in BSPrim is what we want. + return false; } // The object is going static (non-physical). Do any setup necessary diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 242aa80..b575e37 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -39,9 +39,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // unless the difference is significant. public abstract class BSPhysObject : PhysicsActor { - protected void BaseInitialize(BSScene parentScene) + protected void BaseInitialize(BSScene parentScene, uint localID, string name) { PhysicsScene = parentScene; + LocalID = localID; + PhysObjectName = name; + Linkset = new BSLinkset(PhysicsScene, this); CollisionCollection = new CollisionEventUpdate(); @@ -51,6 +54,8 @@ public abstract class BSPhysObject : PhysicsActor } public BSScene PhysicsScene { get; protected set; } + // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor + public string PhysObjectName { get; protected set; } public BSLinkset Linkset { get; set; } @@ -111,13 +116,13 @@ public abstract class BSPhysObject : PhysicsActor return ret; } - PhysicsScene.PhysicsLogging.Write("{0},BSPhysObject.Collison,call,with={1}", LocalID, collidingWith); + DetailLog("{0},BSPhysObject.Collison,call,with={1}", LocalID, collidingWith); // if someone has subscribed for collision events.... if (SubscribedEvents()) { CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - PhysicsScene.PhysicsLogging.Write("{0},BSPhysObject.Collison.AddCollider,call,with={1},point={2},normal={3},depth={4},next={5}", - LocalID, collidingWith, contactPoint, contactNormal, pentrationDepth, NextCollisionOkTime.ToString("yyyyMMddHHmmssfff")); + DetailLog("{0},BSPhysObject.Collison.AddCollider,call,with={1},point={2},normal={3},depth={4}", + LocalID, collidingWith, contactPoint, contactNormal, pentrationDepth); ret = true; } return ret; @@ -127,6 +132,8 @@ public abstract class BSPhysObject : PhysicsActor // Also handles removal of this from the collection of objects with collisions if // there are no collisions from this object. Mechanism is create one last // collision event to make collision_end work. + // Called at taint time from within the Step() function thus no locking problems + // with CollisionCollection and ObjectsWithNoMoreCollisions. public virtual void SendCollisions() { // throttle the collisions to the number of milliseconds specified in the subscription @@ -140,10 +147,11 @@ public abstract class BSPhysObject : PhysicsActor if (CollisionCollection.Count == 0) PhysicsScene.ObjectsWithNoMoreCollisions.Add(this); + DetailLog("{0},SendCollisions.SendCollisionUpdate,call,numCollisions={1}", LocalID, CollisionCollection.Count); base.SendCollisionUpdate(CollisionCollection); // The collisionCollection structure is passed around in the simulator. - // Make sure we don't have a handle to that one and that a new one is used next time. + // Make sure we don't have a handle to that one and that a new one is used for next time. CollisionCollection = new CollisionEventUpdate(); } } @@ -156,8 +164,7 @@ public abstract class BSPhysObject : PhysicsActor { // make sure first collision happens NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); - PhysicsScene.PhysicsLogging.Write("{0},SubscribeEvents,call,ms={1},nextOKTime={2}", - LocalID, SubscribedEventsMs, NextCollisionOkTime.ToString("yyyyMMddHHmmssfff")); + DetailLog("{0},SubscribeEvents,call,ms={1}", LocalID, SubscribedEventsMs); PhysicsScene.TaintedObject("BSPhysObject.SubscribeEvents", delegate() { @@ -172,7 +179,7 @@ public abstract class BSPhysObject : PhysicsActor } public override void UnSubscribeEvents() { SubscribedEventsMs = 0; - PhysicsScene.PhysicsLogging.Write("{0},UnSubscribeEvents,call", LocalID); + DetailLog("{0},UnSubscribeEvents,call", LocalID); PhysicsScene.TaintedObject("BSPhysObject.UnSubscribeEvents", delegate() { CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); @@ -184,5 +191,11 @@ public abstract class BSPhysObject : PhysicsActor } #endregion // Collisions + + // High performance detailed logging routine used by the physical objects. + protected void DetailLog(string msg, params Object[] args) + { + PhysicsScene.PhysicsLogging.Write(msg, args); + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 29f27e8..4f10d46 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -49,9 +49,6 @@ public sealed class BSPrim : BSPhysObject private ulong _hullKey; private List _hulls; - private String _avName; - private uint _localID = 0; - // _size is what the user passed. _scale is what we pass to the physics engine with the mesh. // Often _scale is unity because the meshmerizer will apply _size when creating the mesh. private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user @@ -99,9 +96,7 @@ public sealed class BSPrim : BSPhysObject OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) { // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); - base.BaseInitialize(parent_scene); - _localID = localID; - _avName = primName; + base.BaseInitialize(parent_scene, localID, primName); _physicsActorType = (int)ActorTypes.Prim; _position = pos; _size = size; @@ -187,10 +182,6 @@ public sealed class BSPrim : BSPhysObject }); } } - public override uint LocalID { - set { _localID = value; } - get { return _localID; } - } public override bool Grabbed { set { _grabbed = value; } @@ -267,7 +258,7 @@ public sealed class BSPrim : BSPhysObject _position = BulletSimAPI.GetPosition2(BSBody.Ptr); // don't do the GetObjectPosition for root elements because this function is called a zillion times - // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); + // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID); return _position; } set { @@ -425,7 +416,7 @@ public sealed class BSPrim : BSPhysObject // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() { - // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); + // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID); DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation); }); @@ -666,7 +657,7 @@ public sealed class BSPrim : BSPhysObject // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); BulletSimAPI.SetGravity2(BSBody.Ptr, new OMV.Vector3(0f, 0f, grav)); - // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, _localID, _buoyancy); + // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); }); } } @@ -1127,7 +1118,7 @@ public sealed class BSPrim : BSPhysObject 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); + // 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; @@ -1136,7 +1127,7 @@ public sealed class BSPrim : BSPhysObject // 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); + // 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; @@ -1145,7 +1136,7 @@ public sealed class BSPrim : BSPhysObject _meshKey = newMeshKey; // always pass false for physicalness as this creates some sort of bounding box which we don't need - _mesh = PhysicsScene.mesher.CreateMesh(_avName, _pbs, _size, lod, false); + _mesh = PhysicsScene.mesher.CreateMesh(PhysObjectName, _pbs, _size, lod, false); int[] indices = _mesh.getIndexListAsInt(); List vertices = _mesh.getVertexList(); @@ -1160,7 +1151,7 @@ public sealed class BSPrim : BSPhysObject } // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", - // LogHeader, _localID, _meshKey, indices.Length, vertices.Count); + // LogHeader, LocalID, _meshKey, indices.Length, vertices.Count); BulletSimAPI.CreateMesh(PhysicsScene.WorldID, _meshKey, indices.GetLength(0), indices, vertices.Count, verticesAsFloats); @@ -1176,7 +1167,7 @@ public sealed class BSPrim : BSPhysObject { 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); + // 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; @@ -1276,7 +1267,7 @@ public sealed class BSPrim : BSPhysObject } // create the hull definition in Bullet - // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount); + // 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 @@ -1316,7 +1307,7 @@ public sealed class BSPrim : BSPhysObject // 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); + // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, LocalID, shape.Type); bool ret = BulletSimAPI.CreateObject(PhysicsScene.WorldID, shape); // the CreateObject() may have recreated the rigid body. Make sure we have the latest address. @@ -1329,7 +1320,7 @@ public sealed class BSPrim : BSPhysObject // Copy prim's info into the BulletSim shape description structure public void FillShapeInfo(out ShapeData shape) { - shape.ID = _localID; + shape.ID = LocalID; shape.Type = _shapeType; shape.Position = _position; shape.Rotation = _orientation; @@ -1350,7 +1341,7 @@ public sealed class BSPrim : BSPhysObject // No locking here because this is done when the physics engine is not simulating private void CreateGeomAndObject(bool forceRebuild) { - // m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, _localID, forceRebuild); + // m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, LocalID, forceRebuild); // Create the geometry that will make up the object if (CreateGeom(forceRebuild)) { @@ -1453,10 +1444,5 @@ public sealed class BSPrim : BSPhysObject } */ } - // Invoke the detailed logger and output something if it's enabled. - private void DetailLog(string msg, params Object[] args) - { - PhysicsScene.PhysicsLogging.Write(msg, args); - } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index d48462e..c113db1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -57,10 +57,10 @@ public class BSTerrainManager public const float TERRAIN_COLLISION_MARGIN = 0.0f; // Until the whole simulator is changed to pass us the region size, we rely on constants. - public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, 0f); + public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); // The scene that I am part of - private BSScene m_physicsScene; + private BSScene PhysicsScene { get; set; } // The ground plane created to keep thing from falling to infinity. private BulletBody m_groundPlane; @@ -84,18 +84,18 @@ public class BSTerrainManager // If the parent region (region 0), this is the extent of the combined regions // relative to the origin of region zero private Vector3 m_worldMax; - private PhysicsScene m_parentScene; + private PhysicsScene MegaRegionParentPhysicsScene { get; set; } public BSTerrainManager(BSScene physicsScene) { - m_physicsScene = physicsScene; + PhysicsScene = physicsScene; m_heightMaps = new Dictionary(); m_terrainModified = false; // Assume one region of default size m_worldOffset = Vector3.Zero; - m_worldMax = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, 4096f); - m_parentScene = null; + m_worldMax = new Vector3(DefaultRegionSize); + MegaRegionParentPhysicsScene = null; } // Create the initial instance of terrain and the underlying ground plane. @@ -110,7 +110,7 @@ public class BSTerrainManager BulletShape groundPlaneShape = new BulletShape(BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN)); m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.Ptr, Vector3.Zero, Quaternion.Identity)); - BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr); + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, m_groundPlane.Ptr); Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE); Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION); @@ -128,9 +128,9 @@ public class BSTerrainManager { if (m_groundPlane.Ptr != IntPtr.Zero) { - if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr)) + if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, m_groundPlane.Ptr)) { - BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, m_groundPlane.Ptr); + BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, m_groundPlane.Ptr); } m_groundPlane.Ptr = IntPtr.Zero; } @@ -143,9 +143,9 @@ public class BSTerrainManager { foreach (KeyValuePair kvp in m_heightMaps) { - if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, kvp.Value.terrainBody.Ptr)) + if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, kvp.Value.terrainBody.Ptr)) { - BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, kvp.Value.terrainBody.Ptr); + BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, kvp.Value.terrainBody.Ptr); BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr); } } @@ -155,19 +155,19 @@ public class BSTerrainManager // The simulator wants to set a new heightmap for the terrain. public void SetTerrain(float[] heightMap) { float[] localHeightMap = heightMap; - m_physicsScene.TaintedObject("TerrainManager.SetTerrain", delegate() + PhysicsScene.TaintedObject("TerrainManager.SetTerrain", delegate() { - if (m_worldOffset != Vector3.Zero && m_parentScene != null) + if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null) { // If a child of a mega-region, we shouldn't have any terrain allocated for us ReleaseGroundPlaneAndTerrain(); // If doing the mega-prim stuff and we are the child of the zero region, // the terrain is added to our parent - if (m_parentScene is BSScene) + if (MegaRegionParentPhysicsScene is BSScene) { DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", BSScene.DetailLogZero, m_worldOffset, m_worldMax); - ((BSScene)m_parentScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID, + ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true); } } @@ -176,7 +176,8 @@ public class BSTerrainManager // If not doing the mega-prim thing, just change the terrain DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); - UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true); + UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, + m_worldOffset, m_worldOffset + DefaultRegionSize, true); } }); } @@ -232,7 +233,7 @@ public class BSTerrainManager BSScene.TaintCallback rebuildOperation = delegate() { - if (m_parentScene != null) + if (MegaRegionParentPhysicsScene != null) { // It's possible that Combine() was called after this code was queued. // If we are a child of combined regions, we don't create any terrain for us. @@ -252,10 +253,10 @@ public class BSTerrainManager BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); // Remove from the dynamics world because we're going to mangle this object - BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr); + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr); // Get rid of the old terrain - BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr); + BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr); BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr); mapInfo.Ptr = IntPtr.Zero; @@ -286,7 +287,7 @@ public class BSTerrainManager BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ); mapInfo.ID = id; - mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.ID, + mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.Ptr, mapInfo.ID, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); // The terrain object initial position is at the center of the object @@ -307,19 +308,19 @@ public class BSTerrainManager m_heightMaps[terrainRegionBase] = mapInfo; // Set current terrain attributes - BulletSimAPI.SetFriction2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainFriction); - BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainHitFraction); - BulletSimAPI.SetRestitution2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainRestitution); + BulletSimAPI.SetFriction2(mapInfo.terrainBody.Ptr, PhysicsScene.Params.terrainFriction); + BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.Ptr, PhysicsScene.Params.terrainHitFraction); + BulletSimAPI.SetRestitution2(mapInfo.terrainBody.Ptr, PhysicsScene.Params.terrainRestitution); BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); BulletSimAPI.SetMassProps2(mapInfo.terrainBody.Ptr, 0f, Vector3.Zero); BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.Ptr); // Return the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr); + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr); // redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr); + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr); // Make sure the new shape is processed. BulletSimAPI.Activate2(mapInfo.terrainBody.Ptr, true); @@ -332,7 +333,7 @@ public class BSTerrainManager if (doNow) rebuildOperation(); else - m_physicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation); + PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation); } else { @@ -357,7 +358,7 @@ public class BSTerrainManager DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y); // Create a new mapInfo that will be filled with the new info mapInfo = new BulletHeightMapInfo(id, heightMapX, - BulletSimAPI.CreateHeightMapInfo2(m_physicsScene.World.Ptr, newTerrainID, + BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.Ptr, newTerrainID, minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN)); // Put the unfilled heightmap info into the collection of same m_heightMaps.Add(terrainRegionBase, mapInfo); @@ -371,7 +372,7 @@ public class BSTerrainManager if (doNow) createOperation(); else - m_physicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation); + PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation); } } @@ -419,7 +420,7 @@ public class BSTerrainManager catch { // Sometimes they give us wonky values of X and Y. Give a warning and return something. - m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}", + PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}", LogHeader, terrainBaseXY, regionX, regionY); ret = HEIGHT_GETHEIGHT_RET; } @@ -428,8 +429,8 @@ public class BSTerrainManager } else { - m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", - LogHeader, m_physicsScene.RegionName, tX, tY); + PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", + LogHeader, PhysicsScene.RegionName, tX, tY); } m_terrainModified = false; lastHeight = ret; @@ -453,7 +454,7 @@ public class BSTerrainManager { m_worldOffset = offset; m_worldMax = extents; - m_parentScene = pScene; + MegaRegionParentPhysicsScene = pScene; if (pScene != null) { // We are a child. @@ -474,7 +475,7 @@ public class BSTerrainManager private void DetailLog(string msg, params Object[] args) { - m_physicsScene.PhysicsLogging.Write(msg, args); + PhysicsScene.PhysicsLogging.Write(msg, args); } } } -- cgit v1.1 From a27e4ce6cbfb0a2e852624fd4d81121ca829f85c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 19 Sep 2012 08:21:29 -0700 Subject: BulletSim: add class and infrastructure for shape and object tracking in the C# code. Needed for the changing body type (to and from GhostObjects) for volumeDetect. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 47 +++++++++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 16 ++-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 70 +++++++++++++++++ .../Physics/BulletSPlugin/BSTerrainManager.cs | 7 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 91 ++++++++++++++++------ 5 files changed, 192 insertions(+), 39 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4f10d46..4d17e6c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -474,12 +474,13 @@ public sealed class BSPrim : BSPhysObject */ BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); - // Set up the object physicalness (does gravity and collisions move this object) - MakeDynamic(IsStatic); - // 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); + // Set up the object physicalness (does gravity and collisions move this object) + MakeDynamic(IsStatic); + // Arrange for collisions events if the simulator wants them EnableCollisions(SubscribedEvents()); @@ -554,17 +555,51 @@ public sealed class BSPrim : BSPhysObject } // "Making solid" means that other object will not pass through this object. + // To make transparent, we create a Bullet ghost object. + // Note: This expects to be called from the UpdatePhysicalParameters() routine as + // the functions after this one set up the state of a possibly newly created collision body. private void MakeSolid(bool makeSolid) { + CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.Ptr); + /* if (makeSolid) { - // Easy in Bullet -- just remove the object flag that controls collision response - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + 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; + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); + BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); + BSBody = new BulletBody(LocalID, BulletSimAPI.CreateBodyFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation)); + BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, oldBody.Ptr); + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); + } } else { - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + 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; + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); + BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); + BSBody = new BulletBody(LocalID, + BulletSimAPI.CreateGhostFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation)); + if (BSBody.Ptr == IntPtr.Zero) + { + m_log.ErrorFormat("{0} BSPrim.MakeSolid: failed creation of ghost object. LocalID=[1}", LogHeader, LocalID); + BSBody = oldBody; + } + else + { + BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, oldBody.Ptr); + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); + } + } } + */ } // Turn on or off the flag controlling whether collision events are returned to the simulator. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index dabced5..76da42d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -73,8 +73,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters public string BulletSimVersion = "?"; - public Dictionary PhysObjects = new Dictionary(); + public Dictionary PhysObjects; + public BSShapeCollection Shapes; + // Keeping track of the objects with collisions so we can report begin and end of a collision public HashSet ObjectsWithCollisions = new HashSet(); public HashSet ObjectsWithNoMoreCollisions = new HashSet(); // Keep track of all the avatars so we can send them a collision event @@ -203,6 +205,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void Initialise(IMesher meshmerizer, IConfigSource config) { + mesher = meshmerizer; + _taintedObjects = new List(); + PhysObjects = new Dictionary(); + Shapes = new BSShapeCollection(this); + // Allocate pinned memory to pass parameters. m_params = new ConfigurationParameters[1]; m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned); @@ -216,12 +223,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); - mesher = meshmerizer; - _taintedObjects = new List(); - // Enable very detailed logging. // By creating an empty logger when not logging, the log message invocation code - // can be left in and every call doesn't have to check for null. + // can be left in and every call doesn't have to check for null. if (m_physicsLoggingEnabled) { PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); @@ -252,7 +256,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // a child in a mega-region. // Turns out that Bullet really doesn't care about the extents of the simulated // area. It tracks active objects no matter where they are. - Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f); + Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs new file mode 100755 index 0000000..eb4b2ad --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -0,0 +1,70 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSShapeCollection : IDisposable +{ + protected BSScene PhysicsScene { get; set; } + + public BSShapeCollection(BSScene physScene) + { + PhysicsScene = physScene; + } + + public void Dispose() + { + } + + // Track another user of a body + public void ReferenceBody(BulletBody shape) + { + } + + // Release the usage of a body + public void DereferenceBody(BulletBody shape) + { + } + + // Track another user of the shape + public void ReferenceShape(BulletShape shape) + { + } + + // Release the usage of a shape + public void DereferenceShape(BulletShape shape) + { + } + + + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index c113db1..fb802e4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -107,7 +107,9 @@ public class BSTerrainManager public void CreateInitialGroundPlaneAndTerrain() { // The ground plane is here to catch things that are trying to drop to negative infinity - BulletShape groundPlaneShape = new BulletShape(BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN)); + BulletShape groundPlaneShape = new BulletShape( + BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN), + ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE); m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.Ptr, Vector3.Zero, Quaternion.Identity)); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, m_groundPlane.Ptr); @@ -297,7 +299,8 @@ public class BSTerrainManager centerPos.Z = minZ + ((maxZ - minZ) / 2f); // Create the terrain shape from the mapInfo - mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr)); + mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr), + ShapeData.PhysicsShapeType.SHAPE_TERRAIN); mapInfo.terrainBody = new BulletBody(mapInfo.ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.Ptr, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 4d2d962..52c8a24 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -38,31 +38,54 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // The physics engine controller class created at initialization public struct BulletSim { - public BulletSim(uint worldId, BSScene bss, IntPtr xx) { worldID = worldId; scene = bss; Ptr = xx; } + public BulletSim(uint worldId, BSScene bss, IntPtr xx) + { + worldID = worldId; scene = bss; Ptr = xx; + } public uint worldID; // The scene is only in here so very low level routines have a handle to print debug/error messages public BSScene scene; public IntPtr Ptr; } -public struct BulletShape +// An allocated Bullet btRigidBody +public struct BulletBody { - public BulletShape(IntPtr xx) { Ptr = xx; } + public BulletBody(uint id, IntPtr xx) + { + ID = id; + Ptr = xx; + } public IntPtr Ptr; + public uint ID; } -// An allocated Bullet btRigidBody -public struct BulletBody +public struct BulletShape { - public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } + public BulletShape(IntPtr xx) + { + Ptr = xx; + type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + hashKey = 0; + } + public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) + { + Ptr = xx; + type = typ; + hashKey = 0; + } public IntPtr Ptr; - public uint ID; + public ShapeData.PhysicsShapeType type; + public ulong hashKey; } // An allocated Bullet btConstraint public struct BulletConstraint { - public BulletConstraint(IntPtr xx) { Ptr = xx; } + public BulletConstraint(IntPtr xx) + { + Ptr = xx; + } public IntPtr Ptr; } @@ -96,14 +119,14 @@ public class BulletHeightMapInfo // =============================================================================== [StructLayout(LayoutKind.Sequential)] -public struct ConvexHull +public struct ConvexHull { Vector3 Offset; int VertexCount; Vector3[] Vertices; } [StructLayout(LayoutKind.Sequential)] -public struct ShapeData +public struct ShapeData { public enum PhysicsShapeType { @@ -114,7 +137,9 @@ public struct ShapeData SHAPE_CYLINDER = 4, SHAPE_SPHERE = 5, SHAPE_MESH = 6, - SHAPE_HULL = 7 + SHAPE_HULL = 7, + SHAPE_GROUNDPLANE = 8, + SHAPE_TERRAIN = 9, }; public uint ID; public PhysicsShapeType Type; @@ -136,7 +161,7 @@ public struct ShapeData public const float numericFalse = 0f; } [StructLayout(LayoutKind.Sequential)] -public struct SweepHit +public struct SweepHit { public uint ID; public float Fraction; @@ -227,7 +252,17 @@ public enum ActivationState : uint ISLAND_SLEEPING, WANTS_DEACTIVATION, DISABLE_DEACTIVATION, - DISABLE_SIMULATION + DISABLE_SIMULATION, +} + +public enum CollisionObjectTypes : int +{ + CO_COLLISION_OBJECT = 1 << 0, + CO_RIGID_BODY = 1 << 1, + CO_GHOST_OBJECT = 1 << 2, + CO_SOFT_BODY = 1 << 3, + CO_HF_FLUID = 1 << 4, + CO_USER_TYPE = 1 << 5, } // Values used by Bullet and BulletSim to control object properties. @@ -313,8 +348,8 @@ public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg public static extern string GetVersion(); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, - int maxCollisions, IntPtr collisionArray, +public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, + int maxCollisions, IntPtr collisionArray, int maxUpdates, IntPtr updateArray, DebugLogCallback logRoutine); @@ -333,19 +368,19 @@ public static extern bool UpdateParameter(uint worldID, uint localID, // =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, +public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, out IntPtr updatedEntitiesPtr, out int collidersCount, out IntPtr collidersPtr); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, +public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, +public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); @@ -459,7 +494,7 @@ public static extern void Shutdown2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, + out int updatedEntityCount, out IntPtr updatedEntitiesPtr, out int collidersCount, out IntPtr collidersPtr); @@ -470,8 +505,8 @@ public static extern bool PushUpdate2(IntPtr obj); // ===================================================================================== // Mesh, hull, shape and body creation helper routines [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateMeshShape2(IntPtr world, - int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, +public static extern IntPtr CreateMeshShape2(IntPtr world, + int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -504,12 +539,18 @@ public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetBodyType2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr AllocateBodyInfo2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -521,11 +562,11 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj); // ===================================================================================== // Terrain creation and helper routines [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, +public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, +public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -563,7 +604,7 @@ public static extern void SetConstraintEnable2(IntPtr constrain, float numericTr public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetFrames2(IntPtr constrain, +public static extern bool SetFrames2(IntPtr constrain, Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 22290ef35aa13edb1501c69b3cce63a885302563 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 20 Sep 2012 10:12:51 -0700 Subject: BulletSim: complete code for managed code shape and body tracking. Not debugged. Eliminate some null exceptions created adding the above code. Add and remove some detailed logging statements. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 22 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 121 ++-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 617 ++++++++++++++++++--- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 43 +- 5 files changed, 675 insertions(+), 130 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 19eb1e6..014cd99 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -77,7 +77,7 @@ public class BSCharacter : BSPhysObject public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) { - base.BaseInitialize(parent_scene, localID, avName); + base.BaseInitialize(parent_scene, localID, avName, "BSCharacter"); _physicsActorType = (int)ActorTypes.Agent; _position = pos; _size = size; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index b575e37..70a10b1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -39,11 +39,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // unless the difference is significant. public abstract class BSPhysObject : PhysicsActor { - protected void BaseInitialize(BSScene parentScene, uint localID, string name) + protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName) { PhysicsScene = parentScene; LocalID = localID; PhysObjectName = name; + TypeName = typeName; Linkset = new BSLinkset(PhysicsScene, this); @@ -56,6 +57,7 @@ public abstract class BSPhysObject : PhysicsActor public BSScene PhysicsScene { get; protected set; } // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor public string PhysObjectName { get; protected set; } + public string TypeName { get; protected set; } public BSLinkset Linkset { get; set; } @@ -63,9 +65,9 @@ public abstract class BSPhysObject : PhysicsActor public abstract float MassRaw { get; } // Reference to the physical body (btCollisionObject) of this object - public BulletBody BSBody { get; protected set; } + public BulletBody BSBody; // Reference to the physical shape (btCollisionShape) of this object - public BulletShape BSShape { get; protected set; } + public BulletShape BSShape; // Stop all physical motion. public abstract void ZeroMotion(); @@ -116,13 +118,11 @@ public abstract class BSPhysObject : PhysicsActor return ret; } - DetailLog("{0},BSPhysObject.Collison,call,with={1}", LocalID, collidingWith); - // if someone has subscribed for collision events.... if (SubscribedEvents()) { CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - DetailLog("{0},BSPhysObject.Collison.AddCollider,call,with={1},point={2},normal={3},depth={4}", - LocalID, collidingWith, contactPoint, contactNormal, pentrationDepth); + // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", + // LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); ret = true; } return ret; @@ -147,7 +147,7 @@ public abstract class BSPhysObject : PhysicsActor if (CollisionCollection.Count == 0) PhysicsScene.ObjectsWithNoMoreCollisions.Add(this); - DetailLog("{0},SendCollisions.SendCollisionUpdate,call,numCollisions={1}", LocalID, CollisionCollection.Count); + // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); base.SendCollisionUpdate(CollisionCollection); // The collisionCollection structure is passed around in the simulator. @@ -164,9 +164,8 @@ public abstract class BSPhysObject : PhysicsActor { // make sure first collision happens NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); - DetailLog("{0},SubscribeEvents,call,ms={1}", LocalID, SubscribedEventsMs); - PhysicsScene.TaintedObject("BSPhysObject.SubscribeEvents", delegate() + PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() { CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); @@ -179,8 +178,7 @@ public abstract class BSPhysObject : PhysicsActor } public override void UnSubscribeEvents() { SubscribedEventsMs = 0; - DetailLog("{0},UnSubscribeEvents,call", LocalID); - PhysicsScene.TaintedObject("BSPhysObject.UnSubscribeEvents", delegate() + PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() { CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4d17e6c..4d2c70c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -96,7 +96,7 @@ public sealed class BSPrim : BSPhysObject OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) { // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); - base.BaseInitialize(parent_scene, localID, primName); + base.BaseInitialize(parent_scene, localID, primName, "BSPrim"); _physicsActorType = (int)ActorTypes.Prim; _position = pos; _size = size; @@ -115,17 +115,17 @@ public sealed class BSPrim : BSPhysObject _restitution = PhysicsScene.Params.defaultRestitution; _vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness _mass = CalculateMass(); + + // No body or shape yet + BSBody = new BulletBody(LocalID, IntPtr.Zero); + BSShape = new BulletShape(IntPtr.Zero); + DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time PhysicsScene.TaintedObject("BSPrim.create", delegate() { CreateGeomAndObject(true); - // Get the pointer to the physical body for this object. - // At the moment, we're still letting BulletSim manage the creation and destruction - // of the object. Someday we'll move that into the C# code. - BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID)); - BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); }); } @@ -168,17 +168,24 @@ public sealed class BSPrim : BSPhysObject // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct // scale and margins are set. CreateGeomAndObject(true); - DetailLog("{0}: BSPrim.setSize: size={1}, scale={2}, mass={3}, physical={4}", LocalID, _size, _scale, _mass, IsPhysical); + DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical); }); } } + // Scale is what we set in the physics engine. It is different than 'size' in that + // 'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>. + public OMV.Vector3 Scale + { + get { return _scale; } + set { _scale = value; } + } public override PrimitiveBaseShape Shape { set { _pbs = value; PhysicsScene.TaintedObject("BSPrim.setShape", delegate() { _mass = CalculateMass(); // changing the shape changes the mass - CreateGeomAndObject(false); + CreateGeomAndObject(true); }); } } @@ -191,7 +198,7 @@ public sealed class BSPrim : BSPhysObject _isSelected = value; PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() { - SetObjectDynamic(); + SetObjectDynamic(false); }); } } @@ -371,7 +378,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() { DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); - SetObjectDynamic(); + SetObjectDynamic(true); }); return; } @@ -433,7 +440,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() { DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); - SetObjectDynamic(); + SetObjectDynamic(true); }); } } @@ -445,7 +452,7 @@ public sealed class BSPrim : BSPhysObject } // An object is solid if it's not phantom and if it's not doing VolumeDetect - private bool IsSolid + public bool IsSolid { get { return !IsPhantom && !_isVolumeDetect; } } @@ -457,21 +464,23 @@ public sealed class BSPrim : BSPhysObject // isSolid: other objects bounce off of this object // isVolumeDetect: other objects pass through but can generate collisions // collisionEvents: whether this object returns collision events - private void SetObjectDynamic() + 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 } private void UpdatePhysicalParameters() { - /* - // Bullet wants static objects to have a mass of zero - float mass = IsStatic ? 0f : _mass; + DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); - BulletSimAPI.SetObjectProperties(Scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); - */ + // Mangling all the physical properties requires the object to be out of the physical world BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); // Make solid or not (do things bounce off or pass through this object) @@ -517,8 +526,8 @@ public sealed class BSPrim : BSPhysObject // There can be special things needed for implementing linksets Linkset.MakeStatic(this); // The activation state is 'sleeping' so Bullet will not try to act on it - // BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING); - BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.DISABLE_SIMULATION); + BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING); + // BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.DISABLE_SIMULATION); } else { @@ -560,8 +569,8 @@ 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) { if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0) @@ -569,11 +578,16 @@ public sealed class BSPrim : BSPhysObject // 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; - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); - BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); + // 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)); - BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, oldBody.Ptr); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); + BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + DetailLog("{0},BSPrim.MakeSolid:rigidBody,body={1},shape={2}", LocalID, BSBody, BSShape); } } else @@ -583,23 +597,20 @@ public sealed class BSPrim : BSPhysObject // 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; - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); - BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); + + // 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)); - if (BSBody.Ptr == IntPtr.Zero) - { - m_log.ErrorFormat("{0} BSPrim.MakeSolid: failed creation of ghost object. LocalID=[1}", LogHeader, LocalID); - BSBody = oldBody; - } - else - { - BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, oldBody.Ptr); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); - } + 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. @@ -1067,6 +1078,7 @@ 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. @@ -1095,6 +1107,7 @@ public sealed class BSPrim : BSPhysObject { 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? @@ -1109,6 +1122,7 @@ public sealed class BSPrim : BSPhysObject { 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; @@ -1136,6 +1150,7 @@ public sealed class BSPrim : BSPhysObject } } } + return ret; } @@ -1345,12 +1360,9 @@ public sealed class BSPrim : BSPhysObject // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, LocalID, shape.Type); bool ret = BulletSimAPI.CreateObject(PhysicsScene.WorldID, shape); - // 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)); - return ret; } +#endif // !CSHARP_BODY_MANAGEMENT // Copy prim's info into the BulletSim shape description structure public void FillShapeInfo(out ShapeData shape) @@ -1369,22 +1381,45 @@ public sealed class BSPrim : BSPhysObject shape.Restitution = _restitution; shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; + shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue; + shape.Size = _size; } - // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. // No locking here because this is done when the physics engine is not simulating private void CreateGeomAndObject(bool forceRebuild) { +#if CSHARP_BODY_MANAGEMENT + ShapeData shapeData; + FillShapeInfo(out shapeData); + + // Create the correct physical representation for this type of object. + // Updates BSBody and BSShape with the new information. + if (PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs)) + { + // 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; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index eb4b2ad..7470d23 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -1,70 +1,547 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; -using OMV = OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public class BSShapeCollection : IDisposable -{ - protected BSScene PhysicsScene { get; set; } - - public BSShapeCollection(BSScene physScene) - { - PhysicsScene = physScene; - } - - public void Dispose() - { - } - - // Track another user of a body - public void ReferenceBody(BulletBody shape) - { - } - - // Release the usage of a body - public void DereferenceBody(BulletBody shape) - { - } - - // Track another user of the shape - public void ReferenceShape(BulletShape shape) - { - } - - // Release the usage of a shape - public void DereferenceShape(BulletShape shape) - { - } - - - -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OMV = OpenMetaverse; +using OpenSim.Framework; +using OpenSim.Region.Physics.Manager; +using OpenSim.Region.Physics.ConvexDecompositionDotNet; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSShapeCollection : IDisposable +{ + protected BSScene PhysicsScene { get; set; } + + private Object m_shapeActivityLock = new Object(); + + private struct MeshDesc + { + public IntPtr Ptr; + public int referenceCount; + public DateTime lastReferenced; + public IMesh meshData; + } + + private struct HullDesc + { + public IntPtr Ptr; + public int referenceCount; + public DateTime lastReferenced; + } + + private Dictionary Meshes = new Dictionary(); + private Dictionary Hulls = new Dictionary(); + + public BSShapeCollection(BSScene physScene) + { + PhysicsScene = physScene; + } + + public void Dispose() + { + } + + // 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. + // Return 'true' if either the body or the shape changed. + // Called at taint-time!! + public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) + { + bool ret = false; + + // Do we have the correct geometry for this type of object? + if (CreateGeom(forceRebuild, prim, shapeData, pbs)) + { + // If we had to select a new shape geometry for the object, + // rebuild the body around it. + CreateObject(true, prim, PhysicsScene.World, prim.BSShape, shapeData); + ret = true; + } + + return ret; + } + + // Track another user of a body + public void ReferenceBody(BulletBody shape) + { + } + + // Release the usage of a body + public void DereferenceBody(BulletBody shape) + { + } + + // Track another user of the shape + public void ReferenceShape(BulletShape shape) + { + ReferenceShape(shape, null); + } + + // 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. + private void ReferenceShape(BulletShape shape, IMesh meshData) + { + switch (shape.type) + { + case ShapeData.PhysicsShapeType.SHAPE_MESH: + MeshDesc meshDesc; + if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) + { + // There is an existing instance of this mesh. + meshDesc.referenceCount++; + } + else + { + // This is a new reference to a mesh + meshDesc.Ptr = shape.Ptr; + meshDesc.meshData = meshData; + meshDesc.referenceCount = 1; + + } + meshDesc.lastReferenced = System.DateTime.Now; + Meshes[shape.shapeKey] = meshDesc; + break; + case ShapeData.PhysicsShapeType.SHAPE_HULL: + HullDesc hullDesc; + if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) + { + // There is an existing instance of this mesh. + hullDesc.referenceCount++; + } + else + { + // This is a new reference to a mesh + hullDesc.Ptr = shape.Ptr; + hullDesc.referenceCount = 1; + + } + hullDesc.lastReferenced = System.DateTime.Now; + Hulls[shape.shapeKey] = hullDesc; + break; + default: + break; + } + } + + // Release the usage of a shape + public void DereferenceShape(BulletShape shape) + { + switch (shape.type) + { + case ShapeData.PhysicsShapeType.SHAPE_HULL: + DereferenceHull(shape); + // Hulls also include a mesh + DereferenceMesh(shape); + break; + case ShapeData.PhysicsShapeType.SHAPE_MESH: + DereferenceMesh(shape); + break; + default: + break; + } + } + + // Count down the reference count for a mesh shape + private void DereferenceMesh(BulletShape shape) + { + MeshDesc meshDesc; + if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) + { + meshDesc.referenceCount--; + // TODO: release the Bullet storage + meshDesc.lastReferenced = System.DateTime.Now; + Meshes[shape.shapeKey] = meshDesc; + } + } + + // Count down the reference count for a hull shape + private void DereferenceHull(BulletShape shape) + { + HullDesc hullDesc; + if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) + { + hullDesc.referenceCount--; + // TODO: release the Bullet storage (aging old entries?) + hullDesc.lastReferenced = System.DateTime.Now; + Hulls[shape.shapeKey] = hullDesc; + } + } + + // 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, BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) + { + bool ret = false; + bool haveShape = false; + bool nativeShapePossible = true; + + BulletShape newShape = new BulletShape(IntPtr.Zero); + + // If the object is dynamic, it must have a hull shape + if (prim.IsPhysical) + nativeShapePossible = false; + + // If the prim attributes are simple, this could be a simple Bullet native shape + if (nativeShapePossible + && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) + || (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) ) ) + { + if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) + { + haveShape = true; + if (forceRebuild || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) + { + DetailLog("{0},BSShapeCollection.CreateGeom,sphere (force={1}", prim.LocalID, forceRebuild); + newShape = AddNativeShapeToPrim(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE); + + 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 || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX)) + { + DetailLog("{0},BSShapeCollection.CreateGeom,box (force={1})", prim.LocalID, forceRebuild); + newShape = AddNativeShapeToPrim(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX); + + ret = true; + } + } + } + // If a simple shape isn't happening, create a mesh and possibly a hull + if (!haveShape) + { + if (prim.IsPhysical) + { + if (forceRebuild || !Hulls.ContainsKey(prim.BSShape.shapeKey)) + { + // physical objects require a hull for interaction. + // This also creates the mesh if it doesn't already exist + ret = CreateGeomHull(prim, shapeData, pbs); + } + } + else + { + if (forceRebuild || !Meshes.ContainsKey(prim.BSShape.shapeKey)) + { + // Static (non-physical) objects only need a mesh for bumping into + ret = CreateGeomMesh(prim, shapeData, pbs); + } + } + } + return ret; + } + + private BulletShape AddNativeShapeToPrim(BSPrim prim, ShapeData shapeData, ShapeData.PhysicsShapeType shapeType) + { + BulletShape newShape; + + // Bullet native objects are scaled by the Bullet engine so pass the size in + prim.Scale = shapeData.Size; + + // release any previous shape + DereferenceShape(prim.BSShape); + + MeshDesc existingShapeDesc; + if (Meshes.TryGetValue(shapeData.MeshKey, out existingShapeDesc)) + { + // If there is an existing allocated shape, use it + newShape = new BulletShape(existingShapeDesc.Ptr, shapeType); + } + else + { + // Shape of this discriptioin is not allocated. Create new. + newShape = new BulletShape( + BulletSimAPI.BuildNativeShape2(PhysicsScene.World.Ptr, + (float)shapeType, + PhysicsScene.Params.collisionMargin, + prim.Scale), + shapeType); + } + newShape.shapeKey = shapeData.MeshKey; + ReferenceShape(newShape); + prim.BSShape = newShape; + return newShape; + } + + // 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(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) + { + BulletShape newShape = new BulletShape(IntPtr.Zero); + + // 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(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z)); + if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) + lod = PhysicsScene.MeshMegaPrimLOD; + + ulong newMeshKey = (ulong)pbs.GetMeshKey(shapeData.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 (prim.BSShape.shapeKey == newMeshKey) return false; + + DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,key={1}", prim.LocalID, newMeshKey); + + // Since we're recreating new, get rid of the reference to the previous shape + DereferenceShape(prim.BSShape); + + IMesh meshData = null; + IntPtr meshPtr; + MeshDesc meshDesc; + if (Meshes.TryGetValue(newMeshKey, out meshDesc)) + { + // If the mesh has already been built just use it. + meshPtr = meshDesc.Ptr; + } + else + { + // always pass false for physicalness as this creates some sort of bounding box which we don't need + meshData = PhysicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, shapeData.Size, lod, false); + + int[] indices = meshData.getIndexListAsInt(); + List vertices = meshData.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, prim.LocalID, newMeshKey, indices.Length, vertices.Count); + + meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.Ptr, + indices.GetLength(0), indices, vertices.Count, verticesAsFloats); + } + newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH); + newShape.shapeKey = newMeshKey; + + ReferenceShape(newShape, meshData); + + // meshes are already scaled by the meshmerizer + prim.Scale = new OMV.Vector3(1f, 1f, 1f); + prim.BSShape = newShape; + return true; // 'true' means a new shape has been added to this prim + } + + // 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). + List m_hulls; + private bool CreateGeomHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) + { + BulletShape newShape; + + float lod = pbs.SculptEntry ? PhysicsScene.SculptLOD : PhysicsScene.MeshLOD; + ulong newHullKey = (ulong)pbs.GetMeshKey(shapeData.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 == prim.BSShape.shapeKey) return false; + + DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", prim.LocalID, newHullKey, newHullKey); + + // remove references to any previous shape + DereferenceShape(prim.BSShape); + + // Make sure the underlying mesh exists and is correct + // Since we're in the hull code, we know CreateGeomMesh() will not create a native shape. + CreateGeomMesh(prim, shapeData, pbs); + MeshDesc meshDesc = Meshes[newHullKey]; + + IntPtr hullPtr; + HullDesc hullDesc; + if (Hulls.TryGetValue(newHullKey, out hullDesc)) + { + hullPtr = hullDesc.Ptr; + } + else + { + int[] indices = meshDesc.meshData.getIndexListAsInt(); + List vertices = meshDesc.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)); + } + + // setup and do convex hull conversion + m_hulls = new List(); + 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 = 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 + // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, LocalID, _hullKey, hullCount); + hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.Ptr, hullCount, convHulls); + } + newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL); + newShape.shapeKey = newHullKey; + + ReferenceShape(newShape); + + // meshes are already scaled by the meshmerizer + prim.Scale = new OMV.Vector3(1f, 1f, 1f); + prim.BSShape = newShape; + return true; // 'true' means a new shape has been added to this prim + } + + // 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) + { + m_hulls.Add(result); + return; + } + + // 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(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape, ShapeData shapeData) + { + // the mesh or hull must have already been created in Bullet + // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, LocalID, shape.Type); + + DereferenceBody(prim.BSBody); + + BulletBody aBody; + IntPtr bodyPtr = IntPtr.Zero; + if (prim.IsSolid) + { + bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.Ptr, shape.Ptr, shapeData.Position, shapeData.Rotation); + } + else + { + bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.Ptr, shape.Ptr, shapeData.Position, shapeData.Rotation); + } + aBody = new BulletBody(shapeData.ID, bodyPtr); + + ReferenceBody(aBody); + + prim.BSBody = aBody; + return true; + } + + private void DetailLog(string msg, params Object[] args) + { + PhysicsScene.PhysicsLogging.Write(msg, args); + } + + + + + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 52c8a24..47875b0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -40,7 +40,9 @@ public struct BulletSim { public BulletSim(uint worldId, BSScene bss, IntPtr xx) { - worldID = worldId; scene = bss; Ptr = xx; + worldID = worldId; + scene = bss; + Ptr = xx; } public uint worldID; // The scene is only in here so very low level routines have a handle to print debug/error messages @@ -58,6 +60,16 @@ public struct BulletBody } public IntPtr Ptr; public uint ID; + public override string ToString() + { + StringBuilder buff = new StringBuilder(); + buff.Append(""); + return buff.ToString(); + } } public struct BulletShape @@ -66,17 +78,29 @@ public struct BulletShape { Ptr = xx; type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; - hashKey = 0; + shapeKey = 0; } public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) { Ptr = xx; type = typ; - hashKey = 0; + shapeKey = 0; } public IntPtr Ptr; public ShapeData.PhysicsShapeType type; - public ulong hashKey; + public ulong shapeKey; + public override string ToString() + { + StringBuilder buff = new StringBuilder(); + buff.Append(""); + return buff.ToString(); + } } // An allocated Bullet btConstraint @@ -155,10 +179,21 @@ public struct ShapeData public float Restitution; public float Collidable; // true of things bump into this public float Static; // true if a static object. Otherwise gravity, etc. + public float Solid; // true if object cannot be passed through + public Vector3 Size; // note that bools are passed as floats since bool size changes by language and architecture public const float numericTrue = 1f; public const float numericFalse = 0f; + + // The native shapes have predefined shape hash keys + public enum FixedShapeKey : ulong + { + KEY_BOX = 1, + KEY_SPHERE = 2, + KEY_CONE = 3, + KEY_CYLINDER = 4, + } } [StructLayout(LayoutKind.Sequential)] public struct SweepHit -- cgit v1.1 From 42802669dd8e2d574f9bbd25fbaa86b255fbe25b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 21 Sep 2012 10:40:14 -0700 Subject: BulletSim: fix regression that caused cylindar shapes to have a box collision shape --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4d2c70c..b764379 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1091,7 +1091,14 @@ public sealed class BSPrim : BSPhysObject bool haveShape = false; // If the prim attributes are simple, this could be a simple Bullet native shape - if ((_pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) + 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 @@ -1099,6 +1106,7 @@ public sealed class BSPrim : BSPhysObject && _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) { -- cgit v1.1 From d016051fa028a485b09fac47b3fa3d8fd08e207a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 23 Sep 2012 18:39:46 -0700 Subject: BulletSim: renamed members of BulletShape, BulletSim and BulletBody so the members case is consistant. Caused modifications everywhere. New logic in BSShapeCollection to track use and sharing of shapes. I just reslized, though, that shapes cannot be shared because the shape's UserPointer is the localID of the prim and is required for tracking collisions. More changes coming. Added DuplicateCollisionShape2() to API and changed BuildNativeShape2 to take a ShapeData structure so don't have to pass so many parameters. This matches the latest version of BulletSim.dll. Additions and removal of DetailLog() statements for debugging. --- .../Physics/BulletSPlugin/BS6DofConstraint.cs | 4 +- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 12 +- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 2 +- .../Physics/BulletSPlugin/BSHingeConstraint.cs | 110 +++---- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 6 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 16 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 159 ++++++---- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 344 +++++++++++++++------ .../Physics/BulletSPlugin/BSTerrainManager.cs | 46 +-- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 49 +-- 11 files changed, 482 insertions(+), 270 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs index 683bc51..ff271fe 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs @@ -44,7 +44,7 @@ public class BS6DofConstraint : BSConstraint m_body1 = obj1; m_body2 = obj2; m_constraint = new BulletConstraint( - BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, + BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, frame1, frame1rot, frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); @@ -59,7 +59,7 @@ public class BS6DofConstraint : BSConstraint m_body1 = obj1; m_body2 = obj2; m_constraint = new BulletConstraint( - BulletSimAPI.Create6DofConstraintToPoint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, + BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); m_enabled = true; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 014cd99..e4b1dd4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -114,7 +114,7 @@ public class BSCharacter : BSPhysObject // Set the buoyancy for flying. This will be refactored when all the settings happen in C# BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy); - BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.Ptr, LocalID)); + BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID)); }); return; @@ -189,10 +189,10 @@ public class BSCharacter : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); - BulletSimAPI.ClearForces2(BSBody.Ptr); + BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(BSBody.ptr); } public override void LockAngularMotion(OMV.Vector3 axis) { return; } @@ -437,7 +437,7 @@ public class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate() { DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); + BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); }); } else diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 1376a29..c21252b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -49,7 +49,7 @@ public abstract class BSConstraint : IDisposable if (m_enabled) { m_enabled = false; - bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); + bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.Ptr); m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success); m_constraint.Ptr = System.IntPtr.Zero; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs index d68048b..a6e4235 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs @@ -1,55 +1,55 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ - -class BSHingeConstraint : BSConstraint -{ - public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, - Vector3 pivotInA, Vector3 pivotInB, - Vector3 axisInA, Vector3 axisInB, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) - { - m_world = world; - m_body1 = obj1; - m_body2 = obj2; - m_constraint = new BulletConstraint( - BulletSimAPI.CreateHingeConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, - pivotInA, pivotInB, - axisInA, axisInB, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - m_enabled = true; - } - -} - -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +class BSHingeConstraint : BSConstraint +{ + public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 pivotInA, Vector3 pivotInB, + Vector3 axisInA, Vector3 axisInB, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + m_constraint = new BulletConstraint( + BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, + pivotInA, pivotInB, + axisInA, axisInB, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + m_enabled = true; + } + +} + +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 1e8fe52..84a7fac 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -282,10 +282,10 @@ public class BSLinkset { // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); - BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); + BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); foreach (BSPhysObject child in m_children) { - BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); + BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); } /* // The root prim takes on the weight of the whole linkset @@ -442,7 +442,7 @@ public class BSLinkset PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody); // Make the child refresh its location - BulletSimAPI.PushUpdate2(childPrim.BSBody.Ptr); + BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); } // Remove linkage between myself and any possible children I might have diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 70a10b1..6a9fe50 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -1,4 +1,4 @@ -/* +/* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * @@ -121,8 +121,8 @@ public abstract class BSPhysObject : PhysicsActor // if someone has subscribed for collision events.... if (SubscribedEvents()) { CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", - // LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); + DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", + LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); ret = true; } return ret; @@ -147,7 +147,7 @@ public abstract class BSPhysObject : PhysicsActor if (CollisionCollection.Count == 0) PhysicsScene.ObjectsWithNoMoreCollisions.Add(this); - // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); + DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); base.SendCollisionUpdate(CollisionCollection); // The collisionCollection structure is passed around in the simulator. @@ -158,7 +158,8 @@ public abstract class BSPhysObject : PhysicsActor // Subscribe for collision events. // Parameter is the millisecond rate the caller wishes collision events to occur. - public override void SubscribeEvents(int ms) { + public override void SubscribeEvents(int ms) { + DetailLog("{0},BSScene.SubscribeEvents,subscribing,ms={1}", BSScene.DetailLogZero, ms); SubscribedEventsMs = ms; if (ms > 0) { @@ -167,7 +168,7 @@ public abstract class BSPhysObject : PhysicsActor PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() { - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } else @@ -177,10 +178,11 @@ public abstract class BSPhysObject : PhysicsActor } } public override void UnSubscribeEvents() { + DetailLog("{0},BSScene.UnSubscribeEvents,unsubscribing", BSScene.DetailLogZero); SubscribedEventsMs = 0; PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() { - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } // Return 'true' if the simulator wants collision events diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b764379..5be2b1b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -24,6 +24,11 @@ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ + +// 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; @@ -36,6 +41,7 @@ using OpenSim.Region.Physics.ConvexDecompositionDotNet; namespace OpenSim.Region.Physics.BulletSPlugin { + [Serializable] public sealed class BSPrim : BSPhysObject { @@ -126,7 +132,7 @@ public sealed class BSPrim : BSPhysObject { CreateGeomAndObject(true); - CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); + CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.ptr); }); } @@ -246,10 +252,10 @@ public sealed class BSPrim : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); - BulletSimAPI.ClearForces2(BSBody.Ptr); + BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(BSBody.ptr); } public override void LockAngularMotion(OMV.Vector3 axis) @@ -262,7 +268,7 @@ public sealed class BSPrim : BSPhysObject get { if (!Linkset.IsRoot(this)) // child prims move around based on their parent. Need to get the latest location - _position = BulletSimAPI.GetPosition2(BSBody.Ptr); + _position = BulletSimAPI.GetPosition2(BSBody.ptr); // don't do the GetObjectPosition for root elements because this function is called a zillion times // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID); @@ -274,7 +280,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); }); } } @@ -312,7 +318,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setForce", delegate() { DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); + BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); }); } } @@ -374,12 +380,15 @@ public sealed class BSPrim : BSPhysObject // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more public override void SetVolumeDetect(int param) { bool newValue = (param != 0); - _isVolumeDetect = newValue; - PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() + if (_isVolumeDetect != newValue) { - DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); - SetObjectDynamic(true); - }); + _isVolumeDetect = newValue; + PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() + { + DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); + SetObjectDynamic(true); + }); + } return; } @@ -390,7 +399,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() { DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); - BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, _velocity); + BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); }); } } @@ -414,7 +423,7 @@ public sealed class BSPrim : BSPhysObject if (!Linkset.IsRoot(this)) { // Children move around because tied to parent. Get a fresh value. - _orientation = BulletSimAPI.GetOrientation2(BSBody.Ptr); + _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr); } return _orientation; } @@ -425,7 +434,7 @@ public sealed class BSPrim : BSPhysObject { // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID); DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); }); } } @@ -436,12 +445,15 @@ public sealed class BSPrim : BSPhysObject public override bool IsPhysical { get { return _isPhysical; } set { - _isPhysical = value; - PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() + if (_isPhysical != value) { - DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); - SetObjectDynamic(true); - }); + _isPhysical = value; + PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() + { + DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); + SetObjectDynamic(true); + }); + } } } @@ -458,7 +470,7 @@ public sealed class BSPrim : BSPhysObject } // Make gravity work if the object is physical and not selected - // No locking here because only called when it is safe + // No locking here because only called when it is safe (called at taint-time). // There are four flags we're interested in: // IsStatic: Object does not move, otherwise the object has mass and moves // isSolid: other objects bounce off of this object @@ -481,11 +493,13 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); // Mangling all the physical properties requires the object to be out of the physical world - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); + 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); @@ -493,15 +507,23 @@ public sealed class BSPrim : BSPhysObject // Arrange for collisions events if the simulator wants them EnableCollisions(SubscribedEvents()); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, BSBody.Ptr); +#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); + + // Rebuild its shape + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); // Recompute any linkset parameters. // When going from non-physical to physical, this re-enables the constraints that // had been automatically disabled when the mass was set to zero. Linkset.Refresh(this); - DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,static={1},solid={2},mass={3},collide={4},cf={5}", - LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags); + DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", + LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); } // "Making dynamic" means changing to and from static. @@ -514,52 +536,52 @@ public sealed class BSPrim : BSPhysObject if (makeStatic) { // Become a Bullet 'static' object type - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement - BulletSimAPI.ClearAllForces2(BSBody.Ptr); + BulletSimAPI.ClearAllForces2(BSBody.ptr); // Center of mass is at the center of the object - BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.Ptr, _position, _orientation); + BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation); // Mass is zero which disables a bunch of physics stuff in Bullet - BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero); + BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero); // There is no inertia in a static object - BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); + BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); // There can be special things needed for implementing linksets Linkset.MakeStatic(this); // The activation state is 'sleeping' so Bullet will not try to act on it - BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING); + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); // BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.DISABLE_SIMULATION); } else { // Not a Bullet static object - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT); // Set various physical properties so internal dynamic properties will get computed correctly as they are set - BulletSimAPI.SetFriction2(BSBody.Ptr, PhysicsScene.Params.defaultFriction); - BulletSimAPI.SetRestitution2(BSBody.Ptr, PhysicsScene.Params.defaultRestitution); + BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction); + BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 - BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); // A dynamic object has mass - IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr); + IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass); - BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, inertia); + BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); // Inertia is based on our new mass - BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); + BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); // Various values for simulation limits - BulletSimAPI.SetDamping2(BSBody.Ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping); - BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, PhysicsScene.Params.deactivationTime); - BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); - BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, PhysicsScene.Params.contactProcessingThreshold); + BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping); + BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime); + BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); + BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); // There can be special things needed for implementing linksets Linkset.MakeDynamic(this); // Force activation of the object so Bullet will act on it. - BulletSimAPI.Activate2(BSBody.Ptr, true); + BulletSimAPI.Activate2(BSBody.ptr, true); } } @@ -569,8 +591,28 @@ 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 CSHARP_BODY_MANAGEMENT + CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr); + if (makeSolid) + { + // Verify the previous code created the correct shape for this type of thing. + if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0) + { + m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType); + } + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + } + else + { + if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0) + { + m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); + } + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + } +#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) @@ -618,11 +660,11 @@ public sealed class BSPrim : BSPhysObject { if (wantsCollisionEvents) { - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } else { - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } } @@ -683,7 +725,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); - BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, _rotationalVelocity); + BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity); }); } } @@ -702,7 +744,7 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - BulletSimAPI.SetGravity2(BSBody.Ptr, new OMV.Vector3(0f, 0f, grav)); + BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); }); } @@ -767,7 +809,7 @@ public sealed class BSPrim : BSPhysObject } DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. - BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum); + BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); }); } @@ -1394,7 +1436,7 @@ public sealed class BSPrim : BSPhysObject } // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. - // No locking here because this is done when the physics engine is not simulating + // No locking here because this is done when the physics engine is not simulating (taint-time). private void CreateGeomAndObject(bool forceRebuild) { #if CSHARP_BODY_MANAGEMENT @@ -1403,11 +1445,10 @@ public sealed class BSPrim : BSPhysObject // Create the correct physical representation for this type of object. // Updates BSBody and BSShape with the new information. - if (PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs)) - { - // Make sure the properties are set on the new object - UpdatePhysicalParameters(); - } + PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs); + + // 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 diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 76da42d..87c7b1b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -589,6 +589,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters { if (localID <= TerrainManager.HighestTerrainID) { + DetailLog("{0},BSScene.SendCollision,collideWithTerrain,id={1},with={2}", DetailLogZero, localID, collidingWith); return; // don't send collisions to the terrain } @@ -596,6 +597,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (!PhysObjects.TryGetValue(localID, out collider)) { // If the object that is colliding cannot be found, just ignore the collision. + DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith); return; } @@ -604,7 +606,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters BSPhysObject collidee = null; PhysObjects.TryGetValue(collidingWith, out collidee); - // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); + DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 7470d23..6b90661 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -38,8 +38,9 @@ public class BSShapeCollection : IDisposable { protected BSScene PhysicsScene { get; set; } - private Object m_shapeActivityLock = new Object(); + private Object m_collectionActivityLock = new Object(); + // Description of a Mesh private struct MeshDesc { public IntPtr Ptr; @@ -48,6 +49,8 @@ public class BSShapeCollection : IDisposable public IMesh meshData; } + // Description of a hull. + // Meshes and hulls have the same shape hash key but we only need hulls for efficient physical objects private struct HullDesc { public IntPtr Ptr; @@ -55,8 +58,17 @@ public class BSShapeCollection : IDisposable public DateTime lastReferenced; } + private struct BodyDesc + { + public IntPtr Ptr; + // Bodies are only used once so reference count is always either one or zero + public int referenceCount; + public DateTime lastReferenced; + } + private Dictionary Meshes = new Dictionary(); private Dictionary Hulls = new Dictionary(); + private Dictionary Bodies = new Dictionary(); public BSShapeCollection(BSScene physScene) { @@ -65,6 +77,7 @@ public class BSShapeCollection : IDisposable public void Dispose() { + // TODO!!!!!!!!! } // Called to update/change the body and shape for an object. @@ -76,40 +89,104 @@ public class BSShapeCollection : IDisposable { bool ret = false; - // Do we have the correct geometry for this type of object? - if (CreateGeom(forceRebuild, prim, shapeData, pbs)) + // This lock could probably be pushed down lower but building shouldn't take long + lock (m_collectionActivityLock) { + // Do we have the correct geometry for this type of object? + bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs); // If we had to select a new shape geometry for the object, // rebuild the body around it. - CreateObject(true, prim, PhysicsScene.World, prim.BSShape, shapeData); - ret = true; + bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData); + ret = newGeom || newBody; } + DetailLog("{0},BSShapeCollection.GetBodyAndShape,force-{1},ret={2},body={3},shape={4}", + prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape); return ret; } // Track another user of a body - public void ReferenceBody(BulletBody shape) + // We presume the caller has allocated the body. + // Bodies only have one user so the reference count is either 1 or 0. + public void ReferenceBody(BulletBody shape, bool atTaintTime) { - } + lock (m_collectionActivityLock) + { + BodyDesc bodyDesc; + if (Bodies.TryGetValue(shape.ID, out bodyDesc)) + { + bodyDesc.referenceCount++; + DetailLog("{0},BSShapeCollection.ReferenceBody,existingBody,ref={1}", shape.ID, bodyDesc.referenceCount); + } + else + { + bodyDesc.Ptr = shape.ptr; + bodyDesc.referenceCount = 1; + DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={1}", shape.ID, bodyDesc.referenceCount); + } + bodyDesc.lastReferenced = System.DateTime.Now; + Bodies[shape.ID] = bodyDesc; + } +} - // Release the usage of a body - public void DereferenceBody(BulletBody shape) + // Release the usage of a body. + // Not that this will also delete the body in BUllet if the body is now unused (reference count = 0). + public void DereferenceBody(BulletBody shape, bool inTaintTime) { + if (shape.ptr == IntPtr.Zero) + return; + + lock (m_collectionActivityLock) + { + BodyDesc bodyDesc; + if (Bodies.TryGetValue(shape.ID, out bodyDesc)) + { + bodyDesc.referenceCount--; + bodyDesc.lastReferenced = System.DateTime.Now; + Bodies[shape.ID] = bodyDesc; + DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", shape.ID, bodyDesc.referenceCount); + + if (bodyDesc.referenceCount == 0) + { + Bodies.Remove(shape.ID); + BSScene.TaintCallback removeOperation = delegate() + { + DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. Ptr={1:X}", shape.ID, shape.ptr); + // zero any reference to the shape so it is not freed when the body is deleted + BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, shape.ptr, IntPtr.Zero); + // It may have already been removed from the world in which case the next is a NOOP + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, shape.ptr); + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, shape.ptr); + }; + // If already in taint-time, do the operations now. Otherwise queue for later. + if (inTaintTime) + removeOperation(); + else + PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation); + } + } + else + { + DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", shape.ID, bodyDesc.referenceCount); + } + } } // Track another user of the shape - public void ReferenceShape(BulletShape shape) + private bool ReferenceShape(BulletShape shape) { - ReferenceShape(shape, null); + return ReferenceShape(shape, null); } // 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. - private void ReferenceShape(BulletShape shape, IMesh meshData) + // 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. + private bool ReferenceShape(BulletShape shape, IMesh meshData) { + bool ret = false; switch (shape.type) { case ShapeData.PhysicsShapeType.SHAPE_MESH: @@ -118,14 +195,18 @@ public class BSShapeCollection : IDisposable { // There is an existing instance of this mesh. meshDesc.referenceCount++; + DetailLog("{0},BSShapeColliction.ReferenceShape,existingMesh,key={1},cnt={2}", + BSScene.DetailLogZero, shape.shapeKey, meshDesc.referenceCount); } else { // This is a new reference to a mesh - meshDesc.Ptr = shape.Ptr; + meshDesc.Ptr = shape.ptr; meshDesc.meshData = meshData; meshDesc.referenceCount = 1; - + DetailLog("{0},BSShapeColliction.ReferenceShape,newMesh,key={1},cnt={2}", + BSScene.DetailLogZero, shape.shapeKey, meshDesc.referenceCount); + ret = true; } meshDesc.lastReferenced = System.DateTime.Now; Meshes[shape.shapeKey] = meshDesc; @@ -136,41 +217,68 @@ public class BSShapeCollection : IDisposable { // There is an existing instance of this mesh. hullDesc.referenceCount++; + DetailLog("{0},BSShapeColliction.ReferenceShape,existingHull,key={1},cnt={2}", + BSScene.DetailLogZero, shape.shapeKey, hullDesc.referenceCount); } else { - // This is a new reference to a mesh - hullDesc.Ptr = shape.Ptr; + // This is a new reference to a hull + hullDesc.Ptr = shape.ptr; hullDesc.referenceCount = 1; + DetailLog("{0},BSShapeColliction.ReferenceShape,newHull,key={1},cnt={2}", + BSScene.DetailLogZero, shape.shapeKey, hullDesc.referenceCount); + ret = true; } hullDesc.lastReferenced = System.DateTime.Now; Hulls[shape.shapeKey] = hullDesc; break; + case ShapeData.PhysicsShapeType.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) + private void DereferenceShape(BulletShape shape, bool atTaintTime) { - switch (shape.type) + if (shape.ptr == IntPtr.Zero) + return; + + BSScene.TaintCallback dereferenceOperation = delegate() { - case ShapeData.PhysicsShapeType.SHAPE_HULL: - DereferenceHull(shape); - // Hulls also include a mesh - DereferenceMesh(shape); - break; - case ShapeData.PhysicsShapeType.SHAPE_MESH: - DereferenceMesh(shape); - break; - default: - break; - } + switch (shape.type) + { + case ShapeData.PhysicsShapeType.SHAPE_HULL: + DereferenceHull(shape); + // Hulls also include a mesh + DereferenceMesh(shape); + break; + case ShapeData.PhysicsShapeType.SHAPE_MESH: + DereferenceMesh(shape); + break; + case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN: + break; + default: + // Native shapes are not tracked and are released immediately + if (shape.ptr != IntPtr.Zero & shape.isNativeShape) + { + BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); + } + break; + } + }; + if (atTaintTime) + dereferenceOperation(); + else + PhysicsScene.TaintedObject("BSShapeCollection.DereferenceShape", dereferenceOperation); } // Count down the reference count for a mesh shape + // Called at taint-time. private void DereferenceMesh(BulletShape shape) { MeshDesc meshDesc; @@ -180,10 +288,14 @@ public class BSShapeCollection : IDisposable // TODO: release the Bullet storage meshDesc.lastReferenced = System.DateTime.Now; Meshes[shape.shapeKey] = meshDesc; + DetailLog("{0},BSShapeColliction.DereferenceMesh,key={1},cnt={2}", + BSScene.DetailLogZero, shape.shapeKey, meshDesc.referenceCount); + } } // Count down the reference count for a hull shape + // Called at taint-time. private void DereferenceHull(BulletShape shape) { HullDesc hullDesc; @@ -193,6 +305,8 @@ public class BSShapeCollection : IDisposable // TODO: release the Bullet storage (aging old entries?) hullDesc.lastReferenced = System.DateTime.Now; Hulls[shape.shapeKey] = hullDesc; + DetailLog("{0},BSShapeColliction.DereferenceHull,key={1},cnt={2}", + BSScene.DetailLogZero, shape.shapeKey, hullDesc.referenceCount); } } @@ -210,10 +324,6 @@ public class BSShapeCollection : IDisposable BulletShape newShape = new BulletShape(IntPtr.Zero); - // If the object is dynamic, it must have a hull shape - if (prim.IsPhysical) - nativeShapePossible = false; - // If the prim attributes are simple, this could be a simple Bullet native shape if (nativeShapePossible && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) @@ -230,8 +340,10 @@ public class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) { - DetailLog("{0},BSShapeCollection.CreateGeom,sphere (force={1}", prim.LocalID, forceRebuild); - newShape = AddNativeShapeToPrim(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE); + newShape = AddNativeShapeToPrim( + prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE); + DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", + prim.LocalID, forceRebuild,prim.BSShape); ret = true; } @@ -242,71 +354,87 @@ public class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX)) { - DetailLog("{0},BSShapeCollection.CreateGeom,box (force={1})", prim.LocalID, forceRebuild); - newShape = AddNativeShapeToPrim(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX); + newShape = AddNativeShapeToPrim( + prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX); + DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", + prim.LocalID, forceRebuild,prim.BSShape); ret = true; } } } - // If a simple shape isn't happening, create a mesh and possibly a hull + // If a simple shape is not happening, create a mesh and possibly a hull + // Note that if it's a native shape, the check for physical/non-physical is not + // made. Native shapes are best used in either case. if (!haveShape) { if (prim.IsPhysical) { - if (forceRebuild || !Hulls.ContainsKey(prim.BSShape.shapeKey)) + if (forceRebuild || !Hulls.ContainsKey(shapeData.HullKey)) { // physical objects require a hull for interaction. - // This also creates the mesh if it doesn't already exist + // This also creates the mesh if it doesn't already exist. ret = CreateGeomHull(prim, shapeData, pbs); } + else + { + prim.BSShape = new BulletShape(Hulls[shapeData.HullKey].Ptr, + ShapeData.PhysicsShapeType.SHAPE_HULL); + prim.BSShape.shapeKey = shapeData.HullKey; + // Another user of this shape. + ReferenceShape(prim.BSShape); + ret = true; + } } else { if (forceRebuild || !Meshes.ContainsKey(prim.BSShape.shapeKey)) { // Static (non-physical) objects only need a mesh for bumping into + // Returning 'true' means prim.BShape was changed. ret = CreateGeomMesh(prim, shapeData, pbs); } + else + { + prim.BSShape = new BulletShape(Hulls[shapeData.MeshKey].Ptr, + ShapeData.PhysicsShapeType.SHAPE_MESH); + prim.BSShape.shapeKey = shapeData.MeshKey; + ReferenceShape(prim.BSShape); + ret = true; + } } } return ret; } - private BulletShape AddNativeShapeToPrim(BSPrim prim, ShapeData shapeData, ShapeData.PhysicsShapeType shapeType) + // Creates a native shape and assignes it to prim.BSShape + private BulletShape AddNativeShapeToPrim( + BSPrim prim, ShapeData shapeData, ShapeData.PhysicsShapeType shapeType, + ShapeData.FixedShapeKey shapeKey) { BulletShape newShape; // Bullet native objects are scaled by the Bullet engine so pass the size in prim.Scale = shapeData.Size; + shapeData.Type = shapeType; + shapeData.Scale = prim.Scale; // release any previous shape - DereferenceShape(prim.BSShape); + DereferenceShape(prim.BSShape, true); + + // Shape of this discriptioin is not allocated. Create new. + newShape = new BulletShape( + BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); + newShape.shapeKey = (ulong)shapeKey; + newShape.isNativeShape = true; + + // Don't to a 'ReferenceShape()' here because native shapes are not tracked. - MeshDesc existingShapeDesc; - if (Meshes.TryGetValue(shapeData.MeshKey, out existingShapeDesc)) - { - // If there is an existing allocated shape, use it - newShape = new BulletShape(existingShapeDesc.Ptr, shapeType); - } - else - { - // Shape of this discriptioin is not allocated. Create new. - newShape = new BulletShape( - BulletSimAPI.BuildNativeShape2(PhysicsScene.World.Ptr, - (float)shapeType, - PhysicsScene.Params.collisionMargin, - prim.Scale), - shapeType); - } - newShape.shapeKey = shapeData.MeshKey; - ReferenceShape(newShape); prim.BSShape = newShape; return newShape; } - // 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). + // Returns 'true' of a mesh was actually rebuild. // Called at taint-time! private bool CreateGeomMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) { @@ -322,7 +450,6 @@ public class BSShapeCollection : IDisposable lod = PhysicsScene.MeshMegaPrimLOD; ulong newMeshKey = (ulong)pbs.GetMeshKey(shapeData.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 (prim.BSShape.shapeKey == newMeshKey) return false; @@ -330,7 +457,7 @@ public class BSShapeCollection : IDisposable DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,key={1}", prim.LocalID, newMeshKey); // Since we're recreating new, get rid of the reference to the previous shape - DereferenceShape(prim.BSShape); + DereferenceShape(prim.BSShape, true); IMesh meshData = null; IntPtr meshPtr; @@ -360,7 +487,7 @@ public class BSShapeCollection : IDisposable // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); - meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.Ptr, + meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, indices.GetLength(0), indices, vertices.Count, verticesAsFloats); } newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH); @@ -374,26 +501,29 @@ public class BSShapeCollection : IDisposable return true; // 'true' means a new shape has been added to this prim } - // 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). List m_hulls; private bool CreateGeomHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) { BulletShape newShape; + // Level of detail for the mesh can be different for sculpties and regular meshes. float lod = pbs.SculptEntry ? PhysicsScene.SculptLOD : PhysicsScene.MeshLOD; + ulong newHullKey = (ulong)pbs.GetMeshKey(shapeData.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 == prim.BSShape.shapeKey) return false; DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", prim.LocalID, newHullKey, newHullKey); - // remove references to any previous shape - DereferenceShape(prim.BSShape); + // Remove references to the previous shape. Also removes reference to underlying mesh. + DereferenceShape(prim.BSShape, true); - // Make sure the underlying mesh exists and is correct + // Do not let the mesh dereference itself again. Was done in the above DerefereceShape(). + prim.BSShape.type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + + // Make sure the underlying mesh exists and is correct. // Since we're in the hull code, we know CreateGeomMesh() will not create a native shape. CreateGeomMesh(prim, shapeData, pbs); MeshDesc meshDesc = Meshes[newHullKey]; @@ -402,10 +532,12 @@ public class BSShapeCollection : IDisposable HullDesc hullDesc; if (Hulls.TryGetValue(newHullKey, out hullDesc)) { + // If the hull shape already is created, just use it. hullPtr = hullDesc.Ptr; } else { + // Build a new hull in the physical world int[] indices = meshDesc.meshData.getIndexListAsInt(); List vertices = meshDesc.meshData.getVertexList(); @@ -485,63 +617,85 @@ public class BSShapeCollection : IDisposable } // create the hull data structure in Bullet // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, LocalID, _hullKey, hullCount); - hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.Ptr, hullCount, convHulls); + hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); } + newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL); newShape.shapeKey = newHullKey; + newShape.meshPtr = meshDesc.Ptr; ReferenceShape(newShape); - // meshes are already scaled by the meshmerizer + // meshes and hulls are already scaled by the meshmerizer prim.Scale = new OMV.Vector3(1f, 1f, 1f); prim.BSShape = newShape; return true; // 'true' means a new shape has been added to this prim } // Callback from convex hull creater with a newly created hull. - // Just add it to the collection of hulls for this shape. + // Just add it to our collection of hulls for this shape. private void HullReturn(ConvexResult result) { m_hulls.Add(result); return; } - // 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 + // Create an object in Bullet if it has not already been created. + // Updates prim.BSBody with the information about the new body if one is created. // Returns 'true' if an object was actually created. - private bool CreateObject(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape, ShapeData shapeData) + // Called at taint-time. + private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape, ShapeData shapeData) { - // the mesh or hull must have already been created in Bullet - // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, LocalID, shape.Type); + bool ret = false; - DereferenceBody(prim.BSBody); + // the mesh, hull or native shape must have already been created in Bullet + bool mustRebuild = (prim.BSBody.ptr == IntPtr.Zero); - BulletBody aBody; - IntPtr bodyPtr = IntPtr.Zero; - if (prim.IsSolid) + // If there is an existing body, verify it's of an acceptable type. + // If not a solid object, body is a GhostObject. Otherwise a RigidBody. + if (!mustRebuild) { - bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.Ptr, shape.Ptr, shapeData.Position, shapeData.Rotation); + CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.BSBody.ptr); + if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY + || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT) + { + // If the collisionObject is not the correct type for solidness, rebuild what's there + mustRebuild = true; + } + } - else + + if (mustRebuild) { - bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.Ptr, shape.Ptr, shapeData.Position, shapeData.Rotation); - } - aBody = new BulletBody(shapeData.ID, bodyPtr); + DereferenceBody(prim.BSBody, true); + + BulletBody aBody; + IntPtr bodyPtr = IntPtr.Zero; + if (prim.IsSolid) + { + bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, shapeData.Position, shapeData.Rotation); + DetailLog("{0},BSShapeCollection.CreateObject,mesh,ptr={1:X}", prim.LocalID, bodyPtr); + } + else + { + bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, shapeData.Position, shapeData.Rotation); + DetailLog("{0},BSShapeCollection.CreateObject,ghost,ptr={1:X}", prim.LocalID, bodyPtr); + } + aBody = new BulletBody(shapeData.ID, bodyPtr); + + ReferenceBody(aBody, true); + + prim.BSBody = aBody; - ReferenceBody(aBody); + ret = true; + } - prim.BSBody = aBody; - return true; + return ret; } private void DetailLog(string msg, params Object[] args) { PhysicsScene.PhysicsLogging.Write(msg, args); } - - - - - } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index fb802e4..093d2a4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -111,8 +111,8 @@ public class BSTerrainManager BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN), ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE); m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.Ptr, Vector3.Zero, Quaternion.Identity)); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, m_groundPlane.Ptr); + BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, Vector3.Zero, Quaternion.Identity)); + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE); Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION); @@ -128,13 +128,13 @@ public class BSTerrainManager // Release all the terrain structures we might have allocated public void ReleaseGroundPlaneAndTerrain() { - if (m_groundPlane.Ptr != IntPtr.Zero) + if (m_groundPlane.ptr != IntPtr.Zero) { - if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, m_groundPlane.Ptr)) + if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr)) { - BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, m_groundPlane.Ptr); + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr); } - m_groundPlane.Ptr = IntPtr.Zero; + m_groundPlane.ptr = IntPtr.Zero; } ReleaseTerrain(); @@ -145,9 +145,9 @@ public class BSTerrainManager { foreach (KeyValuePair kvp in m_heightMaps) { - if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, kvp.Value.terrainBody.Ptr)) + if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr)) { - BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, kvp.Value.terrainBody.Ptr); + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr); BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr); } } @@ -248,17 +248,17 @@ public class BSTerrainManager return; } - if (mapInfo.terrainBody.Ptr != IntPtr.Zero) + if (mapInfo.terrainBody.ptr != IntPtr.Zero) { // Updating an existing terrain. DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); // Remove from the dynamics world because we're going to mangle this object - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr); + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); // Get rid of the old terrain - BulletSimAPI.DestroyObject2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr); + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr); mapInfo.Ptr = IntPtr.Zero; @@ -289,7 +289,7 @@ public class BSTerrainManager BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ); mapInfo.ID = id; - mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.Ptr, mapInfo.ID, + mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); // The terrain object initial position is at the center of the object @@ -303,7 +303,7 @@ public class BSTerrainManager ShapeData.PhysicsShapeType.SHAPE_TERRAIN); mapInfo.terrainBody = new BulletBody(mapInfo.ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.Ptr, + BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, centerPos, Quaternion.Identity)); } @@ -311,22 +311,22 @@ public class BSTerrainManager m_heightMaps[terrainRegionBase] = mapInfo; // Set current terrain attributes - BulletSimAPI.SetFriction2(mapInfo.terrainBody.Ptr, PhysicsScene.Params.terrainFriction); - BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.Ptr, PhysicsScene.Params.terrainHitFraction); - BulletSimAPI.SetRestitution2(mapInfo.terrainBody.Ptr, PhysicsScene.Params.terrainRestitution); - BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + BulletSimAPI.SetFriction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); + BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); + BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); + BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - BulletSimAPI.SetMassProps2(mapInfo.terrainBody.Ptr, 0f, Vector3.Zero); - BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.Ptr); + BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, 0f, Vector3.Zero); + BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr); // Return the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr); + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); // redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.Ptr, mapInfo.terrainBody.Ptr); + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); // Make sure the new shape is processed. - BulletSimAPI.Activate2(mapInfo.terrainBody.Ptr, true); + BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); m_terrainModified = true; }; @@ -361,7 +361,7 @@ public class BSTerrainManager DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y); // Create a new mapInfo that will be filled with the new info mapInfo = new BulletHeightMapInfo(id, heightMapX, - BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.Ptr, newTerrainID, + BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, newTerrainID, minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN)); // Put the unfilled heightmap info into the collection of same m_heightMaps.Add(terrainRegionBase, mapInfo); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 47875b0..8480dd1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -40,14 +40,14 @@ public struct BulletSim { public BulletSim(uint worldId, BSScene bss, IntPtr xx) { + ptr = xx; worldID = worldId; scene = bss; - Ptr = xx; } + public IntPtr ptr; public uint worldID; // The scene is only in here so very low level routines have a handle to print debug/error messages public BSScene scene; - public IntPtr Ptr; } // An allocated Bullet btRigidBody @@ -56,9 +56,9 @@ public struct BulletBody public BulletBody(uint id, IntPtr xx) { ID = id; - Ptr = xx; + ptr = xx; } - public IntPtr Ptr; + public IntPtr ptr; public uint ID; public override string ToString() { @@ -66,7 +66,7 @@ public struct BulletBody buff.Append(""); return buff.ToString(); } @@ -76,28 +76,39 @@ public struct BulletShape { public BulletShape(IntPtr xx) { - Ptr = xx; + ptr = xx; type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; shapeKey = 0; + isNativeShape = false; + meshPtr = IntPtr.Zero; } public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) { - Ptr = xx; + ptr = xx; type = typ; shapeKey = 0; + isNativeShape = false; + meshPtr = IntPtr.Zero; } - public IntPtr Ptr; + public IntPtr ptr; public ShapeData.PhysicsShapeType type; public ulong shapeKey; + public bool isNativeShape; + // Hulls have an underlying mesh. A pointer to it is hidden here. + public IntPtr meshPtr; public override string ToString() { StringBuilder buff = new StringBuilder(); buff.Append(""); return buff.ToString(); } @@ -314,10 +325,10 @@ public enum CollisionFlags : uint CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, // Following used by BulletSim to control collisions BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, - BS_VOLUME_DETECT_OBJECT = 1 << 11, - BS_PHANTOM_OBJECT = 1 << 12, - BS_PHYSICAL_OBJECT = 1 << 13, - BS_TERRAIN_OBJECT = 1 << 14, + // BS_VOLUME_DETECT_OBJECT = 1 << 11, + // BS_PHANTOM_OBJECT = 1 << 12, + // BS_PHYSICAL_OBJECT = 1 << 13, + // BS_TERRAIN_OBJECT = 1 << 14, BS_NONE = 0, BS_ALL = 0xFFFFFFFF, @@ -326,9 +337,9 @@ public enum CollisionFlags : uint BS_ACTIVE = CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE - | BS_VOLUME_DETECT_OBJECT - | BS_PHANTOM_OBJECT - | BS_PHYSICAL_OBJECT, + // | BS_VOLUME_DETECT_OBJECT + // | BS_PHANTOM_OBJECT + // | BS_PHYSICAL_OBJECT, }; // Values for collisions groups and masks @@ -552,8 +563,7 @@ public static extern IntPtr CreateHullShape2(IntPtr world, public static extern IntPtr BuildHullShape2(IntPtr world, IntPtr meshShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildNativeShape2(IntPtr world, - float shapeType, float collisionMargin, Vector3 scale); +public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool IsNativeShape2(IntPtr shape); @@ -568,6 +578,9 @@ public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShap public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 735d89e3692bb7c620b9e3c248a1dbd5924b8b3f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 25 Sep 2012 15:01:18 -0700 Subject: BulletSim: btGhostObjects working to make 'volume detect' work. Rearrangement and cleanup of shape collection code. Much more readable. Enabling and use of collision filters and masks. Addition of ID to body creation BulletSimAPI calls so always set in shape for collision reporting. Change default of ShouldSplitSimulationIslands and ShouldRandomizeSolverOrder from 'false' to 'true'. When 'false', this suppresses NO_CONTACT_RESPONSE which makes volume detect fail. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 10 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 8 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 28 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 24 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 296 +++++++++++---------- .../Physics/BulletSPlugin/BSTerrainManager.cs | 12 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 78 ++++-- 7 files changed, 265 insertions(+), 191 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e4b1dd4..961bcde 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -90,7 +90,8 @@ public class BSCharacter : BSPhysObject // Physics creates a unit capsule which is scaled by the physics engine. ComputeAvatarScale(_size); _avatarDensity = PhysicsScene.Params.avatarDensity; - ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale + // set _avatarVolume and _mass based on capsule size, _density and _scale + ComputeAvatarVolumeAndMass(); ShapeData shapeData = new ShapeData(); shapeData.ID = LocalID; @@ -111,10 +112,15 @@ public class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.create,taint", LocalID); BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData); - // Set the buoyancy for flying. This will be refactored when all the settings happen in C# + // Set the buoyancy for flying. This will be refactored when all the settings happen in C#. + // If not set at creation, the avatar will stop flying when created after crossing a region boundry. BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy); BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID)); + + // This works here because CreateObject has already put the character into the physical world. + BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, + (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask); }); return; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 6a9fe50..3458477 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -123,6 +123,7 @@ public abstract class BSPhysObject : PhysicsActor CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); + ret = true; } return ret; @@ -145,7 +146,10 @@ public abstract class BSPhysObject : PhysicsActor // We are called if we previously had collisions. If there are no collisions // this time, send up one last empty event so OpenSim can sense collision end. if (CollisionCollection.Count == 0) + { + // If I have no collisions this time, remove me from the list of objects with collisions. PhysicsScene.ObjectsWithNoMoreCollisions.Add(this); + } DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); base.SendCollisionUpdate(CollisionCollection); @@ -159,7 +163,7 @@ public abstract class BSPhysObject : PhysicsActor // Subscribe for collision events. // Parameter is the millisecond rate the caller wishes collision events to occur. public override void SubscribeEvents(int ms) { - DetailLog("{0},BSScene.SubscribeEvents,subscribing,ms={1}", BSScene.DetailLogZero, ms); + DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms); SubscribedEventsMs = ms; if (ms > 0) { @@ -178,7 +182,7 @@ public abstract class BSPhysObject : PhysicsActor } } public override void UnSubscribeEvents() { - DetailLog("{0},BSScene.UnSubscribeEvents,unsubscribing", BSScene.DetailLogZero); + DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); SubscribedEventsMs = 0; PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 5be2b1b..1c6d476 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -271,7 +271,7 @@ public sealed class BSPrim : BSPhysObject _position = BulletSimAPI.GetPosition2(BSBody.ptr); // don't do the GetObjectPosition for root elements because this function is called a zillion times - // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID); + // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); return _position; } set { @@ -432,7 +432,7 @@ public sealed class BSPrim : BSPhysObject // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() { - // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, LocalID); + // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); }); @@ -492,7 +492,8 @@ public sealed class BSPrim : BSPhysObject { DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); - // Mangling all the physical properties requires the object to be out of the physical world + // Mangling all the physical properties requires the object to be out of the physical world. + // 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 @@ -517,6 +518,14 @@ public sealed class BSPrim : BSPhysObject // Rebuild its shape BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); + // Collision filter can be set only when the object is in the world + if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0) + { + BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask); + DetailLog("{0},BSPrim.UpdatePhysicalParameters,setCollisionFilterMask,filter={1},mask={2}", + LocalID, BSBody.collisionFilter.ToString("X"), BSBody.collisionMask.ToString("X")); + } + // Recompute any linkset parameters. // When going from non-physical to physical, this re-enables the constraints that // had been automatically disabled when the mass was set to zero. @@ -548,8 +557,11 @@ public sealed class BSPrim : BSPhysObject // There can be special things needed for implementing linksets Linkset.MakeStatic(this); // The activation state is 'sleeping' so Bullet will not try to act on it - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); - // BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.DISABLE_SIMULATION); + // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); + + BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; + BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; } else { @@ -582,6 +594,9 @@ public sealed class BSPrim : BSPhysObject // Force activation of the object so Bullet will act on it. BulletSimAPI.Activate2(BSBody.ptr, true); + + BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter; + BSBody.collisionMask = CollisionFilterGroups.ObjectMask; } } @@ -609,6 +624,8 @@ public sealed class BSPrim : BSPhysObject m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); } CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter; + BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; } #else // If doing the body management in C#, all this logic is in CSShapeCollection.CreateObject(). @@ -745,7 +762,6 @@ public sealed class BSPrim : BSPhysObject // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); - // BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); }); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 87c7b1b..e8c628c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -39,20 +39,20 @@ using log4net; using OpenMetaverse; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) -// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) -// Test sculpties +// Move all logic out of the C++ code and into the C# code for easier future modifications. +// Test sculpties (verified that they don't work) // Compute physics FPS reasonably // Based on material, set density and friction -// More efficient memory usage when passing hull information from BSPrim to BulletSim -// Move all logic out of the C++ code and into the C# code for easier future modifications. +// Don't use constraints in linksets of non-physical objects. Means having to move children manually. // Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? // In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) // At the moment, physical and phantom causes object to drop through the terrain // Physical phantom objects and related typing (collision options ) -// Use collision masks for collision with terrain and phantom objects // Check out llVolumeDetect. Must do something for that. +// Use collision masks for collision with terrain and phantom objects +// More efficient memory usage when passing hull information from BSPrim to BulletSim // Should prim.link() and prim.delink() membership checking happen at taint time? -// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once +// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once. // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect // Implement LockAngularMotion // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) @@ -356,6 +356,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters Constraints = null; } + if (Shapes != null) + { + Shapes.Dispose(); + Shapes = null; + } + // Anything left in the unmanaged code should be cleaned out BulletSimAPI.Shutdown(WorldID); @@ -589,7 +595,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters { if (localID <= TerrainManager.HighestTerrainID) { - DetailLog("{0},BSScene.SendCollision,collideWithTerrain,id={1},with={2}", DetailLogZero, localID, collidingWith); return; // don't send collisions to the terrain } @@ -601,8 +606,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters return; } - // The terrain is not in the physical object list so 'collidee' - // can be null when Collide() is called. + // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called. BSPhysObject collidee = null; PhysObjects.TryGetValue(collidingWith, out collidee); @@ -1026,7 +1030,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].shouldRandomizeSolverOrder; }, (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ), new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", - ConfigurationParameters.numericFalse, + ConfigurationParameters.numericTrue, (s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, (s) => { return s.m_params[0].shouldSplitSimulationIslands; }, (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 6b90661..7fce8c9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -36,6 +36,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSShapeCollection : IDisposable { + private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; + protected BSScene PhysicsScene { get; set; } private Object m_collectionActivityLock = new Object(); @@ -43,24 +45,23 @@ public class BSShapeCollection : IDisposable // Description of a Mesh private struct MeshDesc { - public IntPtr Ptr; + public IntPtr ptr; public int referenceCount; public DateTime lastReferenced; - public IMesh meshData; } // Description of a hull. // Meshes and hulls have the same shape hash key but we only need hulls for efficient physical objects private struct HullDesc { - public IntPtr Ptr; + public IntPtr ptr; public int referenceCount; public DateTime lastReferenced; } private struct BodyDesc { - public IntPtr Ptr; + public IntPtr ptr; // Bodies are only used once so reference count is always either one or zero public int referenceCount; public DateTime lastReferenced; @@ -93,14 +94,16 @@ public class BSShapeCollection : IDisposable lock (m_collectionActivityLock) { // Do we have the correct geometry for this type of object? + // Updates prim.BSShape with information/pointers to requested shape bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs); // 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 bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData); ret = newGeom || newBody; } - DetailLog("{0},BSShapeCollection.GetBodyAndShape,force-{1},ret={2},body={3},shape={4}", - prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape); + DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}", + prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape); return ret; } @@ -120,7 +123,8 @@ public class BSShapeCollection : IDisposable } else { - bodyDesc.Ptr = shape.ptr; + // New entry + bodyDesc.ptr = shape.ptr; bodyDesc.referenceCount = 1; DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={1}", shape.ID, bodyDesc.referenceCount); } @@ -130,7 +134,7 @@ public class BSShapeCollection : IDisposable } // Release the usage of a body. - // Not that this will also delete the body in BUllet if the body is now unused (reference count = 0). + // Called when releasing use of a BSBody. BSShape is handled separately. public void DereferenceBody(BulletBody shape, bool inTaintTime) { if (shape.ptr == IntPtr.Zero) @@ -146,15 +150,17 @@ public class BSShapeCollection : IDisposable Bodies[shape.ID] = bodyDesc; DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", shape.ID, bodyDesc.referenceCount); + // If body is no longer being used, free it -- bodies are never shared. if (bodyDesc.referenceCount == 0) { Bodies.Remove(shape.ID); BSScene.TaintCallback removeOperation = delegate() { - DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. Ptr={1:X}", shape.ID, shape.ptr); - // zero any reference to the shape so it is not freed when the body is deleted + DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}", + shape.ID, shape.ptr.ToString("X")); + // Zero any reference to the shape so it is not freed when the body is deleted. BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, shape.ptr, IntPtr.Zero); - // It may have already been removed from the world in which case the next is a NOOP + // It may have already been removed from the world in which case the next is a NOOP. BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, shape.ptr); BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, shape.ptr); }; @@ -172,19 +178,13 @@ public class BSShapeCollection : IDisposable } } - // Track another user of the shape - private bool ReferenceShape(BulletShape shape) - { - return ReferenceShape(shape, null); - } - // 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. - private bool ReferenceShape(BulletShape shape, IMesh meshData) + private bool ReferenceShape(BulletShape shape) { bool ret = false; switch (shape.type) @@ -196,16 +196,16 @@ public class BSShapeCollection : IDisposable // There is an existing instance of this mesh. meshDesc.referenceCount++; DetailLog("{0},BSShapeColliction.ReferenceShape,existingMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey, meshDesc.referenceCount); + BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); } else { // This is a new reference to a mesh - meshDesc.Ptr = shape.ptr; - meshDesc.meshData = meshData; + meshDesc.ptr = shape.ptr; + // We keep a reference to the underlying IMesh data so a hull can be built meshDesc.referenceCount = 1; DetailLog("{0},BSShapeColliction.ReferenceShape,newMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey, meshDesc.referenceCount); + BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); ret = true; } meshDesc.lastReferenced = System.DateTime.Now; @@ -215,18 +215,18 @@ public class BSShapeCollection : IDisposable HullDesc hullDesc; if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) { - // There is an existing instance of this mesh. + // There is an existing instance of this hull. hullDesc.referenceCount++; DetailLog("{0},BSShapeColliction.ReferenceShape,existingHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey, hullDesc.referenceCount); + BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); } else { // This is a new reference to a hull - hullDesc.Ptr = shape.ptr; + hullDesc.ptr = shape.ptr; hullDesc.referenceCount = 1; DetailLog("{0},BSShapeColliction.ReferenceShape,newHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey, hullDesc.referenceCount); + BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); ret = true; } @@ -242,7 +242,8 @@ public class BSShapeCollection : IDisposable return ret; } - // Release the usage of a shape + // Release the usage of a shape. + // The collisionObject is released since it is a copy of the real collision shape. private void DereferenceShape(BulletShape shape, bool atTaintTime) { if (shape.ptr == IntPtr.Zero) @@ -254,8 +255,6 @@ public class BSShapeCollection : IDisposable { case ShapeData.PhysicsShapeType.SHAPE_HULL: DereferenceHull(shape); - // Hulls also include a mesh - DereferenceMesh(shape); break; case ShapeData.PhysicsShapeType.SHAPE_MESH: DereferenceMesh(shape); @@ -266,15 +265,24 @@ public class BSShapeCollection : IDisposable // Native shapes are not tracked and are released immediately if (shape.ptr != IntPtr.Zero & shape.isNativeShape) { + DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", + BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime); BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); } break; } }; if (atTaintTime) - dereferenceOperation(); + { + lock (m_collectionActivityLock) + { + dereferenceOperation(); + } + } else + { PhysicsScene.TaintedObject("BSShapeCollection.DereferenceShape", dereferenceOperation); + } } // Count down the reference count for a mesh shape @@ -288,8 +296,8 @@ public class BSShapeCollection : IDisposable // TODO: release the Bullet storage meshDesc.lastReferenced = System.DateTime.Now; Meshes[shape.shapeKey] = meshDesc; - DetailLog("{0},BSShapeColliction.DereferenceMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey, meshDesc.referenceCount); + DetailLog("{0},BSShapeCollection.DereferenceMesh,key={1},refCnt={2}", + BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); } } @@ -305,8 +313,8 @@ public class BSShapeCollection : IDisposable // TODO: release the Bullet storage (aging old entries?) hullDesc.lastReferenced = System.DateTime.Now; Hulls[shape.shapeKey] = hullDesc; - DetailLog("{0},BSShapeColliction.DereferenceHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey, hullDesc.referenceCount); + DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}", + BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); } } @@ -322,8 +330,6 @@ public class BSShapeCollection : IDisposable bool haveShape = false; bool nativeShapePossible = true; - BulletShape newShape = new BulletShape(IntPtr.Zero); - // If the prim attributes are simple, this could be a simple Bullet native shape if (nativeShapePossible && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) @@ -340,137 +346,117 @@ public class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) { - newShape = AddNativeShapeToPrim( - prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE); + ret = GetReferenceToNativeShape(prim, shapeData, + ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", - prim.LocalID, forceRebuild,prim.BSShape); - - ret = true; + prim.LocalID, forceRebuild, prim.BSShape); } } else { - // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); haveShape = true; if (forceRebuild || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX)) { - newShape = AddNativeShapeToPrim( + ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", - prim.LocalID, forceRebuild,prim.BSShape); - - ret = true; + prim.LocalID, forceRebuild, prim.BSShape); } } } - // If a simple shape is not happening, create a mesh and possibly a hull + // If a simple shape is not happening, create a mesh and possibly a hull. // Note that if it's a native shape, the check for physical/non-physical is not // made. Native shapes are best used in either case. if (!haveShape) { if (prim.IsPhysical) { - if (forceRebuild || !Hulls.ContainsKey(shapeData.HullKey)) - { - // physical objects require a hull for interaction. - // This also creates the mesh if it doesn't already exist. - ret = CreateGeomHull(prim, shapeData, pbs); - } - else - { - prim.BSShape = new BulletShape(Hulls[shapeData.HullKey].Ptr, - ShapeData.PhysicsShapeType.SHAPE_HULL); - prim.BSShape.shapeKey = shapeData.HullKey; - // Another user of this shape. - ReferenceShape(prim.BSShape); - ret = true; - } + // Update prim.BSShape to reference a hull of this shape. + ret = GetReferenceToHull(prim, shapeData, pbs); + DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", + shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); } else { - if (forceRebuild || !Meshes.ContainsKey(prim.BSShape.shapeKey)) - { - // Static (non-physical) objects only need a mesh for bumping into - // Returning 'true' means prim.BShape was changed. - ret = CreateGeomMesh(prim, shapeData, pbs); - } - else - { - prim.BSShape = new BulletShape(Hulls[shapeData.MeshKey].Ptr, - ShapeData.PhysicsShapeType.SHAPE_MESH); - prim.BSShape.shapeKey = shapeData.MeshKey; - ReferenceShape(prim.BSShape); - ret = true; - } + ret = GetReferenceToMesh(prim, shapeData, pbs); + DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", + shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); } } return ret; } // Creates a native shape and assignes it to prim.BSShape - private BulletShape AddNativeShapeToPrim( - BSPrim prim, ShapeData shapeData, ShapeData.PhysicsShapeType shapeType, - ShapeData.FixedShapeKey shapeKey) + private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData, + ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) { BulletShape newShape; + shapeData.Type = shapeType; // Bullet native objects are scaled by the Bullet engine so pass the size in prim.Scale = shapeData.Size; - shapeData.Type = shapeType; - shapeData.Scale = prim.Scale; + shapeData.Scale = shapeData.Size; // release any previous shape DereferenceShape(prim.BSShape, true); - // Shape of this discriptioin is not allocated. Create new. - newShape = new BulletShape( - BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); + // Native shapes are always built independently. + newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); newShape.shapeKey = (ulong)shapeKey; newShape.isNativeShape = true; - // Don't to a 'ReferenceShape()' here because native shapes are not tracked. + // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked. + DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape); prim.BSShape = newShape; - return newShape; + return true; } - // Returns 'true' of a mesh was actually rebuild. + // 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 CreateGeomMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) + private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) { BulletShape newShape = new BulletShape(IntPtr.Zero); - // 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(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z)); - if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) - lod = PhysicsScene.MeshMegaPrimLOD; - - ulong newMeshKey = (ulong)pbs.GetMeshKey(shapeData.Size, lod); + float lod; + ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod); // if this new shape is the same as last time, don't recreate the mesh if (prim.BSShape.shapeKey == newMeshKey) return false; - DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,key={1}", prim.LocalID, newMeshKey); + DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}", + prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); // Since we're recreating new, get rid of the reference to the previous shape DereferenceShape(prim.BSShape, true); + newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod); + + ReferenceShape(newShape); + + // meshes are already scaled by the meshmerizer + prim.Scale = new OMV.Vector3(1f, 1f, 1f); + prim.BSShape = newShape; + + return true; // 'true' means a new shape has been added to this prim + } + + private BulletShape CreatePhysicalMesh(string objName, ulong newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + { IMesh meshData = null; IntPtr meshPtr; MeshDesc meshDesc; if (Meshes.TryGetValue(newMeshKey, out meshDesc)) { // If the mesh has already been built just use it. - meshPtr = meshDesc.Ptr; + meshPtr = meshDesc.ptr; } else { - // always pass false for physicalness as this creates some sort of bounding box which we don't need - meshData = PhysicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, shapeData.Size, lod, false); + // Pass false for physicalness as this creates some sort of bounding box which we don't need + meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); int[] indices = meshData.getIndexListAsInt(); List vertices = meshData.getVertexList(); @@ -490,56 +476,62 @@ public class BSShapeCollection : IDisposable meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, indices.GetLength(0), indices, vertices.Count, verticesAsFloats); } - newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH); + BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH); newShape.shapeKey = newMeshKey; - ReferenceShape(newShape, meshData); - - // meshes are already scaled by the meshmerizer - prim.Scale = new OMV.Vector3(1f, 1f, 1f); - prim.BSShape = newShape; - return true; // 'true' means a new shape has been added to this prim + return newShape; } - // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs). - List m_hulls; - private bool CreateGeomHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) + // See that hull shape exists in the physical world and update prim.BSShape. + // We could be creating the hull because scale changed or whatever. + private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) { BulletShape newShape; - // Level of detail for the mesh can be different for sculpties and regular meshes. - float lod = pbs.SculptEntry ? PhysicsScene.SculptLOD : PhysicsScene.MeshLOD; - - ulong newHullKey = (ulong)pbs.GetMeshKey(shapeData.Size, lod); + float lod; + ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod); // if the hull hasn't changed, don't rebuild it if (newHullKey == prim.BSShape.shapeKey) return false; - DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", prim.LocalID, newHullKey, newHullKey); + DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", + prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X")); - // Remove references to the previous shape. Also removes reference to underlying mesh. + // Remove usage of the previous shape. Also removes reference to underlying mesh if it is a hull. DereferenceShape(prim.BSShape, true); - // Do not let the mesh dereference itself again. Was done in the above DerefereceShape(). - prim.BSShape.type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; - - // Make sure the underlying mesh exists and is correct. - // Since we're in the hull code, we know CreateGeomMesh() will not create a native shape. - CreateGeomMesh(prim, shapeData, pbs); - MeshDesc meshDesc = Meshes[newHullKey]; + newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); + + if (!ReferenceShape(newShape)) + { + PhysicsScene.Logger.ErrorFormat("{0} Created new hull shape but one already exists: id={1}, key={2}, refCnt={3}", + LogHeader, shapeData.ID, newHullKey.ToString("X"), Hulls[newHullKey].referenceCount); + } + // hulls are already scaled by the meshmerizer + prim.Scale = new OMV.Vector3(1f, 1f, 1f); + prim.BSShape = newShape; + return true; // 'true' means a new shape has been added to this prim + } + + List m_hulls; + private BulletShape CreatePhysicalHull(string objName, ulong newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + { IntPtr hullPtr; HullDesc hullDesc; if (Hulls.TryGetValue(newHullKey, out hullDesc)) { // If the hull shape already is created, just use it. - hullPtr = hullDesc.Ptr; + hullPtr = hullDesc.ptr; } else { // Build a new hull in the physical world - int[] indices = meshDesc.meshData.getIndexListAsInt(); - List vertices = meshDesc.meshData.getVertexList(); + // Pass false for physicalness as this creates some sort of bounding box which we don't need + IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); + + int[] indices = meshData.getIndexListAsInt(); + List vertices = meshData.getVertexList(); //format conversion from IMesh format to DecompDesc format List convIndices = new List(); @@ -616,20 +608,13 @@ public class BSShapeCollection : IDisposable } } // create the hull data structure in Bullet - // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, LocalID, _hullKey, hullCount); hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); } - newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL); + BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL); newShape.shapeKey = newHullKey; - newShape.meshPtr = meshDesc.Ptr; - - ReferenceShape(newShape); - // meshes and hulls are already scaled by the meshmerizer - prim.Scale = new OMV.Vector3(1f, 1f, 1f); - prim.BSShape = newShape; - return true; // 'true' means a new shape has been added to this prim + return newShape; // 'true' means a new shape has been added to this prim } // Callback from convex hull creater with a newly created hull. @@ -640,7 +625,30 @@ public class BSShapeCollection : IDisposable return; } - // Create an object in Bullet if it has not already been created. + // Create a hash of all the shape parameters to be used as a key + // for this particular shape. + private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod) + { + // 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(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z)); + if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) + lod = PhysicsScene.MeshMegaPrimLOD; + + retLod = lod; + return (ulong)pbs.GetMeshKey(shapeData.Size, lod); + } + // For those who don't want the LOD + private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs) + { + float lod; + return ComputeShapeKey(shapeData, pbs, out lod); + } + + // 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. @@ -665,7 +673,7 @@ public class BSShapeCollection : IDisposable } - if (mustRebuild) + if (mustRebuild || forceRebuild) { DereferenceBody(prim.BSBody, true); @@ -673,13 +681,15 @@ public class BSShapeCollection : IDisposable IntPtr bodyPtr = IntPtr.Zero; if (prim.IsSolid) { - bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, shapeData.Position, shapeData.Rotation); - DetailLog("{0},BSShapeCollection.CreateObject,mesh,ptr={1:X}", prim.LocalID, bodyPtr); + bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, + shapeData.ID, shapeData.Position, shapeData.Rotation); + DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } else { - bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, shapeData.Position, shapeData.Rotation); - DetailLog("{0},BSShapeCollection.CreateObject,ghost,ptr={1:X}", prim.LocalID, bodyPtr); + bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, + shapeData.ID, shapeData.Position, shapeData.Rotation); + DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } aBody = new BulletBody(shapeData.ID, bodyPtr); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 093d2a4..5d5d9cb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -111,8 +111,12 @@ public class BSTerrainManager BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN), ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE); m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, Vector3.Zero, Quaternion.Identity)); + BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, + Vector3.Zero, Quaternion.Identity)); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); + // Everything collides with the ground plane. + BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr, + (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask); Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE); Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION); @@ -304,7 +308,11 @@ public class BSTerrainManager mapInfo.terrainBody = new BulletBody(mapInfo.ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, - centerPos, Quaternion.Identity)); + id, centerPos, Quaternion.Identity)); + + BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainFilter, + (uint)CollisionFilterGroups.TerrainMask); } // Make sure the entry is in the heightmap table diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 8480dd1..6910050 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -57,9 +57,13 @@ public struct BulletBody { ID = id; ptr = xx; + collisionFilter = 0; + collisionMask = 0; } public IntPtr ptr; public uint ID; + public CollisionFilterGroups collisionFilter; + public CollisionFilterGroups collisionMask; public override string ToString() { StringBuilder buff = new StringBuilder(); @@ -67,6 +71,13 @@ public struct BulletBody buff.Append(ID.ToString()); buff.Append(",p="); buff.Append(ptr.ToString("X")); + if (collisionFilter != 0 && collisionMask != 0) + { + buff.Append(",f="); + buff.Append(collisionFilter.ToString("X")); + buff.Append(",m="); + buff.Append(collisionMask.ToString("X")); + } buff.Append(">"); return buff.ToString(); } @@ -80,7 +91,6 @@ public struct BulletShape type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; shapeKey = 0; isNativeShape = false; - meshPtr = IntPtr.Zero; } public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) { @@ -88,14 +98,12 @@ public struct BulletShape type = typ; shapeKey = 0; isNativeShape = false; - meshPtr = IntPtr.Zero; } public IntPtr ptr; public ShapeData.PhysicsShapeType type; public ulong shapeKey; public bool isNativeShape; // Hulls have an underlying mesh. A pointer to it is hidden here. - public IntPtr meshPtr; public override string ToString() { StringBuilder buff = new StringBuilder(); @@ -107,8 +115,6 @@ public struct BulletShape buff.Append(shapeKey.ToString("X")); buff.Append(",n="); buff.Append(isNativeShape.ToString()); - buff.Append(",m="); - buff.Append(meshPtr.ToString("X")); buff.Append(">"); return buff.ToString(); } @@ -124,7 +130,7 @@ public struct BulletConstraint public IntPtr Ptr; } -// An allocated HeightMapThing which hold various heightmap info +// An allocated HeightMapThing which holds various heightmap info. // Made a class rather than a struct so there would be only one // instance of this and C# will pass around pointers rather // than making copies. @@ -345,21 +351,41 @@ public enum CollisionFlags : uint // Values for collisions groups and masks public enum CollisionFilterGroups : uint { - NoneFilter = 0, - DefaultFilter = 1 << 0, - StaticFilter = 1 << 1, - KinematicFilter = 1 << 2, - DebrisFilter = 1 << 3, - SensorTrigger = 1 << 4, - CharacterFilter = 1 << 5, - AllFilter = 0xFFFFFFFF, + // Don't use the bit definitions!! Define the use in a + // filter/mask definition below. This way collision interactions + // are more easily debugged. + BNoneFilter = 0, + BDefaultFilter = 1 << 0, + BStaticFilter = 1 << 1, + BKinematicFilter = 1 << 2, + BDebrisFilter = 1 << 3, + BSensorTrigger = 1 << 4, + BCharacterFilter = 1 << 5, + BAllFilter = 0xFFFFFFFF, // Filter groups defined by BulletSim - GroundPlaneFilter = 1 << 10, - TerrainFilter = 1 << 11, - RaycastFilter = 1 << 12, - SolidFilter = 1 << 13, + BGroundPlaneFilter = 1 << 10, + BTerrainFilter = 1 << 11, + BRaycastFilter = 1 << 12, + BSolidFilter = 1 << 13, + + // The collsion filters and masked are defined in one place -- don't want them scattered + AvatarFilter = BDefaultFilter | BCharacterFilter | BSolidFilter, + AvatarMask = BAllFilter, + ObjectFilter = BDefaultFilter | BSolidFilter, + ObjectMask = BAllFilter, + StaticObjectFilter = BDefaultFilter | BStaticFilter | BSolidFilter, + StaticObjectMask = BAllFilter, + VolumeDetectFilter = BSensorTrigger, + VolumeDetectMask = ~BSensorTrigger, + TerrainFilter = BTerrainFilter, + TerrainMask = BAllFilter, + GroundPlaneFilter = BAllFilter, + GroundPlaneMask = BAllFilter + }; + + // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. public enum ConstraintParams : int @@ -560,7 +586,7 @@ public static extern IntPtr CreateHullShape2(IntPtr world, int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildHullShape2(IntPtr world, IntPtr meshShape); +public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); @@ -581,7 +607,7 @@ public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr re public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo); +public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); @@ -590,13 +616,13 @@ public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); public static extern int GetBodyType2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); +public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); +public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); +public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr AllocateBodyInfo2(IntPtr obj); @@ -1015,6 +1041,9 @@ public static extern Vector3 GetPushVelocity2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetTurnVelocity2(IntPtr obj); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask); + // ===================================================================================== // btCollisionShape entries @@ -1066,9 +1095,6 @@ public static extern void SetMargin2(IntPtr shape, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetMargin2(IntPtr shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint mask); - // ===================================================================================== // Debugging [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 4589bc84a32366c6aae68b67f1fc7a2ee08be86d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 26 Sep 2012 09:25:56 -0700 Subject: BulletSim: Terrain sets proper collision flags on creation. Static objects are set to ISLAND_SLEEPING rather than DISABLE_SIMULATION. Might reconsider this and, alternatively, have dynamic objects force activation. Clean up use of DetailLog(). --- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 ++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 62 +++++++++++----------- .../Physics/BulletSPlugin/BSShapeCollection.cs | 16 ++++-- .../Physics/BulletSPlugin/BSTerrainManager.cs | 20 +++---- 4 files changed, 56 insertions(+), 52 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 3458477..4f83adc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -121,8 +121,8 @@ public abstract class BSPhysObject : PhysicsActor // if someone has subscribed for collision events.... if (SubscribedEvents()) { CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", - LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); + // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", + // LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); ret = true; } @@ -151,7 +151,7 @@ public abstract class BSPhysObject : PhysicsActor PhysicsScene.ObjectsWithNoMoreCollisions.Add(this); } - DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); + // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); base.SendCollisionUpdate(CollisionCollection); // The collisionCollection structure is passed around in the simulator. @@ -163,7 +163,7 @@ public abstract class BSPhysObject : PhysicsActor // Subscribe for collision events. // Parameter is the millisecond rate the caller wishes collision events to occur. public override void SubscribeEvents(int ms) { - DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms); + // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms); SubscribedEventsMs = ms; if (ms > 0) { @@ -182,7 +182,7 @@ public abstract class BSPhysObject : PhysicsActor } } public override void UnSubscribeEvents() { - DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); + // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); SubscribedEventsMs = 0; PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 1c6d476..68a153e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -174,7 +174,7 @@ public sealed class BSPrim : BSPhysObject // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct // scale and margins are set. CreateGeomAndObject(true); - DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical); + // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical); }); } } @@ -204,6 +204,7 @@ public sealed class BSPrim : BSPhysObject _isSelected = value; PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() { + // DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); SetObjectDynamic(false); }); } @@ -279,7 +280,7 @@ public sealed class BSPrim : BSPhysObject // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { - DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); + // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); }); } @@ -317,7 +318,7 @@ public sealed class BSPrim : BSPhysObject _force = value; PhysicsScene.TaintedObject("BSPrim.setForce", delegate() { - DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); + // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); }); } @@ -385,7 +386,7 @@ public sealed class BSPrim : BSPhysObject _isVolumeDetect = newValue; PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() { - DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); + // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); SetObjectDynamic(true); }); } @@ -398,7 +399,7 @@ public sealed class BSPrim : BSPhysObject _velocity = value; PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() { - DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); + // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); }); } @@ -406,7 +407,7 @@ public sealed class BSPrim : BSPhysObject public override OMV.Vector3 Torque { get { return _torque; } set { _torque = value; - DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); + // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); } } public override float CollisionScore { @@ -433,7 +434,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() { // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); - DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); + // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); }); } @@ -450,7 +451,7 @@ public sealed class BSPrim : BSPhysObject _isPhysical = value; PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() { - DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); + // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); SetObjectDynamic(true); }); } @@ -470,12 +471,7 @@ public sealed class BSPrim : BSPhysObject } // Make gravity work if the object is physical and not selected - // No locking here because only called when it is safe (called at taint-time). - // There are four flags we're interested in: - // IsStatic: Object does not move, otherwise the object has mass and moves - // isSolid: other objects bounce off of this object - // isVolumeDetect: other objects pass through but can generate collisions - // collisionEvents: whether this object returns collision events + // Called at taint-time!! private void SetObjectDynamic(bool forceRebuild) { #if CSHARP_BODY_MANAGEMENT @@ -488,11 +484,17 @@ public sealed class BSPrim : BSPhysObject #endif // CSHARP_BODY_MANAGEMENT } + // Convert the simulator's physical properties into settings on BulletSim objects. + // There are four flags we're interested in: + // IsStatic: Object does not move, otherwise the object has mass and moves + // isSolid: other objects bounce off of this object + // isVolumeDetect: other objects pass through but can generate collisions + // collisionEvents: whether this object returns collision events private void UpdatePhysicalParameters() { - DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); + // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); - // Mangling all the physical properties requires the object to be out of the physical world. + // Mangling all the physical properties requires the object not be in the physical world. // 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); @@ -505,7 +507,7 @@ public sealed class BSPrim : BSPhysObject // Set up the object physicalness (does gravity and collisions move this object) MakeDynamic(IsStatic); - // Arrange for collisions events if the simulator wants them + // Arrange for collision events if the simulator wants them EnableCollisions(SubscribedEvents()); #if CSHARP_BODY_MANAGEMENT @@ -522,8 +524,6 @@ public sealed class BSPrim : BSPhysObject if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0) { BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask); - DetailLog("{0},BSPrim.UpdatePhysicalParameters,setCollisionFilterMask,filter={1},mask={2}", - LocalID, BSBody.collisionFilter.ToString("X"), BSBody.collisionMask.ToString("X")); } // Recompute any linkset parameters. @@ -557,8 +557,8 @@ public sealed class BSPrim : BSPhysObject // There can be special things needed for implementing linksets Linkset.MakeStatic(this); // The activation state is 'sleeping' so Bullet will not try to act on it - // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); + // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; @@ -571,16 +571,14 @@ public sealed class BSPrim : BSPhysObject // Set various physical properties so internal dynamic properties will get computed correctly as they are set BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction); BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution); + // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 - BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearAllForces2(BSBody.ptr); // A dynamic object has mass IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass); BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); - // Inertia is based on our new mass BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); // Various values for simulation limits @@ -645,7 +643,7 @@ public sealed class BSPrim : BSPhysObject // Create the new body with the shape BSBody = new BulletBody(LocalID, BulletSimAPI.CreateBodyFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation)); - BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); DetailLog("{0},BSPrim.MakeSolid:rigidBody,body={1},shape={2}", LocalID, BSBody, BSShape); } } @@ -741,7 +739,7 @@ public sealed class BSPrim : BSPhysObject // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { - DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); + // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity); }); } @@ -758,7 +756,7 @@ public sealed class BSPrim : BSPhysObject _buoyancy = value; PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() { - DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); + // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); @@ -823,18 +821,18 @@ public sealed class BSPrim : BSPhysObject } m_accumulatedForces.Clear(); } - DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); + // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); }); } public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { - DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); + // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); } public override void SetMomentum(OMV.Vector3 momentum) { - DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); + // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); } #region Mass Calculation @@ -1452,7 +1450,7 @@ public sealed class BSPrim : BSPhysObject } // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. - // No locking here because this is done when the physics engine is not simulating (taint-time). + // Called at taint-time!!! private void CreateGeomAndObject(bool forceRebuild) { #if CSHARP_BODY_MANAGEMENT diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 7fce8c9..aadb8d6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -344,7 +344,10 @@ public class BSShapeCollection : IDisposable if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) { haveShape = true; - if (forceRebuild || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) + if (forceRebuild + || prim.Scale != shapeData.Size + || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE + ) { ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE); @@ -355,7 +358,10 @@ public class BSShapeCollection : IDisposable else { haveShape = true; - if (forceRebuild || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX)) + if (forceRebuild + || prim.Scale != shapeData.Size + || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX + ) { ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX); @@ -406,7 +412,7 @@ public class BSShapeCollection : IDisposable newShape.isNativeShape = true; // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked. - DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape); + // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape); prim.BSShape = newShape; return true; @@ -683,13 +689,13 @@ public class BSShapeCollection : IDisposable { bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, shapeData.ID, shapeData.Position, shapeData.Rotation); - DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); + // DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } else { bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, shapeData.ID, shapeData.Position, shapeData.Rotation); - DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); + // DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } aBody = new BulletBody(shapeData.ID, bodyPtr); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 5d5d9cb..50638d6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -201,10 +201,10 @@ public class BSTerrainManager // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when // calling this routine from initialization or taint-time routines) or whether to delay // all the unmanaged activities to taint-time. - private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool doNow) + private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool atTaintTime) { - DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},doNow={3}", - BSScene.DetailLogZero, minCoords, maxCoords, doNow); + DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},atTaintTime={3}", + BSScene.DetailLogZero, minCoords, maxCoords, atTaintTime); float minZ = float.MaxValue; float maxZ = float.MinValue; @@ -308,11 +308,7 @@ public class BSTerrainManager mapInfo.terrainBody = new BulletBody(mapInfo.ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, - id, centerPos, Quaternion.Identity)); - - BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr, - (uint)CollisionFilterGroups.TerrainFilter, - (uint)CollisionFilterGroups.TerrainMask); + id, centerPos, Quaternion.Identity)); } // Make sure the entry is in the heightmap table @@ -333,6 +329,10 @@ public class BSTerrainManager // redo its bounding box now that it is in the world BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); + BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainFilter, + (uint)CollisionFilterGroups.TerrainMask); + // Make sure the new shape is processed. BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); @@ -341,7 +341,7 @@ public class BSTerrainManager // There is the option to do the changes now (we're already in 'taint time'), or // to do the Bullet operations later. - if (doNow) + if (atTaintTime) rebuildOperation(); else PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation); @@ -380,7 +380,7 @@ public class BSTerrainManager }; // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time. - if (doNow) + if (atTaintTime) createOperation(); else PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation); -- cgit v1.1 From f82b903deeaaf8eaa7ae5c4d4b7e917dd0a6ce7b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 27 Sep 2012 08:23:29 -0700 Subject: BulletSim: Fix linkset crash. Caused by the different body and shape pointers at runtime and at taint-time. Now passes the body into the taint. Vehicles zero inertia when active to eliminate Bullet's contribution to vehicle motion. --- .../Physics/BulletSPlugin/BS6DofConstraint.cs | 20 +++- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 123 ++++++++++++--------- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 75 ++++++++++--- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 8 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 22 +++- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 7 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 10 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 3 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 8 +- 9 files changed, 182 insertions(+), 94 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs index ff271fe..39a3421 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs @@ -58,10 +58,22 @@ public class BS6DofConstraint : BSConstraint m_world = world; m_body1 = obj1; m_body2 = obj2; - m_constraint = new BulletConstraint( - BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, - joinPoint, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero) + { + world.scene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + "[BULLETSIM 6DOF CONSTRAINT]", world.worldID, + obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); + world.scene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + "[BULLETSIM 6DOF CONSTRAINT]", world.worldID, + obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); + } + else + { + m_constraint = new BulletConstraint( + BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, + joinPoint, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + } m_enabled = true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 2da2331..cf33d0e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -54,18 +54,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSDynamics { - private int frcount = 0; // Used to limit dynamics debug output to - // every 100th frame - - private BSScene m_physicsScene; - private BSPrim m_prim; // the prim this dynamic controller belongs to + private BSScene PhysicsScene { get; set; } + // the prim this dynamic controller belongs to + private BSPrim Prim { get; set; } // Vehicle properties - private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind - public Vehicle Type - { - get { return m_type; } - } + public Vehicle Type { get; set; } + // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: // HOVER_TERRAIN_ONLY @@ -126,14 +121,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin public BSDynamics(BSScene myScene, BSPrim myPrim) { - m_physicsScene = myScene; - m_prim = myPrim; - m_type = Vehicle.TYPE_NONE; + PhysicsScene = myScene; + Prim = myPrim; + Type = Vehicle.TYPE_NONE; + } + + // Return 'true' if this vehicle is doing vehicle things + public bool IsActive + { + get { return Type != Vehicle.TYPE_NONE; } } internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { - VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); + VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: @@ -232,7 +233,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) { - VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); + VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_FRICTION_TIMESCALE: @@ -267,7 +268,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) { - VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); + VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.REFERENCE_FRAME: @@ -281,7 +282,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessVehicleFlags(int pParam, bool remove) { - VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove); + VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove); VehicleFlag parm = (VehicleFlag)pParam; if (remove) { @@ -301,9 +302,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessTypeChange(Vehicle pType) { - VDetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); + VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType); // Set Defaults For Type - m_type = pType; + Type = pType; switch (pType) { case Vehicle.TYPE_NONE: @@ -465,26 +466,37 @@ namespace OpenSim.Region.Physics.BulletSPlugin } }//end SetDefaultsForType + // Some of the properties of this prim may have changed. + // Do any updating needed for a vehicle + public void Refresh() + { + if (Type == Vehicle.TYPE_NONE) return; + + // Set the prim's inertia to zero. The vehicle code handles that and this + // removes the torque action introduced by Bullet. + Vector3 inertia = Vector3.Zero; + BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); + BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); + } + // One step of the vehicle properties for the next 'pTimestep' seconds. internal void Step(float pTimestep) { - if (m_type == Vehicle.TYPE_NONE) return; - - frcount++; // used to limit debug comment output - if (frcount > 100) - frcount = 0; + if (!IsActive) return; MoveLinear(pTimestep); MoveAngular(pTimestep); LimitRotation(pTimestep); // remember the position so next step we can limit absolute movement effects - m_lastPositionVector = m_prim.Position; + m_lastPositionVector = Prim.Position; VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", - m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); + Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity); }// end Step + // Apply the effect of the linear motor. + // Also does hover and float. private void MoveLinear(float pTimestep) { // m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates @@ -520,18 +532,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_linearMotorDirection *= keepfraction; VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}", - m_prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector); + Prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector); } else { // if what remains of direction is very small, zero it. m_linearMotorDirection = Vector3.Zero; m_lastLinearVelocityVector = Vector3.Zero; - VDetailLog("{0},MoveLinear,zeroed", m_prim.LocalID); + VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); } // convert requested object velocity to object relative vector - Quaternion rotq = m_prim.Orientation; + Quaternion rotq = Prim.Orientation; m_newVelocity = m_lastLinearVelocityVector * rotq; // Add the various forces into m_dir which will be our new direction vector (velocity) @@ -539,7 +551,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // add Gravity and Buoyancy // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - Vector3 grav = m_prim.PhysicsScene.DefaultGravity * (m_prim.Mass * (1f - m_VehicleBuoyancy)); + Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Mass * (1f - m_VehicleBuoyancy)); /* * RA: Not sure why one would do this @@ -548,11 +560,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity */ - Vector3 pos = m_prim.Position; + Vector3 pos = Prim.Position; // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); // If below the terrain, move us above the ground a little. - float terrainHeight = m_prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); + float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. // Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. // Vector3 rotatedSize = m_prim.Size * m_prim.Orientation; @@ -560,8 +572,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (pos.Z < terrainHeight) { pos.Z = terrainHeight + 2; - m_prim.Position = pos; - VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", m_prim.LocalID, terrainHeight, pos); + Prim.Position = pos; + VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos); } // Check if hovering @@ -570,7 +582,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // We should hover, get the target height if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) { - m_VhoverTargetHeight = m_prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; + m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { @@ -590,7 +602,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) { - m_prim.Position = pos; + Prim.Position = pos; } } else @@ -608,7 +620,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } - VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight); + VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", Prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight); } Vector3 posChange = pos - m_lastPositionVector; @@ -642,9 +654,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin } if (changed) { - m_prim.Position = pos; + Prim.Position = pos; VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", - m_prim.LocalID, m_BlockingEndPoint, posChange, pos); + Prim.LocalID, m_BlockingEndPoint, posChange, pos); } } @@ -664,7 +676,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin float postemp = (pos.Z - terrainHeight); if (postemp > 2.5f) grav.Z = (float)(grav.Z * 1.037125); - VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav); + VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", Prim.LocalID, grav); } if ((m_flags & (VehicleFlag.NO_X)) != 0) m_newVelocity.X = 0; @@ -674,7 +686,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_newVelocity.Z = 0; // Apply velocity - m_prim.Velocity = m_newVelocity; + Prim.Velocity = m_newVelocity; // apply gravity force // Why is this set here? The physics engine already does gravity. // m_prim.AddForce(grav, false); @@ -684,10 +696,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_lastLinearVelocityVector *= keepFraction; VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}", - m_prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction); + Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction); } // end MoveLinear() + // Apply the effect of the angular motor. private void MoveAngular(float pTimestep) { // m_angularMotorDirection // angular velocity requested by LSL motor @@ -699,7 +712,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_lastAngularVelocity // what was last applied to body // Get what the body is doing, this includes 'external' influences - Vector3 angularVelocity = m_prim.RotationalVelocity; + Vector3 angularVelocity = Prim.RotationalVelocity; if (m_angularMotorApply > 0) { @@ -716,7 +729,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}", - m_prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); + Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); // This is done so that if script request rate is less than phys frame rate the expected // velocity may still be acheived. @@ -737,7 +750,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep); // get present body rotation - Quaternion rotq = m_prim.Orientation; + Quaternion rotq = Prim.Orientation; // make a vector pointing up Vector3 verterr = Vector3.Zero; verterr.Z = 1.0f; @@ -767,7 +780,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin vertattr.Y += bounce * angularVelocity.Y; VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", - m_prim.LocalID, verterr, bounce, vertattr); + Prim.LocalID, verterr, bounce, vertattr); } // else vertical attractor is off @@ -784,13 +797,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin { m_lastAngularVelocity.X = 0; m_lastAngularVelocity.Y = 0; - VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); + VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); } if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. - VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); + VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); } // apply friction @@ -798,14 +811,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; // Apply to the body - m_prim.RotationalVelocity = m_lastAngularVelocity; + Prim.RotationalVelocity = m_lastAngularVelocity; - VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); + VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); } //end MoveAngular internal void LimitRotation(float timestep) { - Quaternion rotq = m_prim.Orientation; + Quaternion rotq = Prim.Orientation; Quaternion m_rot = rotq; bool changed = false; if (m_RollreferenceFrame != Quaternion.Identity) @@ -840,8 +853,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin } if (changed) { - m_prim.Orientation = m_rot; - VDetailLog("{0},LimitRotation,done,orig={1},new={2}", m_prim.LocalID, rotq, m_rot); + Prim.Orientation = m_rot; + VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); } } @@ -849,8 +862,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Invoke the detailed logger and output something if it's enabled. private void VDetailLog(string msg, params Object[] args) { - if (m_prim.PhysicsScene.VehicleLoggingEnabled) - m_prim.PhysicsScene.PhysicsLogging.Write(msg, args); + if (Prim.PhysicsScene.VehicleLoggingEnabled) + Prim.PhysicsScene.PhysicsLogging.Write(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 84a7fac..6967108 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -92,7 +92,9 @@ public class BSLinkset { lock (m_linksetActivityLock) { - AddChildToLinkset(child); + // Don't add the root to its own linkset + if (!IsRoot(child)) + AddChildToLinkset(child); } return this; } @@ -106,6 +108,17 @@ public class BSLinkset { if (IsRoot(child)) { + // Cannot remove the root from a linkset. + return this; + } + + RemoveChildFromLinkset(child); + + /* Alternate implementation that destroys the linkset of the root is removed. + * This fails because items are added and removed from linksets to build shapes. + * Code left for reference. + if (IsRoot(child)) + { // if root of linkset, take the linkset apart while (m_children.Count > 0) { @@ -120,6 +133,7 @@ public class BSLinkset // Just removing a child from an existing linkset RemoveChildFromLinkset(child); } + */ } // The child is down to a linkset of just itself @@ -308,12 +322,16 @@ public class BSLinkset { m_children.Add(child); - BSPhysObject rootx = LinksetRoot; // capture the root as of now + BSPhysObject rootx = LinksetRoot; // capture the root and body as of now + BulletBody rootBodyx = LinksetRoot.BSBody; BSPhysObject childx = child; + BulletBody childBodyx = child.BSBody; + PhysicsScene.TaintedObject("AddChildToLinkset", delegate() { DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); - PhysicallyLinkAChildToRoot(rootx, childx); // build the physical binding between me and the child + // build the physical binding between me and the child + PhysicallyLinkAChildToRoot(rootx, rootBodyx, childx, childBodyx); }); } return; @@ -323,7 +341,7 @@ public class BSLinkset // This is not being called by the child so we have to make sure the child doesn't think // it's still connected to the linkset. // Normal OpenSimulator operation will never do this because other SceneObjectPart information - // has to be updated also (like pointer to prim's parent). + // also has to be updated (like pointer to prim's parent). private void RemoveChildFromOtherLinkset(BSPhysObject pchild) { pchild.Linkset = new BSLinkset(PhysicsScene, pchild); @@ -336,13 +354,15 @@ public class BSLinkset { if (m_children.Remove(child)) { - BSPhysObject rootx = LinksetRoot; // capture the root as of now + BSPhysObject rootx = LinksetRoot; // capture the root and body as of now + BulletBody rootBodyx = LinksetRoot.BSBody; BSPhysObject childx = child; + BulletBody childBodyx = child.BSBody; PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() { DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); - PhysicallyUnlinkAChildFromRoot(rootx, childx); + PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx); RecomputeLinksetConstraintVariables(); }); @@ -357,7 +377,8 @@ public class BSLinkset // Create a constraint between me (root of linkset) and the passed prim (the child). // Called at taint time! - private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) + private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BulletBody rootBody, + BSPhysObject childPrim, BulletBody childBody) { // Zero motion for children so they don't interpolate childPrim.ZeroMotion(); @@ -371,16 +392,32 @@ public class BSLinkset // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", - rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint); + DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", + rootPrim.LocalID, + rootPrim.LocalID, rootBody.ptr.ToString("X"), + childPrim.LocalID, childBody.ptr.ToString("X"), + rootPrim.Position, childPrim.Position, midPoint); + + // There is great subtlty in these paramters. Notice the check for a ptr of zero. + // We pass the BulletBody structure into the taint in order to capture the pointer + // of the body at the time of constraint creation. This doesn't work for the very first + // construction because there is no body yet. The body + // is constructed later at taint time. Thus we use the body address at time of the + // taint creation but, if it is zero, use what's in the prim at the moment. + // There is a possible race condition since shape can change without a taint call + // (like changing to a mesh that is already constructed). The fix for that would be + // to only change BSShape at taint time thus syncronizing these operations at + // the cost of efficiency and lag. BS6DofConstraint constrain = new BS6DofConstraint( - PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, + PhysicsScene.World, + rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody, + childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody, midPoint, true, true ); /* NOTE: below is an attempt to build constraint with full frame computation, etc. - * Using the midpoint is easier since it lets the Bullet code use the transforms + * Using the midpoint is easier since it lets the Bullet code manipulate the transforms * of the objects. * Code left as a warning to future programmers. // ================================================================================== @@ -433,19 +470,26 @@ public class BSLinkset } // Remove linkage between myself and a particular child + // The root and child bodies are passed in because we need to remove the constraint between + // the bodies that were at unlink time. // Called at taint time! - private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) + private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody, + BSPhysObject childPrim, BulletBody childBody) { - DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); + DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", + rootPrim.LocalID, + rootPrim.LocalID, rootBody.ptr.ToString("X"), + childPrim.LocalID, childBody.ptr.ToString("X")); // Find the constraint for this link and get rid of it from the overall collection and from my list - PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody); + PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootBody, childBody); // Make the child refresh its location BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); } - // Remove linkage between myself and any possible children I might have + /* + // Remove linkage between myself and any possible children I might have. // Called at taint time! private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) { @@ -453,6 +497,7 @@ public class BSLinkset PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); } + */ // Invoke the detailed logger and output something if it's enabled. private void DetailLog(string msg, params Object[] args) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 4f83adc..df95625 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -135,8 +135,11 @@ public abstract class BSPhysObject : PhysicsActor // collision event to make collision_end work. // Called at taint time from within the Step() function thus no locking problems // with CollisionCollection and ObjectsWithNoMoreCollisions. - public virtual void SendCollisions() + // Return 'true' if there were some actual collisions passed up + public virtual bool SendCollisions() { + bool ret = true; + // throttle the collisions to the number of milliseconds specified in the subscription int nowTime = PhysicsScene.SimulationNowTime; if (nowTime >= NextCollisionOkTime) @@ -148,7 +151,7 @@ public abstract class BSPhysObject : PhysicsActor if (CollisionCollection.Count == 0) { // If I have no collisions this time, remove me from the list of objects with collisions. - PhysicsScene.ObjectsWithNoMoreCollisions.Add(this); + ret = false; } // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); @@ -158,6 +161,7 @@ public abstract class BSPhysObject : PhysicsActor // Make sure we don't have a handle to that one and that a new one is used for next time. CollisionCollection = new CollisionEventUpdate(); } + return ret; } // Subscribe for collision events. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 68a153e..17ba85a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -507,6 +507,9 @@ public sealed class BSPrim : BSPhysObject // Set up the object physicalness (does gravity and collisions move this object) MakeDynamic(IsStatic); + // Do any vehicle stuff + _vehicle.Refresh(); + // Arrange for collision events if the simulator wants them EnableCollisions(SubscribedEvents()); @@ -556,9 +559,8 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); // There can be special things needed for implementing linksets Linkset.MakeStatic(this); - // The activation state is 'sleeping' so Bullet will not try to act on it - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); - // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); + // The activation state is 'disabled' so Bullet will not try to act on it + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; @@ -577,7 +579,8 @@ public sealed class BSPrim : BSPhysObject // A dynamic object has mass IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); - OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass); + OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); + // OMV.Vector3 inertia = OMV.Vector3.Zero; BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); @@ -587,10 +590,12 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); - // There can be special things needed for implementing linksets + // There can be special things needed for implementing linksets. Linkset.MakeDynamic(this); // Force activation of the object so Bullet will act on it. + // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); BulletSimAPI.Activate2(BSBody.ptr, true); BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter; @@ -1457,9 +1462,16 @@ public sealed class BSPrim : BSPhysObject ShapeData shapeData; FillShapeInfo(out shapeData); + // Undo me from any possible linkset so, if body is rebuilt, the link will get restored. + // NOTE that the new linkset is not set. This saves the handle to the linkset + // so we can add ourselves back when shape mangling is complete. + Linkset.RemoveMeFromLinkset(this); + // Create the correct physical representation for this type of object. // Updates BSBody and BSShape with the new information. PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs); + + Linkset = Linkset.AddMeToLinkset(this); // Make sure the properties are set on the new object UpdatePhysicalParameters(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e8c628c..44a249c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -544,12 +544,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters // The above SendCollision's batch up the collisions on the objects. // Now push the collisions into the simulator. - // If the object is done colliding, it will add itself to the ObjectsWithNoMoreCollisions list. if (ObjectsWithCollisions.Count > 0) { foreach (BSPhysObject bsp in ObjectsWithCollisions) if (!m_avatars.Contains(bsp)) // don't call avatars twice - bsp.SendCollisions(); + if (!bsp.SendCollisions()) + { + // If the object is done colliding, see that it's removed from the colliding list + ObjectsWithNoMoreCollisions.Add(bsp); + } } // Objects that are done colliding are removed from the ObjectsWithCollisions list. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index aadb8d6..72c6df5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -498,7 +498,8 @@ public class BSShapeCollection : IDisposable ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod); // if the hull hasn't changed, don't rebuild it - if (newHullKey == prim.BSShape.shapeKey) return false; + if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) + return false; DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X")); @@ -508,11 +509,8 @@ public class BSShapeCollection : IDisposable newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); - if (!ReferenceShape(newShape)) - { - PhysicsScene.Logger.ErrorFormat("{0} Created new hull shape but one already exists: id={1}, key={2}, refCnt={3}", - LogHeader, shapeData.ID, newHullKey.ToString("X"), Hulls[newHullKey].referenceCount); - } + ReferenceShape(newShape); + // hulls are already scaled by the meshmerizer prim.Scale = new OMV.Vector3(1f, 1f, 1f); prim.BSShape = newShape; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 50638d6..269c3d5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -334,7 +334,8 @@ public class BSTerrainManager (uint)CollisionFilterGroups.TerrainMask); // Make sure the new shape is processed. - BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); + // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); + BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); m_terrainModified = true; }; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 6910050..2d65a35 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -369,16 +369,16 @@ public enum CollisionFilterGroups : uint BSolidFilter = 1 << 13, // The collsion filters and masked are defined in one place -- don't want them scattered - AvatarFilter = BDefaultFilter | BCharacterFilter | BSolidFilter, + AvatarFilter = BCharacterFilter, AvatarMask = BAllFilter, - ObjectFilter = BDefaultFilter | BSolidFilter, + ObjectFilter = BSolidFilter, ObjectMask = BAllFilter, - StaticObjectFilter = BDefaultFilter | BStaticFilter | BSolidFilter, + StaticObjectFilter = BStaticFilter, StaticObjectMask = BAllFilter, VolumeDetectFilter = BSensorTrigger, VolumeDetectMask = ~BSensorTrigger, TerrainFilter = BTerrainFilter, - TerrainMask = BAllFilter, + TerrainMask = BAllFilter & ~BStaticFilter, GroundPlaneFilter = BAllFilter, GroundPlaneMask = BAllFilter -- cgit v1.1 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 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 vertices = _mesh.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)); - } - - // setup and do convex hull conversion - _hulls = new List(); - 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 From 7b65985047bdf0789fe3eccf8f515279f362abf1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 27 Sep 2012 09:31:33 -0700 Subject: BulletSim: remove the trailing spaces from lines to make git happier --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 185 +++++++++--------- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 14 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 30 +-- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 212 ++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 26 +-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 42 ++-- .../Physics/BulletSPlugin/BSTerrainManager.cs | 32 ++-- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 4 +- 10 files changed, 275 insertions(+), 276 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 961bcde..b88ec3c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -122,7 +122,6 @@ public class BSCharacter : BSPhysObject BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask); }); - return; } @@ -141,8 +140,8 @@ public class BSCharacter : BSPhysObject base.RequestPhysicsterseUpdate(); } // No one calls this method so I don't know what it could possibly mean - public override bool Stopped { - get { return false; } + public override bool Stopped { + get { return false; } } public override OMV.Vector3 Size { get @@ -151,7 +150,7 @@ public class BSCharacter : BSPhysObject return new OMV.Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z); } - set { + set { // When an avatar's size is set, only the height is changed // and that really only depends on the radius. _size = value; @@ -166,19 +165,19 @@ public class BSCharacter : BSPhysObject BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true); }); - } + } } - public override PrimitiveBaseShape Shape { - set { _pbs = value; - } + public override PrimitiveBaseShape Shape { + set { _pbs = value; + } } - public override bool Grabbed { - set { _grabbed = value; - } + public override bool Grabbed { + set { _grabbed = value; + } } - public override bool Selected { - set { _selected = value; - } + public override bool Selected { + set { _selected = value; + } } public override void CrossingFailure() { return; } public override void link(PhysicsActor obj) { return; } @@ -203,11 +202,11 @@ public class BSCharacter : BSPhysObject public override void LockAngularMotion(OMV.Vector3 axis) { return; } - public override OMV.Vector3 Position { + public override OMV.Vector3 Position { get { // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); - return _position; - } + return _position; + } set { _position = value; PositionSanityCheck(); @@ -217,7 +216,7 @@ public class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); }); - } + } } // Check that the current position is sane and, if not, modify the position to make it so. @@ -226,7 +225,7 @@ public class BSCharacter : BSPhysObject private bool PositionSanityCheck() { bool ret = false; - + // If below the ground, move the avatar up float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); if (Position.Z < terrainHeight) @@ -260,17 +259,17 @@ public class BSCharacter : BSPhysObject return ret; } - public override float Mass { - get { - return _mass; - } + public override float Mass { + get { + return _mass; + } } // used when we only want this prim's mass and not the linkset thing public override float MassRaw { get {return _mass; } } - public override OMV.Vector3 Force { - get { return _force; } + public override OMV.Vector3 Force { + get { return _force; } set { _force = value; // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); @@ -279,12 +278,12 @@ public class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force); }); - } + } } - public override int VehicleType { - get { return 0; } - set { return; } + public override int VehicleType { + get { return 0; } + set { return; } } public override void VehicleFloatParam(int param, float value) { } public override void VehicleVectorParam(int param, OMV.Vector3 value) {} @@ -296,8 +295,8 @@ public class BSCharacter : BSPhysObject public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } - public override OMV.Vector3 Velocity { - get { return _velocity; } + public override OMV.Vector3 Velocity { + get { return _velocity; } set { _velocity = value; // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); @@ -306,24 +305,24 @@ public class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity); }); - } + } } - public override OMV.Vector3 Torque { - get { return _torque; } - set { _torque = value; - } + public override OMV.Vector3 Torque { + get { return _torque; } + set { _torque = value; + } } - public override float CollisionScore { - get { return _collisionScore; } - set { _collisionScore = value; - } + public override float CollisionScore { + get { return _collisionScore; } + set { _collisionScore = value; + } } - public override OMV.Vector3 Acceleration { + public override OMV.Vector3 Acceleration { get { return _acceleration; } set { _acceleration = value; } } - public override OMV.Quaternion Orientation { - get { return _orientation; } + public override OMV.Quaternion Orientation { + get { return _orientation; } set { _orientation = value; // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); @@ -332,98 +331,98 @@ public class BSCharacter : BSPhysObject // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); }); - } + } } - public override int PhysicsActorType { - get { return _physicsActorType; } - set { _physicsActorType = value; - } + public override int PhysicsActorType { + get { return _physicsActorType; } + set { _physicsActorType = value; + } } - public override bool IsPhysical { - get { return _isPhysical; } + public override bool IsPhysical { + get { return _isPhysical; } set { _isPhysical = value; - } + } } - public override bool Flying { - get { return _flying; } + public override bool Flying { + get { return _flying; } set { _flying = value; // simulate flying by changing the effect of gravity this.Buoyancy = ComputeBuoyancyFromFlying(_flying); - } + } } // Flying is implimented by changing the avatar's buoyancy. // Would this be done better with a vehicle type? private float ComputeBuoyancyFromFlying(bool ifFlying) { return ifFlying ? 1f : 0f; } - public override bool - SetAlwaysRun { - get { return _setAlwaysRun; } - set { _setAlwaysRun = value; } + public override bool + SetAlwaysRun { + get { return _setAlwaysRun; } + set { _setAlwaysRun = value; } } - public override bool ThrottleUpdates { - get { return _throttleUpdates; } - set { _throttleUpdates = value; } + public override bool ThrottleUpdates { + get { return _throttleUpdates; } + set { _throttleUpdates = value; } } public override bool IsColliding { - get { return (CollidingStep == PhysicsScene.SimulationStep); } - set { _isColliding = value; } + get { return (CollidingStep == PhysicsScene.SimulationStep); } + set { _isColliding = value; } } public override bool CollidingGround { - get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } - set { CollidingGround = value; } + get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } + set { CollidingGround = value; } } - public override bool CollidingObj { - get { return _collidingObj; } - set { _collidingObj = value; } + public override bool CollidingObj { + get { return _collidingObj; } + set { _collidingObj = value; } } - public override bool FloatOnWater { - set { _floatOnWater = value; } + public override bool FloatOnWater { + set { _floatOnWater = value; } } - public override OMV.Vector3 RotationalVelocity { - get { return _rotationalVelocity; } - set { _rotationalVelocity = value; } + public override OMV.Vector3 RotationalVelocity { + get { return _rotationalVelocity; } + set { _rotationalVelocity = value; } } - public override bool Kinematic { - get { return _kinematic; } - set { _kinematic = value; } + public override bool Kinematic { + get { return _kinematic; } + set { _kinematic = value; } } // neg=fall quickly, 0=1g, 1=0g, pos=float up - public override float Buoyancy { - get { return _buoyancy; } - set { _buoyancy = value; + public override float Buoyancy { + get { return _buoyancy; } + set { _buoyancy = value; PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate() { DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy); }); - } + } } // Used for MoveTo - public override OMV.Vector3 PIDTarget { - set { _PIDTarget = value; } + public override OMV.Vector3 PIDTarget { + set { _PIDTarget = value; } } - public override bool PIDActive { - set { _usePID = value; } + public override bool PIDActive { + set { _usePID = value; } } - public override float PIDTau { - set { _PIDTau = value; } + public override float PIDTau { + set { _PIDTau = value; } } // Used for llSetHoverHeight and maybe vehicle height // Hover Height will override MoveTo target's Z - public override bool PIDHoverActive { + public override bool PIDHoverActive { set { _useHoverPID = value; } } - public override float PIDHoverHeight { + public override float PIDHoverHeight { set { _PIDHoverHeight = value; } } - public override PIDHoverType PIDHoverType { + public override PIDHoverType PIDHoverType { set { _PIDHoverType = value; } } - public override float PIDHoverTau { + public override float PIDHoverTau { set { _PIDHoverTao = value; } } @@ -433,7 +432,7 @@ public class BSCharacter : BSPhysObject public override float APIDStrength { set { return; } } public override float APIDDamping { set { return; } } - public override void AddForce(OMV.Vector3 force, bool pushforce) { + public override void AddForce(OMV.Vector3 force, bool pushforce) { if (force.IsFinite()) { _force.X += force.X; @@ -453,9 +452,9 @@ public class BSCharacter : BSPhysObject //m_lastUpdateSent = false; } - public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { + public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { } - public override void SetMomentum(OMV.Vector3 momentum) { + public override void SetMomentum(OMV.Vector3 momentum) { } private void ComputeAvatarScale(OMV.Vector3 size) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index cf33d0e..65b38d6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -491,7 +491,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // remember the position so next step we can limit absolute movement effects m_lastPositionVector = Prim.Position; - VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", + VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity); }// end Step @@ -511,8 +511,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep); // lastLinearVelocityVector is the current body velocity vector // RA: Not sure what the *10 is for. A correction for pTimestep? - // m_lastLinearVelocityVector += (addAmount*10); - m_lastLinearVelocityVector += addAmount; + // m_lastLinearVelocityVector += (addAmount*10); + m_lastLinearVelocityVector += addAmount; // Limit the velocity vector to less than the last set linear motor direction if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) @@ -695,7 +695,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); m_lastLinearVelocityVector *= keepFraction; - VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}", + VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}", Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction); } // end MoveLinear() @@ -728,7 +728,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); - VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}", + VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}", Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); // This is done so that if script request rate is less than phys frame rate the expected @@ -779,7 +779,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin vertattr.X += bounce * angularVelocity.X; vertattr.Y += bounce * angularVelocity.Y; - VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", + VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", Prim.LocalID, verterr, bounce, vertattr); } // else vertical attractor is off @@ -792,7 +792,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Sum velocities m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection - + if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) { m_lastAngularVelocity.X = 0; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 6967108..b0cc63c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -53,9 +53,9 @@ public class BSLinkset // We keep the prim's mass in the linkset structure since it could be dependent on other prims private float m_mass; - public float LinksetMass - { - get + public float LinksetMass + { + get { m_mass = ComputeLinksetMass(); return m_mass; @@ -77,7 +77,7 @@ public class BSLinkset // A simple linkset of one (no children) LinksetID = m_nextLinksetID++; // We create LOTS of linksets. - if (m_nextLinksetID <= 0) + if (m_nextLinksetID <= 0) m_nextLinksetID = 1; PhysicsScene = scene; LinksetRoot = parent; @@ -276,7 +276,7 @@ public class BSLinkset BSConstraint constrain; if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) { - // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", + // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); constrain.RecomputeConstraintVariables(linksetMass); } @@ -392,14 +392,14 @@ public class BSLinkset // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", - rootPrim.LocalID, - rootPrim.LocalID, rootBody.ptr.ToString("X"), - childPrim.LocalID, childBody.ptr.ToString("X"), + DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", + rootPrim.LocalID, + rootPrim.LocalID, rootBody.ptr.ToString("X"), + childPrim.LocalID, childBody.ptr.ToString("X"), rootPrim.Position, childPrim.Position, midPoint); // There is great subtlty in these paramters. Notice the check for a ptr of zero. - // We pass the BulletBody structure into the taint in order to capture the pointer + // We pass the BulletBody structure into the taint in order to capture the pointer // of the body at the time of constraint creation. This doesn't work for the very first // construction because there is no body yet. The body // is constructed later at taint time. Thus we use the body address at time of the @@ -409,8 +409,8 @@ public class BSLinkset // to only change BSShape at taint time thus syncronizing these operations at // the cost of efficiency and lag. BS6DofConstraint constrain = new BS6DofConstraint( - PhysicsScene.World, - rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody, + PhysicsScene.World, + rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody, childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody, midPoint, true, @@ -473,11 +473,11 @@ public class BSLinkset // The root and child bodies are passed in because we need to remove the constraint between // the bodies that were at unlink time. // Called at taint time! - private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody, + private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody, BSPhysObject childPrim, BulletBody childBody) { - DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", - rootPrim.LocalID, + DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", + rootPrim.LocalID, rootPrim.LocalID, rootBody.ptr.ToString("X"), childPrim.LocalID, childBody.ptr.ToString("X")); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index df95625..d9b738b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -100,7 +100,7 @@ public abstract class BSPhysObject : PhysicsActor // The simulation step is telling this object about a collision. // Return 'true' if a collision was processed and should be sent up. // Called at taint time from within the Step() function - public virtual bool Collide(uint collidingWith, BSPhysObject collidee, + public virtual bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { bool ret = false; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs index 0f027b8..20f5180 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs @@ -33,7 +33,7 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { /// - /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim. + /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim. /// This module interfaces to an unmanaged C++ library which makes the /// actual calls into the Bullet physics engine. /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/. @@ -62,7 +62,7 @@ public class BSPlugin : IPhysicsPlugin if (Util.IsWindows()) Util.LoadArchSpecificWindowsDll("BulletSim.dll"); // If not Windows, loading is performed by the - // Mono loader as specified in + // Mono loader as specified in // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config". _mScene = new BSScene(sceneIdentifier); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e65e42b..8688485 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -158,12 +158,12 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID); }); } - - public override bool Stopped { - get { return _stopped; } + + public override bool Stopped { + get { return _stopped; } } - public override OMV.Vector3 Size { - get { return _size; } + public override OMV.Vector3 Size { + get { return _size; } set { _size = value; PhysicsScene.TaintedObject("BSPrim.setSize", delegate() @@ -174,7 +174,7 @@ public sealed class BSPrim : BSPhysObject CreateGeomAndObject(true); // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical); }); - } + } } // Scale is what we set in the physics engine. It is different than 'size' in that // 'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>. @@ -183,7 +183,7 @@ public sealed class BSPrim : BSPhysObject get { return _scale; } set { _scale = value; } } - public override PrimitiveBaseShape Shape { + public override PrimitiveBaseShape Shape { set { _pbs = value; PhysicsScene.TaintedObject("BSPrim.setShape", delegate() @@ -191,13 +191,13 @@ public sealed class BSPrim : BSPhysObject _mass = CalculateMass(); // changing the shape changes the mass CreateGeomAndObject(true); }); - } + } } - public override bool Grabbed { - set { _grabbed = value; - } + public override bool Grabbed { + set { _grabbed = value; + } } - public override bool Selected { + public override bool Selected { set { _isSelected = value; PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() @@ -205,7 +205,7 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); SetObjectDynamic(false); }); - } + } } public override void CrossingFailure() { return; } @@ -219,10 +219,10 @@ public sealed class BSPrim : BSPhysObject Linkset = parent.Linkset.AddMeToLinkset(this); - DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", + DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); } - return; + return; } // delink me from my linkset @@ -232,12 +232,12 @@ public sealed class BSPrim : BSPhysObject BSPhysObject parentBefore = Linkset.LinksetRoot; int childrenBefore = Linkset.NumberOfChildren; - + Linkset = Linkset.RemoveMeFromLinkset(this); - DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", + DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); - return; + return; } // Set motion values to zero. @@ -258,21 +258,21 @@ public sealed class BSPrim : BSPhysObject } public override void LockAngularMotion(OMV.Vector3 axis) - { + { DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); return; } - public override OMV.Vector3 Position { - get { + public override OMV.Vector3 Position { + get { if (!Linkset.IsRoot(this)) // child prims move around based on their parent. Need to get the latest location _position = BulletSimAPI.GetPosition2(BSBody.ptr); // don't do the GetObjectPosition for root elements because this function is called a zillion times // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); - return _position; - } + return _position; + } set { _position = value; // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? @@ -281,13 +281,13 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); }); - } + } } // Return the effective mass of the object. // If there are multiple items in the linkset, add them together for the root public override float Mass - { + { get { // return Linkset.LinksetMass; @@ -310,8 +310,8 @@ public sealed class BSPrim : BSPhysObject get { return Linkset.GeometricCenter; } } - public override OMV.Vector3 Force { - get { return _force; } + public override OMV.Vector3 Force { + get { return _force; } set { _force = value; PhysicsScene.TaintedObject("BSPrim.setForce", delegate() @@ -319,13 +319,13 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); }); - } + } } - public override int VehicleType { + public override int VehicleType { get { return (int)_vehicle.Type; // if we are a vehicle, return that type - } + } set { Vehicle type = (Vehicle)value; BSPrim vehiclePrim = this; @@ -337,30 +337,30 @@ public sealed class BSPrim : BSPhysObject // Tell the scene about the vehicle so it will get processing each frame. PhysicsScene.VehicleInSceneTypeChanged(this, type); }); - } + } } - public override void VehicleFloatParam(int param, float value) + public override void VehicleFloatParam(int param, float value) { PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); }); } - public override void VehicleVectorParam(int param, OMV.Vector3 value) + public override void VehicleVectorParam(int param, OMV.Vector3 value) { PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); }); } - public override void VehicleRotationParam(int param, OMV.Quaternion rotation) + public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); }); } - public override void VehicleFlags(int param, bool remove) + public override void VehicleFlags(int param, bool remove) { PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate() { @@ -388,11 +388,11 @@ public sealed class BSPrim : BSPhysObject SetObjectDynamic(true); }); } - return; + return; } - public override OMV.Vector3 Velocity { - get { return _velocity; } + public override OMV.Vector3 Velocity { + get { return _velocity; } set { _velocity = value; PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() @@ -400,24 +400,24 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); }); - } + } } - public override OMV.Vector3 Torque { - get { return _torque; } - set { _torque = value; + public override OMV.Vector3 Torque { + get { return _torque; } + set { _torque = value; // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); - } + } } - public override float CollisionScore { - get { return _collisionScore; } - set { _collisionScore = value; - } + public override float CollisionScore { + get { return _collisionScore; } + set { _collisionScore = value; + } } - public override OMV.Vector3 Acceleration { + public override OMV.Vector3 Acceleration { get { return _acceleration; } set { _acceleration = value; } } - public override OMV.Quaternion Orientation { + public override OMV.Quaternion Orientation { get { if (!Linkset.IsRoot(this)) { @@ -425,7 +425,7 @@ public sealed class BSPrim : BSPhysObject _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr); } return _orientation; - } + } set { _orientation = value; // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? @@ -435,14 +435,14 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); }); - } + } } - public override int PhysicsActorType { - get { return _physicsActorType; } - set { _physicsActorType = value; } + public override int PhysicsActorType { + get { return _physicsActorType; } + set { _physicsActorType = value; } } - public override bool IsPhysical { - get { return _isPhysical; } + public override bool IsPhysical { + get { return _isPhysical; } set { if (_isPhysical != value) { @@ -453,7 +453,7 @@ public sealed class BSPrim : BSPhysObject SetObjectDynamic(true); }); } - } + } } // An object is static (does not move) if selected or not physical @@ -519,7 +519,7 @@ public sealed class BSPrim : BSPhysObject // had been automatically disabled when the mass was set to zero. Linkset.Refresh(this); - DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", + DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); } @@ -630,31 +630,31 @@ public sealed class BSPrim : BSPhysObject } // prims don't fly - public override bool Flying { - get { return _flying; } + public override bool Flying { + get { return _flying; } set { _flying = value; - } + } } - public override bool SetAlwaysRun { - get { return _setAlwaysRun; } - set { _setAlwaysRun = value; } + public override bool SetAlwaysRun { + get { return _setAlwaysRun; } + set { _setAlwaysRun = value; } } - public override bool ThrottleUpdates { - get { return _throttleUpdates; } - set { _throttleUpdates = value; } + public override bool ThrottleUpdates { + get { return _throttleUpdates; } + set { _throttleUpdates = value; } } public override bool IsColliding { - get { return (CollidingStep == PhysicsScene.SimulationStep); } - set { _isColliding = value; } + get { return (CollidingStep == PhysicsScene.SimulationStep); } + set { _isColliding = value; } } public override bool CollidingGround { - get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } - set { _collidingGround = value; } + get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } + set { _collidingGround = value; } } - public override bool CollidingObj { - get { return _collidingObj; } - set { _collidingObj = value; } + public override bool CollidingObj { + get { return _collidingObj; } + set { _collidingObj = value; } } public bool IsPhantom { get { @@ -664,10 +664,10 @@ public sealed class BSPrim : BSPhysObject return false; } } - public override bool FloatOnWater { - set { _floatOnWater = value; } + public override bool FloatOnWater { + set { _floatOnWater = value; } } - public override OMV.Vector3 RotationalVelocity { + public override OMV.Vector3 RotationalVelocity { get { /* OMV.Vector3 pv = OMV.Vector3.Zero; @@ -679,7 +679,7 @@ public sealed class BSPrim : BSPhysObject */ return _rotationalVelocity; - } + } set { _rotationalVelocity = value; // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); @@ -688,16 +688,16 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity); }); - } + } } - public override bool Kinematic { - get { return _kinematic; } - set { _kinematic = value; + public override bool Kinematic { + get { return _kinematic; } + set { _kinematic = value; // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic); - } + } } - public override float Buoyancy { - get { return _buoyancy; } + public override float Buoyancy { + get { return _buoyancy; } set { _buoyancy = value; PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() @@ -707,32 +707,32 @@ public sealed class BSPrim : BSPhysObject float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); }); - } + } } // Used for MoveTo - public override OMV.Vector3 PIDTarget { - set { _PIDTarget = value; } + public override OMV.Vector3 PIDTarget { + set { _PIDTarget = value; } } - public override bool PIDActive { - set { _usePID = value; } + public override bool PIDActive { + set { _usePID = value; } } - public override float PIDTau { - set { _PIDTau = value; } + public override float PIDTau { + set { _PIDTau = value; } } // Used for llSetHoverHeight and maybe vehicle height // Hover Height will override MoveTo target's Z - public override bool PIDHoverActive { + public override bool PIDHoverActive { set { _useHoverPID = value; } } - public override float PIDHoverHeight { + public override float PIDHoverHeight { set { _PIDHoverHeight = value; } } - public override PIDHoverType PIDHoverType { + public override PIDHoverType PIDHoverType { set { _PIDHoverType = value; } } - public override float PIDHoverTau { + public override float PIDHoverTau { set { _PIDHoverTao = value; } } @@ -773,11 +773,11 @@ public sealed class BSPrim : BSPhysObject }); } - public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { + public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); } - public override void SetMomentum(OMV.Vector3 momentum) { + public override void SetMomentum(OMV.Vector3 momentum) { // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); } #region Mass Calculation @@ -789,8 +789,8 @@ public sealed class BSPrim : BSPhysObject float returnMass = 0; float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; - float hollowVolume = hollowAmount * hollowAmount; - + float hollowVolume = hollowAmount * hollowAmount; + switch (_pbs.ProfileShape) { case ProfileShape.Square: @@ -826,16 +826,16 @@ public sealed class BSPrim : BSPhysObject else if (_pbs.PathCurve == (byte)Extrusion.Curve1) { - //a tube + //a tube volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); volume -= volume*tmp*tmp; - + if (hollowAmount > 0.0) { hollowVolume *= hollowAmount; - + switch (_pbs.HollowShape) { case HollowShape.Square: @@ -894,7 +894,7 @@ public sealed class BSPrim : BSPhysObject volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); volume *= (1.0f - tmp * tmp); - + if (hollowAmount > 0.0) { @@ -1118,7 +1118,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs); Linkset = Linkset.AddMeToLinkset(this); - + // Make sure the properties are set on the new object UpdatePhysicalParameters(); return; @@ -1210,7 +1210,7 @@ public sealed class BSPrim : BSPhysObject { // For debugging, we can also report the movement of children DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", - LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, + LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); } */ diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 44a249c..0cf8c91 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -49,7 +49,7 @@ using OpenMetaverse; // At the moment, physical and phantom causes object to drop through the terrain // Physical phantom objects and related typing (collision options ) // Check out llVolumeDetect. Must do something for that. -// Use collision masks for collision with terrain and phantom objects +// Use collision masks for collision with terrain and phantom objects // More efficient memory usage when passing hull information from BSPrim to BulletSim // Should prim.link() and prim.delink() membership checking happen at taint time? // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once. @@ -60,7 +60,7 @@ using OpenMetaverse; // Add PID movement operations. What does ScenePresence.MoveToTarget do? // Check terrain size. 128 or 127? // Raycast -// +// namespace OpenSim.Region.Physics.BulletSPlugin { public class BSScene : PhysicsScene, IPhysicsParameters @@ -327,7 +327,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters { m_log.Debug("[BULLETS UNMANAGED]:" + msg); } - + // Called directly from unmanaged code so don't do much private void BulletLoggerPhysLog(string msg) { @@ -460,7 +460,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // This is a call from the simulator saying that some physical property has been updated. - // The BulletSim driver senses the changing of relevant properties so this taint + // The BulletSim driver senses the changing of relevant properties so this taint // information call is not needed. public override void AddPhysicsActorTaint(PhysicsActor prim) { } @@ -501,14 +501,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); - DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}", - DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); + DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}", + DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); } catch (Exception e) { - m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}", + m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}", LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e); - DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}", + DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}", DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); updatedEntityCount = 0; collidersCount = 0; @@ -535,7 +535,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } - // This is a kludge to get avatar movement updates. + // This is a kludge to get avatar movement updates. // ODE sends collisions for avatars even if there are have been no collisions. This updates // avatar animations and stuff. // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. @@ -634,7 +634,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters TerrainManager.SetTerrain(heightMap); } - public override void SetWaterLevel(float baseheight) + public override void SetWaterLevel(float baseheight) { m_waterLevel = baseheight; } @@ -644,7 +644,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters return m_waterLevel; } - public override void DeleteTerrain() + public override void DeleteTerrain() { // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); } @@ -806,7 +806,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // getters and setters. // It is easiest to find an existing definition and copy it. // Parameter values are floats. Booleans are converted to a floating value. - // + // // A ParameterDefn() takes the following parameters: // -- the text name of the parameter. This is used for console input and ini file. // -- a short text description of the parameter. This shows up in the console listing. @@ -1228,7 +1228,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } }); break; - default: + default: // setting only one localID TaintedUpdateParameter(parm, localID, val); break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 72c6df5..b428ba3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -102,7 +102,7 @@ public class BSShapeCollection : IDisposable bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData); ret = newGeom || newBody; } - DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}", + DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}", prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape); return ret; @@ -149,14 +149,14 @@ public class BSShapeCollection : IDisposable bodyDesc.lastReferenced = System.DateTime.Now; Bodies[shape.ID] = bodyDesc; DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", shape.ID, bodyDesc.referenceCount); - + // If body is no longer being used, free it -- bodies are never shared. if (bodyDesc.referenceCount == 0) { Bodies.Remove(shape.ID); BSScene.TaintCallback removeOperation = delegate() { - DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}", + DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}", shape.ID, shape.ptr.ToString("X")); // Zero any reference to the shape so it is not freed when the body is deleted. BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, shape.ptr, IntPtr.Zero); @@ -344,28 +344,28 @@ public class BSShapeCollection : IDisposable if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) { haveShape = true; - if (forceRebuild + if (forceRebuild || prim.Scale != shapeData.Size || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE ) { - ret = GetReferenceToNativeShape(prim, shapeData, + ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE); - DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", + DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", prim.LocalID, forceRebuild, prim.BSShape); } } else { haveShape = true; - if (forceRebuild + if (forceRebuild || prim.Scale != shapeData.Size || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX ) { ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX); - DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", + DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", prim.LocalID, forceRebuild, prim.BSShape); } } @@ -379,13 +379,13 @@ public class BSShapeCollection : IDisposable { // Update prim.BSShape to reference a hull of this shape. ret = GetReferenceToHull(prim, shapeData, pbs); - DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", + DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); } else { ret = GetReferenceToMesh(prim, shapeData, pbs); - DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", + DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); } } @@ -393,7 +393,7 @@ public class BSShapeCollection : IDisposable } // Creates a native shape and assignes it to prim.BSShape - private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData, + private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData, ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) { BulletShape newShape; @@ -432,7 +432,7 @@ public class BSShapeCollection : IDisposable // if this new shape is the same as last time, don't recreate the mesh if (prim.BSShape.shapeKey == newMeshKey) return false; - DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}", + DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}", prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); // Since we're recreating new, get rid of the reference to the previous shape @@ -476,10 +476,10 @@ public class BSShapeCollection : IDisposable verticesAsFloats[vi++] = vv.Z; } - // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", + // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); - meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, + meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, indices.GetLength(0), indices, vertices.Count, verticesAsFloats); } BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH); @@ -501,14 +501,14 @@ public class BSShapeCollection : IDisposable if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) return false; - DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", + DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X")); // Remove usage of the previous shape. Also removes reference to underlying mesh if it is a hull. DereferenceShape(prim.BSShape, true); newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); - + ReferenceShape(newShape); // hulls are already scaled by the meshmerizer @@ -559,7 +559,7 @@ public class BSShapeCollection : IDisposable convexBuilder.process(dcomp); // Convert the vertices and indices for passing to unmanaged. - // The hull information is passed as a large floating point array. + // 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 @@ -635,11 +635,11 @@ public class BSShapeCollection : IDisposable { // level of detail based on size and type of the object float lod = PhysicsScene.MeshLOD; - if (pbs.SculptEntry) + if (pbs.SculptEntry) lod = PhysicsScene.SculptLOD; float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z)); - if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) + if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) lod = PhysicsScene.MeshMegaPrimLOD; retLod = lod; @@ -685,13 +685,13 @@ public class BSShapeCollection : IDisposable IntPtr bodyPtr = IntPtr.Zero; if (prim.IsSolid) { - bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, + bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, shapeData.ID, shapeData.Position, shapeData.Rotation); // DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } else { - bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, + bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, shapeData.ID, shapeData.Position, shapeData.Rotation); // DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 269c3d5..70aa429 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -64,7 +64,7 @@ public class BSTerrainManager // The ground plane created to keep thing from falling to infinity. private BulletBody m_groundPlane; - + // If doing mega-regions, if we're region zero we will be managing multiple // region terrains since region zero does the physics for the whole mega-region. private Dictionary m_heightMaps; @@ -110,8 +110,8 @@ public class BSTerrainManager BulletShape groundPlaneShape = new BulletShape( BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN), ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE); - m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, + m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, + BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity)); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); // Everything collides with the ground plane. @@ -182,7 +182,7 @@ public class BSTerrainManager // If not doing the mega-prim thing, just change the terrain DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); - UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, + UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true); } }); @@ -234,7 +234,7 @@ public class BSTerrainManager mapInfo.maxZ = maxZ; mapInfo.sizeX = maxCoords.X - minCoords.X; mapInfo.sizeY = maxCoords.Y - minCoords.Y; - DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", + DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); BSScene.TaintCallback rebuildOperation = delegate() @@ -255,7 +255,7 @@ public class BSTerrainManager if (mapInfo.terrainBody.ptr != IntPtr.Zero) { // Updating an existing terrain. - DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", + DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); // Remove from the dynamics world because we're going to mangle this object @@ -289,7 +289,7 @@ public class BSTerrainManager // else { // Creating a new terrain. - DetailLog("{0},UpdateOrCreateTerrain:CreateNewTerrain,taint,baseX={1},baseY={2},minZ={3},maxZ={4}", + DetailLog("{0},UpdateOrCreateTerrain:CreateNewTerrain,taint,baseX={1},baseY={2},minZ={3},maxZ={4}", BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ); mapInfo.ID = id; @@ -306,9 +306,9 @@ public class BSTerrainManager mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr), ShapeData.PhysicsShapeType.SHAPE_TERRAIN); - mapInfo.terrainBody = new BulletBody(mapInfo.ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, - id, centerPos, Quaternion.Identity)); + mapInfo.terrainBody = new BulletBody(mapInfo.ID, + BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, + id, centerPos, Quaternion.Identity)); } // Make sure the entry is in the heightmap table @@ -329,7 +329,7 @@ public class BSTerrainManager // redo its bounding box now that it is in the world BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); - BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr, + BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr, (uint)CollisionFilterGroups.TerrainFilter, (uint)CollisionFilterGroups.TerrainMask); @@ -361,7 +361,7 @@ public class BSTerrainManager Vector3 minCoordsX = minCoords; Vector3 maxCoordsX = maxCoords; - DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}", + DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}", BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); // Code that must happen at taint-time @@ -370,7 +370,7 @@ public class BSTerrainManager DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y); // Create a new mapInfo that will be filled with the new info mapInfo = new BulletHeightMapInfo(id, heightMapX, - BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, newTerrainID, + BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, newTerrainID, minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN)); // Put the unfilled heightmap info into the collection of same m_heightMaps.Add(terrainRegionBase, mapInfo); @@ -454,7 +454,7 @@ public class BSTerrainManager { return true; } - + // This routine is called two ways: // One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum // extent of the combined regions. This is to inform the parent of the size @@ -469,11 +469,11 @@ public class BSTerrainManager MegaRegionParentPhysicsScene = pScene; if (pScene != null) { - // We are a child. + // We are a child. // We want m_worldMax to be the highest coordinate of our piece of terrain. m_worldMax = offset + DefaultRegionSize; } - DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}", + DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}", BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 2d65a35..544c53d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -41,8 +41,8 @@ public struct BulletSim public BulletSim(uint worldId, BSScene bss, IntPtr xx) { ptr = xx; - worldID = worldId; - scene = bss; + worldID = worldId; + scene = bss; } public IntPtr ptr; public uint worldID; -- cgit v1.1 From 74dea4cfd52be75b4dd6277260c3ada80b939fbb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 27 Sep 2012 19:57:35 -0700 Subject: BulletSim: rename some constraint variables to be consistant with other name use. Added callbacks for shape and body changes in GetBodyAndShape() so the linkset constraints can be picked up and restored. A better design might be to have a "prim shape changed" event. Think about that. Added constraint types to general constraint class. --- .../Physics/BulletSPlugin/BS6DofConstraint.cs | 42 +++-- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 21 ++- .../Physics/BulletSPlugin/BSHingeConstraint.cs | 2 + OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 182 +++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 14 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 65 +++++--- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 21 ++- 7 files changed, 231 insertions(+), 116 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs index 39a3421..3306a97 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs @@ -34,6 +34,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin public class BS6DofConstraint : BSConstraint { + private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]"; + + public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } + // Create a btGeneric6DofConstraint public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, Vector3 frame1, Quaternion frame1rot, @@ -49,6 +53,9 @@ public class BS6DofConstraint : BSConstraint frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); m_enabled = true; + world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + BSScene.DetailLogZero, world.worldID, + obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); } public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, @@ -60,12 +67,13 @@ public class BS6DofConstraint : BSConstraint m_body2 = obj2; if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero) { - world.scene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - "[BULLETSIM 6DOF CONSTRAINT]", world.worldID, + world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); - world.scene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", "[BULLETSIM 6DOF CONSTRAINT]", world.worldID, obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); + m_enabled = false; } else { @@ -73,8 +81,20 @@ public class BS6DofConstraint : BSConstraint BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", + BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"), + obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); + if (m_constraint.ptr == IntPtr.Zero) + { + world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", + LogHeader, obj1.ID, obj2.ID); + m_enabled = false; + } + else + { + m_enabled = true; + } } - m_enabled = true; } public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) @@ -82,7 +102,7 @@ public class BS6DofConstraint : BSConstraint bool ret = false; if (m_enabled) { - BulletSimAPI.SetFrames2(m_constraint.Ptr, frameA, frameArot, frameB, frameBrot); + BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); ret = true; } return ret; @@ -93,9 +113,9 @@ public class BS6DofConstraint : BSConstraint bool ret = false; if (m_enabled) { - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); ret = true; } return ret; @@ -106,7 +126,7 @@ public class BS6DofConstraint : BSConstraint bool ret = false; float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; if (m_enabled) - ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); + ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff); return ret; } @@ -115,7 +135,7 @@ public class BS6DofConstraint : BSConstraint bool ret = false; float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; if (m_enabled) - ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); + ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce); return ret; } @@ -123,7 +143,7 @@ public class BS6DofConstraint : BSConstraint { bool ret = false; if (m_enabled) - ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.Ptr, threshold); + ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); return ret; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index c21252b..63a4127 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -49,20 +49,23 @@ public abstract class BSConstraint : IDisposable if (m_enabled) { m_enabled = false; - bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.Ptr); - m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success); - m_constraint.Ptr = System.IntPtr.Zero; + bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); + m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success); + m_constraint.ptr = System.IntPtr.Zero; } } public BulletBody Body1 { get { return m_body1; } } public BulletBody Body2 { get { return m_body2; } } + public BulletConstraint Constraint { get { return m_constraint; } } + public abstract ConstraintType Type { get; } + public virtual bool SetLinearLimits(Vector3 low, Vector3 high) { bool ret = false; if (m_enabled) - ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); + ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high); return ret; } @@ -70,7 +73,7 @@ public abstract class BSConstraint : IDisposable { bool ret = false; if (m_enabled) - ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); + ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high); return ret; } @@ -79,7 +82,7 @@ public abstract class BSConstraint : IDisposable bool ret = false; if (m_enabled) { - BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.Ptr, cnt); + BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt); ret = true; } return ret; @@ -91,7 +94,7 @@ public abstract class BSConstraint : IDisposable if (m_enabled) { // Recompute the internal transforms - BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); + BulletSimAPI.CalculateTransforms2(m_constraint.ptr); ret = true; } return ret; @@ -110,11 +113,11 @@ public abstract class BSConstraint : IDisposable // Setting an object's mass to zero (making it static like when it's selected) // automatically disables the constraints. // If the link is enabled, be sure to set the constraint itself to enabled. - BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true)); + BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, m_world.physicsScene.NumericBool(true)); } else { - m_world.scene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID); + m_world.physicsScene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID); } } return ret; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs index a6e4235..7c8a215 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs @@ -34,6 +34,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin class BSHingeConstraint : BSConstraint { + public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } } + public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, Vector3 pivotInA, Vector3 pivotInB, Vector3 axisInA, Vector3 axisInB, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index b0cc63c..dff71af 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -88,6 +88,7 @@ public class BSLinkset // Link to a linkset where the child knows the parent. // Parent changing should not happen so do some sanity checking. // We return the parent's linkset so the child can track its membership. + // Called at runtime. public BSLinkset AddMeToLinkset(BSPhysObject child) { lock (m_linksetActivityLock) @@ -102,6 +103,7 @@ public class BSLinkset // Remove a child from a linkset. // Returns a new linkset for the child which is a linkset of one (just the // orphened child). + // Called at runtime. public BSLinkset RemoveMeFromLinkset(BSPhysObject child) { lock (m_linksetActivityLock) @@ -113,27 +115,6 @@ public class BSLinkset } RemoveChildFromLinkset(child); - - /* Alternate implementation that destroys the linkset of the root is removed. - * This fails because items are added and removed from linksets to build shapes. - * Code left for reference. - if (IsRoot(child)) - { - // if root of linkset, take the linkset apart - while (m_children.Count > 0) - { - // Note that we don't do a foreach because the remove routine - // takes it out of the list. - RemoveChildFromOtherLinkset(m_children[0]); - } - m_children.Clear(); // just to make sure - } - else - { - // Just removing a child from an existing linkset - RemoveChildFromLinkset(child); - } - */ } // The child is down to a linkset of just itself @@ -169,6 +150,106 @@ public class BSLinkset return ret; } + // The object is going dynamic (physical). Do any setup necessary + // for a dynamic linkset. + // Only the state of the passed object can be modified. The rest of the linkset + // has not yet been fully constructed. + // Return 'true' if any properties updated on the passed object. + // Called at taint-time! + public bool MakeDynamic(BSPhysObject child) + { + // What is done for each object in BSPrim is what we want. + return false; + } + + // The object is going static (non-physical). Do any setup necessary + // for a static linkset. + // Return 'true' if any properties updated on the passed object. + // Called at taint-time! + public bool MakeStatic(BSPhysObject child) + { + // What is done for each object in BSPrim is what we want. + return false; + } + + // When physical properties are changed the linkset needs to recalculate + // its internal properties. + // Called at runtime. + public void Refresh(BSPhysObject requestor) + { + // If there are no children, there can't be any constraints to recompute + if (!HasAnyChildren) + return; + + // Only the root does the recomputation + if (IsRoot(requestor)) + { + PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate() + { + RecomputeLinksetConstraintVariables(); + }); + } + } + + // Routine used when rebuilding the body of the root of the linkset + // Destroy all the constraints have have been made to root. + // This is called when the root body is changing. + // Called at taint-time!! + public void RemoveBodyDependencies(BSPrim child) + { + lock (m_linksetActivityLock) + { + if (IsRoot(child)) + { + // If the one with the dependency is root, must undo all children + DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},numChild={2}", + LinksetRoot.LocalID, m_children.Count); + foreach (BSPhysObject bpo in m_children) + { + PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody); + } + } + else + { + DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}", + LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), + child.LocalID, child.BSBody.ptr.ToString("X")); + // Remove the dependency on the body of this one + PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody); + } + } + } + + // Routine used when rebuilding the body of the root of the linkset + // This is called after RemoveAllLinksToRoot() to restore all the constraints. + // This is called when the root body has been changed. + // Called at taint-time!! + public void RestoreBodyDependencies(BSPrim child) + { + lock (m_linksetActivityLock) + { + if (IsRoot(child)) + { + DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}", + LinksetRoot.LocalID, m_children.Count); + foreach (BSPhysObject bpo in m_children) + { + PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody); + } + } + else + { + DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}", + LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), + child.LocalID, child.BSBody.ptr.ToString("X")); + PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody); + } + } + } + + // ================================================================ + // Below this point is internal magic + private float ComputeLinksetMass() { float mass; @@ -220,46 +301,6 @@ public class BSLinkset return com; } - // The object is going dynamic (physical). Do any setup necessary - // for a dynamic linkset. - // Only the state of the passed object can be modified. The rest of the linkset - // has not yet been fully constructed. - // Return 'true' if any properties updated on the passed object. - // Called at taint-time! - public bool MakeDynamic(BSPhysObject child) - { - // What is done for each object in BSPrim is what we want. - return false; - } - - // The object is going static (non-physical). Do any setup necessary - // for a static linkset. - // Return 'true' if any properties updated on the passed object. - // Called at taint-time! - public bool MakeStatic(BSPhysObject child) - { - // What is done for each object in BSPrim is what we want. - return false; - } - - // When physical properties are changed the linkset needs to recalculate - // its internal properties. - public void Refresh(BSPhysObject requestor) - { - // If there are no children, there can't be any constraints to recompute - if (!HasAnyChildren) - return; - - // Only the root does the recomputation - if (IsRoot(requestor)) - { - PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate() - { - RecomputeLinksetConstraintVariables(); - }); - } - } - // Call each of the constraints that make up this linkset and recompute the // various transforms and variables. Used when objects are added or removed // from a linkset to make sure the constraints know about the new mass and @@ -327,6 +368,11 @@ public class BSLinkset BSPhysObject childx = child; BulletBody childBodyx = child.BSBody; + DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", + rootx.LocalID, + rootx.LocalID, rootBodyx.ptr.ToString("X"), + childx.LocalID, childBodyx.ptr.ToString("X")); + PhysicsScene.TaintedObject("AddChildToLinkset", delegate() { DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); @@ -358,10 +404,14 @@ public class BSLinkset BulletBody rootBodyx = LinksetRoot.BSBody; BSPhysObject childx = child; BulletBody childBodyx = child.BSBody; + + DetailLog("{0},RemoveChildFromLinkset,call,child={1}", + rootx.LocalID, + rootx.LocalID, rootBodyx.ptr.ToString("X"), + childx.LocalID, childBodyx.ptr.ToString("X")); + PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() { - DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); - PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx); RecomputeLinksetConstraintVariables(); }); @@ -390,14 +440,15 @@ public class BSLinkset // real world coordinate of midpoint between the two objects OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); - // create a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", rootPrim.LocalID, rootPrim.LocalID, rootBody.ptr.ToString("X"), childPrim.LocalID, childBody.ptr.ToString("X"), rootPrim.Position, childPrim.Position, midPoint); + // create a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + // There is great subtlty in these paramters. Notice the check for a ptr of zero. // We pass the BulletBody structure into the taint in order to capture the pointer // of the body at the time of constraint creation. This doesn't work for the very first @@ -416,6 +467,7 @@ public class BSLinkset true, true ); + /* NOTE: below is an attempt to build constraint with full frame computation, etc. * Using the midpoint is easier since it lets the Bullet code manipulate the transforms * of the objects. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 8688485..c879143 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1111,13 +1111,21 @@ public sealed class BSPrim : BSPhysObject // Undo me from any possible linkset so, if body is rebuilt, the link will get restored. // NOTE that the new linkset is not set. This saves the handle to the linkset // so we can add ourselves back when shape mangling is complete. - Linkset.RemoveMeFromLinkset(this); + bool needToRestoreLinkset = false; // Create the correct physical representation for this type of object. // Updates BSBody and BSShape with the new information. - PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs); + PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs, + null, delegate(BulletBody dBody) + { + // Called if the current prim body is about to be destroyed. + // The problem is the constraints for Linksets which need to be updated for the new body. + Linkset.RemoveBodyDependencies(this); + needToRestoreLinkset = true; + }); - Linkset = Linkset.AddMeToLinkset(this); + if (needToRestoreLinkset) + Linkset.RestoreBodyDependencies(this); // Make sure the properties are set on the new object UpdatePhysicalParameters(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index b428ba3..2618971 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -81,12 +81,21 @@ public class BSShapeCollection : IDisposable // TODO!!!!!!!!! } + // Callbacks called just before either the body or shape is destroyed. + // 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); + // 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. // Return 'true' if either the body or the shape changed. // Called at taint-time!! - public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) + public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim, + ShapeData shapeData, PrimitiveBaseShape pbs, + ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) { bool ret = false; @@ -95,11 +104,11 @@ public class BSShapeCollection : IDisposable { // Do we have the correct geometry for this type of object? // Updates prim.BSShape with information/pointers to requested shape - bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs); + bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback); // 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 - bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData); + bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData, bodyCallback); ret = newGeom || newBody; } DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}", @@ -135,7 +144,7 @@ public class BSShapeCollection : IDisposable // Release the usage of a body. // Called when releasing use of a BSBody. BSShape is handled separately. - public void DereferenceBody(BulletBody shape, bool inTaintTime) + public void DereferenceBody(BulletBody shape, bool inTaintTime, BodyDestructionCallback bodyCallback ) { if (shape.ptr == IntPtr.Zero) return; @@ -244,7 +253,7 @@ public class BSShapeCollection : IDisposable // Release the usage of a shape. // The collisionObject is released since it is a copy of the real collision shape. - private void DereferenceShape(BulletShape shape, bool atTaintTime) + private void DereferenceShape(BulletShape shape, bool atTaintTime, ShapeDestructionCallback shapeCallback) { if (shape.ptr == IntPtr.Zero) return; @@ -254,10 +263,10 @@ public class BSShapeCollection : IDisposable switch (shape.type) { case ShapeData.PhysicsShapeType.SHAPE_HULL: - DereferenceHull(shape); + DereferenceHull(shape, shapeCallback); break; case ShapeData.PhysicsShapeType.SHAPE_MESH: - DereferenceMesh(shape); + DereferenceMesh(shape, shapeCallback); break; case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN: break; @@ -267,6 +276,7 @@ public class BSShapeCollection : IDisposable { DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime); + if (shapeCallback != null) shapeCallback(shape); BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); } break; @@ -287,13 +297,14 @@ public class BSShapeCollection : IDisposable // Count down the reference count for a mesh shape // Called at taint-time. - private void DereferenceMesh(BulletShape shape) + 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; DetailLog("{0},BSShapeCollection.DereferenceMesh,key={1},refCnt={2}", @@ -304,13 +315,14 @@ public class BSShapeCollection : IDisposable // Count down the reference count for a hull shape // Called at taint-time. - private void DereferenceHull(BulletShape shape) + private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback) { HullDesc hullDesc; if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) { hullDesc.referenceCount--; // TODO: release the Bullet storage (aging old entries?) + if (shapeCallback != null) shapeCallback(shape); hullDesc.lastReferenced = System.DateTime.Now; Hulls[shape.shapeKey] = hullDesc; DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}", @@ -324,7 +336,8 @@ public class BSShapeCollection : IDisposable // 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, BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) + private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData, + PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback) { bool ret = false; bool haveShape = false; @@ -349,8 +362,8 @@ public class BSShapeCollection : IDisposable || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE ) { - ret = GetReferenceToNativeShape(prim, shapeData, - ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE); + ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, + ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", prim.LocalID, forceRebuild, prim.BSShape); } @@ -363,8 +376,8 @@ public class BSShapeCollection : IDisposable || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX ) { - ret = GetReferenceToNativeShape( - prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX); + ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, + ShapeData.FixedShapeKey.KEY_BOX, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", prim.LocalID, forceRebuild, prim.BSShape); } @@ -378,13 +391,13 @@ public class BSShapeCollection : IDisposable if (prim.IsPhysical) { // Update prim.BSShape to reference a hull of this shape. - ret = GetReferenceToHull(prim, shapeData, pbs); + ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); } else { - ret = GetReferenceToMesh(prim, shapeData, pbs); + ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); } @@ -394,7 +407,8 @@ public class BSShapeCollection : IDisposable // Creates a native shape and assignes it to prim.BSShape private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData, - ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) + ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey, + ShapeDestructionCallback shapeCallback) { BulletShape newShape; @@ -404,7 +418,7 @@ public class BSShapeCollection : IDisposable shapeData.Scale = shapeData.Size; // release any previous shape - DereferenceShape(prim.BSShape, true); + DereferenceShape(prim.BSShape, true, shapeCallback); // Native shapes are always built independently. newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); @@ -422,7 +436,8 @@ public class BSShapeCollection : IDisposable // 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(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) + private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs, + ShapeDestructionCallback shapeCallback) { BulletShape newShape = new BulletShape(IntPtr.Zero); @@ -436,7 +451,7 @@ public class BSShapeCollection : IDisposable prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); // Since we're recreating new, get rid of the reference to the previous shape - DereferenceShape(prim.BSShape, true); + DereferenceShape(prim.BSShape, true, shapeCallback); newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod); @@ -490,7 +505,8 @@ public class BSShapeCollection : IDisposable // See that hull shape exists in the physical world and update prim.BSShape. // We could be creating the hull because scale changed or whatever. - private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs) + private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs, + ShapeDestructionCallback shapeCallback) { BulletShape newShape; @@ -505,7 +521,7 @@ public class BSShapeCollection : IDisposable prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X")); // Remove usage of the previous shape. Also removes reference to underlying mesh if it is a hull. - DereferenceShape(prim.BSShape, true); + DereferenceShape(prim.BSShape, true, shapeCallback); newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); @@ -656,7 +672,8 @@ public class BSShapeCollection : IDisposable // 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, BSPrim prim, BulletSim sim, BulletShape shape, ShapeData shapeData) + private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape, + ShapeData shapeData, BodyDestructionCallback bodyCallback) { bool ret = false; @@ -679,7 +696,7 @@ public class BSShapeCollection : IDisposable if (mustRebuild || forceRebuild) { - DereferenceBody(prim.BSBody, true); + DereferenceBody(prim.BSBody, true, bodyCallback); BulletBody aBody; IntPtr bodyPtr = IntPtr.Zero; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 544c53d..1125d7e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -42,12 +42,12 @@ public struct BulletSim { ptr = xx; worldID = worldId; - scene = bss; + physicsScene = bss; } public IntPtr ptr; public uint worldID; // The scene is only in here so very low level routines have a handle to print debug/error messages - public BSScene scene; + public BSScene physicsScene; } // An allocated Bullet btRigidBody @@ -120,14 +120,27 @@ public struct BulletShape } } + // Constraint type values as defined by Bullet +public enum ConstraintType : int +{ + POINT2POINT_CONSTRAINT_TYPE = 3, + HINGE_CONSTRAINT_TYPE, + CONETWIST_CONSTRAINT_TYPE, + D6_CONSTRAINT_TYPE, + SLIDER_CONSTRAINT_TYPE, + CONTACT_CONSTRAINT_TYPE, + D6_SPRING_CONSTRAINT_TYPE, + MAX_CONSTRAINT_TYPE +} + // An allocated Bullet btConstraint public struct BulletConstraint { public BulletConstraint(IntPtr xx) { - Ptr = xx; + ptr = xx; } - public IntPtr Ptr; + public IntPtr ptr; } // An allocated HeightMapThing which holds various heightmap info. -- cgit v1.1 From 6f89975526359b81c43c23d9a549660d12212c59 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 27 Sep 2012 22:00:02 -0700 Subject: BulletSim: add separate runtime and taint-time linkset children lists to keep the creation of constraints separate from runtime. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 145 +++++++++++---------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 3 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 25 ++-- 3 files changed, 93 insertions(+), 80 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index dff71af..4f225ae 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -43,8 +43,17 @@ public class BSLinkset static int m_nextLinksetID = 1; public int LinksetID { get; private set; } - // The children under the root in this linkset + // The children under the root in this linkset. + // There are two lists of children: the current children at runtime + // and the children at taint-time. For instance, if you delink a + // child from the linkset, the child is removed from m_children + // but the constraint won't be removed until taint time. + // Two lists lets this track the 'current' children and + // the physical 'taint' children separately. + // After taint processing and before the simulation step, these + // two lists must be the same. private List m_children; + private List m_taintChildren; // We lock the diddling of linkset classes to prevent any badness. // This locks the modification of the instances of this class. Changes @@ -82,6 +91,7 @@ public class BSLinkset PhysicsScene = scene; LinksetRoot = parent; m_children = new List(); + m_taintChildren = new List(); m_mass = parent.MassRaw; } @@ -194,30 +204,40 @@ public class BSLinkset // Routine used when rebuilding the body of the root of the linkset // Destroy all the constraints have have been made to root. // This is called when the root body is changing. + // Returns 'true' of something eas actually removed and would need restoring // Called at taint-time!! - public void RemoveBodyDependencies(BSPrim child) + public bool RemoveBodyDependencies(BSPrim child) { + bool ret = false; + lock (m_linksetActivityLock) { if (IsRoot(child)) { // If the one with the dependency is root, must undo all children DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},numChild={2}", - LinksetRoot.LocalID, m_children.Count); - foreach (BSPhysObject bpo in m_children) + child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); + foreach (BSPhysObject bpo in m_taintChildren) { PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody); + ret = true; } } else { DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}", + child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), child.LocalID, child.BSBody.ptr.ToString("X")); // Remove the dependency on the body of this one - PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody); + if (m_taintChildren.Contains(child)) + { + PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody); + ret = true; + } } } + return ret; } // Routine used when rebuilding the body of the root of the linkset @@ -231,8 +251,8 @@ public class BSLinkset if (IsRoot(child)) { DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}", - LinksetRoot.LocalID, m_children.Count); - foreach (BSPhysObject bpo in m_children) + child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); + foreach (BSPhysObject bpo in m_taintChildren) { PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody); } @@ -240,6 +260,7 @@ public class BSLinkset else { DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}", + LinksetRoot.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), child.LocalID, child.BSBody.ptr.ToString("X")); PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody); @@ -256,7 +277,7 @@ public class BSLinkset lock (m_linksetActivityLock) { mass = LinksetRoot.MassRaw; - foreach (BSPhysObject bp in m_children) + foreach (BSPhysObject bp in m_taintChildren) { mass += bp.MassRaw; } @@ -272,7 +293,7 @@ public class BSLinkset com = LinksetRoot.Position * LinksetRoot.MassRaw; float totalMass = LinksetRoot.MassRaw; - foreach (BSPhysObject bp in m_children) + foreach (BSPhysObject bp in m_taintChildren) { com += bp.Position * bp.MassRaw; totalMass += bp.MassRaw; @@ -291,70 +312,16 @@ public class BSLinkset { com = LinksetRoot.Position; - foreach (BSPhysObject bp in m_children) + foreach (BSPhysObject bp in m_taintChildren) { com += bp.Position * bp.MassRaw; } - com /= (m_children.Count + 1); + com /= (m_taintChildren.Count + 1); } return com; } - // Call each of the constraints that make up this linkset and recompute the - // various transforms and variables. Used when objects are added or removed - // from a linkset to make sure the constraints know about the new mass and - // geometry. - // Must only be called at taint time!! - private void RecomputeLinksetConstraintVariables() - { - float linksetMass = LinksetMass; - lock (m_linksetActivityLock) - { - bool somethingMissing = false; - foreach (BSPhysObject child in m_children) - { - BSConstraint constrain; - if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) - { - // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", - // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); - constrain.RecomputeConstraintVariables(linksetMass); - } - else - { - // Non-fatal error that happens when children are being added to the linkset but - // their constraints have not been created yet. - // Caused by the fact that m_children is built at run time but building constraints - // happens at taint time. - somethingMissing = true; - break; - } - } - - // If the whole linkset is not here, doesn't make sense to recompute linkset wide values - if (!somethingMissing) - { - // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass - OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); - BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); - foreach (BSPhysObject child in m_children) - { - BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); - } - /* - // The root prim takes on the weight of the whole linkset - OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(LinksetRoot.BSShape.Ptr, linksetMass); - BulletSimAPI.SetMassProps2(LinksetRoot.BSBody.Ptr, linksetMass, inertia); - OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); - BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); - BulletSimAPI.UpdateInertiaTensor2(LinksetRoot.BSBody.Ptr); - */ - } - } - return; - } - // I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. private void AddChildToLinkset(BSPhysObject child) @@ -377,6 +344,7 @@ public class BSLinkset { DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); // build the physical binding between me and the child + m_taintChildren.Add(childx); PhysicallyLinkAChildToRoot(rootx, rootBodyx, childx, childBodyx); }); } @@ -405,13 +373,16 @@ public class BSLinkset BSPhysObject childx = child; BulletBody childBodyx = child.BSBody; - DetailLog("{0},RemoveChildFromLinkset,call,child={1}", - rootx.LocalID, + DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", + childx.LocalID, rootx.LocalID, rootBodyx.ptr.ToString("X"), childx.LocalID, childBodyx.ptr.ToString("X")); PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() { + if (m_taintChildren.Contains(childx)) + m_taintChildren.Remove(childx); + PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx); RecomputeLinksetConstraintVariables(); }); @@ -551,6 +522,46 @@ public class BSLinkset } */ + // Call each of the constraints that make up this linkset and recompute the + // various transforms and variables. Used when objects are added or removed + // from a linkset to make sure the constraints know about the new mass and + // geometry. + // Must only be called at taint time!! + private void RecomputeLinksetConstraintVariables() + { + float linksetMass = LinksetMass; + foreach (BSPhysObject child in m_taintChildren) + { + BSConstraint constrain; + if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) + { + // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", + // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); + constrain.RecomputeConstraintVariables(linksetMass); + } + else + { + // Non-fatal error that happens when children are being added to the linkset but + // their constraints have not been created yet. + break; + } + } + + // If the whole linkset is not here, doesn't make sense to recompute linkset wide values + if (m_children.Count == m_taintChildren.Count) + { + // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass + OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); + BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); + foreach (BSPhysObject child in m_taintChildren) + { + BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); + } + } + return; + } + + // Invoke the detailed logger and output something if it's enabled. private void DetailLog(string msg, params Object[] args) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index c879143..87ffe3e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1120,8 +1120,7 @@ public sealed class BSPrim : BSPhysObject { // Called if the current prim body is about to be destroyed. // The problem is the constraints for Linksets which need to be updated for the new body. - Linkset.RemoveBodyDependencies(this); - needToRestoreLinkset = true; + needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); }); if (needToRestoreLinkset) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 2618971..648910a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -144,34 +144,37 @@ public class BSShapeCollection : IDisposable // Release the usage of a body. // Called when releasing use of a BSBody. BSShape is handled separately. - public void DereferenceBody(BulletBody shape, bool inTaintTime, BodyDestructionCallback bodyCallback ) + public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback ) { - if (shape.ptr == IntPtr.Zero) + if (body.ptr == IntPtr.Zero) return; lock (m_collectionActivityLock) { BodyDesc bodyDesc; - if (Bodies.TryGetValue(shape.ID, out bodyDesc)) + if (Bodies.TryGetValue(body.ID, out bodyDesc)) { bodyDesc.referenceCount--; bodyDesc.lastReferenced = System.DateTime.Now; - Bodies[shape.ID] = bodyDesc; - DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", shape.ID, bodyDesc.referenceCount); + Bodies[body.ID] = bodyDesc; + DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount); // If body is no longer being used, free it -- bodies are never shared. if (bodyDesc.referenceCount == 0) { - Bodies.Remove(shape.ID); + Bodies.Remove(body.ID); BSScene.TaintCallback removeOperation = delegate() { DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}", - shape.ID, shape.ptr.ToString("X")); + body.ID, body.ptr.ToString("X")); + // If the caller needs to know, pass the event up. + if (bodyCallback != null) bodyCallback(body); + // Zero any reference to the shape so it is not freed when the body is deleted. - BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, shape.ptr, IntPtr.Zero); + BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); // It may have already been removed from the world in which case the next is a NOOP. - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, shape.ptr); - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, shape.ptr); + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); }; // If already in taint-time, do the operations now. Otherwise queue for later. if (inTaintTime) @@ -182,7 +185,7 @@ public class BSShapeCollection : IDisposable } else { - DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", shape.ID, bodyDesc.referenceCount); + DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", body.ID, bodyDesc.referenceCount); } } } -- cgit v1.1 From 76e9cc41bd612035850e105a6fe34f483aab25e7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 28 Sep 2012 12:34:50 -0700 Subject: BulletSim: remember to release the physical body and shape when a prim is destroyed. This fixes many problems with physical linksets. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 18 +++++++++--------- .../Region/Physics/BulletSPlugin/BSShapeCollection.cs | 14 +++++++------- 2 files changed, 16 insertions(+), 16 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 87ffe3e..a0e627e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -154,8 +154,9 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.destroy", delegate() { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); - // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. - BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID); + // If there are physical body and shape, release my use of same. + PhysicsScene.Shapes.DereferenceBody(BSBody, true, null); + PhysicsScene.Shapes.DereferenceShape(BSShape, true, null); }); } @@ -251,9 +252,6 @@ public sealed class BSPrim : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); BulletSimAPI.ClearForces2(BSBody.ptr); } @@ -1108,9 +1106,8 @@ public sealed class BSPrim : BSPhysObject ShapeData shapeData; FillShapeInfo(out shapeData); - // Undo me from any possible linkset so, if body is rebuilt, the link will get restored. - // NOTE that the new linkset is not set. This saves the handle to the linkset - // so we can add ourselves back when shape mangling is complete. + // If this prim is part of a linkset, we must remove and restore the physical + // links of the body is rebuilt. bool needToRestoreLinkset = false; // Create the correct physical representation for this type of object. @@ -1119,12 +1116,15 @@ public sealed class BSPrim : BSPhysObject null, delegate(BulletBody dBody) { // Called if the current prim body is about to be destroyed. - // The problem is the constraints for Linksets which need to be updated for the new body. + // Remove all the physical dependencies on the old body. needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); }); if (needToRestoreLinkset) + { + // If physical body dependencies were removed, restore them Linkset.RestoreBodyDependencies(this); + } // Make sure the properties are set on the new object UpdatePhysicalParameters(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 648910a..dee6243 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -120,25 +120,25 @@ public class BSShapeCollection : IDisposable // Track another user of a body // We presume the caller has allocated the body. // Bodies only have one user so the reference count is either 1 or 0. - public void ReferenceBody(BulletBody shape, bool atTaintTime) + public void ReferenceBody(BulletBody body, bool atTaintTime) { lock (m_collectionActivityLock) { BodyDesc bodyDesc; - if (Bodies.TryGetValue(shape.ID, out bodyDesc)) + if (Bodies.TryGetValue(body.ID, out bodyDesc)) { bodyDesc.referenceCount++; - DetailLog("{0},BSShapeCollection.ReferenceBody,existingBody,ref={1}", shape.ID, bodyDesc.referenceCount); + DetailLog("{0},BSShapeCollection.ReferenceBody,existingBody,body={1},ref={2}", body.ID, body, bodyDesc.referenceCount); } else { // New entry - bodyDesc.ptr = shape.ptr; + bodyDesc.ptr = body.ptr; bodyDesc.referenceCount = 1; - DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={1}", shape.ID, bodyDesc.referenceCount); + DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={1}", body.ID, body, bodyDesc.referenceCount); } bodyDesc.lastReferenced = System.DateTime.Now; - Bodies[shape.ID] = bodyDesc; + Bodies[body.ID] = bodyDesc; } } @@ -256,7 +256,7 @@ public class BSShapeCollection : IDisposable // Release the usage of a shape. // The collisionObject is released since it is a copy of the real collision shape. - private void DereferenceShape(BulletShape shape, bool atTaintTime, ShapeDestructionCallback shapeCallback) + public void DereferenceShape(BulletShape shape, bool atTaintTime, ShapeDestructionCallback shapeCallback) { if (shape.ptr == IntPtr.Zero) return; -- cgit v1.1 From 5221f2421e2a9b7dcc1a1e0e8cccaf1c9c94d2e2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 1 Oct 2012 08:27:26 -0700 Subject: BulletSim: remove warnings for unused variables. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 17 +++++------------ .../Region/Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- 3 files changed, 7 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 4f225ae..a7aaf9b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -34,7 +34,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSLinkset { - private static string LogHeader = "[BULLETSIM LINKSET]"; + // private static string LogHeader = "[BULLETSIM LINKSET]"; public BSPhysObject LinksetRoot { get; protected set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a0e627e..e54bf75 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -46,19 +46,13 @@ public sealed class BSPrim : BSPhysObject private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS PRIM]"; - private IMesh _mesh; private PrimitiveBaseShape _pbs; - private ShapeData.PhysicsShapeType _shapeType; - private ulong _meshKey; - private ulong _hullKey; - private List _hulls; // _size is what the user passed. _scale is what we pass to the physics engine with the mesh. // Often _scale is unity because the meshmerizer will apply _size when creating the mesh. private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer - private bool _stopped; private bool _grabbed; private bool _isSelected; private bool _isVolumeDetect; @@ -109,8 +103,6 @@ public sealed class BSPrim : BSPhysObject _buoyancy = 1f; _velocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; - _hullKey = 0; - _meshKey = 0; _pbs = pbs; _isPhysical = pisPhysical; _isVolumeDetect = false; @@ -160,8 +152,9 @@ public sealed class BSPrim : BSPhysObject }); } + // No one uses this property. public override bool Stopped { - get { return _stopped; } + get { return false; } } public override OMV.Vector3 Size { get { return _size; } @@ -1082,15 +1075,15 @@ public sealed class BSPrim : BSPhysObject public void FillShapeInfo(out ShapeData shape) { shape.ID = LocalID; - shape.Type = _shapeType; + shape.Type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; shape.Position = _position; shape.Rotation = _orientation; shape.Velocity = _velocity; shape.Scale = _scale; shape.Mass = _isPhysical ? _mass : 0f; shape.Buoyancy = _buoyancy; - shape.HullKey = _hullKey; - shape.MeshKey = _meshKey; + shape.HullKey = 0; + shape.MeshKey = 0; shape.Friction = _friction; shape.Restitution = _restitution; shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index dee6243..a86bf8a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -36,7 +36,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSShapeCollection : IDisposable { - private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; + // private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; protected BSScene PhysicsScene { get; set; } -- cgit v1.1 From c1740a29036eed153138493f865435d22bd12406 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 1 Oct 2012 09:58:49 -0700 Subject: Correct my name in CONTRIBUTORS.txt --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 51 +++++++--------------- 1 file changed, 16 insertions(+), 35 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 65b38d6..cbfd7e3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -138,74 +138,55 @@ namespace OpenSim.Region.Physics.BulletSPlugin switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: - if (pValue < 0.01f) pValue = 0.01f; - // m_angularDeflectionEfficiency = pValue; + // m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f); break; case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: - if (pValue < 0.01f) pValue = 0.01f; - // m_angularDeflectionTimescale = pValue; + // m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: - if (pValue < 0.01f) pValue = 0.01f; - m_angularMotorDecayTimescale = pValue; + m_angularMotorDecayTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.ANGULAR_MOTOR_TIMESCALE: - if (pValue < 0.01f) pValue = 0.01f; - m_angularMotorTimescale = pValue; + m_angularMotorTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.BANKING_EFFICIENCY: - if (pValue < 0.01f) pValue = 0.01f; - // m_bankingEfficiency = pValue; + // m_bankingEfficiency = Math.Max(pValue, 0.01f); break; case Vehicle.BANKING_MIX: - if (pValue < 0.01f) pValue = 0.01f; - // m_bankingMix = pValue; + // m_bankingMix = Math.Max(pValue, 0.01f); break; case Vehicle.BANKING_TIMESCALE: - if (pValue < 0.01f) pValue = 0.01f; - // m_bankingTimescale = pValue; + // m_bankingTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.BUOYANCY: - if (pValue < -1f) pValue = -1f; - if (pValue > 1f) pValue = 1f; - m_VehicleBuoyancy = pValue; + m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f)); break; // case Vehicle.HOVER_EFFICIENCY: -// if (pValue < 0f) pValue = 0f; -// if (pValue > 1f) pValue = 1f; -// m_VhoverEfficiency = pValue; +// m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f)); // break; case Vehicle.HOVER_HEIGHT: m_VhoverHeight = pValue; break; case Vehicle.HOVER_TIMESCALE: - if (pValue < 0.01f) pValue = 0.01f; - m_VhoverTimescale = pValue; + m_VhoverTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: - if (pValue < 0.01f) pValue = 0.01f; - // m_linearDeflectionEfficiency = pValue; + // m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_DEFLECTION_TIMESCALE: - if (pValue < 0.01f) pValue = 0.01f; - // m_linearDeflectionTimescale = pValue; + // m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: - if (pValue < 0.01f) pValue = 0.01f; - m_linearMotorDecayTimescale = pValue; + m_linearMotorDecayTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_MOTOR_TIMESCALE: - if (pValue < 0.01f) pValue = 0.01f; - m_linearMotorTimescale = pValue; + m_linearMotorTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: - if (pValue < 0.1f) pValue = 0.1f; // Less goes unstable - if (pValue > 1.0f) pValue = 1.0f; - m_verticalAttractionEfficiency = pValue; + m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f)); break; case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: - if (pValue < 0.01f) pValue = 0.01f; - m_verticalAttractionTimescale = pValue; + m_verticalAttractionTimescale = Math.Max(pValue, 0.01f); break; // These are vector properties but the engine lets you use a single float value to -- cgit v1.1 From 33617e09a185be68ceeaaba0fe9b7b2e6068124d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 1 Oct 2012 11:54:35 -0700 Subject: BulletSim: impliment FloatOnWater OS function. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 41 +++++++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 77 ++++++++++++++++++++-- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 8 +-- 3 files changed, 104 insertions(+), 22 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index b88ec3c..5cf8953 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -234,6 +234,15 @@ public class BSCharacter : BSPhysObject _position.Z = terrainHeight + 2.0f; ret = true; } + if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) == 0) + { + float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); + if (Position.Z < waterHeight) + { + _position.Z = waterHeight; + ret = true; + } + } // TODO: check for out of bounds return ret; @@ -242,18 +251,22 @@ public class BSCharacter : BSPhysObject // A version of the sanity check that also makes sure a new position value is // pushed back to the physics engine. This routine would be used by anyone // who is not already pushing the value. - private bool PositionSanityCheck2() + private bool PositionSanityCheck2(bool atTaintTime) { bool ret = false; if (PositionSanityCheck()) { // The new position value must be pushed into the physics engine but we can't // just assign to "Position" because of potential call loops. - PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate() + BSScene.TaintCallback sanityOperation = delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); - }); + }; + if (atTaintTime) + sanityOperation(); + else + PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation); ret = true; } return ret; @@ -378,7 +391,16 @@ public class BSCharacter : BSPhysObject set { _collidingObj = value; } } public override bool FloatOnWater { - set { _floatOnWater = value; } + set { + _floatOnWater = value; + PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() + { + if (_floatOnWater) + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + else + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + }); + } } public override OMV.Vector3 RotationalVelocity { get { return _rotationalVelocity; } @@ -493,15 +515,14 @@ public class BSCharacter : BSPhysObject _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; + // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. + PositionSanityCheck2(true); + // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); - // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. - PositionSanityCheck2(); - - float heightHere = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug - DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}", - LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere); + DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e54bf75..e37a4a0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -267,6 +267,7 @@ public sealed class BSPrim : BSPhysObject set { _position = value; // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? + PositionSanityCheck(); PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); @@ -275,6 +276,63 @@ public sealed class BSPrim : BSPhysObject } } + // Check that the current position is sane and, if not, modify the position to make it so. + // Check for being below terrain and being out of bounds. + // Returns 'true' of the position was made sane by some action. + private bool PositionSanityCheck() + { + bool ret = false; + + // If totally below the ground, move the prim up + // TODO: figure out the right solution for this... only for dynamic objects? + /* + float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); + if (Position.Z < terrainHeight) + { + DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); + _position.Z = terrainHeight + 2.0f; + ret = true; + } + */ + if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) + { + float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); + if (Position.Z < waterHeight) + { + _position.Z = waterHeight; + ret = true; + } + } + + // TODO: check for out of bounds + return ret; + } + + // A version of the sanity check that also makes sure a new position value is + // pushed back to the physics engine. This routine would be used by anyone + // who is not already pushing the value. + private bool PositionSanityCheck2(bool atTaintTime) + { + bool ret = false; + if (PositionSanityCheck()) + { + // The new position value must be pushed into the physics engine but we can't + // just assign to "Position" because of potential call loops. + BSScene.TaintCallback sanityOperation = delegate() + { + DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); + BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); + }; + if (atTaintTime) + sanityOperation(); + else + PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation); + + ret = true; + } + return ret; + } + // Return the effective mass of the object. // If there are multiple items in the linkset, add them together for the root public override float Mass @@ -481,11 +539,10 @@ 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); - // Set up the object physicalness (does gravity and collisions move this object) MakeDynamic(IsStatic); - // Do any vehicle stuff + // Update vehicle specific parameters _vehicle.Refresh(); // Arrange for collision events if the simulator wants them @@ -556,7 +613,6 @@ public sealed class BSPrim : BSPhysObject // A dynamic object has mass IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); - // OMV.Vector3 inertia = OMV.Vector3.Zero; BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); @@ -566,7 +622,7 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); - // There can be special things needed for implementing linksets. + // There might be special things needed for implementing linksets. Linkset.MakeDynamic(this); // Force activation of the object so Bullet will act on it. @@ -656,7 +712,16 @@ public sealed class BSPrim : BSPhysObject } } public override bool FloatOnWater { - set { _floatOnWater = value; } + set { + _floatOnWater = value; + PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() + { + if (_floatOnWater) + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + else + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + }); + } } public override OMV.Vector3 RotationalVelocity { get { @@ -1198,6 +1263,8 @@ public sealed class BSPrim : BSPhysObject _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; + PositionSanityCheck2(true); + DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 1125d7e..d49e5f3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -344,10 +344,7 @@ public enum CollisionFlags : uint CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, // Following used by BulletSim to control collisions BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, - // BS_VOLUME_DETECT_OBJECT = 1 << 11, - // BS_PHANTOM_OBJECT = 1 << 12, - // BS_PHYSICAL_OBJECT = 1 << 13, - // BS_TERRAIN_OBJECT = 1 << 14, + BS_FLOATS_ON_WATER = 1 << 11, BS_NONE = 0, BS_ALL = 0xFFFFFFFF, @@ -356,9 +353,6 @@ public enum CollisionFlags : uint BS_ACTIVE = CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE - // | BS_VOLUME_DETECT_OBJECT - // | BS_PHANTOM_OBJECT - // | BS_PHYSICAL_OBJECT, }; // Values for collisions groups and masks -- cgit v1.1 From f2c78281ce46ff1be96f0bf86f2b7ddefd94a900 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 1 Oct 2012 12:10:06 -0700 Subject: BulletSim: fix the FloatOnWater code so avatars can normally go underwater. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 5cf8953..2fe4d68 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -234,7 +234,7 @@ public class BSCharacter : BSPhysObject _position.Z = terrainHeight + 2.0f; ret = true; } - if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) == 0) + if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); if (Position.Z < waterHeight) -- cgit v1.1 From b6b505163c98683adaf7f298026c5bd2f954c05c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 2 Oct 2012 10:50:29 -0700 Subject: BulletSim: call ForcePosition and ForceOrientation in BSDynamics so there is no lag between what the vehicle code sees and what the physics engine is using. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 96 +++++++++++++--------- 1 file changed, 57 insertions(+), 39 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index cbfd7e3..4ba2f62 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -92,7 +92,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body - // private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body + private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body //Deflection properties // private float m_angularDeflectionEfficiency = 0; @@ -352,8 +352,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_bankingMix = 1; // m_bankingTimescale = 1; // m_referenceFrame = Quaternion.Identity; - m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | - VehicleFlag.LIMIT_MOTOR_UP); + m_flags |= (VehicleFlag.NO_DEFLECTION_UP + | VehicleFlag.LIMIT_ROLL_ONLY + | VehicleFlag.LIMIT_MOTOR_UP); m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); m_flags |= (VehicleFlag.HOVER_UP_ONLY); break; @@ -380,12 +381,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_bankingMix = 0.8f; // m_bankingTimescale = 1; // m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); - m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY); - m_flags |= (VehicleFlag.NO_DEFLECTION_UP | - VehicleFlag.LIMIT_MOTOR_UP); - m_flags |= (VehicleFlag.HOVER_WATER_ONLY); + m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY + | VehicleFlag.HOVER_GLOBAL_HEIGHT + | VehicleFlag.LIMIT_ROLL_ONLY + | VehicleFlag.HOVER_UP_ONLY); + m_flags |= (VehicleFlag.NO_DEFLECTION_UP + | VehicleFlag.LIMIT_MOTOR_UP + | VehicleFlag.HOVER_WATER_ONLY); break; case Vehicle.TYPE_AIRPLANE: m_linearFrictionTimescale = new Vector3(200, 10, 5); @@ -410,9 +412,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_bankingMix = 0.7f; // m_bankingTimescale = 2; // m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); - m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); + m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY + | VehicleFlag.HOVER_TERRAIN_ONLY + | VehicleFlag.HOVER_GLOBAL_HEIGHT + | VehicleFlag.HOVER_UP_ONLY + | VehicleFlag.NO_DEFLECTION_UP + | VehicleFlag.LIMIT_MOTOR_UP); m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); break; case Vehicle.TYPE_BALLOON: @@ -438,11 +443,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_bankingMix = 0.7f; // m_bankingTimescale = 5; // m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_UP_ONLY); - m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); - m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); - m_flags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); + m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY + | VehicleFlag.HOVER_TERRAIN_ONLY + | VehicleFlag.HOVER_UP_ONLY + | VehicleFlag.NO_DEFLECTION_UP + | VehicleFlag.LIMIT_MOTOR_UP); + m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY + | VehicleFlag.HOVER_GLOBAL_HEIGHT); break; } }//end SetDefaultsForType @@ -451,7 +458,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Do any updating needed for a vehicle public void Refresh() { - if (Type == Vehicle.TYPE_NONE) return; + if (!IsActive) + return; // Set the prim's inertia to zero. The vehicle code handles that and this // removes the torque action introduced by Bullet. @@ -470,7 +478,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin LimitRotation(pTimestep); // remember the position so next step we can limit absolute movement effects - m_lastPositionVector = Prim.Position; + m_lastPositionVector = Prim.ForcePosition; VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity); @@ -524,7 +532,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // convert requested object velocity to object relative vector - Quaternion rotq = Prim.Orientation; + Quaternion rotq = Prim.ForceOrientation; m_newVelocity = m_lastLinearVelocityVector * rotq; // Add the various forces into m_dir which will be our new direction vector (velocity) @@ -541,19 +549,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity */ - Vector3 pos = Prim.Position; + Vector3 pos = Prim.ForcePosition; // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); // If below the terrain, move us above the ground a little. float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. // Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. - // Vector3 rotatedSize = m_prim.Size * m_prim.Orientation; + // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation; // if (rotatedSize.Z < terrainHeight) if (pos.Z < terrainHeight) { pos.Z = terrainHeight + 2; - Prim.Position = pos; + Prim.ForcePosition = pos; VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos); } @@ -583,7 +591,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) { - Prim.Position = pos; + Prim.ForcePosition = pos; } } else @@ -635,12 +643,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin } if (changed) { - Prim.Position = pos; + Prim.ForcePosition = pos; VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", Prim.LocalID, m_BlockingEndPoint, posChange, pos); } } + // Limit absolute vertical change float Zchange = Math.Abs(posChange.Z); if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { @@ -659,6 +668,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin grav.Z = (float)(grav.Z * 1.037125); VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", Prim.LocalID, grav); } + + // If not changing some axis, reduce out velocity if ((m_flags & (VehicleFlag.NO_X)) != 0) m_newVelocity.X = 0; if ((m_flags & (VehicleFlag.NO_Y)) != 0) @@ -701,19 +712,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin // a newly set velocity, this routine steps the value from the previous // value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection). // There are m_angularMotorApply steps. - Vector3 origAngularVelocity = m_angularMotorVelocity; + Vector3 origVel = m_angularMotorVelocity; + Vector3 origDir = m_angularMotorDirection; + // ramp up to new value - // current velocity += error / ( time to get there / step interval) + // new velocity += error / ( time to get there / step interval) // requested speed - last motor speed m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); - VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}", - Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); + VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},origDir={5},vel={6}", + Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity); - // This is done so that if script request rate is less than phys frame rate the expected - // velocity may still be acheived. m_angularMotorApply--; } else @@ -727,25 +738,32 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Vertical attractor section Vector3 vertattr = Vector3.Zero; - if (m_verticalAttractionTimescale < 300) + Vector3 deflection = Vector3.Zero; + Vector3 banking = Vector3.Zero; + + if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero) { float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep); + VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); + // get present body rotation - Quaternion rotq = Prim.Orientation; - // make a vector pointing up + Quaternion rotq = Prim.ForceOrientation; + // vector pointing up Vector3 verterr = Vector3.Zero; verterr.Z = 1.0f; + // rotate it to Body Angle verterr = verterr * rotq; - // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. + // verterr.X and .Y are the World error amounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body. + + // Error is 0 (no error) to +/- 2 (max error) if (verterr.Z < 0.0f) { verterr.X = 2.0f - verterr.X; verterr.Y = 2.0f - verterr.Y; } - // Error is 0 (no error) to +/- 2 (max error) // scale it by VAservo verterr = verterr * VAservo; @@ -765,7 +783,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // else vertical attractor is off - // m_lastVertAttractor = vertattr; + m_lastVertAttractor = vertattr; // Bank section tba @@ -799,7 +817,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void LimitRotation(float timestep) { - Quaternion rotq = Prim.Orientation; + Quaternion rotq = Prim.ForceOrientation; Quaternion m_rot = rotq; bool changed = false; if (m_RollreferenceFrame != Quaternion.Identity) @@ -834,7 +852,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } if (changed) { - Prim.Orientation = m_rot; + Prim.ForceOrientation = m_rot; VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); } -- cgit v1.1 From ce97ebdc88ea525fe6e0c823b6f0072b6acddbc9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 2 Oct 2012 10:52:51 -0700 Subject: BulletSim: Fix linkset problem where delayed manipulations of child objects was using the child shape address at call time rather than the one created at taint time. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 18 ++++++++---------- 1 file changed, 8 insertions(+), 10 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index a7aaf9b..3e82642 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -331,21 +331,21 @@ public class BSLinkset m_children.Add(child); BSPhysObject rootx = LinksetRoot; // capture the root and body as of now - BulletBody rootBodyx = LinksetRoot.BSBody; BSPhysObject childx = child; - BulletBody childBodyx = child.BSBody; DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", rootx.LocalID, - rootx.LocalID, rootBodyx.ptr.ToString("X"), - childx.LocalID, childBodyx.ptr.ToString("X")); + rootx.LocalID, rootx.BSBody.ptr.ToString("X"), + childx.LocalID, childx.BSBody.ptr.ToString("X")); PhysicsScene.TaintedObject("AddChildToLinkset", delegate() { DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); // build the physical binding between me and the child m_taintChildren.Add(childx); - PhysicallyLinkAChildToRoot(rootx, rootBodyx, childx, childBodyx); + + // Since this is taint-time, the body and shape could have changed for the child + PhysicallyLinkAChildToRoot(rootx, rootx.BSBody, childx, childx.BSBody); }); } return; @@ -369,21 +369,19 @@ public class BSLinkset if (m_children.Remove(child)) { BSPhysObject rootx = LinksetRoot; // capture the root and body as of now - BulletBody rootBodyx = LinksetRoot.BSBody; BSPhysObject childx = child; - BulletBody childBodyx = child.BSBody; DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", childx.LocalID, - rootx.LocalID, rootBodyx.ptr.ToString("X"), - childx.LocalID, childBodyx.ptr.ToString("X")); + rootx.LocalID, rootx.BSBody.ptr.ToString("X"), + childx.LocalID, childx.BSBody.ptr.ToString("X")); PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() { if (m_taintChildren.Contains(childx)) m_taintChildren.Remove(childx); - PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx); + PhysicallyUnlinkAChildFromRoot(rootx, rootx.BSBody, childx, childx.BSBody); RecomputeLinksetConstraintVariables(); }); -- cgit v1.1 From d8a786870b5ff03241e9f6b0393a2e1f91de2b01 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 2 Oct 2012 10:56:39 -0700 Subject: BulletSim: Fix problem where box shapes were not being rebuilt if the shape type changed. --- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index a86bf8a..399a133 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -108,7 +108,8 @@ public class BSShapeCollection : IDisposable // 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 - bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData, bodyCallback); + bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, + prim.BSShape, shapeData, bodyCallback); ret = newGeom || newBody; } DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}", @@ -140,7 +141,7 @@ public class BSShapeCollection : IDisposable bodyDesc.lastReferenced = System.DateTime.Now; Bodies[body.ID] = bodyDesc; } -} + } // Release the usage of a body. // Called when releasing use of a BSBody. BSShape is handled separately. @@ -167,7 +168,7 @@ public class BSShapeCollection : IDisposable { DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}", body.ID, body.ptr.ToString("X")); - // If the caller needs to know, pass the event up. + // If the caller needs to know the old body is going away, pass the event up. if (bodyCallback != null) bodyCallback(body); // Zero any reference to the shape so it is not freed when the body is deleted. @@ -448,7 +449,8 @@ public class BSShapeCollection : IDisposable ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod); // if this new shape is the same as last time, don't recreate the mesh - if (prim.BSShape.shapeKey == newMeshKey) return false; + if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH) + return false; DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}", prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); -- cgit v1.1 From ce47d0c4541159a730b2d83a7b2ccffc908d06f1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 2 Oct 2012 11:06:07 -0700 Subject: BulletSim: Add ForcePosition and ForceOrientation to BSPhysObject and to its children of BSPrim and BSCharacter. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 26 +++++++++++++++ .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 39 +++++++++++++++++++--- 3 files changed, 64 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 2fe4d68..2a52e01 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -218,6 +218,18 @@ public class BSCharacter : BSPhysObject }); } } + public override OMV.Vector3 ForcePosition { + get { + _position = BulletSimAPI.GetPosition2(BSBody.ptr); + return _position; + } + set { + _position = value; + PositionSanityCheck(); + BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + } + } + // Check that the current position is sane and, if not, modify the position to make it so. // Check for being below terrain and being out of bounds. @@ -346,6 +358,20 @@ public class BSCharacter : BSPhysObject }); } } + // Go directly to Bullet to get/set the value. + public override OMV.Quaternion ForceOrientation + { + get + { + _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr); + return _orientation; + } + set + { + _orientation = value; + BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + } + } public override int PhysicsActorType { get { return _physicsActorType; } set { _physicsActorType = value; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index d9b738b..1ac8c59 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -81,6 +81,10 @@ public abstract class BSPhysObject : PhysicsActor // Tell the object to clean up. public abstract void Destroy(); + public abstract OMV.Vector3 ForcePosition { get; set; } + + public abstract OMV.Quaternion ForceOrientation { get; set; } + #region Collisions // Requested number of milliseconds between collision events. Zero means disabled. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e37a4a0..f7b68ba 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -275,6 +275,17 @@ public sealed class BSPrim : BSPhysObject }); } } + public override OMV.Vector3 ForcePosition { + get { + _position = BulletSimAPI.GetPosition2(BSBody.ptr); + return _position; + } + set { + _position = value; + PositionSanityCheck(); + BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + } + } // Check that the current position is sane and, if not, modify the position to make it so. // Check for being below terrain and being out of bounds. @@ -377,14 +388,15 @@ public sealed class BSPrim : BSPhysObject } set { Vehicle type = (Vehicle)value; - BSPrim vehiclePrim = this; + + // Tell the scene about the vehicle so it will get processing each frame. + PhysicsScene.VehicleInSceneTypeChanged(this, type); + PhysicsScene.TaintedObject("setVehicleType", delegate() { // Done at taint time so we're sure the physics engine is not using the variables // Vehicle code changes the parameters for this vehicle type. - _vehicle.ProcessTypeChange(type); - // Tell the scene about the vehicle so it will get processing each frame. - PhysicsScene.VehicleInSceneTypeChanged(this, type); + this._vehicle.ProcessTypeChange(type); }); } } @@ -422,7 +434,9 @@ public sealed class BSPrim : BSPhysObject public override void StepVehicle(float timeStep) { if (IsPhysical) + { _vehicle.Step(timeStep); + } } // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more @@ -486,6 +500,20 @@ public sealed class BSPrim : BSPhysObject }); } } + // Go directly to Bullet to get/set the value. + public override OMV.Quaternion ForceOrientation + { + get + { + _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr); + return _orientation; + } + set + { + _orientation = value; + BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + } + } public override int PhysicsActorType { get { return _physicsActorType; } set { _physicsActorType = value; } @@ -1170,7 +1198,8 @@ public sealed class BSPrim : BSPhysObject // Create the correct physical representation for this type of object. // Updates BSBody and BSShape with the new information. - PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs, + // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. + PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs, null, delegate(BulletBody dBody) { // Called if the current prim body is about to be destroyed. -- cgit v1.1 From 210f227fe69138f736e3d37e5bfbacd10e967922 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 2 Oct 2012 11:11:22 -0700 Subject: BulletSim: Make parameter value defaults match what should be the default and what is in OpenSimDefaults.ini. Comment and debug printout changes. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 26 +++++++++++----------- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 2 +- 2 files changed, 14 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 0cf8c91..aaed7de 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -493,6 +493,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters // step the physical world one interval m_simulationStep++; int numSubSteps = 0; + + // Sometimes needed for debugging to find out what happened before the step + // PhysicsLogging.Flush(); + try { if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); @@ -536,7 +540,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // This is a kludge to get avatar movement updates. - // ODE sends collisions for avatars even if there are have been no collisions. This updates + // the simulator expects collisions for avatars even if there are have been no collisions. This updates // avatar animations and stuff. // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. foreach (BSPhysObject bsp in m_avatars) @@ -556,7 +560,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // Objects that are done colliding are removed from the ObjectsWithCollisions list. - // This can't be done by SendCollisions because it is inside an iteration of ObjectWithCollisions. + // Not done above because it is inside an iteration of ObjectWithCollisions. if (ObjectsWithNoMoreCollisions.Count > 0) { foreach (BSPhysObject po in ObjectsWithNoMoreCollisions) @@ -726,13 +730,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType) { - if (newType == Vehicle.TYPE_NONE) - { - RemoveVehiclePrim(vehic); - } - else + RemoveVehiclePrim(vehic); + if (newType != Vehicle.TYPE_NONE) { - // make it so the scene will call us each tick to do vehicle things + // make it so the scene will call us each tick to do vehicle things AddVehiclePrim(vehic); } } @@ -764,7 +765,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // Some prims have extra vehicle actions - // no locking because only called when physics engine is not busy + // Called at taint time! private void ProcessVehicles(float timeStep) { foreach (BSPhysObject pobj in m_vehicles) @@ -1008,12 +1009,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", - 0f, // zero to disable + 0f, (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; }, (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ), new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", - 0f, // zero to disable + 0f, (s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; }, (s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ), @@ -1028,7 +1029,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].shouldForceUpdateAllAabbs; }, (s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ), new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", - ConfigurationParameters.numericFalse, + ConfigurationParameters.numericTrue, (s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, (s) => { return s.m_params[0].shouldRandomizeSolverOrder; }, (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ), @@ -1152,7 +1153,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters { if (SettableParameters.Length < ParameterDefinitions.Length) { - List entries = new List(); for (int ii = 0; ii < ParameterDefinitions.Length; ii++) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index d49e5f3..a43880d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -71,7 +71,7 @@ public struct BulletBody buff.Append(ID.ToString()); buff.Append(",p="); buff.Append(ptr.ToString("X")); - if (collisionFilter != 0 && collisionMask != 0) + if (collisionFilter != 0 || collisionMask != 0) { buff.Append(",f="); buff.Append(collisionFilter.ToString("X")); -- cgit v1.1 From 87825b0abee76c28dcffdaa2c532779b813b6d14 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 5 Oct 2012 15:33:17 -0700 Subject: BulletSim: Fix crash when linking large physical linksets. Properly remove and restore linkage constraints when upgrading a prim's mesh to a hull. Lots more debug logging. Definitions and use of Bullet structure dumping. Centralize detail logging so a Flush() can be added for debugging. --- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 13 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 137 ++++++++++----------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 3 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 9 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 11 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 45 ++++--- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 14 ++- 8 files changed, 132 insertions(+), 102 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 63a4127..a20be3a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -49,9 +49,16 @@ public abstract class BSConstraint : IDisposable if (m_enabled) { m_enabled = false; - bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); - m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success); - m_constraint.ptr = System.IntPtr.Zero; + if (m_constraint.ptr != IntPtr.Zero) + { + bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); + m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", + BSScene.DetailLogZero, + m_body1.ID, m_body1.ptr.ToString("X"), + m_body2.ID, m_body2.ptr.ToString("X"), + success); + m_constraint.ptr = System.IntPtr.Zero; + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 4ba2f62..3fb2253 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -862,7 +862,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private void VDetailLog(string msg, params Object[] args) { if (Prim.PhysicsScene.VehicleLoggingEnabled) - Prim.PhysicsScene.PhysicsLogging.Write(msg, args); + Prim.PhysicsScene.DetailLog(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 3e82642..20db4de 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -52,8 +52,8 @@ public class BSLinkset // the physical 'taint' children separately. // After taint processing and before the simulation step, these // two lists must be the same. - private List m_children; - private List m_taintChildren; + private HashSet m_children; + private HashSet m_taintChildren; // We lock the diddling of linkset classes to prevent any badness. // This locks the modification of the instances of this class. Changes @@ -90,8 +90,8 @@ public class BSLinkset m_nextLinksetID = 1; PhysicsScene = scene; LinksetRoot = parent; - m_children = new List(); - m_taintChildren = new List(); + m_children = new HashSet(); + m_taintChildren = new HashSet(); m_mass = parent.MassRaw; } @@ -197,6 +197,8 @@ public class BSLinkset PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate() { RecomputeLinksetConstraintVariables(); + DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", + LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); }); } } @@ -215,13 +217,10 @@ public class BSLinkset if (IsRoot(child)) { // If the one with the dependency is root, must undo all children - DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},numChild={2}", - child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); - foreach (BSPhysObject bpo in m_taintChildren) - { - PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody); - ret = true; - } + DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", + child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); + + ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); } else { @@ -229,12 +228,9 @@ public class BSLinkset child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), child.LocalID, child.BSBody.ptr.ToString("X")); - // Remove the dependency on the body of this one - if (m_taintChildren.Contains(child)) - { - PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody); - ret = true; - } + // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child); + // Despite the function name, this removes any link to the specified object. + ret = PhysicallyUnlinkAllChildrenFromRoot(child); } } return ret; @@ -254,7 +250,7 @@ public class BSLinkset child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); foreach (BSPhysObject bpo in m_taintChildren) { - PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody); + PhysicallyLinkAChildToRoot(LinksetRoot, bpo); } } else @@ -263,7 +259,7 @@ public class BSLinkset LinksetRoot.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), child.LocalID, child.BSBody.ptr.ToString("X")); - PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody); + PhysicallyLinkAChildToRoot(LinksetRoot, child); } } } @@ -330,22 +326,22 @@ public class BSLinkset { m_children.Add(child); - BSPhysObject rootx = LinksetRoot; // capture the root and body as of now + BSPhysObject rootx = LinksetRoot; // capture the root as of now BSPhysObject childx = child; - DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", - rootx.LocalID, - rootx.LocalID, rootx.BSBody.ptr.ToString("X"), - childx.LocalID, childx.BSBody.ptr.ToString("X")); + DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); PhysicsScene.TaintedObject("AddChildToLinkset", delegate() { - DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); - // build the physical binding between me and the child - m_taintChildren.Add(childx); - + DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", + rootx.LocalID, + rootx.LocalID, rootx.BSBody.ptr.ToString("X"), + childx.LocalID, childx.BSBody.ptr.ToString("X")); // Since this is taint-time, the body and shape could have changed for the child - PhysicallyLinkAChildToRoot(rootx, rootx.BSBody, childx, childx.BSBody); + rootx.ForcePosition = rootx.Position; // DEBUG + childx.ForcePosition = childx.Position; // DEBUG + PhysicallyLinkAChildToRoot(rootx, childx); + m_taintChildren.Add(child); }); } return; @@ -378,10 +374,8 @@ public class BSLinkset PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() { - if (m_taintChildren.Contains(childx)) - m_taintChildren.Remove(childx); - - PhysicallyUnlinkAChildFromRoot(rootx, rootx.BSBody, childx, childx.BSBody); + m_taintChildren.Remove(child); + PhysicallyUnlinkAChildFromRoot(rootx, childx); RecomputeLinksetConstraintVariables(); }); @@ -396,8 +390,7 @@ public class BSLinkset // Create a constraint between me (root of linkset) and the passed prim (the child). // Called at taint time! - private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BulletBody rootBody, - BSPhysObject childPrim, BulletBody childBody) + private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) { // Zero motion for children so they don't interpolate childPrim.ZeroMotion(); @@ -409,33 +402,17 @@ public class BSLinkset // real world coordinate of midpoint between the two objects OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); - DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", + DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", rootPrim.LocalID, - rootPrim.LocalID, rootBody.ptr.ToString("X"), - childPrim.LocalID, childBody.ptr.ToString("X"), + rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), + childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"), rootPrim.Position, childPrim.Position, midPoint); // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - // There is great subtlty in these paramters. Notice the check for a ptr of zero. - // We pass the BulletBody structure into the taint in order to capture the pointer - // of the body at the time of constraint creation. This doesn't work for the very first - // construction because there is no body yet. The body - // is constructed later at taint time. Thus we use the body address at time of the - // taint creation but, if it is zero, use what's in the prim at the moment. - // There is a possible race condition since shape can change without a taint call - // (like changing to a mesh that is already constructed). The fix for that would be - // to only change BSShape at taint time thus syncronizing these operations at - // the cost of efficiency and lag. BS6DofConstraint constrain = new BS6DofConstraint( - PhysicsScene.World, - rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody, - childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody, - midPoint, - true, - true - ); + PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true ); /* NOTE: below is an attempt to build constraint with full frame computation, etc. * Using the midpoint is easier since it lets the Bullet code manipulate the transforms @@ -452,7 +429,7 @@ public class BSLinkset // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); + DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); BS6DofConstraint constrain = new BS6DofConstraint( PhysicsScene.World, rootPrim.Body, childPrim.Body, OMV.Vector3.Zero, @@ -486,39 +463,44 @@ public class BSLinkset { constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations); } - - RecomputeLinksetConstraintVariables(); } // Remove linkage between myself and a particular child // The root and child bodies are passed in because we need to remove the constraint between // the bodies that were at unlink time. // Called at taint time! - private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody, - BSPhysObject childPrim, BulletBody childBody) + private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) { - DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", + bool ret = false; + DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", rootPrim.LocalID, - rootPrim.LocalID, rootBody.ptr.ToString("X"), - childPrim.LocalID, childBody.ptr.ToString("X")); + rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), + childPrim.LocalID, childPrim.BSBody.ptr.ToString("X")); // Find the constraint for this link and get rid of it from the overall collection and from my list - PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootBody, childBody); + if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody)) + { + // Make the child refresh its location + BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); + ret = true; + } - // Make the child refresh its location - BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); + return ret; } - /* // Remove linkage between myself and any possible children I might have. // Called at taint time! - private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) + private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) { - DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); + DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); + bool ret = false; - PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); + if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody)) + { + ret = true; + } + return ret; } - */ // Call each of the constraints that make up this linkset and recompute the // various transforms and variables. Used when objects are added or removed @@ -550,11 +532,17 @@ public class BSLinkset { // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); - BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); + BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, + centerOfMass, OMV.Quaternion.Identity); + DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}", + LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X")); foreach (BSPhysObject child in m_taintChildren) { - BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); + BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, + centerOfMass, OMV.Quaternion.Identity); } + + // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG } return; } @@ -563,7 +551,8 @@ public class BSLinkset // Invoke the detailed logger and output something if it's enabled. private void DetailLog(string msg, params Object[] args) { - PhysicsScene.PhysicsLogging.Write(msg, args); + if (PhysicsScene.PhysicsLogging.Enabled) + PhysicsScene.DetailLog(msg, args); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 1ac8c59..0665292 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -207,7 +207,8 @@ public abstract class BSPhysObject : PhysicsActor // High performance detailed logging routine used by the physical objects. protected void DetailLog(string msg, params Object[] args) { - PhysicsScene.PhysicsLogging.Write(msg, args); + if (PhysicsScene.PhysicsLogging.Enabled) + PhysicsScene.DetailLog(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index f7b68ba..98a18a1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -196,7 +196,7 @@ public sealed class BSPrim : BSPhysObject _isSelected = value; PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() { - // DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); + DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); SetObjectDynamic(false); }); } @@ -620,8 +620,10 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); // There can be special things needed for implementing linksets Linkset.MakeStatic(this); - // The activation state is 'disabled' so Bullet will not try to act on it - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); + // The activation state is 'disabled' so Bullet will not try to act on it. + // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); + // Start it out sleeping and physical actions could wake it up. + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; @@ -1204,6 +1206,7 @@ public sealed class BSPrim : BSPhysObject { // 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 handled by BSLinkset.) needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index aaed7de..eed915d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -254,7 +254,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // The bounding box for the simulated world. The origin is 0,0,0 unless we're // a child in a mega-region. - // Turns out that Bullet really doesn't care about the extents of the simulated + // Bullet actually doesn't care about the extents of the simulated // area. It tracks active objects no matter where they are. Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); @@ -331,7 +331,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Called directly from unmanaged code so don't do much private void BulletLoggerPhysLog(string msg) { - PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg); + DetailLog("[BULLETS UNMANAGED]:" + msg); } public override void Dispose() @@ -494,8 +494,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_simulationStep++; int numSubSteps = 0; - // Sometimes needed for debugging to find out what happened before the step - // PhysicsLogging.Flush(); + // DEBUG + DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep); try { @@ -715,6 +715,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters { try { + DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG tcbe.callback(); } catch (Exception e) @@ -1270,6 +1271,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters public void DetailLog(string msg, params Object[] args) { PhysicsLogging.Write(msg, args); + // Add the Flush() if debugging crashes to get all the messages written out. + PhysicsLogging.Flush(); // DEBUG DEBUG DEBUG } // used to fill in the LocalID when there isn't one public const string DetailLogZero = "0000000000"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 399a133..283b601 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -136,7 +136,21 @@ public class BSShapeCollection : IDisposable // New entry bodyDesc.ptr = body.ptr; bodyDesc.referenceCount = 1; - DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={1}", body.ID, body, bodyDesc.referenceCount); + DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={2}", + body.ID, body, bodyDesc.referenceCount); + BSScene.TaintCallback createOperation = delegate() + { + if (!BulletSimAPI.IsInWorld2(body.ptr)) + { + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); + DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", + body.ID, body); + } + }; + if (atTaintTime) + createOperation(); + else + PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation); } bodyDesc.lastReferenced = System.DateTime.Now; Bodies[body.ID] = bodyDesc; @@ -160,21 +174,22 @@ public class BSShapeCollection : IDisposable Bodies[body.ID] = bodyDesc; DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount); - // If body is no longer being used, free it -- bodies are never shared. + // If body is no longer being used, free it -- bodies can never be shared. if (bodyDesc.referenceCount == 0) { Bodies.Remove(body.ID); BSScene.TaintCallback removeOperation = delegate() { - DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}", - body.ID, body.ptr.ToString("X")); + DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}", + body.ID, body.ptr.ToString("X"), inTaintTime); // If the caller needs to know the old body is going away, pass the event up. if (bodyCallback != null) bodyCallback(body); - // Zero any reference to the shape so it is not freed when the body is deleted. - BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); // It may have already been removed from the world in which case the next is a NOOP. BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); + + // Zero any reference to the shape so it is not freed when the body is deleted. + BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); }; // If already in taint-time, do the operations now. Otherwise queue for later. @@ -208,7 +223,7 @@ public class BSShapeCollection : IDisposable { // There is an existing instance of this mesh. meshDesc.referenceCount++; - DetailLog("{0},BSShapeColliction.ReferenceShape,existingMesh,key={1},cnt={2}", + DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); } else @@ -217,7 +232,7 @@ public class BSShapeCollection : IDisposable meshDesc.ptr = shape.ptr; // We keep a reference to the underlying IMesh data so a hull can be built meshDesc.referenceCount = 1; - DetailLog("{0},BSShapeColliction.ReferenceShape,newMesh,key={1},cnt={2}", + DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); ret = true; } @@ -230,7 +245,7 @@ public class BSShapeCollection : IDisposable { // There is an existing instance of this hull. hullDesc.referenceCount++; - DetailLog("{0},BSShapeColliction.ReferenceShape,existingHull,key={1},cnt={2}", + DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); } else @@ -238,7 +253,7 @@ public class BSShapeCollection : IDisposable // This is a new reference to a hull hullDesc.ptr = shape.ptr; hullDesc.referenceCount = 1; - DetailLog("{0},BSShapeColliction.ReferenceShape,newHull,key={1},cnt={2}", + DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); ret = true; @@ -525,7 +540,7 @@ public class BSShapeCollection : IDisposable DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X")); - // Remove usage of the previous shape. Also removes reference to underlying mesh if it is a hull. + // Remove usage of the previous shape. DereferenceShape(prim.BSShape, true, shapeCallback); newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); @@ -659,6 +674,7 @@ public class BSShapeCollection : IDisposable if (pbs.SculptEntry) lod = PhysicsScene.SculptLOD; + // Mega prims usually get more detail because one can interact with shape approximations at this size. float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z)); if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) lod = PhysicsScene.MeshMegaPrimLOD; @@ -709,13 +725,13 @@ public class BSShapeCollection : IDisposable { bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, shapeData.ID, shapeData.Position, shapeData.Rotation); - // DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); + DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } else { bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, shapeData.ID, shapeData.Position, shapeData.Rotation); - // DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); + DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } aBody = new BulletBody(shapeData.ID, bodyPtr); @@ -731,7 +747,8 @@ public class BSShapeCollection : IDisposable private void DetailLog(string msg, params Object[] args) { - PhysicsScene.PhysicsLogging.Write(msg, args); + if (PhysicsScene.PhysicsLogging.Enabled) + PhysicsScene.DetailLog(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index a43880d..bb4d399 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -192,8 +192,9 @@ public struct ShapeData SHAPE_SPHERE = 5, SHAPE_MESH = 6, SHAPE_HULL = 7, - SHAPE_GROUNDPLANE = 8, - SHAPE_TERRAIN = 9, + // following defined by BulletSim + SHAPE_GROUNDPLANE = 20, + SHAPE_TERRAIN = 21, }; public uint ID; public PhysicsShapeType Type; @@ -1108,6 +1109,15 @@ public static extern float GetMargin2(IntPtr shape); public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpAllInfo2(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 68698975f1537725a1f53bc4b2db2cfc798ac7f3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 9 Oct 2012 12:58:06 -0700 Subject: BulletSim: Add Force* operations to objects to allow direct push to engine. Update BSDynamics to use same (don't want to delay updates til next taint-time. Suppress queuing a taint update for position and orientation calls if value does not change. Move Bullet timing statistics call from C# back to C++ code. Throttle taints per simulation step and add parameter to set. By default, don't create hulls for physical objects. Add a parameter to turn on and off. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 11 ++++ OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 12 ++-- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 ++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 33 +++++++++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 65 ++++++++++++++++------ .../Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 2 + 7 files changed, 100 insertions(+), 29 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 2a52e01..c23ccd5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -332,6 +332,13 @@ public class BSCharacter : BSPhysObject }); } } + public override OMV.Vector3 ForceVelocity { + get { return _velocity; } + set { + _velocity = value; + BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity); + } + } public override OMV.Vector3 Torque { get { return _torque; } set { _torque = value; @@ -432,6 +439,10 @@ public class BSCharacter : BSPhysObject get { return _rotationalVelocity; } set { _rotationalVelocity = value; } } + public override OMV.Vector3 ForceRotationalVelocity { + get { return _rotationalVelocity; } + set { _rotationalVelocity = value; } + } public override bool Kinematic { get { return _kinematic; } set { _kinematic = value; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 3fb2253..76230a1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -481,7 +481,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_lastPositionVector = Prim.ForcePosition; VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", - Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity); + Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity); }// end Step // Apply the effect of the linear motor. @@ -540,7 +540,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // add Gravity and Buoyancy // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Mass * (1f - m_VehicleBuoyancy)); + Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.MassRaw * (1f - m_VehicleBuoyancy)); /* * RA: Not sure why one would do this @@ -678,10 +678,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_newVelocity.Z = 0; // Apply velocity - Prim.Velocity = m_newVelocity; + Prim.ForceVelocity = m_newVelocity; // apply gravity force // Why is this set here? The physics engine already does gravity. - // m_prim.AddForce(grav, false); + Prim.AddForce(grav, false); // Apply friction Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); @@ -704,7 +704,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_lastAngularVelocity // what was last applied to body // Get what the body is doing, this includes 'external' influences - Vector3 angularVelocity = Prim.RotationalVelocity; + Vector3 angularVelocity = Prim.ForceRotationalVelocity; if (m_angularMotorApply > 0) { @@ -810,7 +810,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; // Apply to the body - Prim.RotationalVelocity = m_lastAngularVelocity; + Prim.ForceRotationalVelocity = m_lastAngularVelocity; VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); } //end MoveAngular diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 0665292..cae599c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -85,6 +85,10 @@ public abstract class BSPhysObject : PhysicsActor public abstract OMV.Quaternion ForceOrientation { get; set; } + public abstract OMV.Vector3 ForceVelocity { get; set; } + + public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } + #region Collisions // Requested number of milliseconds between collision events. Zero means disabled. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 98a18a1..d408be0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -265,6 +265,11 @@ public sealed class BSPrim : BSPhysObject return _position; } set { + // If you must push the position into the physics engine, use ForcePosition. + if (_position == value) + { + return; + } _position = value; // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? PositionSanityCheck(); @@ -453,7 +458,6 @@ public sealed class BSPrim : BSPhysObject } return; } - public override OMV.Vector3 Velocity { get { return _velocity; } set { @@ -465,6 +469,13 @@ public sealed class BSPrim : BSPhysObject }); } } + public override OMV.Vector3 ForceVelocity { + get { return _velocity; } + set { + _velocity = value; + BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); + } + } public override OMV.Vector3 Torque { get { return _torque; } set { _torque = value; @@ -490,6 +501,8 @@ public sealed class BSPrim : BSPhysObject return _orientation; } set { + if (_orientation == value) + return; _orientation = value; // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() @@ -621,9 +634,9 @@ public sealed class BSPrim : BSPhysObject // There can be special things needed for implementing linksets Linkset.MakeStatic(this); // The activation state is 'disabled' so Bullet will not try to act on it. - // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); // Start it out sleeping and physical actions could wake it up. - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); + // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; @@ -640,6 +653,9 @@ public sealed class BSPrim : BSPhysObject // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 BulletSimAPI.ClearAllForces2(BSBody.ptr); + // For good measure, make sure the transform is set through to the motion state + BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + // A dynamic object has mass IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); @@ -776,6 +792,15 @@ public sealed class BSPrim : BSPhysObject }); } } + public override OMV.Vector3 ForceRotationalVelocity { + get { + return _rotationalVelocity; + } + set { + _rotationalVelocity = value; + BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity); + } + } public override bool Kinematic { get { return _kinematic; } set { _kinematic = value; @@ -1307,7 +1332,7 @@ public sealed class BSPrim : BSPhysObject /* else { - // For debugging, we can also report the movement of children + // For debugging, report the movement of children DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index eed915d..33ac116 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -90,10 +90,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters // let my minuions use my logger public ILog Logger { get { return m_log; } } - // If non-zero, the number of simulation steps between calls to the physics - // engine to output detailed physics stats. Debug logging level must be on also. - private int m_detailedStatsStep = 0; - public IMesher mesher; // Level of Detail values kept as float because that's what the Meshmerizer wants public float MeshLOD { get; private set; } @@ -112,6 +108,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters private float m_fixedTimeStep; private long m_simulationStep = 0; public long SimulationStep { get { return m_simulationStep; } } + private int m_taintsToProcessPerStep; // A value of the time now so all the collision and update routines do not have to get their own // Set to 'now' just before all the prims and actors are called for collisions and updates @@ -131,6 +128,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed public bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes + public bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects public float PID_D { get; private set; } // derivative public float PID_P { get; private set; } // proportional @@ -582,15 +580,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } - // If enabled, call into the physics engine to dump statistics - if (m_detailedStatsStep > 0) - { - if ((m_simulationStep % m_detailedStatsStep) == 0) - { - BulletSimAPI.DumpBulletStatistics(); - } - } - // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS. @@ -617,7 +606,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters BSPhysObject collidee = null; PhysObjects.TryGetValue(collidingWith, out collidee); - DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); + // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) { @@ -704,6 +693,35 @@ public class BSScene : PhysicsScene, IPhysicsParameters if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process { // swizzle a new list into the list location so we can process what's there + int taintCount = m_taintsToProcessPerStep; + TaintCallbackEntry oneCallback = new TaintCallbackEntry(); + while (_taintedObjects.Count > 0 && taintCount-- > 0) + { + bool gotOne = false; + lock (_taintLock) + { + if (_taintedObjects.Count > 0) + { + oneCallback = _taintedObjects[0]; + _taintedObjects.RemoveAt(0); + gotOne = true; + } + } + if (gotOne) + { + try + { + DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG + oneCallback.callback(); + } + catch (Exception e) + { + m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e); + } + } + } + /* + // swizzle a new list into the list location so we can process what's there List oldList; lock (_taintLock) { @@ -724,6 +742,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } oldList.Clear(); + */ } } @@ -835,6 +854,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); }, (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ), + new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); }, + (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); }, + (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ), new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 8f, @@ -877,6 +901,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, (s) => { return (float)s.m_maxUpdatesPerFrame; }, (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), + new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step", + 100f, + (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_taintsToProcessPerStep; }, + (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ), new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", 10000.01f, (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); }, @@ -1086,11 +1115,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].linkConstraintSolverIterations; }, (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ), - new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)", + new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)", 0f, - (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_detailedStatsStep; }, - (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), + (s,cf,p,v) => { s.m_params[0].physicsLoggingFrames = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_params[0].physicsLoggingFrames; }, + (s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (int)v; } ), }; // Convert a boolean to our numeric true and false values diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 283b601..e619b48 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -407,7 +407,7 @@ public class BSShapeCollection : IDisposable // made. Native shapes are best used in either case. if (!haveShape) { - if (prim.IsPhysical) + if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects) { // Update prim.BSShape to reference a hull of this shape. ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index bb4d399..7a60afb 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -306,6 +306,8 @@ public struct ConfigurationParameters public float linkConstraintCFM; public float linkConstraintSolverIterations; + public float physicsLoggingFrames; + public const float numericTrue = 1f; public const float numericFalse = 0f; } -- cgit v1.1 From a791620622dc0a67a6af2c4a9c011d9057360411 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 10 Oct 2012 08:02:37 -0700 Subject: BulletSim: cosmetic changes (comments and renaming). Give mass to terrain to improve interactions. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 55 +++++++++++++++------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 10 ++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 9 ++-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 31 ++++++------ .../Physics/BulletSPlugin/BSTerrainManager.cs | 14 +++--- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 3 +- 7 files changed, 74 insertions(+), 52 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index c23ccd5..2e6b2da 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -263,7 +263,7 @@ public class BSCharacter : BSPhysObject // A version of the sanity check that also makes sure a new position value is // pushed back to the physics engine. This routine would be used by anyone // who is not already pushing the value. - private bool PositionSanityCheck2(bool atTaintTime) + private bool PositionSanityCheck2(bool inTaintTime) { bool ret = false; if (PositionSanityCheck()) @@ -275,7 +275,7 @@ public class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); }; - if (atTaintTime) + if (inTaintTime) sanityOperation(); else PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 20db4de..b84ccdc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -160,6 +160,31 @@ public class BSLinkset return ret; } + // When physical properties are changed the linkset needs to recalculate + // its internal properties. + // May be called at runtime or taint-time (just pass the appropriate flag). + public void Refresh(BSPhysObject requestor, bool inTaintTime) + { + // If there are no children, there can't be any constraints to recompute + if (!HasAnyChildren) + return; + + // Only the root does the recomputation + if (IsRoot(requestor)) + { + BSScene.TaintCallback refreshOperation = delegate() + { + RecomputeLinksetConstraintVariables(); + DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", + LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); + }; + if (inTaintTime) + refreshOperation(); + else + PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation); + } + } + // The object is going dynamic (physical). Do any setup necessary // for a dynamic linkset. // Only the state of the passed object can be modified. The rest of the linkset @@ -182,24 +207,19 @@ public class BSLinkset return false; } - // When physical properties are changed the linkset needs to recalculate - // its internal properties. - // Called at runtime. - public void Refresh(BSPhysObject requestor) + // If the software is handling the movement of all the objects in a linkset + // (like if one doesn't use constraints for static linksets), this is called + // when an update for the root of the linkset is received. + // Called at taint-time!! + public void UpdateProperties(BSPhysObject physObject) { - // If there are no children, there can't be any constraints to recompute - if (!HasAnyChildren) - return; - - // Only the root does the recomputation - if (IsRoot(requestor)) + // The root local properties have been updated. Apply to the children if appropriate. + if (IsRoot(physObject) && HasAnyChildren) { - PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate() + if (!physObject.IsPhysical) { - RecomputeLinksetConstraintVariables(); - DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", - LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); - }); + // TODO: implement software linkset update for static object linksets + } } } @@ -236,9 +256,8 @@ public class BSLinkset return ret; } - // Routine used when rebuilding the body of the root of the linkset - // This is called after RemoveAllLinksToRoot() to restore all the constraints. - // This is called when the root body has been changed. + // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', + // this routine will restore the removed constraints. // Called at taint-time!! public void RestoreBodyDependencies(BSPrim child) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d408be0..b26f049 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -327,7 +327,7 @@ public sealed class BSPrim : BSPhysObject // A version of the sanity check that also makes sure a new position value is // pushed back to the physics engine. This routine would be used by anyone // who is not already pushing the value. - private bool PositionSanityCheck2(bool atTaintTime) + private bool PositionSanityCheck2(bool inTaintTime) { bool ret = false; if (PositionSanityCheck()) @@ -339,7 +339,7 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); }; - if (atTaintTime) + if (inTaintTime) sanityOperation(); else PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation); @@ -583,7 +583,7 @@ public sealed class BSPrim : BSPhysObject // Set up the object physicalness (does gravity and collisions move this object) MakeDynamic(IsStatic); - // Update vehicle specific parameters + // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) _vehicle.Refresh(); // Arrange for collision events if the simulator wants them @@ -606,7 +606,7 @@ public sealed class BSPrim : BSPhysObject // Recompute any linkset parameters. // When going from non-physical to physical, this re-enables the constraints that // had been automatically disabled when the mass was set to zero. - Linkset.Refresh(this); + Linkset.Refresh(this, true); DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); @@ -1322,6 +1322,8 @@ public sealed class BSPrim : BSPhysObject PositionSanityCheck2(true); + Linkset.UpdateProperties(this); + DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 33ac116..50091cc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -39,7 +39,6 @@ using log4net; using OpenMetaverse; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) -// Move all logic out of the C++ code and into the C# code for easier future modifications. // Test sculpties (verified that they don't work) // Compute physics FPS reasonably // Based on material, set density and friction @@ -493,7 +492,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters int numSubSteps = 0; // DEBUG - DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep); + // DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep); try { @@ -503,8 +502,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); - DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}", - DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); + DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", + DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); } catch (Exception e) { @@ -855,7 +854,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); }, (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ), new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", - ConfigurationParameters.numericFalse, + ConfigurationParameters.numericTrue, (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); }, (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); }, (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index e619b48..d5e2172 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -67,8 +67,8 @@ public class BSShapeCollection : IDisposable public DateTime lastReferenced; } - private Dictionary Meshes = new Dictionary(); - private Dictionary Hulls = new Dictionary(); + private Dictionary Meshes = new Dictionary(); + private Dictionary Hulls = new Dictionary(); private Dictionary Bodies = new Dictionary(); public BSShapeCollection(BSScene physScene) @@ -121,7 +121,7 @@ public class BSShapeCollection : IDisposable // Track another user of a body // We presume the caller has allocated the body. // Bodies only have one user so the reference count is either 1 or 0. - public void ReferenceBody(BulletBody body, bool atTaintTime) + public void ReferenceBody(BulletBody body, bool inTaintTime) { lock (m_collectionActivityLock) { @@ -147,7 +147,7 @@ public class BSShapeCollection : IDisposable body.ID, body); } }; - if (atTaintTime) + if (inTaintTime) createOperation(); else PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation); @@ -272,7 +272,7 @@ public class BSShapeCollection : IDisposable // Release the usage of a shape. // The collisionObject is released since it is a copy of the real collision shape. - public void DereferenceShape(BulletShape shape, bool atTaintTime, ShapeDestructionCallback shapeCallback) + public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback) { if (shape.ptr == IntPtr.Zero) return; @@ -294,14 +294,14 @@ public class BSShapeCollection : IDisposable if (shape.ptr != IntPtr.Zero & shape.isNativeShape) { DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", - BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime); + BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime); if (shapeCallback != null) shapeCallback(shape); BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); } break; } }; - if (atTaintTime) + if (inTaintTime) { lock (m_collectionActivityLock) { @@ -441,7 +441,7 @@ public class BSShapeCollection : IDisposable // Native shapes are always built independently. newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); - newShape.shapeKey = (ulong)shapeKey; + newShape.shapeKey = (System.UInt64)shapeKey; newShape.isNativeShape = true; // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked. @@ -461,7 +461,7 @@ public class BSShapeCollection : IDisposable BulletShape newShape = new BulletShape(IntPtr.Zero); float lod; - ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod); + System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod); // if this new shape is the same as last time, don't recreate the mesh if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH) @@ -484,7 +484,7 @@ public class BSShapeCollection : IDisposable return true; // 'true' means a new shape has been added to this prim } - private BulletShape CreatePhysicalMesh(string objName, ulong newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { IMesh meshData = null; IntPtr meshPtr; @@ -531,7 +531,7 @@ public class BSShapeCollection : IDisposable BulletShape newShape; float lod; - ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod); + System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod); // if the hull hasn't changed, don't rebuild it if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) @@ -554,7 +554,7 @@ public class BSShapeCollection : IDisposable } List m_hulls; - private BulletShape CreatePhysicalHull(string objName, ulong newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { IntPtr hullPtr; @@ -667,7 +667,7 @@ public class BSShapeCollection : IDisposable // Create a hash of all the shape parameters to be used as a key // for this particular shape. - private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod) + private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod) { // level of detail based on size and type of the object float lod = PhysicsScene.MeshLOD; @@ -680,10 +680,10 @@ public class BSShapeCollection : IDisposable lod = PhysicsScene.MeshMegaPrimLOD; retLod = lod; - return (ulong)pbs.GetMeshKey(shapeData.Size, lod); + return pbs.GetMeshKey(shapeData.Size, lod); } // For those who don't want the LOD - private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs) + private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs) { float lod; return ComputeShapeKey(shapeData, pbs, out lod); @@ -717,6 +717,7 @@ public class BSShapeCollection : IDisposable if (mustRebuild || forceRebuild) { + // Free any old body DereferenceBody(prim.BSBody, true, bodyCallback); BulletBody aBody; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 70aa429..2808603 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -201,10 +201,10 @@ public class BSTerrainManager // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when // calling this routine from initialization or taint-time routines) or whether to delay // all the unmanaged activities to taint-time. - private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool atTaintTime) + private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) { - DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},atTaintTime={3}", - BSScene.DetailLogZero, minCoords, maxCoords, atTaintTime); + DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}", + BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime); float minZ = float.MaxValue; float maxZ = float.MinValue; @@ -320,7 +320,9 @@ public class BSTerrainManager BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, 0f, Vector3.Zero); + float terrainMass = 1000; + Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(mapInfo.terrainBody.ptr, terrainMass); + BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, terrainMass, localInertia); BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr); // Return the new terrain to the world of physical objects @@ -342,7 +344,7 @@ public class BSTerrainManager // There is the option to do the changes now (we're already in 'taint time'), or // to do the Bullet operations later. - if (atTaintTime) + if (inTaintTime) rebuildOperation(); else PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation); @@ -381,7 +383,7 @@ public class BSTerrainManager }; // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time. - if (atTaintTime) + if (inTaintTime) createOperation(); else PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 7a60afb..e23fe5a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -101,9 +101,8 @@ public struct BulletShape } public IntPtr ptr; public ShapeData.PhysicsShapeType type; - public ulong shapeKey; + public System.UInt64 shapeKey; public bool isNativeShape; - // Hulls have an underlying mesh. A pointer to it is hidden here. public override string ToString() { StringBuilder buff = new StringBuilder(); -- cgit v1.1 From 919569f6ecd5fe84d0f5b0981a48b4808a44f7ad Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 10 Oct 2012 09:43:46 -0700 Subject: BulletSim: Change defaults for constraint CFM and ERP to make large linksets more rigid. Remove mass calculation for terrain (it should stay a static object). --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 15 ++++++--------- 2 files changed, 8 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 50091cc..617bdb4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1099,12 +1099,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", - 0.1f, + 0.001f, (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linkConstraintCFM; }, (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", - 0.2f, + 0.8f, (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linkConstraintERP; }, (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 2808603..caf411e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -114,6 +114,8 @@ public class BSTerrainManager BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity)); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); + // Ground plane does not move + BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); // Everything collides with the ground plane. BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr, (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask); @@ -296,16 +298,16 @@ public class BSTerrainManager mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); + // Create the terrain shape from the mapInfo + mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr), + ShapeData.PhysicsShapeType.SHAPE_TERRAIN); + // The terrain object initial position is at the center of the object Vector3 centerPos; centerPos.X = minCoords.X + (mapInfo.sizeX / 2f); centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f); centerPos.Z = minZ + ((maxZ - minZ) / 2f); - // Create the terrain shape from the mapInfo - mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr), - ShapeData.PhysicsShapeType.SHAPE_TERRAIN); - mapInfo.terrainBody = new BulletBody(mapInfo.ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, id, centerPos, Quaternion.Identity)); @@ -320,11 +322,6 @@ public class BSTerrainManager BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - float terrainMass = 1000; - Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(mapInfo.terrainBody.ptr, terrainMass); - BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, terrainMass, localInertia); - BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr); - // Return the new terrain to the world of physical objects BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); -- cgit v1.1 From 3a458e2a36253f6514720213deaa19372b06cc52 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 10 Oct 2012 13:56:16 -0700 Subject: BulletSim: Use full linkset mass when computing vehicle gravity force. Add taint-time specification to new AddForce(). --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 6 +++--- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 9 +++------ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 12 ++++++++++-- 3 files changed, 16 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 76230a1..56342b8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -462,7 +462,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin return; // Set the prim's inertia to zero. The vehicle code handles that and this - // removes the torque action introduced by Bullet. + // removes the motion and torque actions introduced by Bullet. Vector3 inertia = Vector3.Zero; BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); @@ -540,7 +540,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // add Gravity and Buoyancy // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.MassRaw * (1f - m_VehicleBuoyancy)); + Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Linkset.LinksetMass * (1f - m_VehicleBuoyancy)); /* * RA: Not sure why one would do this @@ -681,7 +681,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Prim.ForceVelocity = m_newVelocity; // apply gravity force // Why is this set here? The physics engine already does gravity. - Prim.AddForce(grav, false); + Prim.AddForce(grav, false, true); // Apply friction Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index b84ccdc..43b1262 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -165,13 +165,11 @@ public class BSLinkset // May be called at runtime or taint-time (just pass the appropriate flag). public void Refresh(BSPhysObject requestor, bool inTaintTime) { - // If there are no children, there can't be any constraints to recompute - if (!HasAnyChildren) + // If there are no children, not physical or not root, I am not the one that recomputes the constraints + // (For the moment, static linksets do create constraints so remove the test for physical.) + if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor)) return; - // Only the root does the recomputation - if (IsRoot(requestor)) - { BSScene.TaintCallback refreshOperation = delegate() { RecomputeLinksetConstraintVariables(); @@ -182,7 +180,6 @@ public class BSLinkset refreshOperation(); else PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation); - } } // The object is going dynamic (physical). Do any setup necessary diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b26f049..692713d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -855,6 +855,9 @@ public sealed class BSPrim : BSPhysObject private List m_accumulatedForces = new List(); public override void AddForce(OMV.Vector3 force, bool pushforce) { + AddForce(force, pushforce, false); + } + public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { // for an object, doesn't matter if force is a pushforce or not if (force.IsFinite()) { @@ -867,11 +870,12 @@ public sealed class BSPrim : BSPhysObject m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); return; } - PhysicsScene.TaintedObject("BSPrim.AddForce", delegate() + BSScene.TaintCallback addForceOperation = delegate() { OMV.Vector3 fSum = OMV.Vector3.Zero; lock (m_accumulatedForces) { + // Sum the accumulated additional forces for one big force to apply once. foreach (OMV.Vector3 v in m_accumulatedForces) { fSum += v; @@ -881,7 +885,11 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); - }); + }; + if (inTaintTime) + addForceOperation(); + else + PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation); } public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { -- cgit v1.1 From a86fedd25ffb02c328b0591d16eda1dab797d8f9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 10 Oct 2012 16:51:50 -0700 Subject: BulletSim: normalize physics FPS to 45. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 617bdb4..25f8f5f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -581,8 +581,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. - // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS. - return numSubSteps * m_fixedTimeStep * 1000; + // We multiply by 45 to give a recognizable running rate (45 or less). + return numSubSteps * m_fixedTimeStep * 1000 * 45; + // return timeStep * 1000 * 45; } // Something has collided @@ -1300,7 +1301,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters { PhysicsLogging.Write(msg, args); // Add the Flush() if debugging crashes to get all the messages written out. - PhysicsLogging.Flush(); // DEBUG DEBUG DEBUG + // PhysicsLogging.Flush(); } // used to fill in the LocalID when there isn't one public const string DetailLogZero = "0000000000"; -- cgit v1.1 From 5b82f18d6422d89da53d382eb1ae89e47b4465b7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 10 Oct 2012 16:53:58 -0700 Subject: BulletSim: normalize physics FPS to 45 (for real this time). --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 25f8f5f..2c3c481 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -582,8 +582,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. // We multiply by 45 to give a recognizable running rate (45 or less). - return numSubSteps * m_fixedTimeStep * 1000 * 45; - // return timeStep * 1000 * 45; + return numSubSteps * m_fixedTimeStep * 1000 * 45; + // return timeStep * 1000 * 45; } // Something has collided -- cgit v1.1 From b24190ec98f31f1e4672d1174163426b9b44e25d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 11 Oct 2012 12:54:27 -0700 Subject: BulletSim: remove some unused API2 calls because they were removed from Bullet 2.81 --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 12 ------------ 2 files changed, 2 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 692713d..6a4365c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -673,8 +673,8 @@ public sealed class BSPrim : BSPhysObject // Force activation of the object so Bullet will act on it. // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); - BulletSimAPI.Activate2(BSBody.ptr, true); + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); + // BulletSimAPI.Activate2(BSBody.ptr, true); BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter; BSBody.collisionMask = CollisionFilterGroups.ObjectMask; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index e23fe5a..276111c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -1039,18 +1039,6 @@ public static extern IntPtr GetConstraintRef2(IntPtr obj, int index); public static extern int GetNumConstraintRefs2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetDeltaLinearVelocity2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetDeltaAngularVelocity2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetPushVelocity2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetTurnVelocity2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask); // ===================================================================================== -- cgit v1.1 From 87a87ebb9a68f9bb4cd44f3b00954ed7fca7da3a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 11 Oct 2012 17:06:58 -0700 Subject: BulletSim: fix problem with some shapes (like cylinders) being implemented as cubes. --- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index d5e2172..a0d111a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -387,7 +387,7 @@ public class BSShapeCollection : IDisposable prim.LocalID, forceRebuild, prim.BSShape); } } - else + if (pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) { haveShape = true; if (forceRebuild -- cgit v1.1 From 8c40215834bc1286a6bd2902e1c8b0f2ef793fd7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 12 Oct 2012 07:37:52 -0700 Subject: BulletSim: only use native sphere shape if it is a sphere. --- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index a0d111a..d189f1d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -373,7 +373,8 @@ public class BSShapeCollection : IDisposable && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) ) { - if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) + if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) + && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z) { haveShape = true; if (forceRebuild -- cgit v1.1 From fd7a097849b8a405bdd62cfe6d4ee2bbf0a3961c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 12 Oct 2012 16:03:03 -0700 Subject: BulletSim: Update BSCharacter to use API2 interface. Add capsule shape to BSShapeCollection(). Remember last updated values so inter frame diffs can be computed. Parameterize avatarStandingFriction and reduce to 10 from 999. The latter high value made avatars very hard to push. Set CCD parameters for prims and characters of specified. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 182 +++++++++++++++------ .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 12 ++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 66 +++++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 21 ++- .../Physics/BulletSPlugin/BSShapeCollection.cs | 51 ++++-- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 11 +- 6 files changed, 250 insertions(+), 93 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 2e6b2da..7c2f856 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -41,8 +41,6 @@ public class BSCharacter : BSPhysObject // private bool _stopped; private OMV.Vector3 _size; - private OMV.Vector3 _scale; - private PrimitiveBaseShape _pbs; private bool _grabbed; private bool _selected; private OMV.Vector3 _position; @@ -67,6 +65,10 @@ public class BSCharacter : BSPhysObject private bool _kinematic; private float _buoyancy; + // The friction and velocity of the avatar is modified depending on whether walking or not. + private OMV.Vector3 _appliedVelocity; // the last velocity applied to the avatar + private float _currentFriction; // the friction currently being used (changed by setVelocity). + private OMV.Vector3 _PIDTarget; private bool _usePID; private float _PIDTau; @@ -84,13 +86,15 @@ public class BSCharacter : BSPhysObject _flying = isFlying; _orientation = OMV.Quaternion.Identity; _velocity = OMV.Vector3.Zero; + _appliedVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); + _currentFriction = PhysicsScene.Params.avatarStandingFriction; // The dimensions of the avatar capsule are kept in the scale. // Physics creates a unit capsule which is scaled by the physics engine. ComputeAvatarScale(_size); _avatarDensity = PhysicsScene.Params.avatarDensity; - // set _avatarVolume and _mass based on capsule size, _density and _scale + // set _avatarVolume and _mass based on capsule size, _density and Scale ComputeAvatarVolumeAndMass(); ShapeData shapeData = new ShapeData(); @@ -99,24 +103,24 @@ public class BSCharacter : BSPhysObject shapeData.Position = _position; shapeData.Rotation = _orientation; shapeData.Velocity = _velocity; - shapeData.Scale = _scale; + shapeData.Scale = Scale; shapeData.Mass = _mass; shapeData.Buoyancy = _buoyancy; shapeData.Static = ShapeData.numericFalse; - shapeData.Friction = PhysicsScene.Params.avatarFriction; + shapeData.Friction = PhysicsScene.Params.avatarStandingFriction; shapeData.Restitution = PhysicsScene.Params.avatarRestitution; // do actual create at taint time PhysicsScene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); - BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData); + PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null); + + SetPhysicalProperties(); // Set the buoyancy for flying. This will be refactored when all the settings happen in C#. // If not set at creation, the avatar will stop flying when created after crossing a region boundry. - BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy); - - BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID)); + ForceBuoyancy = _buoyancy; // This works here because CreateObject has already put the character into the physical world. BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, @@ -131,10 +135,40 @@ public class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.Destroy", LocalID); PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() { - BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID); + PhysicsScene.Shapes.DereferenceBody(BSBody, true, null); + PhysicsScene.Shapes.DereferenceShape(BSShape, true, null); }); } + private void SetPhysicalProperties() + { + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); + + ZeroMotion(); + + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw); + BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); + + // Set the velocity and compute the proper friction + ForceVelocity = _velocity; + + BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction); + BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution); + + BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); + BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); + + if (PhysicsScene.Params.ccdMotionThreshold > 0f) + { + BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); + BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + } + + BulletSimAPI.SetActivationState2(BSBody.ptr, (int)ActivationState.DISABLE_DEACTIVATION); + + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); + } + public override void RequestPhysicsterseUpdate() { base.RequestPhysicsterseUpdate(); @@ -147,7 +181,7 @@ public class BSCharacter : BSPhysObject get { // Avatar capsule size is kept in the scale parameter. - return new OMV.Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z); + return new OMV.Vector3(Scale.X * 2, Scale.Y * 2, Scale.Z); } set { @@ -162,22 +196,25 @@ public class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { - BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true); + BulletSimAPI.SetLocalScaling2(BSBody.ptr, Scale); + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw); + BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); }); } } - public override PrimitiveBaseShape Shape { - set { _pbs = value; - } + public override OMV.Vector3 Scale { get; set; } + private PrimitiveBaseShape _pbs; + public override PrimitiveBaseShape Shape + { + set { _pbs = value;} } + public override bool Grabbed { - set { _grabbed = value; - } + set { _grabbed = value; } } public override bool Selected { - set { _selected = value; - } + set { _selected = value; } } public override void CrossingFailure() { return; } public override void link(PhysicsActor obj) { return; } @@ -204,7 +241,7 @@ public class BSCharacter : BSPhysObject public override OMV.Vector3 Position { get { - // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); + // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID); return _position; } set { @@ -214,7 +251,7 @@ public class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); + BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); }); } } @@ -273,7 +310,7 @@ public class BSCharacter : BSPhysObject BSScene.TaintCallback sanityOperation = delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); + BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); }; if (inTaintTime) sanityOperation(); @@ -284,11 +321,7 @@ public class BSCharacter : BSPhysObject return ret; } - public override float Mass { - get { - return _mass; - } - } + public override float Mass { get { return _mass; } } // used when we only want this prim's mass and not the linkset thing public override float MassRaw { get {return _mass; } } @@ -301,15 +334,13 @@ public class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() { DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); - BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force); + BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); }); } } - public override int VehicleType { - get { return 0; } - set { return; } - } + // Avatars don't do vehicles + public override int VehicleType { get { return 0; } set { return; } } public override void VehicleFloatParam(int param, float value) { } public override void VehicleVectorParam(int param, OMV.Vector3 value) {} public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { } @@ -328,15 +359,35 @@ public class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() { DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); - BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity); + ForceVelocity = _velocity; }); } } public override OMV.Vector3 ForceVelocity { get { return _velocity; } set { + // Depending on whether the avatar is moving or not, change the friction + // to keep the avatar from slipping around + if (_velocity.Length() == 0) + { + if (_currentFriction != PhysicsScene.Params.avatarStandingFriction) + { + _currentFriction = PhysicsScene.Params.avatarStandingFriction; + BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction); + } + } + else + { + if (_currentFriction == 999f) + { + _currentFriction = PhysicsScene.Params.avatarFriction; + BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction); + } + } _velocity = value; - BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity); + _appliedVelocity = value; + BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); + BulletSimAPI.Activate2(BSBody.ptr, true); } } public override OMV.Vector3 Torque { @@ -360,8 +411,8 @@ public class BSCharacter : BSPhysObject // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() { - // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); - BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); + // _position = BulletSimAPI.GetPosition2(BSBody.ptr); + BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); }); } } @@ -389,12 +440,18 @@ public class BSCharacter : BSPhysObject set { _isPhysical = value; } } + public override bool IsSolid { + get { return true; } + } + public override bool IsStatic { + get { return false; } + } public override bool Flying { get { return _flying; } set { _flying = value; // simulate flying by changing the effect of gravity - this.Buoyancy = ComputeBuoyancyFromFlying(_flying); + Buoyancy = ComputeBuoyancyFromFlying(_flying); } } // Flying is implimented by changing the avatar's buoyancy. @@ -454,10 +511,19 @@ public class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate() { DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); - BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy); + ForceBuoyancy = _buoyancy; }); } } + public override float ForceBuoyancy { + get { return _buoyancy; } + set { _buoyancy = value; + DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); + // Buoyancy is faked by changing the gravity applied to the object + float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); + BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); + } + } // Used for MoveTo public override OMV.Vector3 PIDTarget { @@ -518,27 +584,29 @@ public class BSCharacter : BSPhysObject private void ComputeAvatarScale(OMV.Vector3 size) { - _scale.X = PhysicsScene.Params.avatarCapsuleRadius; - _scale.Y = PhysicsScene.Params.avatarCapsuleRadius; + OMV.Vector3 newScale = OMV.Vector3.Zero; + newScale.X = PhysicsScene.Params.avatarCapsuleRadius; + newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; // The 1.15 came from ODE but it seems to cause the avatar to float off the ground - // _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y); - _scale.Z = (_size.Z) - (_scale.X + _scale.Y); + // Scale.Z = (_size.Z * 1.15f) - (Scale.X + Scale.Y); + newScale.Z = (_size.Z) - (Scale.X + Scale.Y); + Scale = newScale; } - // set _avatarVolume and _mass based on capsule size, _density and _scale + // set _avatarVolume and _mass based on capsule size, _density and Scale private void ComputeAvatarVolumeAndMass() { _avatarVolume = (float)( Math.PI - * _scale.X - * _scale.Y // the area of capsule cylinder - * _scale.Z // times height of capsule cylinder + * Scale.X + * Scale.Y // the area of capsule cylinder + * Scale.Z // times height of capsule cylinder + 1.33333333f * Math.PI - * _scale.X - * Math.Min(_scale.X, _scale.Y) - * _scale.Y // plus the volume of the capsule end caps + * Scale.X + * Math.Min(Scale.X, Scale.Y) + * Scale.Y // plus the volume of the capsule end caps ); _mass = _avatarDensity * _avatarVolume; } @@ -555,6 +623,22 @@ public class BSCharacter : BSPhysObject // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. PositionSanityCheck2(true); + // remember the current and last set values + LastEntityProperties = CurrentEntityProperties; + CurrentEntityProperties = entprop; + + if (entprop.Velocity != LastEntityProperties.Velocity) + { + // Changes in the velocity are suppressed in avatars. + // That's just the way they are defined. + OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z); + _velocity = avVel; + BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel); + } + + // Tell the linkset about this + Linkset.UpdateProperties(this); + // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index cae599c..34dec26 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -69,6 +69,16 @@ public abstract class BSPhysObject : PhysicsActor // Reference to the physical shape (btCollisionShape) of this object public BulletShape BSShape; + // 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. + public EntityProperties CurrentEntityProperties { get; set; } + public EntityProperties LastEntityProperties { get; set; } + + public abstract OMV.Vector3 Scale { get; set; } + public abstract bool IsSolid { get; } + public abstract bool IsStatic { get; } + // Stop all physical motion. public abstract void ZeroMotion(); @@ -89,6 +99,8 @@ public abstract class BSPhysObject : PhysicsActor public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } + public abstract float ForceBuoyancy { get; set; } + #region Collisions // Requested number of milliseconds between collision events. Zero means disabled. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6a4365c..3421e30 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -172,11 +172,8 @@ public sealed class BSPrim : BSPhysObject } // Scale is what we set in the physics engine. It is different than 'size' in that // 'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>. - public OMV.Vector3 Scale - { - get { return _scale; } - set { _scale = value; } - } + public override OMV.Vector3 Scale { get; set; } + public override PrimitiveBaseShape Shape { set { _pbs = value; @@ -325,9 +322,9 @@ public sealed class BSPrim : BSPhysObject } // A version of the sanity check that also makes sure a new position value is - // pushed back to the physics engine. This routine would be used by anyone + // pushed to the physics engine. This routine would be used by anyone // who is not already pushing the value. - private bool PositionSanityCheck2(bool inTaintTime) + private bool PositionSanityCheck(bool inTaintTime) { bool ret = false; if (PositionSanityCheck()) @@ -336,8 +333,8 @@ public sealed class BSPrim : BSPhysObject // just assign to "Position" because of potential call loops. BSScene.TaintCallback sanityOperation = delegate() { - DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); + DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); + ForcePosition = _position; }; if (inTaintTime) sanityOperation(); @@ -547,13 +544,13 @@ public sealed class BSPrim : BSPhysObject } // An object is static (does not move) if selected or not physical - private bool IsStatic + public override bool IsStatic { get { return _isSelected || !IsPhysical; } } // An object is solid if it's not phantom and if it's not doing VolumeDetect - public bool IsSolid + public override bool IsSolid { get { return !IsPhantom && !_isVolumeDetect; } } @@ -631,6 +628,12 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero); // There is no inertia in a static object BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); + // Set collision detection parameters + if (PhysicsScene.Params.ccdMotionThreshold > 0f) + { + BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); + BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + } // There can be special things needed for implementing linksets Linkset.MakeStatic(this); // The activation state is 'disabled' so Bullet will not try to act on it. @@ -662,6 +665,13 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); + // Set collision detection parameters + if (PhysicsScene.Params.ccdMotionThreshold > 0f) + { + BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); + BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + } + // Various values for simulation limits BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping); BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime); @@ -812,14 +822,21 @@ public sealed class BSPrim : BSPhysObject set { _buoyancy = value; PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() - { - // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); - // Buoyancy is faked by changing the gravity applied to the object - float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); + { + ForceBuoyancy = _buoyancy; }); } } + public override float ForceBuoyancy { + get { return _buoyancy; } + set { + _buoyancy = value; + // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); + // Buoyancy is faked by changing the gravity applied to the object + float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); + BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); + } + } // Used for MoveTo public override OMV.Vector3 PIDTarget { @@ -1269,8 +1286,8 @@ public sealed class BSPrim : BSPhysObject const float VELOCITY_TOLERANCE = 0.001f; const float POSITION_TOLERANCE = 0.05f; const float ACCELERATION_TOLERANCE = 0.01f; - const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; - + const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; + public override void UpdateProperties(EntityProperties entprop) { /* @@ -1326,11 +1343,13 @@ public sealed class BSPrim : BSPhysObject _orientation = entprop.Rotation; _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; - _rotationalVelocity = entprop.RotationalVelocity; + _rotationalVelocity = entprop.RotationalVelocity; + + // remember the current and last set values + LastEntityProperties = CurrentEntityProperties; + CurrentEntityProperties = entprop; - PositionSanityCheck2(true); - - Linkset.UpdateProperties(this); + PositionSanityCheck(true); DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); @@ -1348,6 +1367,9 @@ public sealed class BSPrim : BSPhysObject entprop.Acceleration, entprop.RotationalVelocity); } */ + // The linkset implimentation might want to know about this. + + Linkset.UpdateProperties(this); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 2c3c481..5158011 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -256,10 +256,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); - WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), + World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(), m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(), - m_DebugLogCallbackHandle); + m_DebugLogCallbackHandle)); // Initialization to support the transition to a new API which puts most of the logic // into the C# code so it is easier to modify and add to. @@ -360,7 +360,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // Anything left in the unmanaged code should be cleaned out - BulletSimAPI.Shutdown(WorldID); + BulletSimAPI.Shutdown2(World.ptr); // Not logging any more PhysicsLogging.Close(); @@ -498,7 +498,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters { if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); - numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep, + numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); @@ -1011,6 +1011,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarFriction; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ), + new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", + 10f, + (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarStandingFriction; }, + (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ), new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", 60f, (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); }, @@ -1246,7 +1251,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters case PhysParameterEntry.APPLY_TO_NONE: defaultLoc = val; // setting only the default value break; - case PhysParameterEntry.APPLY_TO_ALL: + case PhysParameterEntry.APPLY_TO_ALL: + m_log.ErrorFormat("{0} Cannot change parameters of multiple objects. Someday it will be added.", LogHeader); + /* defaultLoc = val; // setting ALL also sets the default value List objectIDs = lIDs; string xparm = parm.ToLower(); @@ -1257,6 +1264,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval); } }); + */ break; default: // setting only one localID @@ -1268,12 +1276,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters // schedule the actual updating of the paramter to when the phys engine is not busy protected void TaintedUpdateParameter(string parm, uint localID, float val) { + m_log.ErrorFormat("{0} Cannot change parameters of base objects. Someday it will be added.", LogHeader); + /* uint xlocalID = localID; string xparm = parm.ToLower(); float xval = val; TaintedObject("BSScene.TaintedUpdateParameter", delegate() { BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval); }); + */ } // Get parameter. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index d189f1d..7d0f84a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -93,7 +93,7 @@ public class BSShapeCollection : IDisposable // sure the body is of the right type. // Return 'true' if either the body or the shape changed. // Called at taint-time!! - public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim, + public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) { @@ -351,19 +351,30 @@ public class BSShapeCollection : IDisposable // 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. + // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls, + // shared geometries will be used. If the parameters of the existing shape are the same + // as this request, the shape is not rebuilt. + // 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, BSPrim prim, ShapeData shapeData, + private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback) { bool ret = false; bool haveShape = false; bool nativeShapePossible = true; + if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + { + // an avatar capsule is close to a native shape (it is not shared) + ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, + ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback); + haveShape = true; + } // If the prim attributes are simple, this could be a simple Bullet native shape - if (nativeShapePossible + if (!haveShape + && pbs != null + && nativeShapePossible && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 && pbs.ProfileHollow == 0 @@ -406,7 +417,7 @@ public class BSShapeCollection : IDisposable // If a simple shape is not happening, create a mesh and possibly a hull. // Note that if it's a native shape, the check for physical/non-physical is not // made. Native shapes are best used in either case. - if (!haveShape) + if (!haveShape && pbs != null) { if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects) { @@ -425,8 +436,9 @@ public class BSShapeCollection : IDisposable return ret; } - // Creates a native shape and assignes it to prim.BSShape - private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData, + // 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, ShapeData shapeData, ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey, ShapeDestructionCallback shapeCallback) { @@ -440,10 +452,19 @@ public class BSShapeCollection : IDisposable // release any previous shape DereferenceShape(prim.BSShape, true, shapeCallback); - // Native shapes are always built independently. - newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); - newShape.shapeKey = (System.UInt64)shapeKey; - newShape.isNativeShape = true; + if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + { + newShape = new BulletShape(BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, shapeData), shapeType); + newShape.shapeKey = (System.UInt64)shapeKey; + newShape.isNativeShape = true; + } + else + { + // Native shapes are always built independently. + newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); + newShape.shapeKey = (System.UInt64)shapeKey; + newShape.isNativeShape = true; + } // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked. // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape); @@ -456,7 +477,7 @@ public class BSShapeCollection : IDisposable // 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(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs, + private bool GetReferenceToMesh(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback) { BulletShape newShape = new BulletShape(IntPtr.Zero); @@ -526,7 +547,7 @@ public class BSShapeCollection : IDisposable // See that hull shape exists in the physical world and update prim.BSShape. // We could be creating the hull because scale changed or whatever. - private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs, + private bool GetReferenceToHull(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback) { BulletShape newShape; @@ -694,7 +715,7 @@ public class BSShapeCollection : IDisposable // 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, BSPrim prim, BulletSim sim, BulletShape shape, + private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape, ShapeData shapeData, BodyDestructionCallback bodyCallback) { bool ret = false; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 276111c..30754a7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -223,6 +223,7 @@ public struct ShapeData KEY_SPHERE = 2, KEY_CONE = 3, KEY_CYLINDER = 4, + KEY_CAPSULE = 5, } } [StructLayout(LayoutKind.Sequential)] @@ -282,6 +283,7 @@ public struct ConfigurationParameters public float terrainHitFraction; public float terrainRestitution; public float avatarFriction; + public float avatarStandingFriction; public float avatarDensity; public float avatarRestitution; public float avatarCapsuleRadius; @@ -428,6 +430,7 @@ public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg [return: MarshalAs(UnmanagedType.LPStr)] public static extern string GetVersion(); +/* Remove the linkage to the old api methods [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, int maxCollisions, IntPtr collisionArray, @@ -531,7 +534,7 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id); // =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpBulletStatistics(); - +*/ // Log a debug message [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetDebugLogCallback(DebugLogCallback callback); @@ -562,7 +565,8 @@ public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, int maxCollisions, IntPtr collisionArray, - int maxUpdates, IntPtr updateArray); + int maxUpdates, IntPtr updateArray, + DebugLogCallback logRoutine); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); @@ -604,6 +608,9 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData) public static extern bool IsNativeShape2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr BuildCapsuleShape2(IntPtr world, ShapeData shapeData); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateCompoundShape2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From eaccfa6d99ac51b4963ae0fa457ff0d2b9ce65e7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 14 Oct 2012 19:23:35 -0700 Subject: BulletSim: Fix small problems with last patch: BSScene.World properly initialized and setting of C++ parameters commented out. Comments and logging added. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 13 ++++--------- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- 3 files changed, 6 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 7c2f856..7bc6b69 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -146,7 +146,7 @@ public class BSCharacter : BSPhysObject ZeroMotion(); - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw); + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); // Set the velocity and compute the proper friction diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 5158011..7998b08 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -261,10 +261,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(), m_DebugLogCallbackHandle)); - // Initialization to support the transition to a new API which puts most of the logic - // into the C# code so it is easier to modify and add to. - World = new BulletSim(WorldID, this, BulletSimAPI.GetSimHandle2(WorldID)); - Constraints = new BSConstraintCollection(World); TerrainManager = new BSTerrainManager(this); @@ -1251,10 +1247,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters case PhysParameterEntry.APPLY_TO_NONE: defaultLoc = val; // setting only the default value break; - case PhysParameterEntry.APPLY_TO_ALL: - m_log.ErrorFormat("{0} Cannot change parameters of multiple objects. Someday it will be added.", LogHeader); - /* + case PhysParameterEntry.APPLY_TO_ALL: defaultLoc = val; // setting ALL also sets the default value + /* List objectIDs = lIDs; string xparm = parm.ToLower(); float xval = val; @@ -1276,15 +1271,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters // schedule the actual updating of the paramter to when the phys engine is not busy protected void TaintedUpdateParameter(string parm, uint localID, float val) { + /* Settings in the C++ code are not working at the moment. TODO: fix the settings. m_log.ErrorFormat("{0} Cannot change parameters of base objects. Someday it will be added.", LogHeader); - /* uint xlocalID = localID; string xparm = parm.ToLower(); float xval = val; TaintedObject("BSScene.TaintedUpdateParameter", delegate() { BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval); }); - */ + */ } // Get parameter. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 7d0f84a..5a77e52 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -369,6 +369,7 @@ public class BSShapeCollection : IDisposable // an avatar capsule is close to a native shape (it is not shared) ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback); + DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape); haveShape = true; } // If the prim attributes are simple, this could be a simple Bullet native shape @@ -460,7 +461,6 @@ public class BSShapeCollection : IDisposable } else { - // Native shapes are always built independently. newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); newShape.shapeKey = (System.UInt64)shapeKey; newShape.isNativeShape = true; -- cgit v1.1 From fc33afddd360843d05f030750b7075315a526ae1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 15 Oct 2012 12:11:00 -0700 Subject: BulletSim: remove code in ShapeCollection that hinted at shape sharing. Add new function to ParameterDefn for calling BulletSimAPI to set values. Tweaking to BSCharacter parameter setting to try and have avatars stand. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 56 +++++----- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 16 +-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 114 ++++++++++++--------- .../Physics/BulletSPlugin/BSShapeCollection.cs | 110 +++++++------------- .../Physics/BulletSPlugin/BSTerrainManager.cs | 3 +- 5 files changed, 138 insertions(+), 161 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 7bc6b69..8e1171a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -114,17 +114,9 @@ public class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); - PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null); - + PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null); + SetPhysicalProperties(); - - // Set the buoyancy for flying. This will be refactored when all the settings happen in C#. - // If not set at creation, the avatar will stop flying when created after crossing a region boundry. - ForceBuoyancy = _buoyancy; - - // This works here because CreateObject has already put the character into the physical world. - BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, - (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask); }); return; } @@ -146,27 +138,32 @@ public class BSCharacter : BSPhysObject ZeroMotion(); - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); + ForcePosition = _position; // Set the velocity and compute the proper friction ForceVelocity = _velocity; - - BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction); BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution); - BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); - if (PhysicsScene.Params.ccdMotionThreshold > 0f) { BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); - } - - BulletSimAPI.SetActivationState2(BSBody.ptr, (int)ActivationState.DISABLE_DEACTIVATION); + } + + BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); + + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION); + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); + + // Do this after the object has been added to the world + BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, + (uint)CollisionFilterGroups.AvatarFilter, + (uint)CollisionFilterGroups.AvatarMask); } public override void RequestPhysicsterseUpdate() @@ -174,9 +171,7 @@ public class BSCharacter : BSPhysObject base.RequestPhysicsterseUpdate(); } // No one calls this method so I don't know what it could possibly mean - public override bool Stopped { - get { return false; } - } + public override bool Stopped { get { return false; } } public override OMV.Vector3 Size { get { @@ -185,18 +180,14 @@ public class BSCharacter : BSPhysObject } set { - // When an avatar's size is set, only the height is changed - // and that really only depends on the radius. + // When an avatar's size is set, only the height is changed. _size = value; ComputeAvatarScale(_size); - - // TODO: something has to be done with the avatar's vertical position - ComputeAvatarVolumeAndMass(); PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { - BulletSimAPI.SetLocalScaling2(BSBody.ptr, Scale); + BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw); BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); }); @@ -300,7 +291,7 @@ public class BSCharacter : BSPhysObject // A version of the sanity check that also makes sure a new position value is // pushed back to the physics engine. This routine would be used by anyone // who is not already pushing the value. - private bool PositionSanityCheck2(bool inTaintTime) + private bool PositionSanityCheck(bool inTaintTime) { bool ret = false; if (PositionSanityCheck()) @@ -378,14 +369,16 @@ public class BSCharacter : BSPhysObject } else { - if (_currentFriction == 999f) + if (_currentFriction != PhysicsScene.Params.avatarFriction) { _currentFriction = PhysicsScene.Params.avatarFriction; BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction); } } _velocity = value; + // Remember the set velocity so we can suppress the reduction by friction, ... _appliedVelocity = value; + BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); BulletSimAPI.Activate2(BSBody.ptr, true); } @@ -590,7 +583,8 @@ public class BSCharacter : BSPhysObject // The 1.15 came from ODE but it seems to cause the avatar to float off the ground // Scale.Z = (_size.Z * 1.15f) - (Scale.X + Scale.Y); - newScale.Z = (_size.Z) - (Scale.X + Scale.Y); + // From the total height, remove the capsule half spheres that are at each end + newScale.Z = (size.Z) - (Math.Min(newScale.X, newScale.Y) * 2f); Scale = newScale; } @@ -621,7 +615,7 @@ public class BSCharacter : BSPhysObject _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. - PositionSanityCheck2(true); + PositionSanityCheck(true); // remember the current and last set values LastEntityProperties = CurrentEntityProperties; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 3421e30..b9e1908 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -333,7 +333,7 @@ public sealed class BSPrim : BSPhysObject // just assign to "Position" because of potential call loops. BSScene.TaintCallback sanityOperation = delegate() { - DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); ForcePosition = _position; }; if (inTaintTime) @@ -822,7 +822,7 @@ public sealed class BSPrim : BSPhysObject set { _buoyancy = value; PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() - { + { ForceBuoyancy = _buoyancy; }); } @@ -1286,8 +1286,8 @@ public sealed class BSPrim : BSPhysObject const float VELOCITY_TOLERANCE = 0.001f; const float POSITION_TOLERANCE = 0.05f; const float ACCELERATION_TOLERANCE = 0.01f; - const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; - + const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; + public override void UpdateProperties(EntityProperties entprop) { /* @@ -1343,10 +1343,10 @@ public sealed class BSPrim : BSPhysObject _orientation = entprop.Rotation; _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; - _rotationalVelocity = entprop.RotationalVelocity; - - // remember the current and last set values - LastEntityProperties = CurrentEntityProperties; + _rotationalVelocity = entprop.RotationalVelocity; + + // remember the current and last set values + LastEntityProperties = CurrentEntityProperties; CurrentEntityProperties = entprop; PositionSanityCheck(true); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7998b08..c6e8bc4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -795,7 +795,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); delegate float ParamGet(BSScene scene); - delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); + delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); + delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val); private struct ParameterDefn { @@ -804,7 +805,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters public float defaultValue; // default value if not specified anywhere else public ParamUser userParam; // get the value from the configuration file public ParamGet getter; // return the current value stored for this parameter - public ParamSet setter; // set the current value for this parameter + public ParamSet setter; // set the current value for this parameter + public SetOnObject onObject; // set the value on an object in the physical domain public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) { name = n; @@ -812,7 +814,18 @@ public class BSScene : PhysicsScene, IPhysicsParameters defaultValue = v; userParam = u; getter = g; - setter = s; + setter = s; + onObject = null; + } + public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o) + { + name = n; + desc = d; + defaultValue = v; + userParam = u; + getter = g; + setter = s; + onObject = o; } } @@ -834,6 +847,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // // The single letter parameters for the delegates are: // s = BSScene + // o = BSPhysObject // p = string parameter name // l = localID of referenced object // v = float value @@ -943,65 +957,74 @@ public class BSScene : PhysicsScene, IPhysicsParameters -9.80665f, (s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].gravity; }, - (s,p,l,v) => { s.m_params[0].gravity = v; s.TaintedUpdateParameter(p,l,v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].gravity, p, PhysParameterEntry.APPLY_TO_NONE, v); }, + (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ), new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", 0f, (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linearDamping; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ), new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", 0f, (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].angularDamping; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ), new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", 0.2f, (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].deactivationTime; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.BSBody.ptr, v); } ), new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", 0.8f, (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linearSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ), new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", 1.0f, (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].angularSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ), new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , 0f, // set to zero to disable (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].ccdMotionThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.BSBody.ptr, v); } ), new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , 0f, (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].ccdSweptSphereRadius; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetCcdSweepSphereRadius2(o.BSBody.ptr, v); } ), new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , 0.1f, (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].contactProcessingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ), + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.BSBody.ptr, v); } ), new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , 0.5f, (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].terrainFriction; }, - (s,p,l,v) => { s.m_params[0].terrainFriction = v; s.TaintedUpdateParameter(p,l,v); } ), + (s,p,l,v) => { s.m_params[0].terrainFriction = v; /* TODO: set on real terrain */} ), new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , 0.8f, (s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].terrainHitFraction; }, - (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; s.TaintedUpdateParameter(p,l,v); } ), + (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; /* TODO: set on real terrain */ } ), new ParameterDefn("TerrainRestitution", "Bouncyness" , 0f, (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].terrainRestitution; }, - (s,p,l,v) => { s.m_params[0].terrainRestitution = v; s.TaintedUpdateParameter(p,l,v); } ), + (s,p,l,v) => { s.m_params[0].terrainRestitution = v; /* TODO: set on real terrain */ } ), new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", 0.2f, (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); }, @@ -1228,58 +1251,55 @@ public class BSScene : PhysicsScene, IPhysicsParameters return ret; } - // check to see if we are updating a parameter for a particular or all of the prims - protected void UpdateParameterObject(ref float loc, string parm, uint localID, float val) - { - List operateOn; - lock (PhysObjects) operateOn = new List(PhysObjects.Keys); - UpdateParameterSet(operateOn, ref loc, parm, localID, val); - } - // update all the localIDs specified // If the local ID is APPLY_TO_NONE, just change the default value // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs // If the localID is a specific object, apply the parameter change to only that object - protected void UpdateParameterSet(List lIDs, ref float defaultLoc, string parm, uint localID, float val) + protected void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val) { + List objectIDs = new List(); switch (localID) { case PhysParameterEntry.APPLY_TO_NONE: defaultLoc = val; // setting only the default value + // This will cause a call into the physical world if some operation is specified (SetOnObject). + objectIDs.Add(TERRAIN_ID); + TaintedUpdateParameter(parm, objectIDs, val); break; - case PhysParameterEntry.APPLY_TO_ALL: + case PhysParameterEntry.APPLY_TO_ALL: defaultLoc = val; // setting ALL also sets the default value - /* - List objectIDs = lIDs; - string xparm = parm.ToLower(); - float xval = val; - TaintedObject("BSScene.UpdateParameterSet", delegate() { - foreach (uint lID in objectIDs) - { - BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval); - } - }); - */ + lock (PhysObjects) objectIDs = new List(PhysObjects.Keys); + TaintedUpdateParameter(parm, objectIDs, val); break; default: - // setting only one localID - TaintedUpdateParameter(parm, localID, val); + // setting only one localID + objectIDs.Add(localID); + TaintedUpdateParameter(parm, objectIDs, val); break; } } // schedule the actual updating of the paramter to when the phys engine is not busy - protected void TaintedUpdateParameter(string parm, uint localID, float val) + protected void TaintedUpdateParameter(string parm, List lIDs, float val) { - /* Settings in the C++ code are not working at the moment. TODO: fix the settings. - m_log.ErrorFormat("{0} Cannot change parameters of base objects. Someday it will be added.", LogHeader); - uint xlocalID = localID; - string xparm = parm.ToLower(); - float xval = val; - TaintedObject("BSScene.TaintedUpdateParameter", delegate() { - BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval); + float xval = val; + List xlIDs = lIDs; + string xparm = parm; + TaintedObject("BSScene.UpdateParameterSet", delegate() { + ParameterDefn thisParam; + if (TryGetParameter(xparm, out thisParam)) + { + if (thisParam.onObject != null) + { + foreach (uint lID in xlIDs) + { + BSPhysObject theObject = null; + PhysObjects.TryGetValue(lID, out theObject); + thisParam.onObject(this, theObject, xval); + } + } + } }); - */ } // Get parameter. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 5a77e52..bbfdac6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -51,7 +51,7 @@ public class BSShapeCollection : IDisposable } // Description of a hull. - // Meshes and hulls have the same shape hash key but we only need hulls for efficient physical objects + // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations. private struct HullDesc { public IntPtr ptr; @@ -59,17 +59,9 @@ public class BSShapeCollection : IDisposable public DateTime lastReferenced; } - private struct BodyDesc - { - public IntPtr ptr; - // Bodies are only used once so reference count is always either one or zero - public int referenceCount; - public DateTime lastReferenced; - } - + // The sharable set of meshes and hulls. Indexed by their shape hash. private Dictionary Meshes = new Dictionary(); private Dictionary Hulls = new Dictionary(); - private Dictionary Bodies = new Dictionary(); public BSShapeCollection(BSScene physScene) { @@ -92,6 +84,10 @@ public class BSShapeCollection : IDisposable // First checks the shape and updates that if necessary then makes // sure the body is of the right type. // 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, BulletSim sim, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs, @@ -103,7 +99,8 @@ public class BSShapeCollection : IDisposable lock (m_collectionActivityLock) { // Do we have the correct geometry for this type of object? - // Updates prim.BSShape with information/pointers to requested shape + // Updates prim.BSShape with information/pointers to shape. + // CreateGeom returns 'true' of BSShape as changed to a new shape. bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback); // If we had to select a new shape geometry for the object, // rebuild the body around it. @@ -125,35 +122,19 @@ public class BSShapeCollection : IDisposable { lock (m_collectionActivityLock) { - BodyDesc bodyDesc; - if (Bodies.TryGetValue(body.ID, out bodyDesc)) + DetailLog("{0},BSShapeCollection.ReferenceBody,newBody", body.ID, body); + BSScene.TaintCallback createOperation = delegate() { - bodyDesc.referenceCount++; - DetailLog("{0},BSShapeCollection.ReferenceBody,existingBody,body={1},ref={2}", body.ID, body, bodyDesc.referenceCount); - } - else - { - // New entry - bodyDesc.ptr = body.ptr; - bodyDesc.referenceCount = 1; - DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={2}", - body.ID, body, bodyDesc.referenceCount); - BSScene.TaintCallback createOperation = delegate() + if (!BulletSimAPI.IsInWorld2(body.ptr)) { - if (!BulletSimAPI.IsInWorld2(body.ptr)) - { - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); - DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", - body.ID, body); - } - }; - if (inTaintTime) - createOperation(); - else - PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation); - } - bodyDesc.lastReferenced = System.DateTime.Now; - Bodies[body.ID] = bodyDesc; + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); + DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); + } + }; + if (inTaintTime) + createOperation(); + else + PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation); } } @@ -166,43 +147,25 @@ public class BSShapeCollection : IDisposable lock (m_collectionActivityLock) { - BodyDesc bodyDesc; - if (Bodies.TryGetValue(body.ID, out bodyDesc)) + BSScene.TaintCallback removeOperation = delegate() { - bodyDesc.referenceCount--; - bodyDesc.lastReferenced = System.DateTime.Now; - Bodies[body.ID] = bodyDesc; - DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount); - - // If body is no longer being used, free it -- bodies can never be shared. - if (bodyDesc.referenceCount == 0) - { - Bodies.Remove(body.ID); - BSScene.TaintCallback removeOperation = delegate() - { - DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}", - body.ID, body.ptr.ToString("X"), inTaintTime); - // If the caller needs to know the old body is going away, pass the event up. - if (bodyCallback != null) bodyCallback(body); - - // It may have already been removed from the world in which case the next is a NOOP. - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); - - // Zero any reference to the shape so it is not freed when the body is deleted. - BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); - }; - // If already in taint-time, do the operations now. Otherwise queue for later. - if (inTaintTime) - removeOperation(); - else - PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation); - } - } + DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}", + body.ID, body.ptr.ToString("X"), inTaintTime); + // If the caller needs to know the old body is going away, pass the event up. + if (bodyCallback != null) bodyCallback(body); + + // It may have already been removed from the world in which case the next is a NOOP. + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); + + // Zero any reference to the shape so it is not freed when the body is deleted. + BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); + }; + // If already in taint-time, do the operations now. Otherwise queue for later. + if (inTaintTime) + removeOperation(); else - { - DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", body.ID, bodyDesc.referenceCount); - } + PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation); } } @@ -271,7 +234,6 @@ public class BSShapeCollection : IDisposable } // Release the usage of a shape. - // The collisionObject is released since it is a copy of the real collision shape. public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback) { if (shape.ptr == IntPtr.Zero) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index caf411e..9743d94 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -334,7 +334,8 @@ public class BSTerrainManager // Make sure the new shape is processed. // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); - BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING); + // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); m_terrainModified = true; }; -- cgit v1.1 From e87a179c893ef246dae8338e0f56c3fe20458fbc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 17 Oct 2012 08:30:10 -0700 Subject: BulletSim: change nonimal physics frame rate to 55 to give same numbers as ODE. Change character scaling to represent size of capsule (diameter rather than radius) Modify create capsule call to pass radius and height. Eliminate errors when calculating shape inertia (should have some type checking). --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 46 ++++++++++++---------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 14 +++---- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 14 +++---- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 26 ++++++------ .../Physics/BulletSPlugin/BSShapeCollection.cs | 7 +++- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 2 +- 6 files changed, 57 insertions(+), 52 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 8e1171a..e7bff6e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -89,13 +89,15 @@ public class BSCharacter : BSPhysObject _appliedVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); _currentFriction = PhysicsScene.Params.avatarStandingFriction; + _avatarDensity = PhysicsScene.Params.avatarDensity; // The dimensions of the avatar capsule are kept in the scale. // Physics creates a unit capsule which is scaled by the physics engine. ComputeAvatarScale(_size); - _avatarDensity = PhysicsScene.Params.avatarDensity; // set _avatarVolume and _mass based on capsule size, _density and Scale ComputeAvatarVolumeAndMass(); + DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", + LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw); ShapeData shapeData = new ShapeData(); shapeData.ID = LocalID; @@ -103,6 +105,7 @@ public class BSCharacter : BSPhysObject shapeData.Position = _position; shapeData.Rotation = _orientation; shapeData.Velocity = _velocity; + shapeData.Size = Scale; shapeData.Scale = Scale; shapeData.Mass = _mass; shapeData.Buoyancy = _buoyancy; @@ -114,8 +117,9 @@ public class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); - PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null); - + // New body and shape into BSBody and BSShape + PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null); + SetPhysicalProperties(); }); return; @@ -138,7 +142,7 @@ public class BSCharacter : BSPhysObject ZeroMotion(); - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); ForcePosition = _position; @@ -151,13 +155,13 @@ public class BSCharacter : BSPhysObject { BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); - } - + } + BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION); + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); // Do this after the object has been added to the world @@ -176,7 +180,7 @@ public class BSCharacter : BSPhysObject get { // Avatar capsule size is kept in the scale parameter. - return new OMV.Vector3(Scale.X * 2, Scale.Y * 2, Scale.Z); + return _size; } set { @@ -184,11 +188,13 @@ public class BSCharacter : BSPhysObject _size = value; ComputeAvatarScale(_size); ComputeAvatarVolumeAndMass(); + DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}", + LocalID, Scale, _avatarDensity, _avatarVolume, MassRaw); PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw); + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); }); @@ -578,13 +584,13 @@ public class BSCharacter : BSPhysObject private void ComputeAvatarScale(OMV.Vector3 size) { OMV.Vector3 newScale = OMV.Vector3.Zero; - newScale.X = PhysicsScene.Params.avatarCapsuleRadius; - newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; + // Scale wants the diameter so mult radius by two + newScale.X = PhysicsScene.Params.avatarCapsuleRadius * 2f; + newScale.Y = PhysicsScene.Params.avatarCapsuleRadius * 2f; - // The 1.15 came from ODE but it seems to cause the avatar to float off the ground - // Scale.Z = (_size.Z * 1.15f) - (Scale.X + Scale.Y); - // From the total height, remove the capsule half spheres that are at each end - newScale.Z = (size.Z) - (Math.Min(newScale.X, newScale.Y) * 2f); + // From the total height, add the capsule half spheres that are at each end + // newScale.Z = (size.Z) - Math.Min(newScale.X, newScale.Y); + newScale.Z = (size.Z * 2f); Scale = newScale; } @@ -593,14 +599,14 @@ public class BSCharacter : BSPhysObject { _avatarVolume = (float)( Math.PI - * Scale.X - * Scale.Y // the area of capsule cylinder + * (Scale.X / 2f) + * (Scale.Y / 2f) // the area of capsule cylinder * Scale.Z // times height of capsule cylinder + 1.33333333f * Math.PI - * Scale.X - * Math.Min(Scale.X, Scale.Y) - * Scale.Y // plus the volume of the capsule end caps + * (Scale.X / 2f) + * (Math.Min(Scale.X, Scale.Y) / 2f) + * (Scale.Y / 2f) // plus the volume of the capsule end caps ); _mass = _avatarDensity * _avatarVolume; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 34dec26..b8ef338 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -141,18 +141,15 @@ public abstract class BSPhysObject : PhysicsActor // if someone has subscribed for collision events.... if (SubscribedEvents()) { CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", - // LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); + DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", + LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); ret = true; } return ret; } - // Routine to send the collected collisions into the simulator. - // Also handles removal of this from the collection of objects with collisions if - // there are no collisions from this object. Mechanism is create one last - // collision event to make collision_end work. + // Send the collected collisions into the simulator. // Called at taint time from within the Step() function thus no locking problems // with CollisionCollection and ObjectsWithNoMoreCollisions. // Return 'true' if there were some actual collisions passed up @@ -161,10 +158,9 @@ public abstract class BSPhysObject : PhysicsActor bool ret = true; // throttle the collisions to the number of milliseconds specified in the subscription - int nowTime = PhysicsScene.SimulationNowTime; - if (nowTime >= NextCollisionOkTime) + if (PhysicsScene.SimulationNowTime >= NextCollisionOkTime) { - NextCollisionOkTime = nowTime + SubscribedEventsMs; + NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs; // We are called if we previously had collisions. If there are no collisions // this time, send up one last empty event so OpenSim can sense collision end. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b9e1908..8013e68 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -48,10 +48,10 @@ public sealed class BSPrim : BSPhysObject private PrimitiveBaseShape _pbs; - // _size is what the user passed. _scale is what we pass to the physics engine with the mesh. - // Often _scale is unity because the meshmerizer will apply _size when creating the mesh. + // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. + // Often Scale is unity because the meshmerizer will apply _size when creating the mesh. private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user - private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer + // private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer private bool _grabbed; private bool _isSelected; @@ -98,7 +98,7 @@ public sealed class BSPrim : BSPhysObject _physicsActorType = (int)ActorTypes.Prim; _position = pos; _size = size; - _scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type + Scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type _orientation = rotation; _buoyancy = 1f; _velocity = OMV.Vector3.Zero; @@ -166,7 +166,7 @@ public sealed class BSPrim : BSPhysObject // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct // scale and margins are set. CreateGeomAndObject(true); - // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical); + // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, Scale, _mass, IsPhysical); }); } } @@ -1224,7 +1224,8 @@ public sealed class BSPrim : BSPhysObject shape.Position = _position; shape.Rotation = _orientation; shape.Velocity = _velocity; - shape.Scale = _scale; + shape.Size = _size; + shape.Scale = Scale; shape.Mass = _isPhysical ? _mass : 0f; shape.Buoyancy = _buoyancy; shape.HullKey = 0; @@ -1234,7 +1235,6 @@ public sealed class BSPrim : BSPhysObject shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue; - shape.Size = _size; } // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index c6e8bc4..ab2835c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -533,7 +533,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // This is a kludge to get avatar movement updates. - // the simulator expects collisions for avatars even if there are have been no collisions. This updates + // The simulator expects collisions for avatars even if there are have been no collisions. This updates // avatar animations and stuff. // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. foreach (BSPhysObject bsp in m_avatars) @@ -577,9 +577,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. - // We multiply by 45 to give a recognizable running rate (45 or less). - return numSubSteps * m_fixedTimeStep * 1000 * 45; - // return timeStep * 1000 * 45; + // We multiply by 55 to give a recognizable running rate (55 or less). + return numSubSteps * m_fixedTimeStep * 1000 * 55; + // return timeStep * 1000 * 55; } // Something has collided @@ -795,7 +795,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); delegate float ParamGet(BSScene scene); - delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); + delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val); private struct ParameterDefn @@ -805,7 +805,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters public float defaultValue; // default value if not specified anywhere else public ParamUser userParam; // get the value from the configuration file public ParamGet getter; // return the current value stored for this parameter - public ParamSet setter; // set the current value for this parameter + public ParamSet setter; // set the current value for this parameter public SetOnObject onObject; // set the value on an object in the physical domain public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) { @@ -814,7 +814,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters defaultValue = v; userParam = u; getter = g; - setter = s; + setter = s; onObject = null; } public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o) @@ -824,7 +824,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters defaultValue = v; userParam = u; getter = g; - setter = s; + setter = s; onObject = o; } } @@ -1266,13 +1266,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters objectIDs.Add(TERRAIN_ID); TaintedUpdateParameter(parm, objectIDs, val); break; - case PhysParameterEntry.APPLY_TO_ALL: + case PhysParameterEntry.APPLY_TO_ALL: defaultLoc = val; // setting ALL also sets the default value - lock (PhysObjects) objectIDs = new List(PhysObjects.Keys); + lock (PhysObjects) objectIDs = new List(PhysObjects.Keys); TaintedUpdateParameter(parm, objectIDs, val); break; default: - // setting only one localID + // setting only one localID objectIDs.Add(localID); TaintedUpdateParameter(parm, objectIDs, val); break; @@ -1282,8 +1282,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters // schedule the actual updating of the paramter to when the phys engine is not busy protected void TaintedUpdateParameter(string parm, List lIDs, float val) { - float xval = val; - List xlIDs = lIDs; + float xval = val; + List xlIDs = lIDs; string xparm = parm; TaintedObject("BSScene.UpdateParameterSet", delegate() { ParameterDefn thisParam; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index bbfdac6..3d15eaa 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -417,7 +417,10 @@ public class BSShapeCollection : IDisposable if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { - newShape = new BulletShape(BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, shapeData), shapeType); + // The radius is scaled by 1/2 because we scale by the diameter. + newShape = new BulletShape( + BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 0.5f, 1.0f, shapeData.Scale), + shapeType); newShape.shapeKey = (System.UInt64)shapeKey; newShape.isNativeShape = true; } @@ -428,7 +431,7 @@ public class BSShapeCollection : IDisposable newShape.isNativeShape = true; } - // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked. + // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape); prim.BSShape = newShape; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 30754a7..24d8db6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -608,7 +608,7 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData) public static extern bool IsNativeShape2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildCapsuleShape2(IntPtr world, ShapeData shapeData); +public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateCompoundShape2(IntPtr sim); -- cgit v1.1 From f422b9b388fe67c61e610c79efabd5e07512884b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 19 Oct 2012 10:48:45 -0700 Subject: BulletSim: reorder avatar collision checking to eliminate double collision_end. Various tweekings to avatar shape/mass/inertia/etc. Remove change from avatar radius to diameter. But still the avatar sinks. Collision_end now happens immediately rather than at the next subscription time. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 33 +++++++++++----------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 ++- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 30 +++++++++++--------- .../Physics/BulletSPlugin/BSShapeCollection.cs | 8 +++--- .../Physics/BulletSPlugin/BSTerrainManager.cs | 1 + .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 2 +- 6 files changed, 43 insertions(+), 35 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e7bff6e..fc4526b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -141,10 +141,6 @@ public class BSCharacter : BSPhysObject BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); ZeroMotion(); - - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); - BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); - ForcePosition = _position; // Set the velocity and compute the proper friction ForceVelocity = _velocity; @@ -157,6 +153,9 @@ public class BSCharacter : BSPhysObject BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); + BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); + BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); @@ -583,14 +582,16 @@ public class BSCharacter : BSPhysObject private void ComputeAvatarScale(OMV.Vector3 size) { + // The 'size' given by the simulator is the mid-point of the avatar + // and X and Y are unspecified. + OMV.Vector3 newScale = OMV.Vector3.Zero; - // Scale wants the diameter so mult radius by two - newScale.X = PhysicsScene.Params.avatarCapsuleRadius * 2f; - newScale.Y = PhysicsScene.Params.avatarCapsuleRadius * 2f; + newScale.X = PhysicsScene.Params.avatarCapsuleRadius; + newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; - // From the total height, add the capsule half spheres that are at each end - // newScale.Z = (size.Z) - Math.Min(newScale.X, newScale.Y); - newScale.Z = (size.Z * 2f); + // From the total height, remote the capsule half spheres that are at each end + newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y); + // newScale.Z = (size.Z * 2f); Scale = newScale; } @@ -599,14 +600,14 @@ public class BSCharacter : BSPhysObject { _avatarVolume = (float)( Math.PI - * (Scale.X / 2f) - * (Scale.Y / 2f) // the area of capsule cylinder - * Scale.Z // times height of capsule cylinder + * Scale.X + * Scale.Y // the area of capsule cylinder + * Scale.Z // times height of capsule cylinder + 1.33333333f * Math.PI - * (Scale.X / 2f) - * (Math.Min(Scale.X, Scale.Y) / 2f) - * (Scale.Y / 2f) // plus the volume of the capsule end caps + * Scale.X + * Math.Min(Scale.X, Scale.Y) + * Scale.Y // plus the volume of the capsule end caps ); _mass = _avatarDensity * _avatarVolume; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index b8ef338..202052d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -156,9 +156,11 @@ public abstract class BSPhysObject : PhysicsActor public virtual bool SendCollisions() { bool ret = true; + // If the 'no collision' call, force it to happen right now so quick collision_end + bool force = CollisionCollection.Count == 0; // throttle the collisions to the number of milliseconds specified in the subscription - if (PhysicsScene.SimulationNowTime >= NextCollisionOkTime) + if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) { NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index ab2835c..6621d39 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -532,26 +532,26 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } - // This is a kludge to get avatar movement updates. - // The simulator expects collisions for avatars even if there are have been no collisions. This updates - // avatar animations and stuff. - // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. - foreach (BSPhysObject bsp in m_avatars) - bsp.SendCollisions(); - // The above SendCollision's batch up the collisions on the objects. // Now push the collisions into the simulator. if (ObjectsWithCollisions.Count > 0) { foreach (BSPhysObject bsp in ObjectsWithCollisions) - if (!m_avatars.Contains(bsp)) // don't call avatars twice - if (!bsp.SendCollisions()) - { - // If the object is done colliding, see that it's removed from the colliding list - ObjectsWithNoMoreCollisions.Add(bsp); - } + if (!bsp.SendCollisions()) + { + // If the object is done colliding, see that it's removed from the colliding list + ObjectsWithNoMoreCollisions.Add(bsp); + } } + // This is a kludge to get avatar movement updates. + // The simulator expects collisions for avatars even if there are have been no collisions. + // The event updates avatar animations and stuff. + // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. + foreach (BSPhysObject bsp in m_avatars) + if (!ObjectsWithCollisions.Contains(bsp)) // don't call avatars twice + bsp.SendCollisions(); + // Objects that are done colliding are removed from the ObjectsWithCollisions list. // Not done above because it is inside an iteration of ObjectWithCollisions. if (ObjectsWithNoMoreCollisions.Count > 0) @@ -575,6 +575,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } + // This causes the unmanaged code to output ALL the values found in ALL the objects in the world. + // Only enable this in a limited test world with few objects. + // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG + // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. // We multiply by 55 to give a recognizable running rate (55 or less). diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 3d15eaa..861ffe7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -417,10 +417,9 @@ public class BSShapeCollection : IDisposable if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { - // The radius is scaled by 1/2 because we scale by the diameter. newShape = new BulletShape( - BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 0.5f, 1.0f, shapeData.Scale), - shapeType); + BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), + shapeType); newShape.shapeKey = (System.UInt64)shapeKey; newShape.isNativeShape = true; } @@ -432,7 +431,8 @@ public class BSShapeCollection : IDisposable } // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. - // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape); + DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", + shapeData.ID, newShape, shapeData.Scale); prim.BSShape = newShape; return true; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 9743d94..4106534 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -114,6 +114,7 @@ public class BSTerrainManager BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity)); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr); // Ground plane does not move BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); // Everything collides with the ground plane. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 24d8db6..5ffd591 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -390,7 +390,7 @@ public enum CollisionFilterGroups : uint VolumeDetectMask = ~BSensorTrigger, TerrainFilter = BTerrainFilter, TerrainMask = BAllFilter & ~BStaticFilter, - GroundPlaneFilter = BAllFilter, + GroundPlaneFilter = BGroundPlaneFilter, GroundPlaneMask = BAllFilter }; -- cgit v1.1 From d94c4646ccf0703019dd5a7915afb43706a4de35 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 19 Oct 2012 15:43:31 -0700 Subject: BulletSim: add asset fetching so BulletSim works with new physics asset handling. Refactor some names to make them available for the asset tracking and fetching. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 3 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 + OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 96 +++---- .../Physics/BulletSPlugin/BSShapeCollection.cs | 296 +++++++++++++-------- 4 files changed, 240 insertions(+), 165 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index fc4526b..623ac8f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -200,10 +200,9 @@ public class BSCharacter : BSPhysObject } } public override OMV.Vector3 Scale { get; set; } - private PrimitiveBaseShape _pbs; public override PrimitiveBaseShape Shape { - set { _pbs = value;} + set { BaseShape = value; } } public override bool Grabbed { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 202052d..ead6a08 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -47,6 +47,7 @@ public abstract class BSPhysObject : PhysicsActor TypeName = typeName; Linkset = new BSLinkset(PhysicsScene, this); + LastAssetBuildFailed = false; CollisionCollection = new CollisionEventUpdate(); SubscribedEventsMs = 0; @@ -69,6 +70,13 @@ public abstract class BSPhysObject : PhysicsActor // Reference to the physical shape (btCollisionShape) of this object public BulletShape BSShape; + // 'true' if the mesh's underlying asset failed to build. + // This will keep us from looping after the first time the build failed. + public bool LastAssetBuildFailed { get; set; } + + // The objects base shape information. Null if not a prim type shape. + public PrimitiveBaseShape BaseShape { get; protected set; } + // 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. @@ -101,6 +109,8 @@ public abstract class BSPhysObject : PhysicsActor public abstract float ForceBuoyancy { get; set; } + public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } + #region Collisions // Requested number of milliseconds between collision events. Zero means disabled. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 8013e68..aeeb4dd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -46,8 +46,6 @@ public sealed class BSPrim : BSPhysObject private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS PRIM]"; - private PrimitiveBaseShape _pbs; - // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. // Often Scale is unity because the meshmerizer will apply _size when creating the mesh. private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user @@ -103,7 +101,7 @@ public sealed class BSPrim : BSPhysObject _buoyancy = 1f; _velocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; - _pbs = pbs; + BaseShape = pbs; _isPhysical = pisPhysical; _isVolumeDetect = false; _friction = PhysicsScene.Params.defaultFriction; // TODO: compute based on object material @@ -160,14 +158,7 @@ public sealed class BSPrim : BSPhysObject get { return _size; } set { _size = value; - PhysicsScene.TaintedObject("BSPrim.setSize", delegate() - { - _mass = CalculateMass(); // changing size changes the mass - // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct - // scale and margins are set. - CreateGeomAndObject(true); - // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, Scale, _mass, IsPhysical); - }); + ForceBodyShapeRebuild(false); } } // Scale is what we set in the physics engine. It is different than 'size' in that @@ -176,14 +167,23 @@ public sealed class BSPrim : BSPhysObject public override PrimitiveBaseShape Shape { set { - _pbs = value; - PhysicsScene.TaintedObject("BSPrim.setShape", delegate() - { - _mass = CalculateMass(); // changing the shape changes the mass - CreateGeomAndObject(true); - }); + BaseShape = value; + ForceBodyShapeRebuild(false); } } + public override bool ForceBodyShapeRebuild(bool inTaintTime) + { + BSScene.TaintCallback rebuildOperation = delegate() + { + _mass = CalculateMass(); // changing the shape changes the mass + CreateGeomAndObject(true); + }; + if (inTaintTime) + rebuildOperation(); + else + PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", rebuildOperation); + return true; + } public override bool Grabbed { set { _grabbed = value; } @@ -924,19 +924,19 @@ public sealed class BSPrim : BSPhysObject float tmp; float returnMass = 0; - float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; + float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f; float hollowVolume = hollowAmount * hollowAmount; - switch (_pbs.ProfileShape) + switch (BaseShape.ProfileShape) { case ProfileShape.Square: // default box - if (_pbs.PathCurve == (byte)Extrusion.Straight) + if (BaseShape.PathCurve == (byte)Extrusion.Straight) { if (hollowAmount > 0.0) { - switch (_pbs.HollowShape) + switch (BaseShape.HollowShape) { case HollowShape.Square: case HollowShape.Same: @@ -960,19 +960,19 @@ public sealed class BSPrim : BSPhysObject } } - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) { //a tube - volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); - tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); + volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX); + tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY); volume -= volume*tmp*tmp; if (hollowAmount > 0.0) { hollowVolume *= hollowAmount; - switch (_pbs.HollowShape) + switch (BaseShape.HollowShape) { case HollowShape.Square: case HollowShape.Same: @@ -997,13 +997,13 @@ public sealed class BSPrim : BSPhysObject case ProfileShape.Circle: - if (_pbs.PathCurve == (byte)Extrusion.Straight) + if (BaseShape.PathCurve == (byte)Extrusion.Straight) { volume *= 0.78539816339f; // elipse base if (hollowAmount > 0.0) { - switch (_pbs.HollowShape) + switch (BaseShape.HollowShape) { case HollowShape.Same: case HollowShape.Circle: @@ -1025,10 +1025,10 @@ public sealed class BSPrim : BSPhysObject } } - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) { - volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); + volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX); + tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY); volume *= (1.0f - tmp * tmp); if (hollowAmount > 0.0) @@ -1037,7 +1037,7 @@ public sealed class BSPrim : BSPhysObject // calculate the hollow volume by it's shape compared to the prim shape hollowVolume *= hollowAmount; - switch (_pbs.HollowShape) + switch (BaseShape.HollowShape) { case HollowShape.Same: case HollowShape.Circle: @@ -1061,7 +1061,7 @@ public sealed class BSPrim : BSPhysObject break; case ProfileShape.HalfCircle: - if (_pbs.PathCurve == (byte)Extrusion.Curve1) + if (BaseShape.PathCurve == (byte)Extrusion.Curve1) { volume *= 0.52359877559829887307710723054658f; } @@ -1069,7 +1069,7 @@ public sealed class BSPrim : BSPhysObject case ProfileShape.EquilateralTriangle: - if (_pbs.PathCurve == (byte)Extrusion.Straight) + if (BaseShape.PathCurve == (byte)Extrusion.Straight) { volume *= 0.32475953f; @@ -1077,7 +1077,7 @@ public sealed class BSPrim : BSPhysObject { // calculate the hollow volume by it's shape compared to the prim shape - switch (_pbs.HollowShape) + switch (BaseShape.HollowShape) { case HollowShape.Same: case HollowShape.Triangle: @@ -1102,11 +1102,11 @@ public sealed class BSPrim : BSPhysObject volume *= (1.0f - hollowVolume); } } - else if (_pbs.PathCurve == (byte)Extrusion.Curve1) + else if (BaseShape.PathCurve == (byte)Extrusion.Curve1) { volume *= 0.32475953f; - volume *= 0.01f * (float)(200 - _pbs.PathScaleX); - tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); + volume *= 0.01f * (float)(200 - BaseShape.PathScaleX); + tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY); volume *= (1.0f - tmp * tmp); if (hollowAmount > 0.0) @@ -1114,7 +1114,7 @@ public sealed class BSPrim : BSPhysObject hollowVolume *= hollowAmount; - switch (_pbs.HollowShape) + switch (BaseShape.HollowShape) { case HollowShape.Same: case HollowShape.Triangle: @@ -1154,26 +1154,26 @@ public sealed class BSPrim : BSPhysObject float profileBegin; float profileEnd; - if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) + if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible) { - taperX1 = _pbs.PathScaleX * 0.01f; + taperX1 = BaseShape.PathScaleX * 0.01f; if (taperX1 > 1.0f) taperX1 = 2.0f - taperX1; taperX = 1.0f - taperX1; - taperY1 = _pbs.PathScaleY * 0.01f; + taperY1 = BaseShape.PathScaleY * 0.01f; if (taperY1 > 1.0f) taperY1 = 2.0f - taperY1; taperY = 1.0f - taperY1; } else { - taperX = _pbs.PathTaperX * 0.01f; + taperX = BaseShape.PathTaperX * 0.01f; if (taperX < 0.0f) taperX = -taperX; taperX1 = 1.0f - taperX; - taperY = _pbs.PathTaperY * 0.01f; + taperY = BaseShape.PathTaperY * 0.01f; if (taperY < 0.0f) taperY = -taperY; taperY1 = 1.0f - taperY; @@ -1183,13 +1183,13 @@ public sealed class BSPrim : BSPhysObject volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); - pathBegin = (float)_pbs.PathBegin * 2.0e-5f; - pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; + pathBegin = (float)BaseShape.PathBegin * 2.0e-5f; + pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f; volume *= (pathEnd - pathBegin); // this is crude aproximation - profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; - profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; + profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f; + profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f; volume *= (profileEnd - profileBegin); returnMass = _density * volume; @@ -1251,7 +1251,7 @@ public sealed class BSPrim : BSPhysObject // Create the correct physical representation for this type of object. // Updates BSBody and BSShape with the new information. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. - PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs, + PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, null, delegate(BulletBody dBody) { // Called if the current prim body is about to be destroyed. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 861ffe7..d3ba273 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -117,7 +117,7 @@ public class BSShapeCollection : IDisposable // Track another user of a body // We presume the caller has allocated the body. - // Bodies only have one user so the reference count is either 1 or 0. + // Bodies only have one user so the body is just put into the world if not already there. public void ReferenceBody(BulletBody body, bool inTaintTime) { lock (m_collectionActivityLock) @@ -241,26 +241,32 @@ public class BSShapeCollection : IDisposable BSScene.TaintCallback dereferenceOperation = delegate() { - switch (shape.type) + if (shape.ptr != IntPtr.Zero) { - case ShapeData.PhysicsShapeType.SHAPE_HULL: - DereferenceHull(shape, shapeCallback); - break; - case ShapeData.PhysicsShapeType.SHAPE_MESH: - DereferenceMesh(shape, shapeCallback); - break; - case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN: - break; - default: + if (shape.isNativeShape) + { // Native shapes are not tracked and are released immediately - if (shape.ptr != IntPtr.Zero & shape.isNativeShape) + DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", + BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime); + if (shapeCallback != null) shapeCallback(shape); + BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); + } + else + { + switch (shape.type) { - DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", - BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime); - if (shapeCallback != null) shapeCallback(shape); - BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); + case ShapeData.PhysicsShapeType.SHAPE_HULL: + DereferenceHull(shape, shapeCallback); + break; + case ShapeData.PhysicsShapeType.SHAPE_MESH: + DereferenceMesh(shape, shapeCallback); + break; + case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN: + break; + default: + break; } - break; + } } }; if (inTaintTime) @@ -405,7 +411,6 @@ public class BSShapeCollection : IDisposable ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey, ShapeDestructionCallback shapeCallback) { - BulletShape newShape; shapeData.Type = shapeType; // Bullet native objects are scaled by the Bullet engine so pass the size in @@ -415,27 +420,35 @@ public class BSShapeCollection : IDisposable // release any previous shape DereferenceShape(prim.BSShape, true, shapeCallback); + BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey); + + // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. + DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", + shapeData.ID, newShape, shapeData.Scale); + + prim.BSShape = newShape; + return true; + } + + private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType, + ShapeData shapeData, ShapeData.FixedShapeKey shapeKey) + { + BulletShape newShape; + if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { newShape = new BulletShape( BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), shapeType); - newShape.shapeKey = (System.UInt64)shapeKey; - newShape.isNativeShape = true; } else { newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); - newShape.shapeKey = (System.UInt64)shapeKey; - newShape.isNativeShape = true; } + newShape.shapeKey = (System.UInt64)shapeKey; + newShape.isNativeShape = true; - // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. - DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", - shapeData.ID, newShape, shapeData.Scale); - - prim.BSShape = newShape; - return true; + return newShape; } // Builds a mesh shape in the physical world and updates prim.BSShape. @@ -461,6 +474,8 @@ public class BSShapeCollection : IDisposable DereferenceShape(prim.BSShape, true, shapeCallback); newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod); + // Take evasive action if the mesh was not constructed. + newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs); ReferenceShape(newShape); @@ -474,7 +489,7 @@ public class BSShapeCollection : IDisposable private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { IMesh meshData = null; - IntPtr meshPtr; + IntPtr meshPtr = IntPtr.Zero; MeshDesc meshDesc; if (Meshes.TryGetValue(newMeshKey, out meshDesc)) { @@ -486,23 +501,26 @@ public class BSShapeCollection : IDisposable // Pass false for physicalness as this creates some sort of bounding box which we don't need meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); - int[] indices = meshData.getIndexListAsInt(); - List vertices = meshData.getVertexList(); - - float[] verticesAsFloats = new float[vertices.Count * 3]; - int vi = 0; - foreach (OMV.Vector3 vv in vertices) + if (meshData != null) { - verticesAsFloats[vi++] = vv.X; - verticesAsFloats[vi++] = vv.Y; - verticesAsFloats[vi++] = vv.Z; - } + int[] indices = meshData.getIndexListAsInt(); + List vertices = meshData.getVertexList(); - // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", - // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); + 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, prim.LocalID, newMeshKey, indices.Length, vertices.Count); - meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, - indices.GetLength(0), indices, vertices.Count, verticesAsFloats); + meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, + indices.GetLength(0), indices, vertices.Count, verticesAsFloats); + } } BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH); newShape.shapeKey = newMeshKey; @@ -531,6 +549,7 @@ public class BSShapeCollection : IDisposable DereferenceShape(prim.BSShape, true, shapeCallback); newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); + newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs); ReferenceShape(newShape); @@ -544,7 +563,7 @@ public class BSShapeCollection : IDisposable private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { - IntPtr hullPtr; + IntPtr hullPtr = IntPtr.Zero; HullDesc hullDesc; if (Hulls.TryGetValue(newHullKey, out hullDesc)) { @@ -556,86 +575,89 @@ public class BSShapeCollection : IDisposable // Build a new hull in the physical world // Pass false for physicalness as this creates some sort of bounding box which we don't need IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); - - 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) + if (meshData != null) { - convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); - } - // setup and do convex hull conversion - m_hulls = new List(); - 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 = 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]; + int[] indices = meshData.getIndexListAsInt(); + List vertices = meshData.getVertexList(); - 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) + //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++) { - verts[kk++] = ff; + convIndices.Add(indices[ii]); + } + foreach (OMV.Vector3 vv in vertices) + { + convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); } - // 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) + // setup and do convex hull conversion + m_hulls = new List(); + 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 = m_hulls.Count; + int totalVertices = 1; // include one for the count of the hulls + foreach (ConvexResult cr in m_hulls) { - convHulls[jj++] = verts[ind].x; - convHulls[jj++] = verts[ind].y; - convHulls[jj++] = verts[ind].z; + 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 + hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); } - // create the hull data structure in Bullet - hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); } BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL); @@ -676,6 +698,50 @@ public class BSShapeCollection : IDisposable return ComputeShapeKey(shapeData, pbs, out lod); } + private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs) + { + // If the shape was successfully created, nothing more to do + if (newShape.ptr != IntPtr.Zero) + return newShape; + + // The most common reason for failure is that an underlying asset is not available + + // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset + if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero) + { + prim.LastAssetBuildFailed = true; + 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) + { + if (!yprim.BaseShape.SculptEntry) + return; + if (yprim.BaseShape.SculptTexture.ToString() != asset.ID) + return; + + yprim.BaseShape.SculptData = new byte[asset.Data.Length]; + asset.Data.CopyTo(yprim.BaseShape.SculptData, 0); + // This will cause the prim to see that the filler shape is not the right + // one and try again to build the object. + yprim.ForceBodyShapeRebuild(false); + + }); + } + }); + } + + // While we figure out the real problem, stick a simple native shape on the object. + BulletShape fillinShape = + BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_SPHERE, shapeData, ShapeData.FixedShapeKey.KEY_SPHERE); + + 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. -- cgit v1.1 From a61f20ac74836049cbd24397670c2dcd75fb22da Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 21 Oct 2012 16:12:06 -0700 Subject: BulletSim: Create LinkSet abstract class and sparate constraint based linksets into own subclass. Will eventually add manual movement linkset subclass. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 355 ++---------------- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 396 +++++++++++++++++++++ .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +- 3 files changed, 434 insertions(+), 319 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 43b1262..2e6b104 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -32,10 +32,27 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSLinkset +public abstract class BSLinkset { // private static string LogHeader = "[BULLETSIM LINKSET]"; + // Create the correct type of linkset for this child + public static BSLinkset Factory(BSScene physScene, BSPhysObject parent) + { + BSLinkset ret = null; + /* + if (parent.IsPhysical) + ret = new BSLinksetConstraints(physScene, parent); + else + ret = new BSLinksetManual(physScene, parent); + */ + + // at the moment, there is only one + ret = new BSLinksetConstraints(physScene, parent); + + return ret; + } + public BSPhysObject LinksetRoot { get; protected set; } public BSScene PhysicsScene { get; private set; } @@ -52,16 +69,16 @@ public class BSLinkset // the physical 'taint' children separately. // After taint processing and before the simulation step, these // two lists must be the same. - private HashSet m_children; - private HashSet m_taintChildren; + protected HashSet m_children; + protected HashSet m_taintChildren; // We lock the diddling of linkset classes to prevent any badness. // This locks the modification of the instances of this class. Changes // to the physical representation is done via the tainting mechenism. - private object m_linksetActivityLock = new Object(); + protected object m_linksetActivityLock = new Object(); // We keep the prim's mass in the linkset structure since it could be dependent on other prims - private float m_mass; + protected float m_mass; public float LinksetMass { get @@ -81,7 +98,7 @@ public class BSLinkset get { return ComputeLinksetGeometricCenter(); } } - public BSLinkset(BSScene scene, BSPhysObject parent) + protected void Initialize(BSScene scene, BSPhysObject parent) { // A simple linkset of one (no children) LinksetID = m_nextLinksetID++; @@ -128,7 +145,7 @@ public class BSLinkset } // The child is down to a linkset of just itself - return new BSLinkset(PhysicsScene, child); + return BSLinkset.Factory(PhysicsScene, child); } // Return 'true' if the passed object is the root object of this linkset @@ -163,24 +180,7 @@ public class BSLinkset // When physical properties are changed the linkset needs to recalculate // its internal properties. // May be called at runtime or taint-time (just pass the appropriate flag). - public void Refresh(BSPhysObject requestor, bool inTaintTime) - { - // If there are no children, not physical or not root, I am not the one that recomputes the constraints - // (For the moment, static linksets do create constraints so remove the test for physical.) - if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor)) - return; - - BSScene.TaintCallback refreshOperation = delegate() - { - RecomputeLinksetConstraintVariables(); - DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", - LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); - }; - if (inTaintTime) - refreshOperation(); - else - PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation); - } + public abstract void Refresh(BSPhysObject requestor, bool inTaintTime); // The object is going dynamic (physical). Do any setup necessary // for a dynamic linkset. @@ -188,102 +188,36 @@ public class BSLinkset // has not yet been fully constructed. // Return 'true' if any properties updated on the passed object. // Called at taint-time! - public bool MakeDynamic(BSPhysObject child) - { - // What is done for each object in BSPrim is what we want. - return false; - } + public abstract bool MakeDynamic(BSPhysObject child); // The object is going static (non-physical). Do any setup necessary // for a static linkset. // Return 'true' if any properties updated on the passed object. // Called at taint-time! - public bool MakeStatic(BSPhysObject child) - { - // What is done for each object in BSPrim is what we want. - return false; - } + public abstract bool MakeStatic(BSPhysObject child); // If the software is handling the movement of all the objects in a linkset // (like if one doesn't use constraints for static linksets), this is called // when an update for the root of the linkset is received. // Called at taint-time!! - public void UpdateProperties(BSPhysObject physObject) - { - // The root local properties have been updated. Apply to the children if appropriate. - if (IsRoot(physObject) && HasAnyChildren) - { - if (!physObject.IsPhysical) - { - // TODO: implement software linkset update for static object linksets - } - } - } + public abstract void UpdateProperties(BSPhysObject physObject); // Routine used when rebuilding the body of the root of the linkset // Destroy all the constraints have have been made to root. // This is called when the root body is changing. // Returns 'true' of something eas actually removed and would need restoring // Called at taint-time!! - public bool RemoveBodyDependencies(BSPrim child) - { - bool ret = false; - - lock (m_linksetActivityLock) - { - if (IsRoot(child)) - { - // If the one with the dependency is root, must undo all children - DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); - - ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); - } - else - { - DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}", - child.LocalID, - LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), - child.LocalID, child.BSBody.ptr.ToString("X")); - // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child); - // Despite the function name, this removes any link to the specified object. - ret = PhysicallyUnlinkAllChildrenFromRoot(child); - } - } - return ret; - } + public abstract bool RemoveBodyDependencies(BSPrim child); // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', // this routine will restore the removed constraints. // Called at taint-time!! - public void RestoreBodyDependencies(BSPrim child) - { - lock (m_linksetActivityLock) - { - if (IsRoot(child)) - { - DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}", - child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); - foreach (BSPhysObject bpo in m_taintChildren) - { - PhysicallyLinkAChildToRoot(LinksetRoot, bpo); - } - } - else - { - DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}", - LinksetRoot.LocalID, - LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), - child.LocalID, child.BSBody.ptr.ToString("X")); - PhysicallyLinkAChildToRoot(LinksetRoot, child); - } - } - } + public abstract void RestoreBodyDependencies(BSPrim child); // ================================================================ // Below this point is internal magic - private float ComputeLinksetMass() + protected virtual float ComputeLinksetMass() { float mass; lock (m_linksetActivityLock) @@ -297,7 +231,7 @@ public class BSLinkset return mass; } - private OMV.Vector3 ComputeLinksetCenterOfMass() + protected virtual OMV.Vector3 ComputeLinksetCenterOfMass() { OMV.Vector3 com; lock (m_linksetActivityLock) @@ -317,7 +251,7 @@ public class BSLinkset return com; } - private OMV.Vector3 ComputeLinksetGeometricCenter() + protected virtual OMV.Vector3 ComputeLinksetGeometricCenter() { OMV.Vector3 com; lock (m_linksetActivityLock) @@ -336,236 +270,21 @@ public class BSLinkset // I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. - private void AddChildToLinkset(BSPhysObject child) - { - if (!HasChild(child)) - { - m_children.Add(child); - - BSPhysObject rootx = LinksetRoot; // capture the root as of now - BSPhysObject childx = child; - - DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); - - PhysicsScene.TaintedObject("AddChildToLinkset", delegate() - { - DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", - rootx.LocalID, - rootx.LocalID, rootx.BSBody.ptr.ToString("X"), - childx.LocalID, childx.BSBody.ptr.ToString("X")); - // Since this is taint-time, the body and shape could have changed for the child - rootx.ForcePosition = rootx.Position; // DEBUG - childx.ForcePosition = childx.Position; // DEBUG - PhysicallyLinkAChildToRoot(rootx, childx); - m_taintChildren.Add(child); - }); - } - return; - } + protected abstract void AddChildToLinkset(BSPhysObject child); // Forcefully removing a child from a linkset. // This is not being called by the child so we have to make sure the child doesn't think // it's still connected to the linkset. // Normal OpenSimulator operation will never do this because other SceneObjectPart information // also has to be updated (like pointer to prim's parent). - private void RemoveChildFromOtherLinkset(BSPhysObject pchild) - { - pchild.Linkset = new BSLinkset(PhysicsScene, pchild); - RemoveChildFromLinkset(pchild); - } + protected abstract void RemoveChildFromOtherLinkset(BSPhysObject pchild); // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. - private void RemoveChildFromLinkset(BSPhysObject child) - { - if (m_children.Remove(child)) - { - BSPhysObject rootx = LinksetRoot; // capture the root and body as of now - BSPhysObject childx = child; - - DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", - childx.LocalID, - rootx.LocalID, rootx.BSBody.ptr.ToString("X"), - childx.LocalID, childx.BSBody.ptr.ToString("X")); - - PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() - { - m_taintChildren.Remove(child); - PhysicallyUnlinkAChildFromRoot(rootx, childx); - RecomputeLinksetConstraintVariables(); - }); - - } - else - { - // This will happen if we remove the root of the linkset first. Non-fatal occurance. - // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); - } - return; - } - - // Create a constraint between me (root of linkset) and the passed prim (the child). - // Called at taint time! - private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) - { - // Zero motion for children so they don't interpolate - childPrim.ZeroMotion(); - - // Relative position normalized to the root prim - // Essentually a vector pointing from center of rootPrim to center of childPrim - OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position; - - // real world coordinate of midpoint between the two objects - OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); - - DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", - rootPrim.LocalID, - rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), - childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"), - rootPrim.Position, childPrim.Position, midPoint); - - // create a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - - BS6DofConstraint constrain = new BS6DofConstraint( - PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true ); - - /* NOTE: below is an attempt to build constraint with full frame computation, etc. - * Using the midpoint is easier since it lets the Bullet code manipulate the transforms - * of the objects. - * Code left as a warning to future programmers. - // ================================================================================== - // relative position normalized to the root prim - OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); - OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation; - - // relative rotation of the child to the parent - OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; - OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation); - - // create a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); - BS6DofConstraint constrain = new BS6DofConstraint( - PhysicsScene.World, rootPrim.Body, childPrim.Body, - OMV.Vector3.Zero, - OMV.Quaternion.Inverse(rootPrim.Orientation), - OMV.Vector3.Zero, - OMV.Quaternion.Inverse(childPrim.Orientation), - // A point half way between the parent and child - // childRelativePosition/2, - // childRelativeRotation, - // childRelativePosition/2, - // inverseChildRelativeRotation, - true, - true - ); - // ================================================================================== - */ - - PhysicsScene.Constraints.AddConstraint(constrain); - - // zero linear and angular limits makes the objects unable to move in relation to each other - constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); - constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); - - // tweek the constraint to increase stability - constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset)); - constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor), - PhysicsScene.Params.linkConstraintTransMotorMaxVel, - PhysicsScene.Params.linkConstraintTransMotorMaxForce); - constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); - if (PhysicsScene.Params.linkConstraintSolverIterations != 0f) - { - constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations); - } - } - - // Remove linkage between myself and a particular child - // The root and child bodies are passed in because we need to remove the constraint between - // the bodies that were at unlink time. - // Called at taint time! - private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) - { - bool ret = false; - DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", - rootPrim.LocalID, - rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), - childPrim.LocalID, childPrim.BSBody.ptr.ToString("X")); - - // Find the constraint for this link and get rid of it from the overall collection and from my list - if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody)) - { - // Make the child refresh its location - BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); - ret = true; - } - - return ret; - } - - // Remove linkage between myself and any possible children I might have. - // Called at taint time! - private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) - { - DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); - bool ret = false; - - if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody)) - { - ret = true; - } - return ret; - } - - // Call each of the constraints that make up this linkset and recompute the - // various transforms and variables. Used when objects are added or removed - // from a linkset to make sure the constraints know about the new mass and - // geometry. - // Must only be called at taint time!! - private void RecomputeLinksetConstraintVariables() - { - float linksetMass = LinksetMass; - foreach (BSPhysObject child in m_taintChildren) - { - BSConstraint constrain; - if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) - { - // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", - // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); - constrain.RecomputeConstraintVariables(linksetMass); - } - else - { - // Non-fatal error that happens when children are being added to the linkset but - // their constraints have not been created yet. - break; - } - } - - // If the whole linkset is not here, doesn't make sense to recompute linkset wide values - if (m_children.Count == m_taintChildren.Count) - { - // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass - OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); - BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, - centerOfMass, OMV.Quaternion.Identity); - DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}", - LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X")); - foreach (BSPhysObject child in m_taintChildren) - { - BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, - centerOfMass, OMV.Quaternion.Identity); - } - - // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG - } - return; - } - + protected abstract void RemoveChildFromLinkset(BSPhysObject child); // Invoke the detailed logger and output something if it's enabled. - private void DetailLog(string msg, params Object[] args) + protected void DetailLog(string msg, params Object[] args) { if (PhysicsScene.PhysicsLogging.Enabled) PhysicsScene.DetailLog(msg, args); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs new file mode 100755 index 0000000..ee53d92 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -0,0 +1,396 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSLinksetConstraints : BSLinkset +{ + // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; + + public BSLinksetConstraints(BSScene scene, BSPhysObject parent) + { + base.Initialize(scene, parent); + } + + // When physical properties are changed the linkset needs to recalculate + // its internal properties. + // May be called at runtime or taint-time (just pass the appropriate flag). + public override void Refresh(BSPhysObject requestor, bool inTaintTime) + { + // If there are no children, not physical or not root, I am not the one that recomputes the constraints + // (For the moment, static linksets do create constraints so remove the test for physical.) + if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor)) + return; + + BSScene.TaintCallback refreshOperation = delegate() + { + RecomputeLinksetConstraintVariables(); + DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", + LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); + }; + if (inTaintTime) + refreshOperation(); + else + PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation); + } + + // The object is going dynamic (physical). Do any setup necessary + // for a dynamic linkset. + // Only the state of the passed object can be modified. The rest of the linkset + // has not yet been fully constructed. + // Return 'true' if any properties updated on the passed object. + // Called at taint-time! + public override bool MakeDynamic(BSPhysObject child) + { + // What is done for each object in BSPrim is what we want. + return false; + } + + // The object is going static (non-physical). Do any setup necessary + // for a static linkset. + // Return 'true' if any properties updated on the passed object. + // Called at taint-time! + public override bool MakeStatic(BSPhysObject child) + { + // What is done for each object in BSPrim is what we want. + return false; + } + + // If the software is handling the movement of all the objects in a linkset + // (like if one doesn't use constraints for static linksets), this is called + // when an update for the root of the linkset is received. + // Called at taint-time!! + public override void UpdateProperties(BSPhysObject physObject) + { + // The root local properties have been updated. Apply to the children if appropriate. + if (IsRoot(physObject) && HasAnyChildren) + { + if (!physObject.IsPhysical) + { + // TODO: implement software linkset update for static object linksets + } + } + } + + // Routine used when rebuilding the body of the root of the linkset + // Destroy all the constraints have have been made to root. + // This is called when the root body is changing. + // Returns 'true' of something eas actually removed and would need restoring + // Called at taint-time!! + public override bool RemoveBodyDependencies(BSPrim child) + { + bool ret = false; + + lock (m_linksetActivityLock) + { + if (IsRoot(child)) + { + // If the one with the dependency is root, must undo all children + DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", + child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); + + ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); + } + else + { + DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}", + child.LocalID, + LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), + child.LocalID, child.BSBody.ptr.ToString("X")); + // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child); + // Despite the function name, this removes any link to the specified object. + ret = PhysicallyUnlinkAllChildrenFromRoot(child); + } + } + return ret; + } + + // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', + // this routine will restore the removed constraints. + // Called at taint-time!! + public override void RestoreBodyDependencies(BSPrim child) + { + lock (m_linksetActivityLock) + { + if (IsRoot(child)) + { + DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}", + child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); + foreach (BSPhysObject bpo in m_taintChildren) + { + PhysicallyLinkAChildToRoot(LinksetRoot, bpo); + } + } + else + { + DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}", + LinksetRoot.LocalID, + LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), + child.LocalID, child.BSBody.ptr.ToString("X")); + PhysicallyLinkAChildToRoot(LinksetRoot, child); + } + } + } + + // ================================================================ + // Below this point is internal magic + + // I am the root of a linkset and a new child is being added + // Called while LinkActivity is locked. + protected override void AddChildToLinkset(BSPhysObject child) + { + if (!HasChild(child)) + { + m_children.Add(child); + + BSPhysObject rootx = LinksetRoot; // capture the root as of now + BSPhysObject childx = child; + + DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); + + PhysicsScene.TaintedObject("AddChildToLinkset", delegate() + { + DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", + rootx.LocalID, + rootx.LocalID, rootx.BSBody.ptr.ToString("X"), + childx.LocalID, childx.BSBody.ptr.ToString("X")); + // Since this is taint-time, the body and shape could have changed for the child + rootx.ForcePosition = rootx.Position; // DEBUG + childx.ForcePosition = childx.Position; // DEBUG + PhysicallyLinkAChildToRoot(rootx, childx); + m_taintChildren.Add(child); + }); + } + return; + } + + // Forcefully removing a child from a linkset. + // This is not being called by the child so we have to make sure the child doesn't think + // it's still connected to the linkset. + // Normal OpenSimulator operation will never do this because other SceneObjectPart information + // also has to be updated (like pointer to prim's parent). + protected override void RemoveChildFromOtherLinkset(BSPhysObject pchild) + { + pchild.Linkset = BSLinkset.Factory(PhysicsScene, pchild); + RemoveChildFromLinkset(pchild); + } + + // I am the root of a linkset and one of my children is being removed. + // Safe to call even if the child is not really in my linkset. + protected override void RemoveChildFromLinkset(BSPhysObject child) + { + if (m_children.Remove(child)) + { + BSPhysObject rootx = LinksetRoot; // capture the root and body as of now + BSPhysObject childx = child; + + DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", + childx.LocalID, + rootx.LocalID, rootx.BSBody.ptr.ToString("X"), + childx.LocalID, childx.BSBody.ptr.ToString("X")); + + PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() + { + m_taintChildren.Remove(child); + PhysicallyUnlinkAChildFromRoot(rootx, childx); + RecomputeLinksetConstraintVariables(); + }); + + } + else + { + // This will happen if we remove the root of the linkset first. Non-fatal occurance. + // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); + } + return; + } + + // Create a constraint between me (root of linkset) and the passed prim (the child). + // Called at taint time! + private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) + { + // Zero motion for children so they don't interpolate + childPrim.ZeroMotion(); + + // Relative position normalized to the root prim + // Essentually a vector pointing from center of rootPrim to center of childPrim + OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position; + + // real world coordinate of midpoint between the two objects + OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); + + DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", + rootPrim.LocalID, + rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), + childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"), + rootPrim.Position, childPrim.Position, midPoint); + + // create a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + + BS6DofConstraint constrain = new BS6DofConstraint( + PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true ); + + /* NOTE: below is an attempt to build constraint with full frame computation, etc. + * Using the midpoint is easier since it lets the Bullet code manipulate the transforms + * of the objects. + * Code left as a warning to future programmers. + // ================================================================================== + // relative position normalized to the root prim + OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); + OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation; + + // relative rotation of the child to the parent + OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; + OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation); + + // create a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); + BS6DofConstraint constrain = new BS6DofConstraint( + PhysicsScene.World, rootPrim.Body, childPrim.Body, + OMV.Vector3.Zero, + OMV.Quaternion.Inverse(rootPrim.Orientation), + OMV.Vector3.Zero, + OMV.Quaternion.Inverse(childPrim.Orientation), + // A point half way between the parent and child + // childRelativePosition/2, + // childRelativeRotation, + // childRelativePosition/2, + // inverseChildRelativeRotation, + true, + true + ); + // ================================================================================== + */ + + PhysicsScene.Constraints.AddConstraint(constrain); + + // zero linear and angular limits makes the objects unable to move in relation to each other + constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); + constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); + + // tweek the constraint to increase stability + constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset)); + constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor), + PhysicsScene.Params.linkConstraintTransMotorMaxVel, + PhysicsScene.Params.linkConstraintTransMotorMaxForce); + constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); + if (PhysicsScene.Params.linkConstraintSolverIterations != 0f) + { + constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations); + } + } + + // Remove linkage between myself and a particular child + // The root and child bodies are passed in because we need to remove the constraint between + // the bodies that were at unlink time. + // Called at taint time! + private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) + { + bool ret = false; + DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", + rootPrim.LocalID, + rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), + childPrim.LocalID, childPrim.BSBody.ptr.ToString("X")); + + // Find the constraint for this link and get rid of it from the overall collection and from my list + if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody)) + { + // Make the child refresh its location + BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); + ret = true; + } + + return ret; + } + + // Remove linkage between myself and any possible children I might have. + // Called at taint time! + private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) + { + DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); + bool ret = false; + + if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody)) + { + ret = true; + } + return ret; + } + + // Call each of the constraints that make up this linkset and recompute the + // various transforms and variables. Used when objects are added or removed + // from a linkset to make sure the constraints know about the new mass and + // geometry. + // Must only be called at taint time!! + private void RecomputeLinksetConstraintVariables() + { + float linksetMass = LinksetMass; + foreach (BSPhysObject child in m_taintChildren) + { + BSConstraint constrain; + if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) + { + // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", + // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); + constrain.RecomputeConstraintVariables(linksetMass); + } + else + { + // Non-fatal error that happens when children are being added to the linkset but + // their constraints have not been created yet. + break; + } + } + + // If the whole linkset is not here, doesn't make sense to recompute linkset wide values + if (m_children.Count == m_taintChildren.Count) + { + // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass + OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); + BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, + centerOfMass, OMV.Quaternion.Identity); + DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}", + LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X")); + foreach (BSPhysObject child in m_taintChildren) + { + BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, + centerOfMass, OMV.Quaternion.Identity); + } + + // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG + } + return; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index ead6a08..51b9196 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -46,7 +46,7 @@ public abstract class BSPhysObject : PhysicsActor PhysObjectName = name; TypeName = typeName; - Linkset = new BSLinkset(PhysicsScene, this); + Linkset = BSLinkset.Factory(PhysicsScene, this); LastAssetBuildFailed = false; CollisionCollection = new CollisionEventUpdate(); -- cgit v1.1 From c245178eeee530e2be90ef9395ee885e0a79b7df Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 21 Oct 2012 16:13:22 -0700 Subject: BulletSim: encorporate UBit's suggestion to save a copy of mesh raw data. --- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index d3ba273..7b808eb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -724,8 +724,7 @@ public class BSShapeCollection : IDisposable if (yprim.BaseShape.SculptTexture.ToString() != asset.ID) return; - yprim.BaseShape.SculptData = new byte[asset.Data.Length]; - asset.Data.CopyTo(yprim.BaseShape.SculptData, 0); + 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. yprim.ForceBodyShapeRebuild(false); -- cgit v1.1 From 65c131c4a362bed347a6240184ce40b9ddeaaae1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Oct 2012 08:23:21 -0700 Subject: BulletSim: remove trailing spaces to make git happy. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 10 +++++----- OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 10 +++++----- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 10 +++++----- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 6 +++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 10 +++++----- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 20 ++++++++++---------- 8 files changed, 36 insertions(+), 36 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 623ac8f..07dd613 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -165,7 +165,7 @@ public class BSCharacter : BSPhysObject // Do this after the object has been added to the world BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, - (uint)CollisionFilterGroups.AvatarFilter, + (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask); } @@ -269,7 +269,7 @@ public class BSCharacter : BSPhysObject private bool PositionSanityCheck() { bool ret = false; - + // If below the ground, move the avatar up float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); if (Position.Z < terrainHeight) @@ -413,7 +413,7 @@ public class BSCharacter : BSPhysObject }); } } - // Go directly to Bullet to get/set the value. + // Go directly to Bullet to get/set the value. public override OMV.Quaternion ForceOrientation { get @@ -478,7 +478,7 @@ public class BSCharacter : BSPhysObject set { _collidingObj = value; } } public override bool FloatOnWater { - set { + set { _floatOnWater = value; PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() { @@ -588,7 +588,7 @@ public class BSCharacter : BSPhysObject newScale.X = PhysicsScene.Params.avatarCapsuleRadius; newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; - // From the total height, remote the capsule half spheres that are at each end + // From the total height, remote the capsule half spheres that are at each end newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y); // newScale.Z = (size.Z * 2f); Scale = newScale; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index a20be3a..b58745a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -53,7 +53,7 @@ public abstract class BSConstraint : IDisposable { bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", - BSScene.DetailLogZero, + BSScene.DetailLogZero, m_body1.ID, m_body1.ptr.ToString("X"), m_body2.ID, m_body2.ptr.ToString("X"), success); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 56342b8..f71f3b0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -23,7 +23,7 @@ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ + * /* RA: June 14, 2011. Copied from ODEDynamics.cs and converted to * call the BulletSim system. @@ -352,7 +352,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_bankingMix = 1; // m_bankingTimescale = 1; // m_referenceFrame = Quaternion.Identity; - m_flags |= (VehicleFlag.NO_DEFLECTION_UP + m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); @@ -382,7 +382,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_bankingTimescale = 1; // m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY - | VehicleFlag.HOVER_GLOBAL_HEIGHT + | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY); m_flags |= (VehicleFlag.NO_DEFLECTION_UP @@ -458,7 +458,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Do any updating needed for a vehicle public void Refresh() { - if (!IsActive) + if (!IsActive) return; // Set the prim's inertia to zero. The vehicle code handles that and this @@ -791,7 +791,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Sum velocities m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection - + if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) { m_lastAngularVelocity.X = 0; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index ee53d92..8eeeb73 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -54,7 +54,7 @@ public class BSLinksetConstraints : BSLinkset BSScene.TaintCallback refreshOperation = delegate() { RecomputeLinksetConstraintVariables(); - DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", + DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); }; if (inTaintTime) @@ -179,7 +179,7 @@ public class BSLinksetConstraints : BSLinkset PhysicsScene.TaintedObject("AddChildToLinkset", delegate() { - DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", + DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", rootx.LocalID, rootx.LocalID, rootx.BSBody.ptr.ToString("X"), childx.LocalID, childx.BSBody.ptr.ToString("X")); @@ -213,7 +213,7 @@ public class BSLinksetConstraints : BSLinkset BSPhysObject rootx = LinksetRoot; // capture the root and body as of now BSPhysObject childx = child; - DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", + DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", childx.LocalID, rootx.LocalID, rootx.BSBody.ptr.ToString("X"), childx.LocalID, childx.BSBody.ptr.ToString("X")); @@ -378,13 +378,13 @@ public class BSLinksetConstraints : BSLinkset { // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); - BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, + BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}", LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X")); foreach (BSPhysObject child in m_taintChildren) { - BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, + BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 51b9196..538f905 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -78,7 +78,7 @@ public abstract class BSPhysObject : PhysicsActor public PrimitiveBaseShape BaseShape { get; protected set; } // When the physical properties are updated, an EntityProperty holds the update values. - // Keep the current and last EntityProperties to enable computation of differences + // Keep the current and last EntityProperties to enable computation of differences // between the current update and the previous values. public EntityProperties CurrentEntityProperties { get; set; } public EntityProperties LastEntityProperties { get; set; } @@ -213,7 +213,7 @@ public abstract class BSPhysObject : PhysicsActor UnSubscribeEvents(); } } - public override void UnSubscribeEvents() { + public override void UnSubscribeEvents() { // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); SubscribedEventsMs = 0; PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() @@ -222,7 +222,7 @@ public abstract class BSPhysObject : PhysicsActor }); } // Return 'true' if the simulator wants collision events - public override bool SubscribedEvents() { + public override bool SubscribedEvents() { return (SubscribedEventsMs > 0); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index aeeb4dd..7b211fa 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -295,7 +295,7 @@ public sealed class BSPrim : BSPhysObject private bool PositionSanityCheck() { bool ret = false; - + // If totally below the ground, move the prim up // TODO: figure out the right solution for this... only for dynamic objects? /* @@ -510,7 +510,7 @@ public sealed class BSPrim : BSPhysObject }); } } - // Go directly to Bullet to get/set the value. + // Go directly to Bullet to get/set the value. public override OMV.Quaternion ForceOrientation { get @@ -768,7 +768,7 @@ public sealed class BSPrim : BSPhysObject } } public override bool FloatOnWater { - set { + set { _floatOnWater = value; PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() { @@ -971,7 +971,7 @@ public sealed class BSPrim : BSPhysObject if (hollowAmount > 0.0) { hollowVolume *= hollowAmount; - + switch (BaseShape.HollowShape) { case HollowShape.Square: @@ -1251,7 +1251,7 @@ public sealed class BSPrim : BSPhysObject // Create the correct physical representation for this type of object. // Updates BSBody and BSShape with the new information. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. - PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, + PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, null, delegate(BulletBody dBody) { // Called if the current prim body is about to be destroyed. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 6621d39..233f1ca 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -320,7 +320,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters { m_log.Debug("[BULLETS UNMANAGED]:" + msg); } - + // Called directly from unmanaged code so don't do much private void BulletLoggerPhysLog(string msg) { @@ -545,7 +545,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // This is a kludge to get avatar movement updates. - // The simulator expects collisions for avatars even if there are have been no collisions. + // The simulator expects collisions for avatars even if there are have been no collisions. // The event updates avatar animations and stuff. // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. foreach (BSPhysObject bsp in m_avatars) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 7b808eb..86bbf46 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -89,7 +89,7 @@ public class BSShapeCollection : IDisposable // 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, BulletSim sim, BSPhysObject prim, + public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) { @@ -105,7 +105,7 @@ public class BSShapeCollection : IDisposable // 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 - bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, + bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData, bodyCallback); ret = newGeom || newBody; } @@ -325,7 +325,7 @@ public 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, ShapeData shapeData, + private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback) { bool ret = false; @@ -335,7 +335,7 @@ public class BSShapeCollection : IDisposable if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { // an avatar capsule is close to a native shape (it is not shared) - ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, + ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape); haveShape = true; @@ -362,7 +362,7 @@ public class BSShapeCollection : IDisposable || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE ) { - ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, + ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", prim.LocalID, forceRebuild, prim.BSShape); @@ -376,7 +376,7 @@ public class BSShapeCollection : IDisposable || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX ) { - ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, + ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", prim.LocalID, forceRebuild, prim.BSShape); @@ -423,14 +423,14 @@ public class BSShapeCollection : IDisposable BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey); // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. - DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", + DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", shapeData.ID, newShape, shapeData.Scale); prim.BSShape = newShape; return true; } - private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType, + private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType, ShapeData shapeData, ShapeData.FixedShapeKey shapeKey) { BulletShape newShape; @@ -438,7 +438,7 @@ public class BSShapeCollection : IDisposable if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { newShape = new BulletShape( - BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), + BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), shapeType); } else @@ -745,7 +745,7 @@ public class BSShapeCollection : IDisposable // 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, BulletSim sim, BulletShape shape, + private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape, ShapeData shapeData, BodyDestructionCallback bodyCallback) { bool ret = false; -- cgit v1.1 From 7272a4cae835f2d3d2a696241c6e6eb5f4b5af54 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Oct 2012 09:12:06 -0700 Subject: BulletSim: fix problem of not rebuilding shape by clearing last rebuild failed flag in BSPrim.ForceBodyShapeRebuild() --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 9 +++++++-- 2 files changed, 8 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 7b211fa..3c5e6e5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -173,6 +173,7 @@ public sealed class BSPrim : BSPhysObject } public override bool ForceBodyShapeRebuild(bool inTaintTime) { + LastAssetBuildFailed = false; BSScene.TaintCallback rebuildOperation = delegate() { _mass = CalculateMass(); // changing the shape changes the mass diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 86bbf46..89d0d3e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -698,14 +698,19 @@ public class BSShapeCollection : IDisposable return ComputeShapeKey(shapeData, 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 decompressing JPEG2000s). + // The first case causes the asset to be fetched. The second case just requires + // us to not loop forever. + // Called after creating a physical mesh or hull. If the physical shape was created, + // just return. private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs) { // If the shape was successfully created, nothing more to do if (newShape.ptr != IntPtr.Zero) return newShape; - // The most common reason for failure is that an underlying asset is not available - // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero) { -- cgit v1.1 From 14eeb8b31b865f7b1927703028b03b6f61693cb6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Oct 2012 16:33:21 -0700 Subject: BulletSim: fix bug that caused error (and a crash on 32 bit Linux) when mesh assets weren't already in the cache. Comment cleanups. --- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 4 ++- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 5 ++-- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 13 +++++---- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 19 +++---------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 9 ++++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 + .../Physics/BulletSPlugin/BSShapeCollection.cs | 31 ++++++++++++++++++---- .../Physics/BulletSPlugin/BSTerrainManager.cs | 4 +-- 8 files changed, 51 insertions(+), 35 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index b58745a..f017cdd 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -34,6 +34,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin public abstract class BSConstraint : IDisposable { + private static string LogHeader = "[BULLETSIM CONSTRAINT]"; + protected BulletSim m_world; protected BulletBody m_body1; protected BulletBody m_body2; @@ -124,7 +126,7 @@ public abstract class BSConstraint : IDisposable } else { - m_world.physicsScene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID); + m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID); } } return ret; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index f71f3b0..117c878 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -464,8 +464,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Set the prim's inertia to zero. The vehicle code handles that and this // removes the motion and torque actions introduced by Bullet. Vector3 inertia = Vector3.Zero; - BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); - BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); + // comment out for DEBUG test + // BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); + // BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); } // One step of the vehicle properties for the next 'pTimestep' seconds. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 2e6b104..c984824 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -165,6 +165,9 @@ public abstract class BSLinkset bool ret = false; lock (m_linksetActivityLock) { + if (m_children.Contains(child)) + ret = true; + /* foreach (BSPhysObject bp in m_children) { if (child.LocalID == bp.LocalID) @@ -173,6 +176,7 @@ public abstract class BSLinkset break; } } + */ } return ret; } @@ -196,21 +200,20 @@ public abstract class BSLinkset // Called at taint-time! public abstract bool MakeStatic(BSPhysObject child); - // If the software is handling the movement of all the objects in a linkset - // (like if one doesn't use constraints for static linksets), this is called - // when an update for the root of the linkset is received. + // Called when a parameter update comes from the physics engine for any object + // of the linkset is received. // Called at taint-time!! public abstract void UpdateProperties(BSPhysObject physObject); // Routine used when rebuilding the body of the root of the linkset // Destroy all the constraints have have been made to root. // This is called when the root body is changing. - // Returns 'true' of something eas actually removed and would need restoring + // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! public abstract bool RemoveBodyDependencies(BSPrim child); // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', - // this routine will restore the removed constraints. + // this routine will restore the removed constraints. // Called at taint-time!! public abstract void RestoreBodyDependencies(BSPrim child); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 8eeeb73..8a750b5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -46,9 +46,8 @@ public class BSLinksetConstraints : BSLinkset // May be called at runtime or taint-time (just pass the appropriate flag). public override void Refresh(BSPhysObject requestor, bool inTaintTime) { - // If there are no children, not physical or not root, I am not the one that recomputes the constraints - // (For the moment, static linksets do create constraints so remove the test for physical.) - if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor)) + // If there are no children or not root, I am not the one that recomputes the constraints + if (!HasAnyChildren || !IsRoot(requestor)) return; BSScene.TaintCallback refreshOperation = delegate() @@ -85,20 +84,10 @@ public class BSLinksetConstraints : BSLinkset return false; } - // If the software is handling the movement of all the objects in a linkset - // (like if one doesn't use constraints for static linksets), this is called - // when an update for the root of the linkset is received. // Called at taint-time!! - public override void UpdateProperties(BSPhysObject physObject) + public override void UpdateProperties(BSPhysObject updated) { - // The root local properties have been updated. Apply to the children if appropriate. - if (IsRoot(physObject) && HasAnyChildren) - { - if (!physObject.IsPhysical) - { - // TODO: implement software linkset update for static object linksets - } - } + // Nothing to do for constraints on property updates } // Routine used when rebuilding the body of the root of the linkset diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 3c5e6e5..8401c69 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -399,7 +399,7 @@ public sealed class BSPrim : BSPhysObject { // Done at taint time so we're sure the physics engine is not using the variables // Vehicle code changes the parameters for this vehicle type. - this._vehicle.ProcessTypeChange(type); + _vehicle.ProcessTypeChange(type); }); } } @@ -1246,12 +1246,13 @@ public sealed class BSPrim : BSPhysObject FillShapeInfo(out shapeData); // If this prim is part of a linkset, we must remove and restore the physical - // links of the body is rebuilt. + // links if the body is rebuilt. bool needToRestoreLinkset = false; // Create the correct physical representation for this type of object. // Updates BSBody and BSShape with the new information. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. + // Returns 'true' if either the body or the shape was changed. PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, null, delegate(BulletBody dBody) { @@ -1355,7 +1356,7 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); - // BulletSimAPI.DumpRigidBody2(Scene.World.Ptr, BSBody.Ptr); + BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG base.RequestPhysicsterseUpdate(); } @@ -1368,8 +1369,8 @@ public sealed class BSPrim : BSPhysObject entprop.Acceleration, entprop.RotationalVelocity); } */ - // The linkset implimentation might want to know about this. + // The linkset implimentation might want to know about this. Linkset.UpdateProperties(this); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 233f1ca..48ee6f6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -716,6 +716,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } catch (Exception e) { + DetailLog("{0},BSScene.ProcessTaints,doTaintException,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 89d0d3e..b1833c5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -36,7 +36,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSShapeCollection : IDisposable { - // private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; + private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; protected BSScene PhysicsScene { get; set; } @@ -434,16 +434,26 @@ public class BSShapeCollection : IDisposable ShapeData shapeData, ShapeData.FixedShapeKey shapeKey) { BulletShape newShape; + // Need to make sure the passed shape information is for the native type. + ShapeData nativeShapeData = shapeData; + nativeShapeData.Type = shapeType; + nativeShapeData.MeshKey = (ulong)shapeKey; + nativeShapeData.HullKey = (ulong)shapeKey; if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { newShape = new BulletShape( - BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), - shapeType); + BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, nativeShapeData.Scale), shapeType); + DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale); } else { - newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); + newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); + } + if (newShape.ptr == IntPtr.Zero) + { + PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", + LogHeader, nativeShapeData.ID, nativeShapeData.Type); } newShape.shapeKey = (System.UInt64)shapeKey; newShape.isNativeShape = true; @@ -716,6 +726,8 @@ public class BSShapeCollection : IDisposable { prim.LastAssetBuildFailed = true; BSPhysObject xprim = prim; + DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}", + LogHeader, shapeData.ID.ToString("X"), prim.LastAssetBuildFailed); Util.FireAndForget(delegate { RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod; @@ -732,16 +744,25 @@ public class BSShapeCollection : IDisposable 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 native sphere setting since the rebuild is at taint time. yprim.ForceBodyShapeRebuild(false); }); } }); } + else + { + if (prim.LastAssetBuildFailed) + { + PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}", + LogHeader, shapeData.ID, pbs.SculptTexture); + } + } // While we figure out the real problem, stick a simple native shape on the object. BulletShape fillinShape = - BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_SPHERE, shapeData, ShapeData.FixedShapeKey.KEY_SPHERE); + BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_BOX, shapeData, ShapeData.FixedShapeKey.KEY_BOX); return fillinShape; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 4106534..ae267e3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -201,9 +201,7 @@ public class BSTerrainManager // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new // terrain shape is created and added to the body. // This call is most often used to update the heightMap and parameters of the terrain. - // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when - // calling this routine from initialization or taint-time routines) or whether to delay - // all the unmanaged activities to taint-time. + // (The above does suggest that some simplification/refactoring is in order.) private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) { DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}", -- cgit v1.1 From 36bfd3667c44f7cd4e66e880c45c34903ed34842 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Oct 2012 22:22:48 -0700 Subject: BulletSim: remove chatty debug message. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 8401c69..38ab3de 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1356,7 +1356,7 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); - BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG + // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG base.RequestPhysicsterseUpdate(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 48ee6f6..e686f2f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1334,7 +1334,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Add the Flush() if debugging crashes to get all the messages written out. // PhysicsLogging.Flush(); } - // used to fill in the LocalID when there isn't one + // Used to fill in the LocalID when there isn't one. It's the correct number of characters. public const string DetailLogZero = "0000000000"; } -- cgit v1.1 From b49f8a377b9ac542096a0bc8ad30b11942c27413 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 23 Oct 2012 08:02:26 -0700 Subject: BulletSim: minor change to insure avatar body recreation when shape changes. --- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index b1833c5..d9427e1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -338,6 +338,7 @@ public class BSShapeCollection : IDisposable ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape); + ret = true; haveShape = true; } // If the prim attributes are simple, this could be a simple Bullet native shape @@ -411,15 +412,14 @@ public class BSShapeCollection : IDisposable ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey, ShapeDestructionCallback shapeCallback) { + // release any previous shape + DereferenceShape(prim.BSShape, true, shapeCallback); shapeData.Type = shapeType; // Bullet native objects are scaled by the Bullet engine so pass the size in prim.Scale = shapeData.Size; shapeData.Scale = shapeData.Size; - // release any previous shape - DereferenceShape(prim.BSShape, true, shapeCallback); - BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey); // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. -- cgit v1.1 From b6fc5bad000e7e7af992e7f29eeb2de9f716fcc4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 23 Oct 2012 17:30:43 -0700 Subject: BulletSim: fix problem with avatars sinking into the ground. Change terrain activation state to DISABLE_SIMULATION for better performance. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 27 ++++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 3 +-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 4 ++-- .../Physics/BulletSPlugin/BSTerrainManager.cs | 4 ++-- 4 files changed, 23 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 07dd613..a041ba8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -105,7 +105,7 @@ public class BSCharacter : BSPhysObject shapeData.Position = _position; shapeData.Rotation = _orientation; shapeData.Velocity = _velocity; - shapeData.Size = Scale; + shapeData.Size = Scale; // capsule is a native shape but scale is not just <1,1,1> shapeData.Scale = Scale; shapeData.Mass = _mass; shapeData.Buoyancy = _buoyancy; @@ -144,7 +144,9 @@ public class BSCharacter : BSPhysObject ForcePosition = _position; // Set the velocity and compute the proper friction ForceVelocity = _velocity; + BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution); + BulletSimAPI.SetMargin2(BSShape.ptr, PhysicsScene.Params.collisionMargin); BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); if (PhysicsScene.Params.ccdMotionThreshold > 0f) @@ -156,11 +158,15 @@ public class BSCharacter : BSPhysObject OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); + // Make so capsule does not fall over + BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); + // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION); BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); // Do this after the object has been added to the world @@ -175,11 +181,13 @@ public class BSCharacter : BSPhysObject } // No one calls this method so I don't know what it could possibly mean public override bool Stopped { get { return false; } } + public override OMV.Vector3 Size { get { // Avatar capsule size is kept in the scale parameter. - return _size; + // return _size; + return new OMV.Vector3(Scale.X * 2f, Scale.Y * 2f, Scale.Z); } set { @@ -199,7 +207,9 @@ public class BSCharacter : BSPhysObject } } + public override OMV.Vector3 Scale { get; set; } + public override PrimitiveBaseShape Shape { set { BaseShape = value; } @@ -264,7 +274,7 @@ public class BSCharacter : BSPhysObject // Check that the current position is sane and, if not, modify the position to make it so. - // Check for being below terrain and being out of bounds. + // Check for being below terrain or on water. // Returns 'true' of the position was made sane by some action. private bool PositionSanityCheck() { @@ -335,7 +345,7 @@ public class BSCharacter : BSPhysObject } // Avatars don't do vehicles - public override int VehicleType { get { return 0; } set { return; } } + public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } } public override void VehicleFloatParam(int param, float value) { } public override void VehicleVectorParam(int param, OMV.Vector3 value) {} public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { } @@ -588,9 +598,8 @@ public class BSCharacter : BSPhysObject newScale.X = PhysicsScene.Params.avatarCapsuleRadius; newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; - // From the total height, remote the capsule half spheres that are at each end - newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y); - // newScale.Z = (size.Z * 2f); + // From the total height, remove the capsule half spheres that are at each end + newScale.Z = size.Z- (newScale.X + newScale.Y); Scale = newScale; } @@ -636,7 +645,7 @@ public class BSCharacter : BSPhysObject BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel); } - // Tell the linkset about this + // Tell the linkset about value changes Linkset.UpdateProperties(this); // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e686f2f..db0c99e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -692,7 +692,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters { if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process { - // swizzle a new list into the list location so we can process what's there int taintCount = m_taintsToProcessPerStep; TaintCallbackEntry oneCallback = new TaintCallbackEntry(); while (_taintedObjects.Count > 0 && taintCount-- > 0) @@ -711,7 +710,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters { try { - DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG + DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); oneCallback.callback(); } catch (Exception e) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index d9427e1..30fa50a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -443,7 +443,8 @@ public class BSShapeCollection : IDisposable if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { newShape = new BulletShape( - BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, nativeShapeData.Scale), shapeType); + BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, nativeShapeData.Scale) + , shapeType); DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale); } else @@ -790,7 +791,6 @@ public class BSShapeCollection : IDisposable // If the collisionObject is not the correct type for solidness, rebuild what's there mustRebuild = true; } - } if (mustRebuild || forceRebuild) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index ae267e3..880859a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -333,8 +333,8 @@ public class BSTerrainManager // Make sure the new shape is processed. // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); - BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING); - // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING); + BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); m_terrainModified = true; }; -- cgit v1.1 From 804b332d45c3989958f5ec08e1509ba373fb84b1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 25 Oct 2012 08:04:20 -0700 Subject: BulletSim: Add banking and other new code to vechile dynamics. Add third party license and contributor in for for Aurora-Sim project for physics code. --- .../Physics/BulletSPlugin/BS6DofConstraint.cs | 2 +- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- .../BulletSPlugin/BSConstraintCollection.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 489 +++++++++++++-------- .../Physics/BulletSPlugin/BSHingeConstraint.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 + .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 2 +- 11 files changed, 323 insertions(+), 188 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs index 3306a97..310df3d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs @@ -32,7 +32,7 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BS6DofConstraint : BSConstraint +public sealed class BS6DofConstraint : BSConstraint { private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index a041ba8..9fea9b8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -34,7 +34,7 @@ using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSCharacter : BSPhysObject +public sealed class BSCharacter : BSPhysObject { private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS CHAR]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index 22ea367..b9add06 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -33,7 +33,7 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSConstraintCollection : IDisposable +public sealed class BSConstraintCollection : IDisposable { // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 117c878..9b59bef 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -52,7 +52,7 @@ using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.BulletSPlugin { - public class BSDynamics + public sealed class BSDynamics { private BSScene PhysicsScene { get; set; } // the prim this dynamic controller belongs to @@ -72,8 +72,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // LIMIT_ROLL_ONLY private Vector3 m_BlockingEndPoint = Vector3.Zero; private Quaternion m_RollreferenceFrame = Quaternion.Identity; + private Quaternion m_referenceFrame = Quaternion.Identity; + // Linear properties private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time + private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL private Vector3 m_newVelocity = Vector3.Zero; // velocity computed to be applied to body private Vector3 m_linearFrictionTimescale = Vector3.Zero; @@ -95,19 +98,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body //Deflection properties - // private float m_angularDeflectionEfficiency = 0; - // private float m_angularDeflectionTimescale = 0; - // private float m_linearDeflectionEfficiency = 0; - // private float m_linearDeflectionTimescale = 0; + private float m_angularDeflectionEfficiency = 0; + private float m_angularDeflectionTimescale = 0; + private float m_linearDeflectionEfficiency = 0; + private float m_linearDeflectionTimescale = 0; //Banking properties - // private float m_bankingEfficiency = 0; - // private float m_bankingMix = 0; - // private float m_bankingTimescale = 0; + private float m_bankingEfficiency = 0; + private float m_bankingMix = 0; + private float m_bankingTimescale = 0; //Hover and Buoyancy properties private float m_VhoverHeight = 0f; -// private float m_VhoverEfficiency = 0f; + private float m_VhoverEfficiency = 0f; private float m_VhoverTimescale = 0f; private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. @@ -138,10 +141,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: - // m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f); + m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f); break; case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: - // m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); + m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: m_angularMotorDecayTimescale = Math.Max(pValue, 0.01f); @@ -150,20 +153,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularMotorTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.BANKING_EFFICIENCY: - // m_bankingEfficiency = Math.Max(pValue, 0.01f); + m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f)); break; case Vehicle.BANKING_MIX: - // m_bankingMix = Math.Max(pValue, 0.01f); + m_bankingMix = Math.Max(pValue, 0.01f); break; case Vehicle.BANKING_TIMESCALE: - // m_bankingTimescale = Math.Max(pValue, 0.01f); + m_bankingTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.BUOYANCY: m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f)); break; -// case Vehicle.HOVER_EFFICIENCY: -// m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f)); -// break; + case Vehicle.HOVER_EFFICIENCY: + m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f)); + break; case Vehicle.HOVER_HEIGHT: m_VhoverHeight = pValue; break; @@ -171,10 +174,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_VhoverTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: - // m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f); + m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_DEFLECTION_TIMESCALE: - // m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); + m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: m_linearMotorDecayTimescale = Math.Max(pValue, 0.01f); @@ -196,7 +199,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.ANGULAR_MOTOR_DIRECTION: m_angularMotorDirection = new Vector3(pValue, pValue, pValue); - m_angularMotorApply = 10; + m_angularMotorApply = 100; break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); @@ -206,7 +209,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); break; case Vehicle.LINEAR_MOTOR_OFFSET: - // m_linearMotorOffset = new Vector3(pValue, pValue, pValue); + m_linearMotorOffset = new Vector3(pValue, pValue, pValue); break; } @@ -221,15 +224,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.ANGULAR_MOTOR_DIRECTION: - m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // Limit requested angular speed to 2 rps= 4 pi rads/sec - if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f; - if (m_angularMotorDirection.X < - 12.56f) m_angularMotorDirection.X = - 12.56f; - if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f; - if (m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f; - if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f; - if (m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f; - m_angularMotorApply = 10; + pValue.X = Math.Max(-12.56f, Math.Min(pValue.X, 12.56f)); + pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f)); + pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f)); + m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); + m_angularMotorApply = 100; break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); @@ -239,7 +239,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.LINEAR_MOTOR_OFFSET: - // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); + m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.BLOCK_EXIT: m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); @@ -253,7 +253,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin switch (pParam) { case Vehicle.REFERENCE_FRAME: - // m_referenceFrame = pValue; + m_referenceFrame = pValue; break; case Vehicle.ROLL_FRAME: m_RollreferenceFrame = pValue; @@ -265,21 +265,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin { VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove); VehicleFlag parm = (VehicleFlag)pParam; - if (remove) + if (pParam == -1) + m_flags = (VehicleFlag)0; + else { - if (pParam == -1) - { - m_flags = (VehicleFlag)0; - } - else - { + if (remove) m_flags &= ~parm; - } - } - else { - m_flags |= parm; + else + m_flags |= parm; } - }//end ProcessVehicleFlags + } internal void ProcessTypeChange(Vehicle pType) { @@ -288,99 +283,142 @@ namespace OpenSim.Region.Physics.BulletSPlugin Type = pType; switch (pType) { - case Vehicle.TYPE_NONE: - m_linearFrictionTimescale = new Vector3(0, 0, 0); - m_angularFrictionTimescale = new Vector3(0, 0, 0); + case Vehicle.TYPE_NONE: m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 0; m_linearMotorDecayTimescale = 0; + m_linearFrictionTimescale = new Vector3(0, 0, 0); + m_angularMotorDirection = Vector3.Zero; - m_angularMotorTimescale = 0; m_angularMotorDecayTimescale = 0; + m_angularMotorTimescale = 0; + m_angularFrictionTimescale = new Vector3(0, 0, 0); + m_VhoverHeight = 0; + m_VhoverEfficiency = 0; m_VhoverTimescale = 0; m_VehicleBuoyancy = 0; + + m_linearDeflectionEfficiency = 1; + m_linearDeflectionTimescale = 1; + + m_angularDeflectionEfficiency = 0; + m_angularDeflectionTimescale = 1000; + + m_verticalAttractionEfficiency = 0; + m_verticalAttractionTimescale = 0; + + m_bankingEfficiency = 0; + m_bankingTimescale = 1000; + m_bankingMix = 1; + + m_referenceFrame = Quaternion.Identity; m_flags = (VehicleFlag)0; break; case Vehicle.TYPE_SLED: - m_linearFrictionTimescale = new Vector3(30, 1, 1000); - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 1000; m_linearMotorDecayTimescale = 120; + m_linearFrictionTimescale = new Vector3(30, 1, 1000); + m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 1000; m_angularMotorDecayTimescale = 120; + m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); + m_VhoverHeight = 0; -// m_VhoverEfficiency = 1; + m_VhoverEfficiency = 10; // TODO: this looks wrong!! m_VhoverTimescale = 10; m_VehicleBuoyancy = 0; - // m_linearDeflectionEfficiency = 1; - // m_linearDeflectionTimescale = 1; - // m_angularDeflectionEfficiency = 1; - // m_angularDeflectionTimescale = 1000; - // m_bankingEfficiency = 0; - // m_bankingMix = 1; - // m_bankingTimescale = 10; - // m_referenceFrame = Quaternion.Identity; + + m_linearDeflectionEfficiency = 1; + m_linearDeflectionTimescale = 1; + + m_angularDeflectionEfficiency = 1; + m_angularDeflectionTimescale = 1000; + + m_verticalAttractionEfficiency = 0; + m_verticalAttractionTimescale = 0; + + m_bankingEfficiency = 0; + m_bankingTimescale = 10; + m_bankingMix = 1; + + m_referenceFrame = Quaternion.Identity; m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); break; case Vehicle.TYPE_CAR: - m_linearFrictionTimescale = new Vector3(100, 2, 1000); - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 1; m_linearMotorDecayTimescale = 60; + m_linearFrictionTimescale = new Vector3(100, 2, 1000); + m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 1; m_angularMotorDecayTimescale = 0.8f; + m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); + m_VhoverHeight = 0; -// m_VhoverEfficiency = 0; + m_VhoverEfficiency = 0; m_VhoverTimescale = 1000; m_VehicleBuoyancy = 0; - // // m_linearDeflectionEfficiency = 1; - // // m_linearDeflectionTimescale = 2; - // // m_angularDeflectionEfficiency = 0; - // m_angularDeflectionTimescale = 10; + + m_linearDeflectionEfficiency = 1; + m_linearDeflectionTimescale = 2; + + m_angularDeflectionEfficiency = 0; + m_angularDeflectionTimescale = 10; + m_verticalAttractionEfficiency = 1f; m_verticalAttractionTimescale = 10f; - // m_bankingEfficiency = -0.2f; - // m_bankingMix = 1; - // m_bankingTimescale = 1; - // m_referenceFrame = Quaternion.Identity; + + m_bankingEfficiency = -0.2f; + m_bankingMix = 1; + m_bankingTimescale = 1; + + m_referenceFrame = Quaternion.Identity; + m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY + | VehicleFlag.HOVER_TERRAIN_ONLY + | VehicleFlag.HOVER_GLOBAL_HEIGHT); m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY - | VehicleFlag.LIMIT_MOTOR_UP); - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); - m_flags |= (VehicleFlag.HOVER_UP_ONLY); + | VehicleFlag.LIMIT_MOTOR_UP + | VehicleFlag.HOVER_UP_ONLY); break; case Vehicle.TYPE_BOAT: - m_linearFrictionTimescale = new Vector3(10, 3, 2); - m_angularFrictionTimescale = new Vector3(10,10,10); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 5; m_linearMotorDecayTimescale = 60; + m_linearFrictionTimescale = new Vector3(10, 3, 2); + m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 4; m_angularMotorDecayTimescale = 4; + m_angularFrictionTimescale = new Vector3(10,10,10); + m_VhoverHeight = 0; -// m_VhoverEfficiency = 0.5f; + m_VhoverEfficiency = 0.5f; m_VhoverTimescale = 2; m_VehicleBuoyancy = 1; - // m_linearDeflectionEfficiency = 0.5f; - // m_linearDeflectionTimescale = 3; - // m_angularDeflectionEfficiency = 0.5f; - // m_angularDeflectionTimescale = 5; + + m_linearDeflectionEfficiency = 0.5f; + m_linearDeflectionTimescale = 3; + + m_angularDeflectionEfficiency = 0.5f; + m_angularDeflectionTimescale = 5; + m_verticalAttractionEfficiency = 0.5f; m_verticalAttractionTimescale = 5f; - // m_bankingEfficiency = -0.3f; - // m_bankingMix = 0.8f; - // m_bankingTimescale = 1; - // m_referenceFrame = Quaternion.Identity; + + m_bankingEfficiency = -0.3f; + m_bankingMix = 0.8f; + m_bankingTimescale = 1; + + m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.LIMIT_ROLL_ONLY @@ -390,28 +428,35 @@ namespace OpenSim.Region.Physics.BulletSPlugin | VehicleFlag.HOVER_WATER_ONLY); break; case Vehicle.TYPE_AIRPLANE: - m_linearFrictionTimescale = new Vector3(200, 10, 5); - m_angularFrictionTimescale = new Vector3(20, 20, 20); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 2; m_linearMotorDecayTimescale = 60; + m_linearFrictionTimescale = new Vector3(200, 10, 5); + m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 4; m_angularMotorDecayTimescale = 4; + m_angularFrictionTimescale = new Vector3(20, 20, 20); + m_VhoverHeight = 0; -// m_VhoverEfficiency = 0.5f; + m_VhoverEfficiency = 0.5f; m_VhoverTimescale = 1000; m_VehicleBuoyancy = 0; - // m_linearDeflectionEfficiency = 0.5f; - // m_linearDeflectionTimescale = 3; - // m_angularDeflectionEfficiency = 1; - // m_angularDeflectionTimescale = 2; + + m_linearDeflectionEfficiency = 0.5f; + m_linearDeflectionTimescale = 3; + + m_angularDeflectionEfficiency = 1; + m_angularDeflectionTimescale = 2; + m_verticalAttractionEfficiency = 0.9f; m_verticalAttractionTimescale = 2f; - // m_bankingEfficiency = 1; - // m_bankingMix = 0.7f; - // m_bankingTimescale = 2; - // m_referenceFrame = Quaternion.Identity; + + m_bankingEfficiency = 1; + m_bankingMix = 0.7f; + m_bankingTimescale = 2; + + m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT @@ -421,28 +466,36 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); break; case Vehicle.TYPE_BALLOON: - m_linearFrictionTimescale = new Vector3(5, 5, 5); - m_angularFrictionTimescale = new Vector3(10, 10, 10); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 5; + m_linearFrictionTimescale = new Vector3(5, 5, 5); m_linearMotorDecayTimescale = 60; + m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 6; + m_angularFrictionTimescale = new Vector3(10, 10, 10); m_angularMotorDecayTimescale = 10; + m_VhoverHeight = 5; -// m_VhoverEfficiency = 0.8f; + m_VhoverEfficiency = 0.8f; m_VhoverTimescale = 10; m_VehicleBuoyancy = 1; - // m_linearDeflectionEfficiency = 0; - // m_linearDeflectionTimescale = 5; - // m_angularDeflectionEfficiency = 0; - // m_angularDeflectionTimescale = 5; + + m_linearDeflectionEfficiency = 0; + m_linearDeflectionTimescale = 5; + + m_angularDeflectionEfficiency = 0; + m_angularDeflectionTimescale = 5; + m_verticalAttractionEfficiency = 1f; m_verticalAttractionTimescale = 100f; - // m_bankingEfficiency = 0; - // m_bankingMix = 0.7f; - // m_bankingTimescale = 5; - // m_referenceFrame = Quaternion.Identity; + + m_bankingEfficiency = 0; + m_bankingMix = 0.7f; + m_bankingTimescale = 5; + m_referenceFrame = Quaternion.Identity; + + m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_UP_ONLY @@ -452,21 +505,27 @@ namespace OpenSim.Region.Physics.BulletSPlugin | VehicleFlag.HOVER_GLOBAL_HEIGHT); break; } - }//end SetDefaultsForType + } // Some of the properties of this prim may have changed. // Do any updating needed for a vehicle public void Refresh() { - if (!IsActive) - return; - - // Set the prim's inertia to zero. The vehicle code handles that and this - // removes the motion and torque actions introduced by Bullet. - Vector3 inertia = Vector3.Zero; - // comment out for DEBUG test - // BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); - // BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); + /* + * Doesnt work unless BSDynamics senses and corrects for all collisions + if (IsActive) + BulletSimAPI.AddToCollisionFlags2(Prim.BSBody.ptr, CollisionFlags.CF_KINEMATIC_OBJECT); + else + BulletSimAPI.RemoveFromCollisionFlags2(Prim.BSBody.ptr, CollisionFlags.CF_KINEMATIC_OBJECT); + */ + /* + * Doesn't work because with zero inertia, Bullet will not apply any forces to the object. + if (IsActive) + { + BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, Vector3.Zero); + BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); + } + */ } // One step of the vehicle properties for the next 'pTimestep' seconds. @@ -478,6 +537,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin MoveAngular(pTimestep); LimitRotation(pTimestep); + /* Experimental + // Wonder if Bullet could handle collision penetration while this applies the forces. + // Apply the computed forces on the vehicle + Prim.ForcePosition += Prim.ForceVelocity * Prim.MassRaw * pTimestep; + + if (Prim.ForceRotationalVelocity != Vector3.Zero) + { + Quaternion newOrientation = Prim.ForceOrientation; + newOrientation.Normalize(); + Quaternion appliedRotation = new Quaternion((Prim.ForceRotationalVelocity * pTimestep), 0f); + newOrientation += (appliedRotation * newOrientation) * 0.5f; + newOrientation.Normalize(); + Prim.ForceOrientation = newOrientation; + } + */ + // remember the position so next step we can limit absolute movement effects m_lastPositionVector = Prim.ForcePosition; @@ -489,59 +564,46 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Also does hover and float. private void MoveLinear(float pTimestep) { - // m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates - // m_lastLinearVelocityVector is the speed we are moving in that direction + // m_linearMotorDirection is the target direction we are moving relative to the vehicle coordinates + // m_lastLinearVelocityVector is the current speed we are moving in that direction if (m_linearMotorDirection.LengthSquared() > 0.001f) { Vector3 origDir = m_linearMotorDirection; Vector3 origVel = m_lastLinearVelocityVector; // add drive to body - // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale / pTimestep); Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep); // lastLinearVelocityVector is the current body velocity vector - // RA: Not sure what the *10 is for. A correction for pTimestep? - // m_lastLinearVelocityVector += (addAmount*10); m_lastLinearVelocityVector += addAmount; - // Limit the velocity vector to less than the last set linear motor direction - if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) - m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; - if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y)) - m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y; - if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z)) - m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z; - - /* - // decay applied velocity - Vector3 decayfraction = Vector3.One/(m_linearMotorDecayTimescale / pTimestep); - // (RA: do not know where the 0.5f comes from) - m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; - */ float keepfraction = 1.0f - (1.0f / (m_linearMotorDecayTimescale / pTimestep)); m_linearMotorDirection *= keepfraction; VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}", Prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector); + + // convert requested object velocity to object relative vector + m_newVelocity = m_lastLinearVelocityVector * Prim.ForceOrientation; } else { // if what remains of direction is very small, zero it. m_linearMotorDirection = Vector3.Zero; m_lastLinearVelocityVector = Vector3.Zero; + m_newVelocity = Vector3.Zero; + VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); } - // convert requested object velocity to object relative vector - Quaternion rotq = Prim.ForceOrientation; - m_newVelocity = m_lastLinearVelocityVector * rotq; + // m_newVelocity is velocity computed from linear motor // Add the various forces into m_dir which will be our new direction vector (velocity) // add Gravity and Buoyancy // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Linkset.LinksetMass * (1f - m_VehicleBuoyancy)); + // Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Linkset.LinksetMass * (1f - m_VehicleBuoyancy)); + Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); /* * RA: Not sure why one would do this @@ -567,6 +629,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // Check if hovering + // m_VhoverEfficiency: 0=bouncy, 1=totally damped + // m_VhoverTimescale: time to achieve height if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) { // We should hover, get the target height @@ -597,13 +661,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin } else { - float herr0 = pos.Z - m_VhoverTargetHeight; + float horizontalError = pos.Z - m_VhoverTargetHeight; + // RA: where does the 50 come from> + float horizontalCorrectionVelocity = ((horizontalError * 50.0f) / (m_VhoverTimescale / pTimestep)); // Replace Vertical speed with correction figure if significant - if (Math.Abs(herr0) > 0.01f) + if (Math.Abs(horizontalError) > 0.01f) { - m_newVelocity.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale); + m_newVelocity.Z += horizontalCorrectionVelocity; //KF: m_VhoverEfficiency is not yet implemented } + else if (horizontalError < -0.01) + { + m_newVelocity.Z -= horizontalCorrectionVelocity; + } else { m_newVelocity.Z = 0f; @@ -678,16 +748,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_flags & (VehicleFlag.NO_Z)) != 0) m_newVelocity.Z = 0; - // Apply velocity - Prim.ForceVelocity = m_newVelocity; - // apply gravity force - // Why is this set here? The physics engine already does gravity. - Prim.AddForce(grav, false, true); - // Apply friction Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); m_lastLinearVelocityVector *= keepFraction; + // Apply velocity + // Prim.ForceVelocity = m_newVelocity; + Prim.AddForce(m_newVelocity, false); + VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}", Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction); @@ -717,11 +785,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 origDir = m_angularMotorDirection; // ramp up to new value - // new velocity += error / ( time to get there / step interval) - // requested speed - last motor speed - m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); - m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); - m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); + // new velocity += error / ( time to get there / step interval) + // requested speed - last motor speed + m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep); VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},origDir={5},vel={6}", Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity); @@ -732,46 +798,50 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // No motor recently applied, keep the body velocity // and decay the velocity - m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); - if (m_angularMotorVelocity.LengthSquared() < 0.00001) + if (m_angularMotorVelocity.LengthSquared() < 0.0001) m_angularMotorVelocity = Vector3.Zero; + else + m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); } // end motor section - // Vertical attractor section + #region Vertical attactor + Vector3 vertattr = Vector3.Zero; Vector3 deflection = Vector3.Zero; Vector3 banking = Vector3.Zero; if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero) { - float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep); + float VAservo = 0.2f; + if (Prim.Linkset.LinksetIsColliding) + VAservo = 0.05f / (m_verticalAttractionTimescale / pTimestep); + VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); // get present body rotation Quaternion rotq = Prim.ForceOrientation; // vector pointing up - Vector3 verterr = Vector3.Zero; - verterr.Z = 1.0f; + Vector3 verticalError = Vector3.UnitZ; // rotate it to Body Angle - verterr = verterr * rotq; - // verterr.X and .Y are the World error amounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. + verticalError = verticalError * rotq; + // verticalError.X and .Y are the World error amounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body. // Error is 0 (no error) to +/- 2 (max error) - if (verterr.Z < 0.0f) + if (verticalError.Z < 0.0f) { - verterr.X = 2.0f - verterr.X; - verterr.Y = 2.0f - verterr.Y; + verticalError.X = 2.0f - verticalError.X; + verticalError.Y = 2.0f - verticalError.Y; } // scale it by VAservo - verterr = verterr * VAservo; + verticalError = verticalError * VAservo; - // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so + // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y then .X increases, so // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. - vertattr.X = verterr.Y; - vertattr.Y = - verterr.X; + vertattr.X = verticalError.Y; + vertattr.Y = - verticalError.X; vertattr.Z = 0f; // scaling appears better usingsquare-law @@ -779,10 +849,77 @@ namespace OpenSim.Region.Physics.BulletSPlugin vertattr.X += bounce * angularVelocity.X; vertattr.Y += bounce * angularVelocity.Y; - VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", - Prim.LocalID, verterr, bounce, vertattr); + VDetailLog("{0},MoveAngular,verticalAttraction,verticalError={1},bounce={2},vertattr={3}", + Prim.LocalID, verticalError, bounce, vertattr); + + } + #endregion // Vertical attactor + + #region Deflection + + //Forward is the prefered direction, but if the reference frame has changed, we need to take this into account as well + Vector3 PreferredAxisOfMotion = + new Vector3((10*(m_angularDeflectionEfficiency/m_angularDeflectionTimescale)), 0, 0); + PreferredAxisOfMotion *= Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); + + //Multiply it so that it scales linearly + //deflection = PreferredAxisOfMotion; + + //deflection = ((PreferredAxisOfMotion * m_angularDeflectionEfficiency) / (m_angularDeflectionTimescale / pTimestep)); + + #endregion - } // else vertical attractor is off + #region Banking + + if (m_bankingEfficiency != 0) + { + Vector3 dir = Vector3.One * Prim.ForceOrientation; + float mult = (m_bankingMix*m_bankingMix)*-1*(m_bankingMix < 0 ? -1 : 1); + //Changes which way it banks in and out of turns + + //Use the square of the efficiency, as it looks much more how SL banking works + float effSquared = (m_bankingEfficiency*m_bankingEfficiency); + if (m_bankingEfficiency < 0) + effSquared *= -1; //Keep the negative! + + float mix = Math.Abs(m_bankingMix); + if (m_angularMotorVelocity.X == 0) + { + /*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f)) + { + Vector3 axisAngle; + float angle; + parent.Orientation.GetAxisAngle(out axisAngle, out angle); + Vector3 rotatedVel = parent.Velocity * parent.Orientation; + if ((rotatedVel.X < 0 && axisAngle.Y > 0) || (rotatedVel.X > 0 && axisAngle.Y < 0)) + m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (1f) * 10; + else + m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (-1f) * 10; + }*/ + } + else + banking.Z += (effSquared*(mult*mix))*(m_angularMotorVelocity.X) * 4; + if (!Prim.Linkset.LinksetIsColliding && Math.Abs(m_angularMotorVelocity.X) > mix) + //If they are colliding, we probably shouldn't shove the prim around... probably + { + float angVelZ = m_angularMotorVelocity.X*-1; + /*if(angVelZ > mix) + angVelZ = mix; + else if(angVelZ < -mix) + angVelZ = -mix;*/ + //This controls how fast and how far the banking occurs + Vector3 bankingRot = new Vector3(angVelZ*(effSquared*mult), 0, 0); + if (bankingRot.X > 3) + bankingRot.X = 3; + else if (bankingRot.X < -3) + bankingRot.X = -3; + bankingRot *= Prim.ForceOrientation; + banking += bankingRot; + } + m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; + } + + #endregion m_lastVertAttractor = vertattr; @@ -811,7 +948,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; // Apply to the body - Prim.ForceRotationalVelocity = m_lastAngularVelocity; + // Prim.ForceRotationalVelocity = m_lastAngularVelocity; + Prim.AddAngularForce(m_lastAngularVelocity, false); VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); } //end MoveAngular @@ -820,38 +958,31 @@ namespace OpenSim.Region.Physics.BulletSPlugin { Quaternion rotq = Prim.ForceOrientation; Quaternion m_rot = rotq; - bool changed = false; if (m_RollreferenceFrame != Quaternion.Identity) { if (rotq.X >= m_RollreferenceFrame.X) { m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2); - changed = true; } if (rotq.Y >= m_RollreferenceFrame.Y) { m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2); - changed = true; } if (rotq.X <= -m_RollreferenceFrame.X) { m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2); - changed = true; } if (rotq.Y <= -m_RollreferenceFrame.Y) { m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2); - changed = true; } - changed = true; } if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) { m_rot.X = 0; m_rot.Y = 0; - changed = true; } - if (changed) + if (rotq != m_rot) { Prim.ForceOrientation = m_rot; VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs index 7c8a215..76bd930 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs @@ -32,7 +32,7 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -class BSHingeConstraint : BSConstraint +public sealed class BSHingeConstraint : BSConstraint { public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index c984824..24fe6b9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -88,6 +88,8 @@ public abstract class BSLinkset } } + public virtual bool LinksetIsColliding { get { return false; } } + public OMV.Vector3 CenterOfMass { get { return ComputeLinksetCenterOfMass(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 8a750b5..003c294 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -32,7 +32,7 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSLinksetConstraints : BSLinkset +public sealed class BSLinksetConstraints : BSLinkset { // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 38ab3de..39d20dc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -311,6 +311,7 @@ public sealed class BSPrim : BSPhysObject if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); + // TODO: a floating motor so object will bob in the water if (Position.Z < waterHeight) { _position.Z = waterHeight; @@ -902,7 +903,8 @@ public sealed class BSPrim : BSPhysObject } // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. - BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); + if (fSum != OMV.Vector3.Zero) + BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); }; if (inTaintTime) addForceOperation(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index db0c99e..9e95ce5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -62,7 +62,7 @@ using OpenMetaverse; // namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSScene : PhysicsScene, IPhysicsParameters +public sealed class BSScene : PhysicsScene, IPhysicsParameters { private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS SCENE]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 30fa50a..1c0e6f5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -34,7 +34,7 @@ using OpenSim.Region.Physics.ConvexDecompositionDotNet; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSShapeCollection : IDisposable +public sealed class BSShapeCollection : IDisposable { private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 880859a..11298fe 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -40,7 +40,7 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSTerrainManager +public sealed class BSTerrainManager { static string LogHeader = "[BULLETSIM TERRAIN MANAGER]"; -- cgit v1.1 From b83449ae9ad3073abaa06167a99c47943c3199c2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 26 Oct 2012 13:47:28 -0700 Subject: BulletSim: correct spelling of Bullet call. It's 'swept' not 'sweep'. --- OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs | 4 ++++ OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 4 ++-- 3 files changed, 7 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs index 310df3d..ecb3ec8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs @@ -135,7 +135,11 @@ public sealed class BS6DofConstraint : BSConstraint bool ret = false; float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; if (m_enabled) + { ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce); + m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}", + BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce); + } return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 9fea9b8..8bb4b21 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -152,7 +152,7 @@ public sealed class BSCharacter : BSPhysObject if (PhysicsScene.Params.ccdMotionThreshold > 0f) { BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 5ffd591..be3a5ad 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -881,10 +881,10 @@ public static extern float GetCcdMotionThreshold2(IntPtr obj); public static extern void SetCcdMotionThreshold2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetCcdSweepSphereRadius2(IntPtr obj); +public static extern float GetCcdSweptSphereRadius2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCcdSweepSphereRadius2(IntPtr obj, float val); +public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetUserPointer2(IntPtr obj); -- cgit v1.1 From 8fa83cf43045401ee02321e0fb1191402db5bb05 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 26 Oct 2012 13:49:57 -0700 Subject: BulletSim: Add activations after vehicle properties change. Problem was the vehicle was going to sleep while waiting for commands. Make AddAngularForce work the same way as AddForce -- accumulates values and pushes them once into Bullet. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 74 +++++++++++++++++++++----- 1 file changed, 62 insertions(+), 12 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 39d20dc..44937df 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -242,8 +242,8 @@ public sealed class BSPrim : BSPhysObject _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; - // Zero some other properties directly into the physics engine - BulletSimAPI.ClearForces2(BSBody.ptr); + // Zero some other properties in the physics engine + BulletSimAPI.ClearAllForces2(BSBody.ptr); } public override void LockAngularMotion(OMV.Vector3 axis) @@ -275,6 +275,7 @@ public sealed class BSPrim : BSPhysObject { // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + ActivateIfPhysical(false); }); } } @@ -287,6 +288,7 @@ public sealed class BSPrim : BSPhysObject _position = value; PositionSanityCheck(); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + ActivateIfPhysical(false); } } @@ -401,6 +403,7 @@ public sealed class BSPrim : BSPhysObject // Done at taint time so we're sure the physics engine is not using the variables // Vehicle code changes the parameters for this vehicle type. _vehicle.ProcessTypeChange(type); + ActivateIfPhysical(false); }); } } @@ -409,6 +412,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); + ActivateIfPhysical(false); }); } public override void VehicleVectorParam(int param, OMV.Vector3 value) @@ -416,6 +420,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); + ActivateIfPhysical(false); }); } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) @@ -423,6 +428,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); + ActivateIfPhysical(false); }); } public override void VehicleFlags(int param, bool remove) @@ -540,6 +546,8 @@ public sealed class BSPrim : BSPhysObject { // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); SetObjectDynamic(true); + // whether phys-to-static or static-to-phys, the object is not moving. + ZeroMotion(); }); } } @@ -623,7 +631,7 @@ public sealed class BSPrim : BSPhysObject // Become a Bullet 'static' object type CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement - BulletSimAPI.ClearAllForces2(BSBody.ptr); + ZeroMotion(); // Center of mass is at the center of the object BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation); // Mass is zero which disables a bunch of physics stuff in Bullet @@ -634,7 +642,7 @@ public sealed class BSPrim : BSPhysObject if (PhysicsScene.Params.ccdMotionThreshold > 0f) { BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } // There can be special things needed for implementing linksets Linkset.MakeStatic(this); @@ -656,14 +664,14 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 - BulletSimAPI.ClearAllForces2(BSBody.ptr); + // Since this can be called multiple times, only zero forces when becoming physical + // BulletSimAPI.ClearAllForces2(BSBody.ptr); // For good measure, make sure the transform is set through to the motion state BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); // A dynamic object has mass - IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); - OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); + OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, Mass); BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); @@ -671,7 +679,7 @@ public sealed class BSPrim : BSPhysObject if (PhysicsScene.Params.ccdMotionThreshold > 0f) { BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } // Various values for simulation limits @@ -721,6 +729,15 @@ public sealed class BSPrim : BSPhysObject } } + // Enable physical actions. Bullet will keep sleeping non-moving physical objects so + // they need waking up when parameters are changed. + // Called in taint-time!! + private void ActivateIfPhysical(bool forceIt) + { + if (IsPhysical) + BulletSimAPI.Activate2(BSBody.ptr, forceIt); + } + // Turn on or off the flag controlling whether collision events are returned to the simulator. private void EnableCollisions(bool wantsCollisionEvents) { @@ -901,8 +918,7 @@ public sealed class BSPrim : BSPhysObject } m_accumulatedForces.Clear(); } - // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); - // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. + DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum); if (fSum != OMV.Vector3.Zero) BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); }; @@ -912,9 +928,43 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation); } + private List m_accumulatedAngularForces = new List(); public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { - // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); - // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); + AddAngularForce(force, pushforce, false); + } + public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) + { + if (force.IsFinite()) + { + // _force += force; + lock (m_accumulatedAngularForces) + m_accumulatedAngularForces.Add(new OMV.Vector3(force)); + } + else + { + m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); + return; + } + BSScene.TaintCallback addAngularForceOperation = delegate() + { + OMV.Vector3 fSum = OMV.Vector3.Zero; + lock (m_accumulatedAngularForces) + { + // Sum the accumulated additional forces for one big force to apply once. + foreach (OMV.Vector3 v in m_accumulatedAngularForces) + { + fSum += v; + } + m_accumulatedAngularForces.Clear(); + } + // DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum); + if (fSum != OMV.Vector3.Zero) + BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum); + }; + if (inTaintTime) + addAngularForceOperation(); + else + PhysicsScene.TaintedObject("BSPrim.AddForce", addAngularForceOperation); } public override void SetMomentum(OMV.Vector3 momentum) { // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); -- cgit v1.1 From 2b75035aefceeae44e35364036a0748dfd5fb786 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 26 Oct 2012 13:54:54 -0700 Subject: BulletSim: add ForEachMember(action) call for linkset. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 36 ++++++++++++++++++----- 1 file changed, 28 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 24fe6b9..d0e514b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -167,9 +167,8 @@ public abstract class BSLinkset bool ret = false; lock (m_linksetActivityLock) { - if (m_children.Contains(child)) - ret = true; - /* + ret = m_children.Contains(child); + /* Safer version but the above should work foreach (BSPhysObject bp in m_children) { if (child.LocalID == bp.LocalID) @@ -183,6 +182,25 @@ public abstract class BSLinkset return ret; } + // Perform an action on each member of the linkset including root prim. + // The action is performed only on the objects that are physically in the linkset. + // Depends on the action on whether this should be done at taint time. + public delegate bool ForEachMemberAction(BSPhysObject obj); + public virtual bool ForEachMember(ForEachMemberAction action) + { + bool ret = false; + lock (m_linksetActivityLock) + { + action(LinksetRoot); + foreach (BSPhysObject po in m_taintChildren) + { + if (action(po)) + break; + } + } + return ret; + } + // When physical properties are changed the linkset needs to recalculate // its internal properties. // May be called at runtime or taint-time (just pass the appropriate flag). @@ -224,13 +242,15 @@ public abstract class BSLinkset protected virtual float ComputeLinksetMass() { - float mass; - lock (m_linksetActivityLock) + float mass = LinksetRoot.MassRaw; + if (HasAnyChildren) { - mass = LinksetRoot.MassRaw; - foreach (BSPhysObject bp in m_taintChildren) + lock (m_linksetActivityLock) { - mass += bp.MassRaw; + foreach (BSPhysObject bp in m_children) + { + mass += bp.MassRaw; + } } } return mass; -- cgit v1.1 From 92d3c611e57fc320bf20b6b500c275eaebf912aa Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 26 Oct 2012 13:55:20 -0700 Subject: BulletSim: many small changes for vehicles simulation. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 71 ++++++++++++---------- 1 file changed, 40 insertions(+), 31 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 9b59bef..8bd8117 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -526,6 +526,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); } */ + if (IsActive) + { + // Friction effects are handled by this vehicle code + BulletSimAPI.SetFriction2(Prim.BSBody.ptr, 0f); + BulletSimAPI.SetHitFraction2(Prim.BSBody.ptr, 0f); + } } // One step of the vehicle properties for the next 'pTimestep' seconds. @@ -552,6 +558,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Prim.ForceOrientation = newOrientation; } */ + BulletSimAPI.SetInterpolationVelocity2(Prim.BSBody.ptr, m_newVelocity, m_lastAngularVelocity); // remember the position so next step we can limit absolute movement effects m_lastPositionVector = Prim.ForcePosition; @@ -570,17 +577,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin { Vector3 origDir = m_linearMotorDirection; Vector3 origVel = m_lastLinearVelocityVector; + Vector3 vehicleVelocity = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG // add drive to body Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep); // lastLinearVelocityVector is the current body velocity vector m_lastLinearVelocityVector += addAmount; - float keepfraction = 1.0f - (1.0f / (m_linearMotorDecayTimescale / pTimestep)); - m_linearMotorDirection *= keepfraction; + float decayFactor = (1.0f / m_linearMotorDecayTimescale) * pTimestep; + m_linearMotorDirection *= (1f - decayFactor); - VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}", - Prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector); + Vector3 frictionFactor = (Vector3.One / m_linearFrictionTimescale) * pTimestep; + m_lastLinearVelocityVector *= (Vector3.One - frictionFactor); + + VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},vehVel={3},add={4},decay={5},lmDir={6},lmVel={7}", + Prim.LocalID, origDir, origVel, vehicleVelocity, addAmount, decayFactor, m_linearMotorDirection, m_lastLinearVelocityVector); // convert requested object velocity to object relative vector m_newVelocity = m_lastLinearVelocityVector * Prim.ForceOrientation; @@ -661,18 +672,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin } else { - float horizontalError = pos.Z - m_VhoverTargetHeight; + float verticalError = pos.Z - m_VhoverTargetHeight; // RA: where does the 50 come from> - float horizontalCorrectionVelocity = ((horizontalError * 50.0f) / (m_VhoverTimescale / pTimestep)); + float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale); // Replace Vertical speed with correction figure if significant - if (Math.Abs(horizontalError) > 0.01f) + if (Math.Abs(verticalError) > 0.01f) { - m_newVelocity.Z += horizontalCorrectionVelocity; + m_newVelocity.Z += verticalCorrectionVelocity; //KF: m_VhoverEfficiency is not yet implemented } - else if (horizontalError < -0.01) + else if (verticalError < -0.01) { - m_newVelocity.Z -= horizontalCorrectionVelocity; + m_newVelocity.Z -= verticalCorrectionVelocity; } else { @@ -748,16 +759,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_flags & (VehicleFlag.NO_Z)) != 0) m_newVelocity.Z = 0; - // Apply friction - Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); - m_lastLinearVelocityVector *= keepFraction; - // Apply velocity - // Prim.ForceVelocity = m_newVelocity; - Prim.AddForce(m_newVelocity, false); + Prim.ForceVelocity = m_newVelocity; + // Prim.AddForce(m_newVelocity * Prim.Linkset.LinksetMass, false); + // Prim.AddForce(grav * Prim.Linkset.LinksetMass, false); - VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}", - Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction); + VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4}", + Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav); } // end MoveLinear() @@ -858,14 +866,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin #region Deflection //Forward is the prefered direction, but if the reference frame has changed, we need to take this into account as well - Vector3 PreferredAxisOfMotion = - new Vector3((10*(m_angularDeflectionEfficiency/m_angularDeflectionTimescale)), 0, 0); - PreferredAxisOfMotion *= Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); + if (m_angularDeflectionEfficiency != 0) + { + Vector3 preferredAxisOfMotion = + new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0); + preferredAxisOfMotion *= Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); - //Multiply it so that it scales linearly - //deflection = PreferredAxisOfMotion; + deflection = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; - //deflection = ((PreferredAxisOfMotion * m_angularDeflectionEfficiency) / (m_angularDeflectionTimescale / pTimestep)); + VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", + Prim.LocalID, preferredAxisOfMotion, deflection); + } #endregion @@ -917,18 +928,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin banking += bankingRot; } m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; + VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},banking={3}", + Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, banking); } #endregion m_lastVertAttractor = vertattr; - // Bank section tba - - // Deflection section tba - // Sum velocities - m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection + m_lastAngularVelocity = m_angularMotorVelocity + vertattr + banking + deflection; if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) { @@ -948,8 +957,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; // Apply to the body - // Prim.ForceRotationalVelocity = m_lastAngularVelocity; - Prim.AddAngularForce(m_lastAngularVelocity, false); + // The above calculates the absolute angular velocity needed + Prim.ForceRotationalVelocity = m_lastAngularVelocity; VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); } //end MoveAngular -- cgit v1.1 From 7af28724acf12245977fc44576c36ec0de320a8a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 26 Oct 2012 16:09:08 -0700 Subject: BulletSim: rename constraint classes so they show up together alphabetically. --- .../Physics/BulletSPlugin/BS6DofConstraint.cs | 154 --------------------- .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 154 +++++++++++++++++++++ .../Physics/BulletSPlugin/BSConstraintHinge.cs | 57 ++++++++ .../Physics/BulletSPlugin/BSHingeConstraint.cs | 57 -------- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 2 +- 5 files changed, 212 insertions(+), 212 deletions(-) delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs delete mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs deleted file mode 100755 index ecb3ec8..0000000 --- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs +++ /dev/null @@ -1,154 +0,0 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ - -public sealed class BS6DofConstraint : BSConstraint -{ - private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]"; - - public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } - - // Create a btGeneric6DofConstraint - public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, - Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) - { - m_world = world; - m_body1 = obj1; - m_body2 = obj2; - m_constraint = new BulletConstraint( - BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, - frame1, frame1rot, - frame2, frame2rot, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - m_enabled = true; - world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - BSScene.DetailLogZero, world.worldID, - obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); - } - - public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, - Vector3 joinPoint, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) - { - m_world = world; - m_body1 = obj1; - m_body2 = obj2; - if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero) - { - world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - BSScene.DetailLogZero, world.worldID, - obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); - world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - "[BULLETSIM 6DOF CONSTRAINT]", world.worldID, - obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); - m_enabled = false; - } - else - { - m_constraint = new BulletConstraint( - BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, - joinPoint, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", - BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"), - obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); - if (m_constraint.ptr == IntPtr.Zero) - { - world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", - LogHeader, obj1.ID, obj2.ID); - m_enabled = false; - } - else - { - m_enabled = true; - } - } - } - - public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) - { - bool ret = false; - if (m_enabled) - { - BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); - ret = true; - } - return ret; - } - - public bool SetCFMAndERP(float cfm, float erp) - { - bool ret = false; - if (m_enabled) - { - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - ret = true; - } - return ret; - } - - public bool UseFrameOffset(bool useOffset) - { - bool ret = false; - float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; - if (m_enabled) - ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff); - return ret; - } - - public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) - { - bool ret = false; - float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; - if (m_enabled) - { - ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce); - m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}", - BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce); - } - return ret; - } - - public bool SetBreakingImpulseThreshold(float threshold) - { - bool ret = false; - if (m_enabled) - ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); - return ret; - } -} -} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs new file mode 100755 index 0000000..3c37d76 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -0,0 +1,154 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public sealed class BSConstraint6Dof : BSConstraint +{ + private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]"; + + public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } + + // Create a btGeneric6DofConstraint + public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + m_constraint = new BulletConstraint( + BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, + frame1, frame1rot, + frame2, frame2rot, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + m_enabled = true; + world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + BSScene.DetailLogZero, world.worldID, + obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); + } + + public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 joinPoint, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero) + { + world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + BSScene.DetailLogZero, world.worldID, + obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); + world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + "[BULLETSIM 6DOF CONSTRAINT]", world.worldID, + obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); + m_enabled = false; + } + else + { + m_constraint = new BulletConstraint( + BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, + joinPoint, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", + BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"), + obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); + if (m_constraint.ptr == IntPtr.Zero) + { + world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", + LogHeader, obj1.ID, obj2.ID); + m_enabled = false; + } + else + { + m_enabled = true; + } + } + } + + public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) + { + bool ret = false; + if (m_enabled) + { + BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); + ret = true; + } + return ret; + } + + public bool SetCFMAndERP(float cfm, float erp) + { + bool ret = false; + if (m_enabled) + { + BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + ret = true; + } + return ret; + } + + public bool UseFrameOffset(bool useOffset) + { + bool ret = false; + float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff); + return ret; + } + + public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) + { + bool ret = false; + float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + { + ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce); + m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}", + BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce); + } + return ret; + } + + public bool SetBreakingImpulseThreshold(float threshold) + { + bool ret = false; + if (m_enabled) + ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); + return ret; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs new file mode 100755 index 0000000..ed3ffa7 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs @@ -0,0 +1,57 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public sealed class BSConstraintHinge : BSConstraint +{ + public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } } + + public BSConstraintHinge(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 pivotInA, Vector3 pivotInB, + Vector3 axisInA, Vector3 axisInB, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + m_constraint = new BulletConstraint( + BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, + pivotInA, pivotInB, + axisInA, axisInB, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + m_enabled = true; + } + +} + +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs deleted file mode 100755 index 76bd930..0000000 --- a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs +++ /dev/null @@ -1,57 +0,0 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ - -public sealed class BSHingeConstraint : BSConstraint -{ - public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } } - - public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, - Vector3 pivotInA, Vector3 pivotInB, - Vector3 axisInA, Vector3 axisInB, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) - { - m_world = world; - m_body1 = obj1; - m_body2 = obj2; - m_constraint = new BulletConstraint( - BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, - pivotInA, pivotInB, - axisInA, axisInB, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - m_enabled = true; - } - -} - -} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 003c294..67979b3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -246,7 +246,7 @@ public sealed class BSLinksetConstraints : BSLinkset // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - BS6DofConstraint constrain = new BS6DofConstraint( + BSConstraint6Dof constrain = new BSConstraint6Dof( PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true ); /* NOTE: below is an attempt to build constraint with full frame computation, etc. -- cgit v1.1 From e20bad12cc0584c6368e46e0f326e6b616133e8f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Oct 2012 11:30:47 -0700 Subject: BulletSim: centralize mass/inertia computation with UpdatePhysicalMassProperties() function. Didn't add setMassRaw because assignment with side effect is dirty. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 15 ++++++--- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 ++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 39 ++++++++++++++-------- 3 files changed, 38 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 8bb4b21..b9013ab 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -155,8 +155,7 @@ public sealed class BSCharacter : BSPhysObject BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); - BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); + UpdatePhysicalMassProperties(MassRaw); // Make so capsule does not fall over BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero); @@ -201,8 +200,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); - BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); + UpdatePhysicalMassProperties(MassRaw); }); } @@ -329,7 +327,14 @@ public sealed class BSCharacter : BSPhysObject public override float Mass { get { return _mass; } } // used when we only want this prim's mass and not the linkset thing - public override float MassRaw { get {return _mass; } } + public override float MassRaw { + get {return _mass; } + } + public override void UpdatePhysicalMassProperties(float physMass) + { + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass); + BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia); + } public override OMV.Vector3 Force { get { return _force; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 538f905..be8d64b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -64,6 +64,8 @@ public abstract class BSPhysObject : PhysicsActor // Return the object mass without calculating it or having side effects public abstract float MassRaw { get; } + // Set the raw mass but also update physical mass properties (inertia, ...) + public abstract void UpdatePhysicalMassProperties(float mass); // Reference to the physical body (btCollisionObject) of this object public BulletBody BSBody; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 44937df..ad09a61 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -356,13 +356,32 @@ public sealed class BSPrim : BSPhysObject { get { - // return Linkset.LinksetMass; - return _mass; + return Linkset.LinksetMass; + // return _mass; } } // used when we only want this prim's mass and not the linkset thing - public override float MassRaw { get { return _mass; } } + public override float MassRaw { + get { return _mass; } + } + // Set the physical mass to the passed mass. + // Note that this does not change _mass! + public override void UpdatePhysicalMassProperties(float physMass) + { + if (IsStatic) + { + BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero); + BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); + } + else + { + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass); + BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia); + BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); + DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia); + } + } // Is this used? public override OMV.Vector3 CenterOfMass @@ -613,7 +632,7 @@ public sealed class BSPrim : BSPhysObject // Recompute any linkset parameters. // When going from non-physical to physical, this re-enables the constraints that // had been automatically disabled when the mass was set to zero. - Linkset.Refresh(this, true); + Linkset.Refresh(this); DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); @@ -635,9 +654,7 @@ public sealed class BSPrim : BSPhysObject // Center of mass is at the center of the object BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation); // Mass is zero which disables a bunch of physics stuff in Bullet - BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero); - // There is no inertia in a static object - BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); + UpdatePhysicalMassProperties(0f); // Set collision detection parameters if (PhysicsScene.Params.ccdMotionThreshold > 0f) { @@ -671,9 +688,7 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); // A dynamic object has mass - OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, Mass); - BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); - BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); + UpdatePhysicalMassProperties(MassRaw); // Set collision detection parameters if (PhysicsScene.Params.ccdMotionThreshold > 0f) @@ -1247,9 +1262,7 @@ public sealed class BSPrim : BSPhysObject returnMass = _density * volume; - /* - * This change means each object keeps its own mass and the Mass property - * will return the sum if we're part of a linkset. + /* Comment out code that computes the mass of the linkset. That is done in the Linkset class. if (IsRootOfLinkset) { foreach (BSPrim prim in _childrenPrims) -- cgit v1.1 From 2f25f70316ff712d338bbff3f6d02650480a340b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Oct 2012 11:31:50 -0700 Subject: BulletSim: remove unneeded parameter from Refresh(). --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index d0e514b..569d2e7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -204,7 +204,7 @@ public abstract class BSLinkset // When physical properties are changed the linkset needs to recalculate // its internal properties. // May be called at runtime or taint-time (just pass the appropriate flag). - public abstract void Refresh(BSPhysObject requestor, bool inTaintTime); + public abstract void Refresh(BSPhysObject requestor); // The object is going dynamic (physical). Do any setup necessary // for a dynamic linkset. -- cgit v1.1 From 9568f24c2628312f366c99ce6beb5c193aace33c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Oct 2012 11:38:01 -0700 Subject: BulletSim: add post taint taints and post step taints. The post taints operation is most useful and is used by linksets to build and rebuild only once before the simulation step. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 138 +++++++++++++++++++++--- 1 file changed, 122 insertions(+), 16 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 9e95ce5..cb52937 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -171,7 +171,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } } private Object _taintLock = new Object(); // lock for using the next object - private List _taintedObjects; + private List _taintOperations; + private Dictionary _postTaintOperations; + private List _postStepOperations; // A pointer to an instance if this structure is passed to the C++ code // Used to pass basic configuration values to the unmanaged code. @@ -203,7 +205,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public override void Initialise(IMesher meshmerizer, IConfigSource config) { mesher = meshmerizer; - _taintedObjects = new List(); + _taintOperations = new List(); + _postTaintOperations = new Dictionary(); + _postStepOperations = new List(); PhysObjects = new Dictionary(); Shapes = new BSShapeCollection(this); @@ -475,23 +479,21 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return 5.0f; // update the prim states while we know the physics engine is not busy - int numTaints = _taintedObjects.Count; + int numTaints = _taintOperations.Count; ProcessTaints(); // Some of the prims operate with special vehicle properties ProcessVehicles(timeStep); - numTaints += _taintedObjects.Count; + numTaints += _taintOperations.Count; ProcessTaints(); // the vehicles might have added taints // step the physical world one interval m_simulationStep++; int numSubSteps = 0; - // DEBUG - // DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep); - try { + // DumpVehicles(); // DEBUG if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, @@ -500,6 +502,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); + // DumpVehicles(); // DEBUG } catch (Exception e) { @@ -579,6 +582,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Only enable this in a limited test world with few objects. // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG + ProcessPostStepTaints(); + // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. // We multiply by 55 to give a recognizable running rate (55 or less). @@ -670,6 +675,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public override bool IsThreaded { get { return false; } } + #region Taints + // Calls to the PhysicsActors can't directly call into the physics engine // because it might be busy. We delay changes to a known time. // We rely on C#'s closure to save and restore the context for the delegate. @@ -679,7 +686,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters lock (_taintLock) { - _taintedObjects.Add(new TaintCallbackEntry(ident, callback)); + _taintOperations.Add(new TaintCallbackEntry(ident, callback)); } return; @@ -690,19 +697,25 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // here just before the physics engine is called to step the simulation. public void ProcessTaints() { - if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process + ProcessRegularTaints(); + ProcessPostTaintTaints(); + } + + private void ProcessRegularTaints() + { + if (_taintOperations.Count > 0) // save allocating new list if there is nothing to process { int taintCount = m_taintsToProcessPerStep; TaintCallbackEntry oneCallback = new TaintCallbackEntry(); - while (_taintedObjects.Count > 0 && taintCount-- > 0) + while (_taintOperations.Count > 0 && taintCount-- > 0) { bool gotOne = false; lock (_taintLock) { - if (_taintedObjects.Count > 0) + if (_taintOperations.Count > 0) { - oneCallback = _taintedObjects[0]; - _taintedObjects.RemoveAt(0); + oneCallback = _taintOperations[0]; + _taintOperations.RemoveAt(0); gotOne = true; } } @@ -746,6 +759,89 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } } + // Schedule an update to happen after all the regular taints are processed. + // Note that new requests for the same operation ("ident") for the same object ("ID") + // will replace any previous operation by the same object. + public void PostTaintObject(String ident, uint ID, TaintCallback callback) + { + if (!m_initialized) return; + + lock (_taintLock) + { + _postTaintOperations[ident] = new TaintCallbackEntry(ident + "-" + ID.ToString(), callback); + } + + return; + } + + private void ProcessPostTaintTaints() + { + if (_postTaintOperations.Count > 0) + { + Dictionary oldList; + lock (_taintLock) + { + oldList = _postTaintOperations; + _postTaintOperations = new Dictionary(); + } + + foreach (KeyValuePair kvp in oldList) + { + try + { + DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG + kvp.Value.callback(); + } + catch (Exception e) + { + m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e); + } + } + oldList.Clear(); + } + } + + public void PostStepTaintObject(String ident, TaintCallback callback) + { + if (!m_initialized) return; + + lock (_taintLock) + { + _postStepOperations.Add(new TaintCallbackEntry(ident, callback)); + } + + return; + } + + private void ProcessPostStepTaints() + { + if (_postStepOperations.Count > 0) + { + List oldList; + lock (_taintLock) + { + oldList = _postStepOperations; + _postStepOperations = new List(); + } + + foreach (TaintCallbackEntry tcbe in oldList) + { + try + { + DetailLog("{0},BSScene.ProcessPostStepTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG + tcbe.callback(); + } + catch (Exception e) + { + m_log.ErrorFormat("{0}: ProcessPostStepTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e); + } + } + oldList.Clear(); + } + } + + #endregion // Taints + #region Vehicles public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType) @@ -1006,7 +1102,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].ccdSweptSphereRadius; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdSweepSphereRadius2(o.BSBody.ptr, v); } ), + (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.BSBody.ptr, v); } ), new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , 0.1f, (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); }, @@ -1128,12 +1224,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", - 0.001f, + 0.1f, (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linkConstraintCFM; }, (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", - 0.8f, + 0.1f, (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linkConstraintERP; }, (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), @@ -1326,6 +1422,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #endregion Runtime settable parameters + // Debugging routine for dumping detailed physical information for vehicle prims + private void DumpVehicles() + { + foreach (BSPrim prim in m_vehicles) + { + BulletSimAPI.DumpRigidBody2(World.ptr, prim.BSBody.ptr); + BulletSimAPI.DumpCollisionShape2(World.ptr, prim.BSShape.ptr); + } + } + // Invoke the detailed logger and output something if it's enabled. public void DetailLog(string msg, params Object[] args) { -- cgit v1.1 From 8c9e4c1f7bdde47c9f29a9dfcf917421b943bb32 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Oct 2012 11:41:25 -0700 Subject: BulletSim: Use Refresh/PostTaints to cause recomputing of constraint variables before the simulation step. Update logging and messages to properly name LinksetConstraints. Use UpdatePhysicalMassProperties to put the whole linkset mass into all the physical linkset members so they have the inertia to move the whole linkset. --- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 65 ++++++++++++---------- 1 file changed, 36 insertions(+), 29 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 67979b3..086aa12 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -43,23 +43,20 @@ public sealed class BSLinksetConstraints : BSLinkset // When physical properties are changed the linkset needs to recalculate // its internal properties. - // May be called at runtime or taint-time (just pass the appropriate flag). - public override void Refresh(BSPhysObject requestor, bool inTaintTime) + // This is queued in such a way that the + // refresh will only happen once after all the other taints are applied. + public override void Refresh(BSPhysObject requestor) { - // If there are no children or not root, I am not the one that recomputes the constraints - if (!HasAnyChildren || !IsRoot(requestor)) + // If there are no children, there are no constraints to recompute. + if (!HasAnyChildren) return; - BSScene.TaintCallback refreshOperation = delegate() + // Queue to happen after all the other taint processing + PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() { RecomputeLinksetConstraintVariables(); - DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", - LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); - }; - if (inTaintTime) - refreshOperation(); - else - PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation); + }); + } // The object is going dynamic (physical). Do any setup necessary @@ -104,14 +101,14 @@ public sealed class BSLinksetConstraints : BSLinkset if (IsRoot(child)) { // If the one with the dependency is root, must undo all children - DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", + DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); } else { - DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}", + DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}", child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), child.LocalID, child.BSBody.ptr.ToString("X")); @@ -132,7 +129,7 @@ public sealed class BSLinksetConstraints : BSLinkset { if (IsRoot(child)) { - DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}", + DetailLog("{0},BSLinksetConstraint.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}", child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); foreach (BSPhysObject bpo in m_taintChildren) { @@ -141,7 +138,7 @@ public sealed class BSLinksetConstraints : BSLinkset } else { - DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}", + DetailLog("{0},BSLinksetConstraint.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}", LinksetRoot.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), child.LocalID, child.BSBody.ptr.ToString("X")); @@ -178,6 +175,7 @@ public sealed class BSLinksetConstraints : BSLinkset PhysicallyLinkAChildToRoot(rootx, childx); m_taintChildren.Add(child); }); + Refresh(LinksetRoot); } return; } @@ -211,9 +209,9 @@ public sealed class BSLinksetConstraints : BSLinkset { m_taintChildren.Remove(child); PhysicallyUnlinkAChildFromRoot(rootx, childx); - RecomputeLinksetConstraintVariables(); }); - + // See that the linkset parameters are recomputed at the end of the taint time. + Refresh(LinksetRoot); } else { @@ -237,7 +235,7 @@ public sealed class BSLinksetConstraints : BSLinkset // real world coordinate of midpoint between the two objects OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); - DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", + DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", rootPrim.LocalID, rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"), @@ -248,6 +246,7 @@ public sealed class BSLinksetConstraints : BSLinkset BSConstraint6Dof constrain = new BSConstraint6Dof( PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true ); + // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true ); /* NOTE: below is an attempt to build constraint with full frame computation, etc. * Using the midpoint is easier since it lets the Bullet code manipulate the transforms @@ -264,7 +263,7 @@ public sealed class BSLinksetConstraints : BSLinkset // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); + DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); BS6DofConstraint constrain = new BS6DofConstraint( PhysicsScene.World, rootPrim.Body, childPrim.Body, OMV.Vector3.Zero, @@ -307,7 +306,7 @@ public sealed class BSLinksetConstraints : BSLinkset private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) { bool ret = false; - DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", + DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", rootPrim.LocalID, rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), childPrim.LocalID, childPrim.BSBody.ptr.ToString("X")); @@ -327,7 +326,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Called at taint time! private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) { - DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); + DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); bool ret = false; if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody)) @@ -350,7 +349,7 @@ public sealed class BSLinksetConstraints : BSLinkset BSConstraint constrain; if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) { - // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", + // DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); constrain.RecomputeConstraintVariables(linksetMass); } @@ -367,15 +366,23 @@ public sealed class BSLinksetConstraints : BSLinkset { // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); - BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, - centerOfMass, OMV.Quaternion.Identity); - DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}", - LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X")); + BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); + // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, + // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); + DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2},linksetMass={3}", + LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass); foreach (BSPhysObject child in m_taintChildren) { - BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, - centerOfMass, OMV.Quaternion.Identity); + BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); + // A child in the linkset physically shows the mass of the whole linkset. + // This allows Bullet to apply enough force on the child to move the whole linkset. + child.UpdatePhysicalMassProperties(linksetMass); + // DEBUG: see of inter-linkset collisions are causing problems + // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, + // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); } + // Also update the root's physical mass to the whole linkset + LinksetRoot.UpdatePhysicalMassProperties(linksetMass); // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG } -- cgit v1.1 From bc43c7007d3d8ffc2f497a6d37004eb3d3544e00 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Oct 2012 14:27:48 -0700 Subject: BulletSim: code rearrangement --- OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 12 ++++++------ .../Region/Physics/BulletSPlugin/BSConstraintCollection.cs | 2 -- 2 files changed, 6 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index f017cdd..65fac00 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -42,6 +42,12 @@ public abstract class BSConstraint : IDisposable protected BulletConstraint m_constraint; protected bool m_enabled = false; + public BulletBody Body1 { get { return m_body1; } } + public BulletBody Body2 { get { return m_body2; } } + public BulletConstraint Constraint { get { return m_constraint; } } + public abstract ConstraintType Type { get; } + public bool IsEnabled { get { return m_enabled; } } + public BSConstraint() { } @@ -64,12 +70,6 @@ public abstract class BSConstraint : IDisposable } } - public BulletBody Body1 { get { return m_body1; } } - public BulletBody Body2 { get { return m_body2; } } - public BulletConstraint Constraint { get { return m_constraint; } } - public abstract ConstraintType Type { get; } - - public virtual bool SetLinearLimits(Vector3 low, Vector3 high) { bool ret = false; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index b9add06..a9fd826 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -143,8 +143,6 @@ public sealed class BSConstraintCollection : IDisposable // Return 'true' if any constraints were destroyed. public bool RemoveAndDestroyConstraint(BulletBody body1) { - // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); - List toRemove = new List(); uint lookingID = body1.ID; lock (m_constraints) -- cgit v1.1 From 4cfa3be4efbca49e4670b92ec2c110f65f658b8e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Oct 2012 14:28:24 -0700 Subject: BulletSim: add definitions for linkset collision mask --- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 3 +++ 1 file changed, 3 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index be3a5ad..9b7ba03 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -378,6 +378,7 @@ public enum CollisionFilterGroups : uint BTerrainFilter = 1 << 11, BRaycastFilter = 1 << 12, BSolidFilter = 1 << 13, + BLinksetFilter = 1 << 14, // The collsion filters and masked are defined in one place -- don't want them scattered AvatarFilter = BCharacterFilter, @@ -386,6 +387,8 @@ public enum CollisionFilterGroups : uint ObjectMask = BAllFilter, StaticObjectFilter = BStaticFilter, StaticObjectMask = BAllFilter, + LinksetFilter = BLinksetFilter, + LinksetMask = BAllFilter & ~BLinksetFilter, VolumeDetectFilter = BSensorTrigger, VolumeDetectMask = ~BSensorTrigger, TerrainFilter = BTerrainFilter, -- cgit v1.1 From dae038a117c3110970d6fe0b743e20f342df2269 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Oct 2012 14:30:16 -0700 Subject: BulletSim: fix problem with multiple linksets stepping on each other if they are built at the same time. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index cb52937..c27b5f0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -578,12 +578,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } } + ProcessPostStepTaints(); + // This causes the unmanaged code to output ALL the values found in ALL the objects in the world. // Only enable this in a limited test world with few objects. // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG - ProcessPostStepTaints(); - // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. // We multiply by 55 to give a recognizable running rate (55 or less). @@ -766,9 +766,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { if (!m_initialized) return; + string uniqueIdent = ident + "-" + ID.ToString(); lock (_taintLock) { - _postTaintOperations[ident] = new TaintCallbackEntry(ident + "-" + ID.ToString(), callback); + _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback); } return; -- cgit v1.1 From 42d65840c843f2cac6f02fc1b6012140c9cb240e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Oct 2012 14:32:07 -0700 Subject: BulletSim: Add gravity force to vehicle. Some debugging additions. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 8bd8117..4981007 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -539,6 +539,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (!IsActive) return; + m_lastAngularVelocity = Prim.ForceRotationalVelocity; // DEBUG: account for what Bullet did last time + MoveLinear(pTimestep); MoveAngular(pTimestep); LimitRotation(pTimestep); @@ -558,7 +560,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin Prim.ForceOrientation = newOrientation; } */ - BulletSimAPI.SetInterpolationVelocity2(Prim.BSBody.ptr, m_newVelocity, m_lastAngularVelocity); + // DEBUG: Trying to figure out why Bullet goes crazy when the root prim is moved. + BulletSimAPI.SetInterpolationVelocity2(Prim.BSBody.ptr, m_newVelocity, m_lastAngularVelocity); // DEBUG DEBUG DEBUG // remember the position so next step we can limit absolute movement effects m_lastPositionVector = Prim.ForcePosition; @@ -762,13 +765,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Apply velocity Prim.ForceVelocity = m_newVelocity; // Prim.AddForce(m_newVelocity * Prim.Linkset.LinksetMass, false); - // Prim.AddForce(grav * Prim.Linkset.LinksetMass, false); + Prim.AddForce(grav * Prim.Linkset.LinksetMass, false); VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4}", Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav); } // end MoveLinear() + // ======================================================================= // Apply the effect of the angular motor. private void MoveAngular(float pTimestep) { -- cgit v1.1 From 93fe384cce42e91337f446fd658ef29ca3d9f733 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Oct 2012 14:33:31 -0700 Subject: BulletSim: Use the PostTaints operation to build the linkset once before the next simulation step. This eliminates the management of children vs taintChildren and simplifies the constratin creation code. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 52 +++----- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 140 +++++++-------------- 2 files changed, 68 insertions(+), 124 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 569d2e7..187951e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -61,16 +61,7 @@ public abstract class BSLinkset public int LinksetID { get; private set; } // The children under the root in this linkset. - // There are two lists of children: the current children at runtime - // and the children at taint-time. For instance, if you delink a - // child from the linkset, the child is removed from m_children - // but the constraint won't be removed until taint time. - // Two lists lets this track the 'current' children and - // the physical 'taint' children separately. - // After taint processing and before the simulation step, these - // two lists must be the same. protected HashSet m_children; - protected HashSet m_taintChildren; // We lock the diddling of linkset classes to prevent any badness. // This locks the modification of the instances of this class. Changes @@ -110,7 +101,6 @@ public abstract class BSLinkset PhysicsScene = scene; LinksetRoot = parent; m_children = new HashSet(); - m_taintChildren = new HashSet(); m_mass = parent.MassRaw; } @@ -192,7 +182,7 @@ public abstract class BSLinkset lock (m_linksetActivityLock) { action(LinksetRoot); - foreach (BSPhysObject po in m_taintChildren) + foreach (BSPhysObject po in m_children) { if (action(po)) break; @@ -201,9 +191,24 @@ public abstract class BSLinkset return ret; } + // I am the root of a linkset and a new child is being added + // Called while LinkActivity is locked. + protected abstract void AddChildToLinkset(BSPhysObject child); + + // Forcefully removing a child from a linkset. + // This is not being called by the child so we have to make sure the child doesn't think + // it's still connected to the linkset. + // Normal OpenSimulator operation will never do this because other SceneObjectPart information + // also has to be updated (like pointer to prim's parent). + protected abstract void RemoveChildFromOtherLinkset(BSPhysObject pchild); + + // I am the root of a linkset and one of my children is being removed. + // Safe to call even if the child is not really in my linkset. + protected abstract void RemoveChildFromLinkset(BSPhysObject child); + // When physical properties are changed the linkset needs to recalculate // its internal properties. - // May be called at runtime or taint-time (just pass the appropriate flag). + // May be called at runtime or taint-time. public abstract void Refresh(BSPhysObject requestor); // The object is going dynamic (physical). Do any setup necessary @@ -238,8 +243,6 @@ public abstract class BSLinkset public abstract void RestoreBodyDependencies(BSPrim child); // ================================================================ - // Below this point is internal magic - protected virtual float ComputeLinksetMass() { float mass = LinksetRoot.MassRaw; @@ -264,7 +267,7 @@ public abstract class BSLinkset com = LinksetRoot.Position * LinksetRoot.MassRaw; float totalMass = LinksetRoot.MassRaw; - foreach (BSPhysObject bp in m_taintChildren) + foreach (BSPhysObject bp in m_children) { com += bp.Position * bp.MassRaw; totalMass += bp.MassRaw; @@ -283,31 +286,16 @@ public abstract class BSLinkset { com = LinksetRoot.Position; - foreach (BSPhysObject bp in m_taintChildren) + foreach (BSPhysObject bp in m_children) { com += bp.Position * bp.MassRaw; } - com /= (m_taintChildren.Count + 1); + com /= (m_children.Count + 1); } return com; } - // I am the root of a linkset and a new child is being added - // Called while LinkActivity is locked. - protected abstract void AddChildToLinkset(BSPhysObject child); - - // Forcefully removing a child from a linkset. - // This is not being called by the child so we have to make sure the child doesn't think - // it's still connected to the linkset. - // Normal OpenSimulator operation will never do this because other SceneObjectPart information - // also has to be updated (like pointer to prim's parent). - protected abstract void RemoveChildFromOtherLinkset(BSPhysObject pchild); - - // I am the root of a linkset and one of my children is being removed. - // Safe to call even if the child is not really in my linkset. - protected abstract void RemoveChildFromLinkset(BSPhysObject child); - // Invoke the detailed logger and output something if it's enabled. protected void DetailLog(string msg, params Object[] args) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 086aa12..6c1fa2a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -54,7 +54,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Queue to happen after all the other taint processing PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() { - RecomputeLinksetConstraintVariables(); + RecomputeLinksetConstraints(); }); } @@ -98,24 +98,13 @@ public sealed class BSLinksetConstraints : BSLinkset lock (m_linksetActivityLock) { - if (IsRoot(child)) - { - // If the one with the dependency is root, must undo all children - DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); + // Just undo all the constraints for this linkset. Rebuild at the end of the step. + DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", + child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); - ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); - } - else - { - DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}", - child.LocalID, - LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), - child.LocalID, child.BSBody.ptr.ToString("X")); - // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child); - // Despite the function name, this removes any link to the specified object. - ret = PhysicallyUnlinkAllChildrenFromRoot(child); - } + ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); + // Cause the constraints, et al to be rebuilt before the next simulation step. + Refresh(LinksetRoot); } return ret; } @@ -125,26 +114,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Called at taint-time!! public override void RestoreBodyDependencies(BSPrim child) { - lock (m_linksetActivityLock) - { - if (IsRoot(child)) - { - DetailLog("{0},BSLinksetConstraint.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}", - child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); - foreach (BSPhysObject bpo in m_taintChildren) - { - PhysicallyLinkAChildToRoot(LinksetRoot, bpo); - } - } - else - { - DetailLog("{0},BSLinksetConstraint.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}", - LinksetRoot.LocalID, - LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), - child.LocalID, child.BSBody.ptr.ToString("X")); - PhysicallyLinkAChildToRoot(LinksetRoot, child); - } - } + // The Refresh operation will build any missing constraints. } // ================================================================ @@ -163,18 +133,7 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); - PhysicsScene.TaintedObject("AddChildToLinkset", delegate() - { - DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", - rootx.LocalID, - rootx.LocalID, rootx.BSBody.ptr.ToString("X"), - childx.LocalID, childx.BSBody.ptr.ToString("X")); - // Since this is taint-time, the body and shape could have changed for the child - rootx.ForcePosition = rootx.Position; // DEBUG - childx.ForcePosition = childx.Position; // DEBUG - PhysicallyLinkAChildToRoot(rootx, childx); - m_taintChildren.Add(child); - }); + // Cause constraints and assorted properties to be recomputed before the next simulation step. Refresh(LinksetRoot); } return; @@ -207,7 +166,6 @@ public sealed class BSLinksetConstraints : BSLinkset PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() { - m_taintChildren.Remove(child); PhysicallyUnlinkAChildFromRoot(rootx, childx); }); // See that the linkset parameters are recomputed at the end of the taint time. @@ -225,6 +183,12 @@ public sealed class BSLinksetConstraints : BSLinkset // Called at taint time! private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) { + // Don't build the constraint when asked. Put it off until just before the simulation step. + Refresh(rootPrim); + } + + private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim) + { // Zero motion for children so they don't interpolate childPrim.ZeroMotion(); @@ -235,7 +199,7 @@ public sealed class BSLinksetConstraints : BSLinkset // real world coordinate of midpoint between the two objects OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); - DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", + DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", rootPrim.LocalID, rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"), @@ -297,6 +261,7 @@ public sealed class BSLinksetConstraints : BSLinkset { constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations); } + return constrain; } // Remove linkage between myself and a particular child @@ -337,56 +302,47 @@ public sealed class BSLinksetConstraints : BSLinkset } // Call each of the constraints that make up this linkset and recompute the - // various transforms and variables. Used when objects are added or removed - // from a linkset to make sure the constraints know about the new mass and - // geometry. + // various transforms and variables. Create constraints of not created yet. + // Called before the simulation step to make sure the constraint based linkset + // is all initialized. // Must only be called at taint time!! - private void RecomputeLinksetConstraintVariables() + private void RecomputeLinksetConstraints() { float linksetMass = LinksetMass; - foreach (BSPhysObject child in m_taintChildren) + LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + + // For a multiple object linkset, set everybody's center of mass to the set's center of mass + OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); + BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); + + // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, + // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); + DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,setCenterOfMass,COM={1},rBody={2},linksetMass={3}", + LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass); + + foreach (BSPhysObject child in m_children) { + // A child in the linkset physically shows the mass of the whole linkset. + // This allows Bullet to apply enough force on the child to move the whole linkset. + // (Also do the mass stuff before recomputing the constraint so mass is not zero.) + BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); + child.UpdatePhysicalMassProperties(linksetMass); + BSConstraint constrain; - if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) - { - // DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", - // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); - constrain.RecomputeConstraintVariables(linksetMass); - } - else + if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) { - // Non-fatal error that happens when children are being added to the linkset but - // their constraints have not been created yet. - break; + // If constraint doesn't exist yet, create it. + constrain = BuildConstraint(LinksetRoot, child); } - } + constrain.RecomputeConstraintVariables(linksetMass); - // If the whole linkset is not here, doesn't make sense to recompute linkset wide values - if (m_children.Count == m_taintChildren.Count) - { - // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass - OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); - BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); - // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, - // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2},linksetMass={3}", - LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass); - foreach (BSPhysObject child in m_taintChildren) - { - BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); - // A child in the linkset physically shows the mass of the whole linkset. - // This allows Bullet to apply enough force on the child to move the whole linkset. - child.UpdatePhysicalMassProperties(linksetMass); - // DEBUG: see of inter-linkset collisions are causing problems - // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, - // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - } - // Also update the root's physical mass to the whole linkset - LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + // DEBUG: see of inter-linkset collisions are causing problems + // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, + // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG + // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr); // DEBUG DEBUG } - return; + } } } -- cgit v1.1 From 52be581f71b3c8da6113e4f4b193694683e6f8cc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 30 Oct 2012 09:12:07 -0700 Subject: BulletSim: remove center-of-mass setting for linksets because it causes the constraint calculation to pull the objects together. --- .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 3 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 1 - .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 79 ++++++++-------------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- 5 files changed, 33 insertions(+), 54 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index 3c37d76..23ef052 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -71,8 +71,7 @@ public sealed class BSConstraint6Dof : BSConstraint BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - "[BULLETSIM 6DOF CONSTRAINT]", world.worldID, - obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); + LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); m_enabled = false; } else diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 187951e..6d84fcc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -132,7 +132,6 @@ public abstract class BSLinkset // Cannot remove the root from a linkset. return this; } - RemoveChildFromLinkset(child); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 6c1fa2a..ecb6ad4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -43,20 +43,16 @@ public sealed class BSLinksetConstraints : BSLinkset // When physical properties are changed the linkset needs to recalculate // its internal properties. - // This is queued in such a way that the - // refresh will only happen once after all the other taints are applied. + // This is queued in the 'post taint' queue so the + // refresh will happen once after all the other taints are applied. public override void Refresh(BSPhysObject requestor) { - // If there are no children, there are no constraints to recompute. - if (!HasAnyChildren) - return; - // Queue to happen after all the other taint processing PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() { - RecomputeLinksetConstraints(); + if (HasAnyChildren && IsRoot(requestor)) + RecomputeLinksetConstraints(); }); - } // The object is going dynamic (physical). Do any setup necessary @@ -71,9 +67,10 @@ public sealed class BSLinksetConstraints : BSLinkset return false; } - // The object is going static (non-physical). Do any setup necessary - // for a static linkset. + // The object is going static (non-physical). Do any setup necessary for a static linkset. // Return 'true' if any properties updated on the passed object. + // This doesn't normally happen -- OpenSim removes the objects from the physical + // world if it is a static linkset. // Called at taint-time! public override bool MakeStatic(BSPhysObject child) { @@ -87,21 +84,21 @@ public sealed class BSLinksetConstraints : BSLinkset // Nothing to do for constraints on property updates } - // Routine used when rebuilding the body of the root of the linkset - // Destroy all the constraints have have been made to root. - // This is called when the root body is changing. - // Returns 'true' of something eas actually removed and would need restoring + // Routine called when rebuilding the body of some member of the linkset. + // Destroy all the constraints have have been made to root and set + // 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(BSPrim child) { bool ret = false; + DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", + child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); + lock (m_linksetActivityLock) { // Just undo all the constraints for this linkset. Rebuild at the end of the step. - DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); - ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); // Cause the constraints, et al to be rebuilt before the next simulation step. Refresh(LinksetRoot); @@ -114,13 +111,12 @@ public sealed class BSLinksetConstraints : BSLinkset // Called at taint-time!! public override void RestoreBodyDependencies(BSPrim child) { - // The Refresh operation will build any missing constraints. + // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints. } // ================================================================ - // Below this point is internal magic - // I am the root of a linkset and a new child is being added + // Add a new child to the linkset. // Called while LinkActivity is locked. protected override void AddChildToLinkset(BSPhysObject child) { @@ -131,7 +127,7 @@ public sealed class BSLinksetConstraints : BSLinkset BSPhysObject rootx = LinksetRoot; // capture the root as of now BSPhysObject childx = child; - DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); + DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Cause constraints and assorted properties to be recomputed before the next simulation step. Refresh(LinksetRoot); @@ -150,7 +146,7 @@ public sealed class BSLinksetConstraints : BSLinkset RemoveChildFromLinkset(pchild); } - // I am the root of a linkset and one of my children is being removed. + // Remove the specified child from the linkset. // Safe to call even if the child is not really in my linkset. protected override void RemoveChildFromLinkset(BSPhysObject child) { @@ -159,12 +155,12 @@ public sealed class BSLinksetConstraints : BSLinkset BSPhysObject rootx = LinksetRoot; // capture the root and body as of now BSPhysObject childx = child; - DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", + DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", childx.LocalID, rootx.LocalID, rootx.BSBody.ptr.ToString("X"), childx.LocalID, childx.BSBody.ptr.ToString("X")); - PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() + PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate() { PhysicallyUnlinkAChildFromRoot(rootx, childx); }); @@ -173,7 +169,7 @@ public sealed class BSLinksetConstraints : BSLinkset } else { - // This will happen if we remove the root of the linkset first. Non-fatal occurance. + // Non-fatal occurance. // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); } return; @@ -215,7 +211,7 @@ public sealed class BSLinksetConstraints : BSLinkset /* NOTE: below is an attempt to build constraint with full frame computation, etc. * Using the midpoint is easier since it lets the Bullet code manipulate the transforms * of the objects. - * Code left as a warning to future programmers. + * Code left for future programmers. // ================================================================================== // relative position normalized to the root prim OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); @@ -225,8 +221,6 @@ public sealed class BSLinksetConstraints : BSLinkset OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation); - // create a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); BS6DofConstraint constrain = new BS6DofConstraint( PhysicsScene.World, rootPrim.Body, childPrim.Body, @@ -234,11 +228,6 @@ public sealed class BSLinksetConstraints : BSLinkset OMV.Quaternion.Inverse(rootPrim.Orientation), OMV.Vector3.Zero, OMV.Quaternion.Inverse(childPrim.Orientation), - // A point half way between the parent and child - // childRelativePosition/2, - // childRelativeRotation, - // childRelativePosition/2, - // inverseChildRelativeRotation, true, true ); @@ -264,9 +253,9 @@ public sealed class BSLinksetConstraints : BSLinkset return constrain; } - // Remove linkage between myself and a particular child + // Remove linkage between the linkset root and a particular child // The root and child bodies are passed in because we need to remove the constraint between - // the bodies that were at unlink time. + // the bodies that were present at unlink time. // Called at taint time! private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) { @@ -288,44 +277,36 @@ public sealed class BSLinksetConstraints : BSLinkset } // Remove linkage between myself and any possible children I might have. + // Returns 'true' of any constraints were destroyed. // Called at taint time! private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) { DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); - bool ret = false; - if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody)) - { - ret = true; - } - return ret; + return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); } // Call each of the constraints that make up this linkset and recompute the // various transforms and variables. Create constraints of not created yet. // Called before the simulation step to make sure the constraint based linkset // is all initialized. - // Must only be called at taint time!! + // Called at taint time!! private void RecomputeLinksetConstraints() { float linksetMass = LinksetMass; LinksetRoot.UpdatePhysicalMassProperties(linksetMass); - // For a multiple object linkset, set everybody's center of mass to the set's center of mass - OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); - BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); - + // DEBUG: see of inter-linkset collisions are causing problems // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,setCenterOfMass,COM={1},rBody={2},linksetMass={3}", - LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass); + DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,setCenterOfMass,rBody={1},linksetMass={2}", + LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass); foreach (BSPhysObject child in m_children) { // A child in the linkset physically shows the mass of the whole linkset. // This allows Bullet to apply enough force on the child to move the whole linkset. // (Also do the mass stuff before recomputing the constraint so mass is not zero.) - BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); child.UpdatePhysicalMassProperties(linksetMass); BSConstraint constrain; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index ad09a61..7851a40 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -634,7 +634,7 @@ public sealed class BSPrim : BSPhysObject // had been automatically disabled when the mass was set to zero. Linkset.Refresh(this); - DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", + DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 1c0e6f5..1219fc0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -109,7 +109,7 @@ public sealed class BSShapeCollection : IDisposable prim.BSShape, shapeData, bodyCallback); ret = newGeom || newBody; } - DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}", + DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}", prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape); return ret; -- cgit v1.1 From 28e2cd3fa21835b124552dec024745f5784f6b3a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 31 Oct 2012 09:26:58 -0700 Subject: BulletSim: vehicle tweeking. Add AddTorque() method to BSPrim. Remove some manual motor actions in computing angular force (will eventually be replaced with motor class). Remove some experimental changes. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 136 ++++++++------------- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 45 +++++-- 3 files changed, 90 insertions(+), 93 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 4981007..5c61774 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -511,21 +511,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Do any updating needed for a vehicle public void Refresh() { - /* - * Doesnt work unless BSDynamics senses and corrects for all collisions - if (IsActive) - BulletSimAPI.AddToCollisionFlags2(Prim.BSBody.ptr, CollisionFlags.CF_KINEMATIC_OBJECT); - else - BulletSimAPI.RemoveFromCollisionFlags2(Prim.BSBody.ptr, CollisionFlags.CF_KINEMATIC_OBJECT); - */ - /* - * Doesn't work because with zero inertia, Bullet will not apply any forces to the object. - if (IsActive) - { - BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, Vector3.Zero); - BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); - } - */ if (IsActive) { // Friction effects are handled by this vehicle code @@ -539,29 +524,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (!IsActive) return; - m_lastAngularVelocity = Prim.ForceRotationalVelocity; // DEBUG: account for what Bullet did last time + // DEBUG + // Because Bullet does apply forces to the vehicle, our last computed + // linear and angular velocities are not what is happening now. + // Vector3 externalAngularVelocity = Prim.ForceRotationalVelocity - m_lastAngularVelocity; + // m_lastAngularVelocity += (externalAngularVelocity * 0.5f) * pTimestep; + // m_lastAngularVelocity = Prim.ForceRotationalVelocity; // DEBUG: account for what Bullet did last time + // m_lastLinearVelocityVector = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG: + // END DEBUG MoveLinear(pTimestep); MoveAngular(pTimestep); LimitRotation(pTimestep); - /* Experimental - // Wonder if Bullet could handle collision penetration while this applies the forces. - // Apply the computed forces on the vehicle - Prim.ForcePosition += Prim.ForceVelocity * Prim.MassRaw * pTimestep; - - if (Prim.ForceRotationalVelocity != Vector3.Zero) - { - Quaternion newOrientation = Prim.ForceOrientation; - newOrientation.Normalize(); - Quaternion appliedRotation = new Quaternion((Prim.ForceRotationalVelocity * pTimestep), 0f); - newOrientation += (appliedRotation * newOrientation) * 0.5f; - newOrientation.Normalize(); - Prim.ForceOrientation = newOrientation; - } - */ // DEBUG: Trying to figure out why Bullet goes crazy when the root prim is moved. - BulletSimAPI.SetInterpolationVelocity2(Prim.BSBody.ptr, m_newVelocity, m_lastAngularVelocity); // DEBUG DEBUG DEBUG + // BulletSimAPI.SetInterpolationVelocity2(Prim.BSBody.ptr, m_newVelocity, m_lastAngularVelocity); // DEBUG DEBUG DEBUG // remember the position so next step we can limit absolute movement effects m_lastPositionVector = Prim.ForcePosition; @@ -583,7 +560,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 vehicleVelocity = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG // add drive to body - Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep); + Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale) * pTimestep; // lastLinearVelocityVector is the current body velocity vector m_lastLinearVelocityVector += addAmount; @@ -593,11 +570,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 frictionFactor = (Vector3.One / m_linearFrictionTimescale) * pTimestep; m_lastLinearVelocityVector *= (Vector3.One - frictionFactor); - VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},vehVel={3},add={4},decay={5},lmDir={6},lmVel={7}", - Prim.LocalID, origDir, origVel, vehicleVelocity, addAmount, decayFactor, m_linearMotorDirection, m_lastLinearVelocityVector); - - // convert requested object velocity to object relative vector + // Rotate new object velocity from vehicle relative to world coordinates m_newVelocity = m_lastLinearVelocityVector * Prim.ForceOrientation; + + VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},vehVel={3},add={4},decay={5},frict={6},lmDir={7},lmVel={8},newVel={9}", + Prim.LocalID, origDir, origVel, vehicleVelocity, addAmount, decayFactor, frictionFactor, + m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity); } else { @@ -609,18 +587,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); } - // m_newVelocity is velocity computed from linear motor + // m_newVelocity is velocity computed from linear motor in world coordinates - // Add the various forces into m_dir which will be our new direction vector (velocity) - - // add Gravity and Buoyancy + // Gravity and Buoyancy // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - // Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Linkset.LinksetMass * (1f - m_VehicleBuoyancy)); Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); /* - * RA: Not sure why one would do this + * RA: Not sure why one would do this unless we are hoping external forces are doing gravity, ... // Preserve the current Z velocity Vector3 vel_now = m_prim.Velocity; m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity @@ -676,7 +651,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin else { float verticalError = pos.Z - m_VhoverTargetHeight; - // RA: where does the 50 come from> + // RA: where does the 50 come from? float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale); // Replace Vertical speed with correction figure if significant if (Math.Abs(verticalError) > 0.01f) @@ -784,37 +759,24 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_angularFrictionTimescale // body angular velocity decay rate // m_lastAngularVelocity // what was last applied to body - // Get what the body is doing, this includes 'external' influences - Vector3 angularVelocity = Prim.ForceRotationalVelocity; - - if (m_angularMotorApply > 0) + if (m_angularMotorDirection.LengthSquared() > 0.0001) { - // Rather than snapping the angular motor velocity from the old value to - // a newly set velocity, this routine steps the value from the previous - // value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection). - // There are m_angularMotorApply steps. Vector3 origVel = m_angularMotorVelocity; Vector3 origDir = m_angularMotorDirection; - // ramp up to new value // new velocity += error / ( time to get there / step interval) // requested speed - last motor speed m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep); + // decay requested direction + m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale)); - VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},origDir={5},vel={6}", - Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity); - - m_angularMotorApply--; + VDetailLog("{0},MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}", + Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity); } else { - // No motor recently applied, keep the body velocity - // and decay the velocity - if (m_angularMotorVelocity.LengthSquared() < 0.0001) - m_angularMotorVelocity = Vector3.Zero; - else - m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); - } // end motor section + m_angularMotorVelocity = Vector3.Zero; + } #region Vertical attactor @@ -824,22 +786,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero) { - float VAservo = 0.2f; + float VAservo = pTimestep * 0.2f / m_verticalAttractionTimescale; if (Prim.Linkset.LinksetIsColliding) - VAservo = 0.05f / (m_verticalAttractionTimescale / pTimestep); + VAservo = pTimestep * 0.05f / (m_verticalAttractionTimescale); VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); - // get present body rotation - Quaternion rotq = Prim.ForceOrientation; - // vector pointing up - Vector3 verticalError = Vector3.UnitZ; - - // rotate it to Body Angle - verticalError = verticalError * rotq; - // verticalError.X and .Y are the World error amounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. - // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go - // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body. + // Create a vector of the vehicle "up" in world coordinates + Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation; + // verticalError.X and .Y are the World error amounts. They are 0 when there is no + // error (Vehicle Body is 'vertical'), and .Z will be 1. As the body leans to its + // side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall + // and .Z will go // negative. Similar for tilt and |.Y|. .X and .Y must be + // modulated to prevent a stable inverted body. // Error is 0 (no error) to +/- 2 (max error) if (verticalError.Z < 0.0f) @@ -850,13 +809,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin // scale it by VAservo verticalError = verticalError * VAservo; - // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y then .X increases, so - // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. + // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y + // then .X increases, so change Body angular velocity X based on Y, and Y based on X. + // Z is not changed. vertattr.X = verticalError.Y; vertattr.Y = - verticalError.X; vertattr.Z = 0f; // scaling appears better usingsquare-law + Vector3 angularVelocity = Prim.ForceRotationalVelocity; float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); vertattr.X += bounce * angularVelocity.X; vertattr.Y += bounce * angularVelocity.Y; @@ -956,15 +917,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); } - // apply friction - Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep); - m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; - // Apply to the body // The above calculates the absolute angular velocity needed - Prim.ForceRotationalVelocity = m_lastAngularVelocity; + // Prim.ForceRotationalVelocity = m_lastAngularVelocity; + + // Apply a force to overcome current angular velocity + Vector3 applyAngularForce = (m_lastAngularVelocity - Prim.ForceRotationalVelocity) * Prim.Linkset.LinksetMass; + // Vector3 applyAngularForce = (m_lastAngularVelocity - Prim.ForceRotationalVelocity); + // Prim.AddAngularForce(applyAngularForce, false); + Prim.ApplyTorqueImpulse(applyAngularForce, false); + + // Apply friction for next time + Vector3 decayamount = (Vector3.One / m_angularFrictionTimescale) * pTimestep; + m_lastAngularVelocity *= Vector3.One - decayamount; - VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); + VDetailLog("{0},MoveAngular,done,applyAForce={1},decay={2},lastAngular={3}", + Prim.LocalID, applyAngularForce, decayamount, m_lastAngularVelocity); } //end MoveAngular internal void LimitRotation(float timestep) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index ecb6ad4..8cdbd9b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -299,7 +299,7 @@ public sealed class BSLinksetConstraints : BSLinkset // DEBUG: see of inter-linkset collisions are causing problems // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,setCenterOfMass,rBody={1},linksetMass={2}", + DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass); foreach (BSPhysObject child in m_children) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 7851a40..9ced61fa 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -378,7 +378,9 @@ public sealed class BSPrim : BSPhysObject { OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass); BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia); - BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); + // center of mass is at the zero of the object + BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation); + // BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia); } } @@ -462,9 +464,16 @@ public sealed class BSPrim : BSPhysObject // Called from Scene when doing simulation step so we're in taint processing time. public override void StepVehicle(float timeStep) { - if (IsPhysical) + if (IsPhysical && _vehicle.IsActive) { _vehicle.Step(timeStep); + /* // TEST TEST DEBUG DEBUG -- trying to reduce the extra action of Bullet simulation step + PhysicsScene.PostTaintObject("BSPrim.StepVehicles", LocalID, delegate() + { + // This resets the interpolation values and recomputes the tensor variables + BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation); + }); + */ } } @@ -502,7 +511,9 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Vector3 Torque { get { return _torque; } - set { _torque = value; + set { + _torque = value; + AddAngularForce(_torque, false, false); // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); } } @@ -831,7 +842,7 @@ public sealed class BSPrim : BSPhysObject // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { - // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); + DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity); }); } @@ -972,14 +983,31 @@ public sealed class BSPrim : BSPhysObject } m_accumulatedAngularForces.Clear(); } - // DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum); + DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum); if (fSum != OMV.Vector3.Zero) + { BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum); + _torque = fSum; + } }; if (inTaintTime) addAngularForceOperation(); else - PhysicsScene.TaintedObject("BSPrim.AddForce", addAngularForceOperation); + PhysicsScene.TaintedObject("BSPrim.AddAngularForce", addAngularForceOperation); + } + // A torque impulse. + public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime) + { + OMV.Vector3 applyImpulse = impulse; + BSScene.TaintCallback applyTorqueImpulseOperation = delegate() + { + DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse); + BulletSimAPI.ApplyTorqueImpulse2(BSBody.ptr, applyImpulse); + }; + if (inTaintTime) + applyTorqueImpulseOperation(); + else + PhysicsScene.TaintedObject("BSPrim.ApplyTorqueImpulse", applyTorqueImpulseOperation); } public override void SetMomentum(OMV.Vector3 momentum) { // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); @@ -1418,8 +1446,9 @@ public sealed class BSPrim : BSPhysObject PositionSanityCheck(true); - DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", - LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); + OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; + DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", + LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG -- cgit v1.1 From 364a7c308804a3e331199ca60c6dfafa406b5d0d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 31 Oct 2012 14:49:28 -0700 Subject: BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add skeleton of BSLinksetCompound. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 78 +++++----- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 7 - .../Physics/BulletSPlugin/BSLinksetCompound.cs | 173 +++++++++++++++++++++ .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 40 ++--- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 8 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 128 +++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 20 +-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 46 +++--- 9 files changed, 328 insertions(+), 176 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index b9013ab..8c7061d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -131,45 +131,45 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.Destroy", LocalID); PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() { - PhysicsScene.Shapes.DereferenceBody(BSBody, true, null); - PhysicsScene.Shapes.DereferenceShape(BSShape, true, null); + PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); + PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); }); } private void SetPhysicalProperties() { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); ZeroMotion(); ForcePosition = _position; // Set the velocity and compute the proper friction ForceVelocity = _velocity; - BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution); - BulletSimAPI.SetMargin2(BSShape.ptr, PhysicsScene.Params.collisionMargin); - BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); - BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); + BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution); + BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); + BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); + BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold); if (PhysicsScene.Params.ccdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); + BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } UpdatePhysicalMassProperties(MassRaw); // Make so capsule does not fall over - BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); + BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION); - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); + BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION); + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); // Do this after the object has been added to the world - BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, + BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask); } @@ -199,7 +199,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { - BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); + BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); UpdatePhysicalMassProperties(MassRaw); }); @@ -234,10 +234,10 @@ public sealed class BSCharacter : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); - BulletSimAPI.ClearForces2(BSBody.ptr); + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationVelocity2(PhysBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(PhysBody.ptr); } public override void LockAngularMotion(OMV.Vector3 axis) { return; } @@ -254,19 +254,19 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); }); } } public override OMV.Vector3 ForcePosition { get { - _position = BulletSimAPI.GetPosition2(BSBody.ptr); + _position = BulletSimAPI.GetPosition2(PhysBody.ptr); return _position; } set { _position = value; PositionSanityCheck(); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); } } @@ -313,7 +313,7 @@ public sealed class BSCharacter : BSPhysObject BSScene.TaintCallback sanityOperation = delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); }; if (inTaintTime) sanityOperation(); @@ -332,8 +332,8 @@ public sealed class BSCharacter : BSPhysObject } public override void UpdatePhysicalMassProperties(float physMass) { - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass); - BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia); + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); + BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); } public override OMV.Vector3 Force { @@ -344,7 +344,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() { DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); + BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); }); } } @@ -383,7 +383,7 @@ public sealed class BSCharacter : BSPhysObject if (_currentFriction != PhysicsScene.Params.avatarStandingFriction) { _currentFriction = PhysicsScene.Params.avatarStandingFriction; - BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction); + BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); } } else @@ -391,15 +391,15 @@ public sealed class BSCharacter : BSPhysObject if (_currentFriction != PhysicsScene.Params.avatarFriction) { _currentFriction = PhysicsScene.Params.avatarFriction; - BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction); + BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); } } _velocity = value; // Remember the set velocity so we can suppress the reduction by friction, ... _appliedVelocity = value; - BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); - BulletSimAPI.Activate2(BSBody.ptr, true); + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); + BulletSimAPI.Activate2(PhysBody.ptr, true); } } public override OMV.Vector3 Torque { @@ -424,7 +424,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() { // _position = BulletSimAPI.GetPosition2(BSBody.ptr); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); }); } } @@ -433,13 +433,13 @@ public sealed class BSCharacter : BSPhysObject { get { - _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr); + _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); return _orientation; } set { _orientation = value; - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); } } public override int PhysicsActorType { @@ -498,9 +498,9 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() { if (_floatOnWater) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); else - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); }); } } @@ -533,7 +533,7 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); + BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); } } @@ -579,7 +579,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate() { DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); + BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); }); } else @@ -647,7 +647,7 @@ public sealed class BSCharacter : BSPhysObject // That's just the way they are defined. OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z); _velocity = avVel; - BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel); + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel); } // Tell the linkset about value changes diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 5c61774..38609e3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -514,8 +514,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (IsActive) { // Friction effects are handled by this vehicle code - BulletSimAPI.SetFriction2(Prim.BSBody.ptr, 0f); - BulletSimAPI.SetHitFraction2(Prim.BSBody.ptr, 0f); + BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f); + BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 6d84fcc..525ec28 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -194,13 +194,6 @@ public abstract class BSLinkset // Called while LinkActivity is locked. protected abstract void AddChildToLinkset(BSPhysObject child); - // Forcefully removing a child from a linkset. - // This is not being called by the child so we have to make sure the child doesn't think - // it's still connected to the linkset. - // Normal OpenSimulator operation will never do this because other SceneObjectPart information - // also has to be updated (like pointer to prim's parent). - protected abstract void RemoveChildFromOtherLinkset(BSPhysObject pchild); - // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. protected abstract void RemoveChildFromLinkset(BSPhysObject child); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs new file mode 100755 index 0000000..1c569b5 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -0,0 +1,173 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public sealed class BSLinksetCompound : BSLinkset +{ + // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; + + public BSLinksetCompound(BSScene scene, BSPhysObject parent) + { + base.Initialize(scene, parent); + } + + // When physical properties are changed the linkset needs to recalculate + // its internal properties. + // This is queued in the 'post taint' queue so the + // refresh will happen once after all the other taints are applied. + public override void Refresh(BSPhysObject requestor) + { + // Queue to happen after all the other taint processing + PhysicsScene.PostTaintObject("BSLinksetcompound.Refresh", requestor.LocalID, delegate() + { + if (HasAnyChildren && IsRoot(requestor)) + RecomputeLinksetCompound(); + }); + } + + // The object is going dynamic (physical). Do any setup necessary + // for a dynamic linkset. + // Only the state of the passed object can be modified. The rest of the linkset + // has not yet been fully constructed. + // Return 'true' if any properties updated on the passed object. + // Called at taint-time! + public override bool MakeDynamic(BSPhysObject child) + { + // What is done for each object in BSPrim is what we want. + return false; + } + + // The object is going static (non-physical). Do any setup necessary for a static linkset. + // Return 'true' if any properties updated on the passed object. + // This doesn't normally happen -- OpenSim removes the objects from the physical + // world if it is a static linkset. + // Called at taint-time! + public override bool MakeStatic(BSPhysObject child) + { + // What is done for each object in BSPrim is what we want. + return false; + } + + // Called at taint-time!! + public override void UpdateProperties(BSPhysObject updated) + { + // Nothing to do for constraints on property updates + } + + // Routine called when rebuilding the body of some member of the linkset. + // Destroy all the constraints have have been made to root and set + // 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(BSPrim child) + { + bool ret = false; + + DetailLog("{0},BSLinksetcompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", + child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X")); + + // Cause the current shape to be freed and the new one to be built. + Refresh(LinksetRoot); + + return ret; + } + + // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', + // this routine will restore the removed constraints. + // Called at taint-time!! + public override void RestoreBodyDependencies(BSPrim child) + { + // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints. + } + + // ================================================================ + + // Add a new child to the linkset. + // Called while LinkActivity is locked. + protected override void AddChildToLinkset(BSPhysObject child) + { + if (!HasChild(child)) + { + m_children.Add(child); + + DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); + + // Cause constraints and assorted properties to be recomputed before the next simulation step. + Refresh(LinksetRoot); + } + return; + } + + // Remove the specified child from the linkset. + // Safe to call even if the child is not really in my linkset. + protected override void RemoveChildFromLinkset(BSPhysObject child) + { + if (m_children.Remove(child)) + { + DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", + child.LocalID, + LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), + child.LocalID, child.PhysBody.ptr.ToString("X")); + + // See that the linkset parameters are recomputed at the end of the taint time. + Refresh(LinksetRoot); + } + else + { + // Non-fatal occurance. + // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); + } + return; + } + + + // Call each of the constraints that make up this linkset and recompute the + // various transforms and variables. Create constraints of not created yet. + // Called before the simulation step to make sure the constraint based linkset + // is all initialized. + // Called at taint time!! + private void RecomputeLinksetCompound() + { + float linksetMass = LinksetMass; + LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + + // DEBUG: see of inter-linkset collisions are causing problems + // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, + // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,set,rBody={1},linksetMass={2}", + LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass); + + + } +} +} \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 8cdbd9b..65aed77 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -94,7 +94,7 @@ public sealed class BSLinksetConstraints : BSLinkset bool ret = false; DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); + child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X")); lock (m_linksetActivityLock) { @@ -124,9 +124,6 @@ public sealed class BSLinksetConstraints : BSLinkset { m_children.Add(child); - BSPhysObject rootx = LinksetRoot; // capture the root as of now - BSPhysObject childx = child; - DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Cause constraints and assorted properties to be recomputed before the next simulation step. @@ -135,17 +132,6 @@ public sealed class BSLinksetConstraints : BSLinkset return; } - // Forcefully removing a child from a linkset. - // This is not being called by the child so we have to make sure the child doesn't think - // it's still connected to the linkset. - // Normal OpenSimulator operation will never do this because other SceneObjectPart information - // also has to be updated (like pointer to prim's parent). - protected override void RemoveChildFromOtherLinkset(BSPhysObject pchild) - { - pchild.Linkset = BSLinkset.Factory(PhysicsScene, pchild); - RemoveChildFromLinkset(pchild); - } - // Remove the specified child from the linkset. // Safe to call even if the child is not really in my linkset. protected override void RemoveChildFromLinkset(BSPhysObject child) @@ -157,8 +143,8 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", childx.LocalID, - rootx.LocalID, rootx.BSBody.ptr.ToString("X"), - childx.LocalID, childx.BSBody.ptr.ToString("X")); + rootx.LocalID, rootx.PhysBody.ptr.ToString("X"), + childx.LocalID, childx.PhysBody.ptr.ToString("X")); PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate() { @@ -197,15 +183,15 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", rootPrim.LocalID, - rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), - childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"), + rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"), + childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"), rootPrim.Position, childPrim.Position, midPoint); // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 BSConstraint6Dof constrain = new BSConstraint6Dof( - PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true ); + PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true ); // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true ); /* NOTE: below is an attempt to build constraint with full frame computation, etc. @@ -262,14 +248,14 @@ public sealed class BSLinksetConstraints : BSLinkset bool ret = false; DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", rootPrim.LocalID, - rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), - childPrim.LocalID, childPrim.BSBody.ptr.ToString("X")); + rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"), + childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X")); // Find the constraint for this link and get rid of it from the overall collection and from my list - if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody)) + if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) { // Make the child refresh its location - BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); + BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr); ret = true; } @@ -283,7 +269,7 @@ public sealed class BSLinksetConstraints : BSLinkset { DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); - return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); + return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody); } // Call each of the constraints that make up this linkset and recompute the @@ -300,7 +286,7 @@ public sealed class BSLinksetConstraints : BSLinkset // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", - LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass); + LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass); foreach (BSPhysObject child in m_children) { @@ -310,7 +296,7 @@ public sealed class BSLinksetConstraints : BSLinkset child.UpdatePhysicalMassProperties(linksetMass); BSConstraint constrain; - if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) + if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) { // If constraint doesn't exist yet, create it. constrain = BuildConstraint(LinksetRoot, child); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index be8d64b..6220b21 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -68,9 +68,9 @@ public abstract class BSPhysObject : PhysicsActor public abstract void UpdatePhysicalMassProperties(float mass); // Reference to the physical body (btCollisionObject) of this object - public BulletBody BSBody; + public BulletBody PhysBody; // Reference to the physical shape (btCollisionShape) of this object - public BulletShape BSShape; + public BulletShape PhysShape; // 'true' if the mesh's underlying asset failed to build. // This will keep us from looping after the first time the build failed. @@ -206,7 +206,7 @@ public abstract class BSPhysObject : PhysicsActor PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() { - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } else @@ -220,7 +220,7 @@ public abstract class BSPhysObject : PhysicsActor SubscribedEventsMs = 0; PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() { - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } // Return 'true' if the simulator wants collision events diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 9ced61fa..8dd48ca 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -111,8 +111,8 @@ public sealed class BSPrim : BSPhysObject _mass = CalculateMass(); // No body or shape yet - BSBody = new BulletBody(LocalID, IntPtr.Zero); - BSShape = new BulletShape(IntPtr.Zero); + PhysBody = new BulletBody(LocalID, IntPtr.Zero); + PhysShape = new BulletShape(IntPtr.Zero); DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time @@ -120,7 +120,7 @@ public sealed class BSPrim : BSPhysObject { CreateGeomAndObject(true); - CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.ptr); + CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr); }); } @@ -145,8 +145,8 @@ public sealed class BSPrim : BSPhysObject { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // If there are physical body and shape, release my use of same. - PhysicsScene.Shapes.DereferenceBody(BSBody, true, null); - PhysicsScene.Shapes.DereferenceShape(BSShape, true, null); + PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); + PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); }); } @@ -243,7 +243,7 @@ public sealed class BSPrim : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties in the physics engine - BulletSimAPI.ClearAllForces2(BSBody.ptr); + BulletSimAPI.ClearAllForces2(PhysBody.ptr); } public override void LockAngularMotion(OMV.Vector3 axis) @@ -256,7 +256,7 @@ public sealed class BSPrim : BSPhysObject get { if (!Linkset.IsRoot(this)) // child prims move around based on their parent. Need to get the latest location - _position = BulletSimAPI.GetPosition2(BSBody.ptr); + _position = BulletSimAPI.GetPosition2(PhysBody.ptr); // don't do the GetObjectPosition for root elements because this function is called a zillion times // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); @@ -274,20 +274,20 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); ActivateIfPhysical(false); }); } } public override OMV.Vector3 ForcePosition { get { - _position = BulletSimAPI.GetPosition2(BSBody.ptr); + _position = BulletSimAPI.GetPosition2(PhysBody.ptr); return _position; } set { _position = value; PositionSanityCheck(); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); ActivateIfPhysical(false); } } @@ -371,15 +371,15 @@ public sealed class BSPrim : BSPhysObject { if (IsStatic) { - BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero); - BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); + BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, OMV.Vector3.Zero); + BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); } else { - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass); - BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia); + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); + BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); // center of mass is at the zero of the object - BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation); + BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); // BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia); } @@ -404,7 +404,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setForce", delegate() { // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); + BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); }); } } @@ -498,7 +498,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() { // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); - BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); }); } } @@ -506,7 +506,7 @@ public sealed class BSPrim : BSPhysObject get { return _velocity; } set { _velocity = value; - BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); } } public override OMV.Vector3 Torque { @@ -531,7 +531,7 @@ public sealed class BSPrim : BSPhysObject if (!Linkset.IsRoot(this)) { // Children move around because tied to parent. Get a fresh value. - _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr); + _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); } return _orientation; } @@ -544,7 +544,7 @@ public sealed class BSPrim : BSPhysObject { // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); }); } } @@ -553,13 +553,13 @@ public sealed class BSPrim : BSPhysObject { get { - _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr); + _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); return _orientation; } set { _orientation = value; - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); } } public override int PhysicsActorType { @@ -615,7 +615,7 @@ public sealed class BSPrim : BSPhysObject // Mangling all the physical properties requires the object not be in the physical world. // 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); + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); // Set up the object physicalness (does gravity and collisions move this object) MakeDynamic(IsStatic); @@ -629,15 +629,15 @@ public sealed class BSPrim : BSPhysObject // Make solid or not (do things bounce off or pass through this object). MakeSolid(IsSolid); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); // Rebuild its shape - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); // Collision filter can be set only when the object is in the world - if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0) + if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0) { - BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask); + BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask); } // Recompute any linkset parameters. @@ -646,7 +646,7 @@ public sealed class BSPrim : BSPhysObject Linkset.Refresh(this); DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", - LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); + LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape); } // "Making dynamic" means changing to and from static. @@ -659,44 +659,44 @@ public sealed class BSPrim : BSPhysObject if (makeStatic) { // Become a Bullet 'static' object type - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement ZeroMotion(); // Center of mass is at the center of the object - BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation); + BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); // Mass is zero which disables a bunch of physics stuff in Bullet UpdatePhysicalMassProperties(0f); // Set collision detection parameters if (PhysicsScene.Params.ccdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); + BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } // There can be special things needed for implementing linksets Linkset.MakeStatic(this); // The activation state is 'disabled' so Bullet will not try to act on it. - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); + BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); // Start it out sleeping and physical actions could wake it up. // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); - BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; - BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; + PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; + PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask; } else { // Not a Bullet static object - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); // Set various physical properties so internal dynamic properties will get computed correctly as they are set - BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction); - BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution); + BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction); + BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 // Since this can be called multiple times, only zero forces when becoming physical // BulletSimAPI.ClearAllForces2(BSBody.ptr); // For good measure, make sure the transform is set through to the motion state - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); // A dynamic object has mass UpdatePhysicalMassProperties(MassRaw); @@ -704,26 +704,26 @@ public sealed class BSPrim : BSPhysObject // Set collision detection parameters if (PhysicsScene.Params.ccdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); + BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } // Various values for simulation limits - BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping); - BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime); - BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); - BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); + BulletSimAPI.SetDamping2(PhysBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping); + BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, PhysicsScene.Params.deactivationTime); + BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); + BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold); // There might be special things needed for implementing linksets. Linkset.MakeDynamic(this); // Force activation of the object so Bullet will act on it. // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); + BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); // BulletSimAPI.Activate2(BSBody.ptr, true); - BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter; - BSBody.collisionMask = CollisionFilterGroups.ObjectMask; + PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter; + PhysBody.collisionMask = CollisionFilterGroups.ObjectMask; } } @@ -733,7 +733,7 @@ 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) { - CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr); + CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr); if (makeSolid) { // Verify the previous code created the correct shape for this type of thing. @@ -741,7 +741,7 @@ public sealed class BSPrim : BSPhysObject { m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType); } - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); } else { @@ -749,9 +749,9 @@ public sealed class BSPrim : BSPhysObject { m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); } - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter; - BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter; + PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; } } @@ -761,7 +761,7 @@ public sealed class BSPrim : BSPhysObject private void ActivateIfPhysical(bool forceIt) { if (IsPhysical) - BulletSimAPI.Activate2(BSBody.ptr, forceIt); + BulletSimAPI.Activate2(PhysBody.ptr, forceIt); } // Turn on or off the flag controlling whether collision events are returned to the simulator. @@ -769,11 +769,11 @@ public sealed class BSPrim : BSPhysObject { if (wantsCollisionEvents) { - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } else { - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } } @@ -818,9 +818,9 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() { if (_floatOnWater) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); else - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); }); } } @@ -843,7 +843,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); - BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); }); } } @@ -853,7 +853,7 @@ public sealed class BSPrim : BSPhysObject } set { _rotationalVelocity = value; - BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); } } public override bool Kinematic { @@ -879,7 +879,7 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); + BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); } } @@ -946,7 +946,7 @@ public sealed class BSPrim : BSPhysObject } DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum); if (fSum != OMV.Vector3.Zero) - BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); + BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); }; if (inTaintTime) addForceOperation(); @@ -986,7 +986,7 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum); if (fSum != OMV.Vector3.Zero) { - BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum); + BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum); _torque = fSum; } }; @@ -1002,7 +1002,7 @@ public sealed class BSPrim : BSPhysObject BSScene.TaintCallback applyTorqueImpulseOperation = delegate() { DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse); - BulletSimAPI.ApplyTorqueImpulse2(BSBody.ptr, applyImpulse); + BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); }; if (inTaintTime) applyTorqueImpulseOperation(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index c27b5f0..cc5dbb2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1067,49 +1067,49 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linearDamping; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ), + (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, v); } ), new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", 0f, (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].angularDamping; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ), + (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, v); } ), new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", 0.2f, (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].deactivationTime; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.BSBody.ptr, v); } ), + (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ), new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", 0.8f, (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linearSleepingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ), + (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", 1.0f, (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].angularSleepingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ), + (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , 0f, // set to zero to disable (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].ccdMotionThreshold; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.BSBody.ptr, v); } ), + (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ), new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , 0f, (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].ccdSweptSphereRadius; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.BSBody.ptr, v); } ), + (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ), new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , 0.1f, (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].contactProcessingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.BSBody.ptr, v); } ), + (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , 0.5f, @@ -1428,8 +1428,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { foreach (BSPrim prim in m_vehicles) { - BulletSimAPI.DumpRigidBody2(World.ptr, prim.BSBody.ptr); - BulletSimAPI.DumpCollisionShape2(World.ptr, prim.BSShape.ptr); + BulletSimAPI.DumpRigidBody2(World.ptr, prim.PhysBody.ptr); + BulletSimAPI.DumpCollisionShape2(World.ptr, prim.PhysShape.ptr); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 1219fc0..a38e650 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -106,11 +106,11 @@ public sealed class BSShapeCollection : IDisposable // rebuild the body around it. // Updates prim.BSBody with information/pointers to requested body bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, - prim.BSShape, shapeData, bodyCallback); + prim.PhysShape, shapeData, bodyCallback); ret = newGeom || newBody; } DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}", - prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape); + prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape); return ret; } @@ -337,7 +337,7 @@ public sealed class BSShapeCollection : IDisposable // an avatar capsule is close to a native shape (it is not shared) ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback); - DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape); + DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); ret = true; haveShape = true; } @@ -360,13 +360,13 @@ public sealed class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || prim.Scale != shapeData.Size - || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE + || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE ) { ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", - prim.LocalID, forceRebuild, prim.BSShape); + prim.LocalID, forceRebuild, prim.PhysShape); } } if (pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) @@ -374,13 +374,13 @@ public sealed class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || prim.Scale != shapeData.Size - || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX + || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX ) { ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", - prim.LocalID, forceRebuild, prim.BSShape); + prim.LocalID, forceRebuild, prim.PhysShape); } } } @@ -394,13 +394,13 @@ public sealed class BSShapeCollection : IDisposable // Update prim.BSShape to reference a hull of this shape. ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", - shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); + shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); } else { ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", - shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); + shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); } } return ret; @@ -413,7 +413,7 @@ public sealed class BSShapeCollection : IDisposable ShapeDestructionCallback shapeCallback) { // release any previous shape - DereferenceShape(prim.BSShape, true, shapeCallback); + DereferenceShape(prim.PhysShape, true, shapeCallback); shapeData.Type = shapeType; // Bullet native objects are scaled by the Bullet engine so pass the size in @@ -426,7 +426,7 @@ public sealed class BSShapeCollection : IDisposable DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", shapeData.ID, newShape, shapeData.Scale); - prim.BSShape = newShape; + prim.PhysShape = newShape; return true; } @@ -475,14 +475,14 @@ public sealed class BSShapeCollection : IDisposable System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod); // if this new shape is the same as last time, don't recreate the mesh - if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH) + if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH) return false; DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}", - prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); + prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); // Since we're recreating new, get rid of the reference to the previous shape - DereferenceShape(prim.BSShape, true, shapeCallback); + DereferenceShape(prim.PhysShape, true, shapeCallback); newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod); // Take evasive action if the mesh was not constructed. @@ -492,7 +492,7 @@ public sealed class BSShapeCollection : IDisposable // meshes are already scaled by the meshmerizer prim.Scale = new OMV.Vector3(1f, 1f, 1f); - prim.BSShape = newShape; + prim.PhysShape = newShape; return true; // 'true' means a new shape has been added to this prim } @@ -550,14 +550,14 @@ public sealed class BSShapeCollection : IDisposable System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod); // if the hull hasn't changed, don't rebuild it - if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) + if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) return false; DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", - prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X")); + prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X")); // Remove usage of the previous shape. - DereferenceShape(prim.BSShape, true, shapeCallback); + DereferenceShape(prim.PhysShape, true, shapeCallback); newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs); @@ -566,7 +566,7 @@ public sealed class BSShapeCollection : IDisposable // hulls are already scaled by the meshmerizer prim.Scale = new OMV.Vector3(1f, 1f, 1f); - prim.BSShape = newShape; + prim.PhysShape = newShape; return true; // 'true' means a new shape has been added to this prim } @@ -778,13 +778,13 @@ public sealed class BSShapeCollection : IDisposable bool ret = false; // the mesh, hull or native shape must have already been created in Bullet - bool mustRebuild = (prim.BSBody.ptr == IntPtr.Zero); + bool mustRebuild = (prim.PhysBody.ptr == IntPtr.Zero); // If there is an existing body, verify it's of an acceptable type. // If not a solid object, body is a GhostObject. Otherwise a RigidBody. if (!mustRebuild) { - CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.BSBody.ptr); + CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr); if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT) { @@ -796,7 +796,7 @@ public sealed class BSShapeCollection : IDisposable if (mustRebuild || forceRebuild) { // Free any old body - DereferenceBody(prim.BSBody, true, bodyCallback); + DereferenceBody(prim.PhysBody, true, bodyCallback); BulletBody aBody; IntPtr bodyPtr = IntPtr.Zero; @@ -816,7 +816,7 @@ public sealed class BSShapeCollection : IDisposable ReferenceBody(aBody, true); - prim.BSBody = aBody; + prim.PhysBody = aBody; ret = true; } -- cgit v1.1 From 39c02dcc8c537d5989238ec97c876e033895a8a9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 1 Nov 2012 10:23:37 -0700 Subject: BulletSim: Remove use of shapeData in ShapeCollection and rely on the available BSPhysObject varaiables. Fix line endings in BSLinksetCompound. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 19 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 5 + .../Physics/BulletSPlugin/BSLinksetCompound.cs | 347 +++++++++++---------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 + OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 30 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 116 +++---- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 1 + 7 files changed, 256 insertions(+), 266 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 8c7061d..2a634b9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -99,26 +99,12 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw); - ShapeData shapeData = new ShapeData(); - shapeData.ID = LocalID; - shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR; - shapeData.Position = _position; - shapeData.Rotation = _orientation; - shapeData.Velocity = _velocity; - shapeData.Size = Scale; // capsule is a native shape but scale is not just <1,1,1> - shapeData.Scale = Scale; - shapeData.Mass = _mass; - shapeData.Buoyancy = _buoyancy; - shapeData.Static = ShapeData.numericFalse; - shapeData.Friction = PhysicsScene.Params.avatarStandingFriction; - shapeData.Restitution = PhysicsScene.Params.avatarRestitution; - // do actual create at taint time PhysicsScene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); // New body and shape into BSBody and BSShape - PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null); + PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, null, null); SetPhysicalProperties(); }); @@ -212,6 +198,9 @@ public sealed class BSCharacter : BSPhysObject { set { BaseShape = value; } } + // I want the physics engine to make an avatar capsule + public override ShapeData.PhysicsShapeType PreferredPhysicalShape + { get { return ShapeData.PhysicsShapeType.SHAPE_AVATAR; } } public override bool Grabbed { set { _grabbed = value; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 525ec28..f56851f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -68,6 +68,11 @@ 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. + public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape + { get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; } } + // We keep the prim's mass in the linkset structure since it could be dependent on other prims protected float m_mass; public float LinksetMass diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 1c569b5..638fae1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -1,173 +1,176 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; - -using OMV = OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public sealed class BSLinksetCompound : BSLinkset -{ - // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; - - public BSLinksetCompound(BSScene scene, BSPhysObject parent) - { - base.Initialize(scene, parent); - } - - // When physical properties are changed the linkset needs to recalculate - // its internal properties. - // This is queued in the 'post taint' queue so the - // refresh will happen once after all the other taints are applied. - public override void Refresh(BSPhysObject requestor) - { - // Queue to happen after all the other taint processing - PhysicsScene.PostTaintObject("BSLinksetcompound.Refresh", requestor.LocalID, delegate() - { - if (HasAnyChildren && IsRoot(requestor)) - RecomputeLinksetCompound(); - }); - } - - // The object is going dynamic (physical). Do any setup necessary - // for a dynamic linkset. - // Only the state of the passed object can be modified. The rest of the linkset - // has not yet been fully constructed. - // Return 'true' if any properties updated on the passed object. - // Called at taint-time! - public override bool MakeDynamic(BSPhysObject child) - { - // What is done for each object in BSPrim is what we want. - return false; - } - - // The object is going static (non-physical). Do any setup necessary for a static linkset. - // Return 'true' if any properties updated on the passed object. - // This doesn't normally happen -- OpenSim removes the objects from the physical - // world if it is a static linkset. - // Called at taint-time! - public override bool MakeStatic(BSPhysObject child) - { - // What is done for each object in BSPrim is what we want. - return false; - } - - // Called at taint-time!! - public override void UpdateProperties(BSPhysObject updated) - { - // Nothing to do for constraints on property updates - } - - // Routine called when rebuilding the body of some member of the linkset. - // Destroy all the constraints have have been made to root and set - // 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(BSPrim child) - { - bool ret = false; - - DetailLog("{0},BSLinksetcompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X")); - - // Cause the current shape to be freed and the new one to be built. - Refresh(LinksetRoot); - - return ret; - } - - // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', - // this routine will restore the removed constraints. - // Called at taint-time!! - public override void RestoreBodyDependencies(BSPrim child) - { - // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints. - } - - // ================================================================ - - // Add a new child to the linkset. - // Called while LinkActivity is locked. - protected override void AddChildToLinkset(BSPhysObject child) - { - if (!HasChild(child)) - { - m_children.Add(child); - - DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); - - // Cause constraints and assorted properties to be recomputed before the next simulation step. - Refresh(LinksetRoot); - } - return; - } - - // Remove the specified child from the linkset. - // Safe to call even if the child is not really in my linkset. - protected override void RemoveChildFromLinkset(BSPhysObject child) - { - if (m_children.Remove(child)) - { - DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", - child.LocalID, - LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), - child.LocalID, child.PhysBody.ptr.ToString("X")); - - // See that the linkset parameters are recomputed at the end of the taint time. - Refresh(LinksetRoot); - } - else - { - // Non-fatal occurance. - // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); - } - return; - } - - - // Call each of the constraints that make up this linkset and recompute the - // various transforms and variables. Create constraints of not created yet. - // Called before the simulation step to make sure the constraint based linkset - // is all initialized. - // Called at taint time!! - private void RecomputeLinksetCompound() - { - float linksetMass = LinksetMass; - LinksetRoot.UpdatePhysicalMassProperties(linksetMass); - - // DEBUG: see of inter-linkset collisions are causing problems - // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, - // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,set,rBody={1},linksetMass={2}", - LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass); - - - } -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public sealed class BSLinksetCompound : BSLinkset +{ + // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; + + public BSLinksetCompound(BSScene scene, BSPhysObject parent) + { + base.Initialize(scene, parent); + } + + // When physical properties are changed the linkset needs to recalculate + // its internal properties. + // This is queued in the 'post taint' queue so the + // refresh will happen once after all the other taints are applied. + public override void Refresh(BSPhysObject requestor) + { + // Queue to happen after all the other taint processing + PhysicsScene.PostTaintObject("BSLinksetcompound.Refresh", requestor.LocalID, delegate() + { + if (HasAnyChildren && IsRoot(requestor)) + RecomputeLinksetCompound(); + }); + } + + // The object is going dynamic (physical). Do any setup necessary + // for a dynamic linkset. + // Only the state of the passed object can be modified. The rest of the linkset + // has not yet been fully constructed. + // Return 'true' if any properties updated on the passed object. + // Called at taint-time! + public override bool MakeDynamic(BSPhysObject child) + { + // What is done for each object in BSPrim is what we want. + return false; + } + + // The object is going static (non-physical). Do any setup necessary for a static linkset. + // Return 'true' if any properties updated on the passed object. + // This doesn't normally happen -- OpenSim removes the objects from the physical + // world if it is a static linkset. + // Called at taint-time! + public override bool MakeStatic(BSPhysObject child) + { + // What is done for each object in BSPrim is what we want. + return false; + } + + // Called at taint-time!! + public override void UpdateProperties(BSPhysObject updated) + { + // Nothing to do for constraints on property updates + } + + // Routine called when rebuilding the body of some member of the linkset. + // Destroy all the constraints have have been made to root and set + // 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(BSPrim child) + { + bool ret = false; + + DetailLog("{0},BSLinksetcompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", + child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X")); + + // Cause the current shape to be freed and the new one to be built. + Refresh(LinksetRoot); + + return ret; + } + + // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', + // this routine will restore the removed constraints. + // Called at taint-time!! + public override void RestoreBodyDependencies(BSPrim child) + { + // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints. + } + + // ================================================================ + + // Add a new child to the linkset. + // Called while LinkActivity is locked. + protected override void AddChildToLinkset(BSPhysObject child) + { + if (!HasChild(child)) + { + m_children.Add(child); + + DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); + + // Cause constraints and assorted properties to be recomputed before the next simulation step. + Refresh(LinksetRoot); + } + return; + } + + // Remove the specified child from the linkset. + // Safe to call even if the child is not really in my linkset. + protected override void RemoveChildFromLinkset(BSPhysObject child) + { + if (m_children.Remove(child)) + { + DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", + child.LocalID, + LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), + child.LocalID, child.PhysBody.ptr.ToString("X")); + + // See that the linkset parameters are recomputed at the end of the taint time. + Refresh(LinksetRoot); + } + else + { + // Non-fatal occurance. + // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); + } + return; + } + + + // Call each of the constraints that make up this linkset and recompute the + // various transforms and variables. Create constraints of not created yet. + // Called before the simulation step to make sure the constraint based linkset + // is all initialized. + // Called at taint time!! + private void RecomputeLinksetCompound() + { + // Release the existing shape + PhysicsScene.Shapes.DereferenceShape(LinksetRoot.PhysShape, true, null); + + float linksetMass = LinksetMass; + LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + + // DEBUG: see of inter-linkset collisions are causing problems + // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, + // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,set,rBody={1},linksetMass={2}", + LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass); + + + } +} } \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 6220b21..7d91468 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -78,6 +78,10 @@ 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 ShapeData.PhysicsShapeType PreferredPhysicalShape + { get { return ShapeData.PhysicsShapeType.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 diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 8dd48ca..8ce960d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -171,6 +171,10 @@ public sealed class BSPrim : BSPhysObject ForceBodyShapeRebuild(false); } } + // Whatever the linkset wants is what I want. + public override ShapeData.PhysicsShapeType PreferredPhysicalShape + { get { return Linkset.PreferredPhysicalShape; } } + public override bool ForceBodyShapeRebuild(bool inTaintTime) { LastAssetBuildFailed = false; @@ -1310,34 +1314,11 @@ public sealed class BSPrim : BSPhysObject }// end CalculateMass #endregion Mass Calculation - // Copy prim's info into the BulletSim shape description structure - public void FillShapeInfo(out ShapeData shape) - { - shape.ID = LocalID; - shape.Type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; - shape.Position = _position; - shape.Rotation = _orientation; - shape.Velocity = _velocity; - shape.Size = _size; - shape.Scale = Scale; - shape.Mass = _isPhysical ? _mass : 0f; - shape.Buoyancy = _buoyancy; - shape.HullKey = 0; - shape.MeshKey = 0; - shape.Friction = _friction; - shape.Restitution = _restitution; - shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; - shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; - shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue; - } // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. // Called at taint-time!!! private void CreateGeomAndObject(bool forceRebuild) { - ShapeData shapeData; - FillShapeInfo(out shapeData); - // If this prim is part of a linkset, we must remove and restore the physical // links if the body is rebuilt. bool needToRestoreLinkset = false; @@ -1346,8 +1327,7 @@ public sealed class BSPrim : BSPhysObject // Updates BSBody and BSShape with the new information. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. // Returns 'true' if either the body or the shape was changed. - PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, - null, delegate(BulletBody dBody) + PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody) { // Called if the current prim body is about to be destroyed. // Remove all the physical dependencies on the old body. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index a38e650..478924a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -90,7 +90,6 @@ public sealed class BSShapeCollection : IDisposable // remove the physical constraints before the body is destroyed. // Called at taint-time!! public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, - ShapeData shapeData, PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) { bool ret = false; @@ -101,12 +100,12 @@ public sealed class BSShapeCollection : IDisposable // Do we have the correct geometry for this type of object? // Updates prim.BSShape with information/pointers to shape. // CreateGeom returns 'true' of BSShape as changed to a new shape. - bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback); + bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback); // 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 bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, - prim.PhysShape, shapeData, bodyCallback); + prim.PhysShape, bodyCallback); ret = newGeom || newBody; } DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}", @@ -261,6 +260,9 @@ public sealed class BSShapeCollection : IDisposable case ShapeData.PhysicsShapeType.SHAPE_MESH: DereferenceMesh(shape, shapeCallback); break; + case ShapeData.PhysicsShapeType.SHAPE_COMPOUND: + DereferenceCompound(shape, shapeCallback); + break; case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN: break; default: @@ -317,6 +319,13 @@ public sealed class BSShapeCollection : IDisposable } } + // Remove a reference to a compound shape. + // Called at taint-time. + private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback) + { + // Compound shape is made of a bunch of meshes and natives. + } + // Create the geometry information in Bullet for later use. // The objects needs a hull if it's physical otherwise a mesh is enough. // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls, @@ -325,17 +334,17 @@ 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, ShapeData shapeData, - PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback) + private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) { bool ret = false; bool haveShape = false; bool nativeShapePossible = true; + PrimitiveBaseShape pbs = prim.BaseShape; - if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + if (prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { // an avatar capsule is close to a native shape (it is not shared) - ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, + ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR, ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); ret = true; @@ -359,11 +368,11 @@ public sealed class BSShapeCollection : IDisposable { haveShape = true; if (forceRebuild - || prim.Scale != shapeData.Size + || prim.Scale != prim.Size || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE ) { - ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, + ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); @@ -373,11 +382,11 @@ public sealed class BSShapeCollection : IDisposable { haveShape = true; if (forceRebuild - || prim.Scale != shapeData.Size + || prim.Scale != prim.Size || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX ) { - ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, + ret = GetReferenceToNativeShape( prim, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); @@ -392,15 +401,15 @@ public sealed class BSShapeCollection : IDisposable if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects) { // Update prim.BSShape to reference a hull of this shape. - ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback); + ret = GetReferenceToHull(prim,shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", - shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); + prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); } else { - ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback); + ret = GetReferenceToMesh(prim, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", - shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); + prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); } } return ret; @@ -408,44 +417,45 @@ public sealed class BSShapeCollection : IDisposable // 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, ShapeData shapeData, + private bool GetReferenceToNativeShape(BSPhysObject prim, ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey, ShapeDestructionCallback shapeCallback) { // release any previous shape DereferenceShape(prim.PhysShape, true, shapeCallback); - shapeData.Type = shapeType; // Bullet native objects are scaled by the Bullet engine so pass the size in - prim.Scale = shapeData.Size; - shapeData.Scale = shapeData.Size; + prim.Scale = prim.Size; - BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey); + BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey); // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", - shapeData.ID, newShape, shapeData.Scale); + prim.LocalID, newShape, prim.Scale); prim.PhysShape = newShape; return true; } - private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType, - ShapeData shapeData, ShapeData.FixedShapeKey shapeKey) + private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, ShapeData.PhysicsShapeType shapeType, + ShapeData.FixedShapeKey shapeKey) { BulletShape newShape; // Need to make sure the passed shape information is for the native type. - ShapeData nativeShapeData = shapeData; + ShapeData nativeShapeData = new ShapeData(); nativeShapeData.Type = shapeType; + nativeShapeData.ID = prim.LocalID; + nativeShapeData.Scale = prim.Scale; + nativeShapeData.Size = prim.Scale; nativeShapeData.MeshKey = (ulong)shapeKey; nativeShapeData.HullKey = (ulong)shapeKey; if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { newShape = new BulletShape( - BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, nativeShapeData.Scale) + BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale) , shapeType); - DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale); + DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); } else { @@ -454,7 +464,7 @@ public sealed class BSShapeCollection : IDisposable if (newShape.ptr == IntPtr.Zero) { PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", - LogHeader, nativeShapeData.ID, nativeShapeData.Type); + LogHeader, prim.LocalID, shapeType); } newShape.shapeKey = (System.UInt64)shapeKey; newShape.isNativeShape = true; @@ -466,13 +476,12 @@ public sealed class BSShapeCollection : IDisposable // 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, ShapeData shapeData, PrimitiveBaseShape pbs, - ShapeDestructionCallback shapeCallback) + private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { BulletShape newShape = new BulletShape(IntPtr.Zero); float lod; - System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out 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 == ShapeData.PhysicsShapeType.SHAPE_MESH) @@ -484,9 +493,9 @@ public sealed class BSShapeCollection : IDisposable // Since we're recreating new, get rid of the reference to the previous shape DereferenceShape(prim.PhysShape, true, shapeCallback); - newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod); + newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod); // Take evasive action if the mesh was not constructed. - newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs); + newShape = VerifyMeshCreated(newShape, prim); ReferenceShape(newShape); @@ -541,13 +550,12 @@ public sealed class BSShapeCollection : IDisposable // See that hull shape exists in the physical world and update prim.BSShape. // We could be creating the hull because scale changed or whatever. - private bool GetReferenceToHull(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs, - ShapeDestructionCallback shapeCallback) + private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { BulletShape newShape; float lod; - System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out 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 == ShapeData.PhysicsShapeType.SHAPE_HULL) @@ -559,8 +567,8 @@ public sealed class BSShapeCollection : IDisposable // Remove usage of the previous shape. DereferenceShape(prim.PhysShape, true, shapeCallback); - newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); - newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs); + newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod); + newShape = VerifyMeshCreated(newShape, prim); ReferenceShape(newShape); @@ -687,7 +695,7 @@ public sealed class BSShapeCollection : IDisposable // Create a hash of all the shape parameters to be used as a key // for this particular shape. - private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod) + private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod) { // level of detail based on size and type of the object float lod = PhysicsScene.MeshLOD; @@ -695,40 +703,40 @@ public sealed class BSShapeCollection : IDisposable lod = PhysicsScene.SculptLOD; // Mega prims usually get more detail because one can interact with shape approximations at this size. - float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z)); + float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z)); if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) lod = PhysicsScene.MeshMegaPrimLOD; retLod = lod; - return pbs.GetMeshKey(shapeData.Size, lod); + return pbs.GetMeshKey(size, lod); } // For those who don't want the LOD - private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs) + private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs) { float lod; - return ComputeShapeKey(shapeData, pbs, out 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 decompressing JPEG2000s). - // The first case causes the asset to be fetched. The second case just requires + // 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. - private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs) + private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim) { // If the shape was successfully created, nothing more to do if (newShape.ptr != IntPtr.Zero) return newShape; // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset - if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero) + if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero) { prim.LastAssetBuildFailed = true; BSPhysObject xprim = prim; DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}", - LogHeader, shapeData.ID.ToString("X"), prim.LastAssetBuildFailed); + LogHeader, prim.LocalID, prim.LastAssetBuildFailed); Util.FireAndForget(delegate { RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod; @@ -745,7 +753,7 @@ public sealed class BSShapeCollection : IDisposable 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 native sphere setting since the rebuild is at taint time. + // No race condition with the normal shape setting since the rebuild is at taint time. yprim.ForceBodyShapeRebuild(false); }); @@ -757,13 +765,13 @@ public sealed class BSShapeCollection : IDisposable if (prim.LastAssetBuildFailed) { PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}", - LogHeader, shapeData.ID, pbs.SculptTexture); + LogHeader, prim.LocalID, prim.BaseShape.SculptTexture); } } // While we figure out the real problem, stick a simple native shape on the object. BulletShape fillinShape = - BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_BOX, shapeData, ShapeData.FixedShapeKey.KEY_BOX); + BuildPhysicalNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX); return fillinShape; } @@ -773,7 +781,7 @@ public sealed class BSShapeCollection : IDisposable // Returns 'true' if an object was actually created. // Called at taint-time. private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape, - ShapeData shapeData, BodyDestructionCallback bodyCallback) + BodyDestructionCallback bodyCallback) { bool ret = false; @@ -803,16 +811,16 @@ public sealed class BSShapeCollection : IDisposable if (prim.IsSolid) { bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, - shapeData.ID, shapeData.Position, shapeData.Rotation); + prim.LocalID, prim.ForcePosition, prim.ForceOrientation); DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } else { bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, - shapeData.ID, shapeData.Position, shapeData.Rotation); + prim.LocalID, prim.ForcePosition, prim.ForceOrientation); DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } - aBody = new BulletBody(shapeData.ID, bodyPtr); + aBody = new BulletBody(prim.LocalID, bodyPtr); ReferenceBody(aBody, true); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 9b7ba03..3b6355c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -194,6 +194,7 @@ public struct ShapeData // following defined by BulletSim SHAPE_GROUNDPLANE = 20, SHAPE_TERRAIN = 21, + SHAPE_COMPOUND = 22, }; public uint ID; public PhysicsShapeType Type; -- cgit v1.1 From f53b4e7a21f62a84e237c4ce8d2806124c3a76d2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 1 Nov 2012 10:53:55 -0700 Subject: BulletSim: Add RawPosition and RawOrientation to BSPhysObject and rename MassRaw to RawMass. Fix BSShapeCollection to use Raw* for creating the body to eliminate exception from referencing the physical body before it has been created. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 20 +++++++++++++++----- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 16 ++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +++- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 14 ++++++++++++-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- 5 files changed, 39 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 2a634b9..9e1206a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -97,7 +97,7 @@ public sealed class BSCharacter : BSPhysObject // set _avatarVolume and _mass based on capsule size, _density and Scale ComputeAvatarVolumeAndMass(); DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", - LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw); + LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); // do actual create at taint time PhysicsScene.TaintedObject("BSCharacter.create", delegate() @@ -141,7 +141,7 @@ public sealed class BSCharacter : BSPhysObject BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } - UpdatePhysicalMassProperties(MassRaw); + UpdatePhysicalMassProperties(RawMass); // Make so capsule does not fall over BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); @@ -181,12 +181,12 @@ public sealed class BSCharacter : BSPhysObject ComputeAvatarScale(_size); ComputeAvatarVolumeAndMass(); DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}", - LocalID, Scale, _avatarDensity, _avatarVolume, MassRaw); + LocalID, Scale, _avatarDensity, _avatarVolume, RawMass); PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); - UpdatePhysicalMassProperties(MassRaw); + UpdatePhysicalMassProperties(RawMass); }); } @@ -231,6 +231,11 @@ public sealed class BSCharacter : BSPhysObject public override void LockAngularMotion(OMV.Vector3 axis) { return; } + public override OMV.Vector3 RawPosition + { + get { return _position; } + set { _position = value; } + } public override OMV.Vector3 Position { get { // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID); @@ -316,7 +321,7 @@ public sealed class BSCharacter : BSPhysObject public override float Mass { get { return _mass; } } // used when we only want this prim's mass and not the linkset thing - public override float MassRaw { + public override float RawMass { get {return _mass; } } public override void UpdatePhysicalMassProperties(float physMass) @@ -405,6 +410,11 @@ public sealed class BSCharacter : BSPhysObject get { return _acceleration; } set { _acceleration = value; } } + public override OMV.Quaternion RawOrientation + { + get { return _orientation; } + set { _orientation = value; } + } public override OMV.Quaternion Orientation { get { return _orientation; } set { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index f56851f..9e0f499 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -106,7 +106,7 @@ public abstract class BSLinkset PhysicsScene = scene; LinksetRoot = parent; m_children = new HashSet(); - m_mass = parent.MassRaw; + m_mass = parent.RawMass; } // Link to a linkset where the child knows the parent. @@ -242,14 +242,14 @@ public abstract class BSLinkset // ================================================================ protected virtual float ComputeLinksetMass() { - float mass = LinksetRoot.MassRaw; + float mass = LinksetRoot.RawMass; if (HasAnyChildren) { lock (m_linksetActivityLock) { foreach (BSPhysObject bp in m_children) { - mass += bp.MassRaw; + mass += bp.RawMass; } } } @@ -261,13 +261,13 @@ public abstract class BSLinkset OMV.Vector3 com; lock (m_linksetActivityLock) { - com = LinksetRoot.Position * LinksetRoot.MassRaw; - float totalMass = LinksetRoot.MassRaw; + com = LinksetRoot.Position * LinksetRoot.RawMass; + float totalMass = LinksetRoot.RawMass; foreach (BSPhysObject bp in m_children) { - com += bp.Position * bp.MassRaw; - totalMass += bp.MassRaw; + com += bp.Position * bp.RawMass; + totalMass += bp.RawMass; } if (totalMass != 0f) com /= totalMass; @@ -285,7 +285,7 @@ public abstract class BSLinkset foreach (BSPhysObject bp in m_children) { - com += bp.Position * bp.MassRaw; + com += bp.Position * bp.RawMass; } com /= (m_children.Count + 1); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 7d91468..65d7f34 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -63,7 +63,7 @@ public abstract class BSPhysObject : PhysicsActor public BSLinkset Linkset { get; set; } // Return the object mass without calculating it or having side effects - public abstract float MassRaw { get; } + public abstract float RawMass { get; } // Set the raw mass but also update physical mass properties (inertia, ...) public abstract void UpdatePhysicalMassProperties(float mass); @@ -105,8 +105,10 @@ public abstract class BSPhysObject : PhysicsActor // Tell the object to clean up. public abstract void Destroy(); + public abstract OMV.Vector3 RawPosition { get; set; } public abstract OMV.Vector3 ForcePosition { get; set; } + public abstract OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } public abstract OMV.Vector3 ForceVelocity { get; set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 8ce960d..1754be6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -256,6 +256,11 @@ public sealed class BSPrim : BSPhysObject return; } + public override OMV.Vector3 RawPosition + { + get { return _position; } + set { _position = value; } + } public override OMV.Vector3 Position { get { if (!Linkset.IsRoot(this)) @@ -366,7 +371,7 @@ public sealed class BSPrim : BSPhysObject } // used when we only want this prim's mass and not the linkset thing - public override float MassRaw { + public override float RawMass { get { return _mass; } } // Set the physical mass to the passed mass. @@ -530,6 +535,11 @@ public sealed class BSPrim : BSPhysObject get { return _acceleration; } set { _acceleration = value; } } + public override OMV.Quaternion RawOrientation + { + get { return _orientation; } + set { _orientation = value; } + } public override OMV.Quaternion Orientation { get { if (!Linkset.IsRoot(this)) @@ -703,7 +713,7 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); // A dynamic object has mass - UpdatePhysicalMassProperties(MassRaw); + UpdatePhysicalMassProperties(RawMass); // Set collision detection parameters if (PhysicsScene.Params.ccdMotionThreshold > 0f) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 478924a..e131919 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -811,7 +811,7 @@ public sealed class BSShapeCollection : IDisposable if (prim.IsSolid) { bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, - prim.LocalID, prim.ForcePosition, prim.ForceOrientation); + prim.LocalID, prim.RawPosition, prim.RawOrientation); DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } else -- cgit v1.1 From b0eccd5044b1a20b995a62d6fb76fdd73b712f9a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 2 Nov 2012 09:53:41 -0700 Subject: BulletSim: debugging of compound shape implementation of linksets. Add compound shape creation and freeing in shape manager. Add optional taint-time execution method and update code to use it. Add API2 linkage for more compound shape methods (get num, get/remove by index, ...) Modify perferred shape return so linkset children can have differet shapes than root. Add Position and Orientation calls to linksets so children can be moved around by the linkset by its own calculation. Allows for very general linkset implementations. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 13 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 19 ++- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 106 ++++++++++---- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 12 ++ .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 52 +++---- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 12 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 152 ++++++++++++++++----- .../Physics/BulletSPlugin/BSTerrainManager.cs | 21 +-- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 15 +- 10 files changed, 274 insertions(+), 132 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 9e1206a..2a5397e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -200,7 +200,9 @@ public sealed class BSCharacter : BSPhysObject } // I want the physics engine to make an avatar capsule public override ShapeData.PhysicsShapeType PreferredPhysicalShape - { get { return ShapeData.PhysicsShapeType.SHAPE_AVATAR; } } + { + get {return ShapeData.PhysicsShapeType.SHAPE_AVATAR; } + } public override bool Grabbed { set { _grabbed = value; } @@ -238,6 +240,7 @@ public sealed class BSCharacter : BSPhysObject } public override OMV.Vector3 Position { get { + // Don't refetch the position because this function is called a zillion times // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID); return _position; } @@ -304,15 +307,11 @@ public sealed class BSCharacter : BSPhysObject { // The new position value must be pushed into the physics engine but we can't // just assign to "Position" because of potential call loops. - BSScene.TaintCallback sanityOperation = delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - }; - if (inTaintTime) - sanityOperation(); - else - PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation); + }); ret = true; } return ret; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 9e0f499..8f973f4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -48,7 +48,8 @@ public abstract class BSLinkset */ // at the moment, there is only one - ret = new BSLinksetConstraints(physScene, parent); + // ret = new BSLinksetConstraints(physScene, parent); + ret = new BSLinksetCompound(physScene, parent); return ret; } @@ -69,10 +70,19 @@ public abstract class BSLinkset protected object m_linksetActivityLock = new Object(); // Some linksets have a preferred physical shape. - // Returns SHAPE_UNKNOWN if there is no preference. - public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape - { get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; } } + // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected. + public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) + { + return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + } + // Linksets move around the children so the linkset might need to compute the child position + public virtual OMV.Vector3 Position(BSPhysObject member) + { return member.RawPosition; } + public virtual OMV.Quaternion Orientation(BSPhysObject member) + { return member.RawOrientation; } + // TODO: does this need to be done for Velocity and RotationalVelocityy? + // We keep the prim's mass in the linkset structure since it could be dependent on other prims protected float m_mass; public float LinksetMass @@ -177,7 +187,6 @@ public abstract class BSLinkset } // Perform an action on each member of the linkset including root prim. - // The action is performed only on the objects that are physically in the linkset. // Depends on the action on whether this should be done at taint time. public delegate bool ForEachMemberAction(BSPhysObject obj); public virtual bool ForEachMember(ForEachMemberAction action) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 638fae1..8b97ebb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -41,18 +41,31 @@ public sealed class BSLinksetCompound : BSLinkset base.Initialize(scene, parent); } + // For compound implimented linksets, if there are children, use compound shape for the root. + public override ShapeData.PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) + { + ShapeData.PhysicsShapeType ret = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + if (IsRoot(requestor) && HasAnyChildren) + { + ret = ShapeData.PhysicsShapeType.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. // This is queued in the 'post taint' queue so the // refresh will happen once after all the other taints are applied. public override void Refresh(BSPhysObject requestor) { + DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID); // Queue to happen after all the other taint processing - PhysicsScene.PostTaintObject("BSLinksetcompound.Refresh", requestor.LocalID, delegate() - { - if (HasAnyChildren && IsRoot(requestor)) - RecomputeLinksetCompound(); - }); + PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() + { + if (IsRoot(requestor) && HasAnyChildren) + RecomputeLinksetCompound(); + }); } // The object is going dynamic (physical). Do any setup necessary @@ -63,8 +76,17 @@ public sealed class BSLinksetCompound : BSLinkset // Called at taint-time! public override bool MakeDynamic(BSPhysObject child) { - // What is done for each object in BSPrim is what we want. - return false; + bool ret = false; + DetailLog("{0},BSLinksetCompound.MakeDynamic,call,isChild={1}", child.LocalID, HasChild(child)); + if (HasChild(child)) + { + // Physical children are removed from the world as the shape ofthe root compound + // shape takes over. + BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION); + ret = true; + } + return ret; } // The object is going static (non-physical). Do any setup necessary for a static linkset. @@ -74,8 +96,17 @@ public sealed class BSLinksetCompound : BSLinkset // Called at taint-time! public override bool MakeStatic(BSPhysObject child) { - // What is done for each object in BSPrim is what we want. - return false; + bool ret = false; + DetailLog("{0},BSLinksetCompound.MakeStatic,call,hasChild={1}", child.LocalID, HasChild(child)); + if (HasChild(child)) + { + // The non-physical children can come back to life. + BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + // Don't force activation so setting of DISABLE_SIMULATION can stay. + BulletSimAPI.Activate2(child.PhysBody.ptr, false); + ret = true; + } + return ret; } // Called at taint-time!! @@ -84,20 +115,35 @@ public sealed class BSLinksetCompound : BSLinkset // Nothing to do for constraints on property updates } + // The children move around in relationship to the root. + // Just grab the current values of wherever it is right now. + public override OMV.Vector3 Position(BSPhysObject member) + { + return BulletSimAPI.GetPosition2(member.PhysBody.ptr); + } + + public override OMV.Quaternion Orientation(BSPhysObject member) + { + return BulletSimAPI.GetOrientation2(member.PhysBody.ptr); + } + // Routine called when rebuilding the body of some member of the linkset. - // Destroy all the constraints have have been made to root and set - // up to rebuild the constraints before the next simulation step. + // Since we don't keep in-physical 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(BSPrim child) { bool ret = false; - DetailLog("{0},BSLinksetcompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X")); + DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2},isRoot={3}", + child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), IsRoot(child)); - // Cause the current shape to be freed and the new one to be built. - Refresh(LinksetRoot); + if (!IsRoot(child)) + { + // Cause the current shape to be freed and the new one to be built. + Refresh(LinksetRoot); + ret = true; + } return ret; } @@ -139,13 +185,19 @@ public sealed class BSLinksetCompound : BSLinkset LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), child.LocalID, child.PhysBody.ptr.ToString("X")); - // See that the linkset parameters are recomputed at the end of the taint time. - Refresh(LinksetRoot); - } - else - { - // Non-fatal occurance. - // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); + // Cause the child's body to be rebuilt and thus restored to normal operation + child.ForceBodyShapeRebuild(false); + + if (!HasAnyChildren) + { + // The linkset is now empty. The root needs rebuilding. + LinksetRoot.ForceBodyShapeRebuild(false); + } + else + { + // Schedule a rebuild of the linkset before the next simulation tick. + Refresh(LinksetRoot); + } } return; } @@ -158,16 +210,18 @@ public sealed class BSLinksetCompound : BSLinkset // Called at taint time!! private void RecomputeLinksetCompound() { - // Release the existing shape - PhysicsScene.Shapes.DereferenceShape(LinksetRoot.PhysShape, true, null); - + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},numChildren={2}", + LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), NumberOfChildren); + + LinksetRoot.ForceBodyShapeRebuild(true); + float linksetMass = LinksetMass; LinksetRoot.UpdatePhysicalMassProperties(linksetMass); // DEBUG: see of inter-linkset collisions are causing problems // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,set,rBody={1},linksetMass={2}", + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,end,rBody={1},linksetMass={2}", LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 65aed77..67a59ef 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -84,6 +84,18 @@ public sealed class BSLinksetConstraints : BSLinkset // Nothing to do for constraints on property updates } + // The children of the linkset are moved around by the constraints. + // Just grab the current values of wherever it is right now. + public override OMV.Vector3 Position(BSPhysObject member) + { + return BulletSimAPI.GetPosition2(member.PhysBody.ptr); + } + + public override OMV.Quaternion Orientation(BSPhysObject member) + { + return BulletSimAPI.GetOrientation2(member.PhysBody.ptr); + } + // Routine called when rebuilding the body of some member of the linkset. // Destroy all the constraints have have been made to root and set // up to rebuild the constraints before the next simulation step. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 65d7f34..7127aaf 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -81,7 +81,9 @@ public abstract class BSPhysObject : PhysicsActor // Some types of objects have preferred physical representations. // Returns SHAPE_UNKNOWN if there is no preference. public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape - { get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; } } + { + get { return ShapeData.PhysicsShapeType.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 diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 1754be6..af403aa 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -173,20 +173,16 @@ public sealed class BSPrim : BSPhysObject } // Whatever the linkset wants is what I want. public override ShapeData.PhysicsShapeType PreferredPhysicalShape - { get { return Linkset.PreferredPhysicalShape; } } + { get { return Linkset.PreferredPhysicalShape(this); } } public override bool ForceBodyShapeRebuild(bool inTaintTime) { LastAssetBuildFailed = false; - BSScene.TaintCallback rebuildOperation = delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() { _mass = CalculateMass(); // changing the shape changes the mass CreateGeomAndObject(true); - }; - if (inTaintTime) - rebuildOperation(); - else - PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", rebuildOperation); + }); return true; } public override bool Grabbed { @@ -263,9 +259,9 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Vector3 Position { get { + // child prims move around based on their parent. Need to get the latest location if (!Linkset.IsRoot(this)) - // child prims move around based on their parent. Need to get the latest location - _position = BulletSimAPI.GetPosition2(PhysBody.ptr); + _position = Linkset.Position(this); // don't do the GetObjectPosition for root elements because this function is called a zillion times // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); @@ -344,16 +340,11 @@ public sealed class BSPrim : BSPhysObject { // The new position value must be pushed into the physics engine but we can't // just assign to "Position" because of potential call loops. - BSScene.TaintCallback sanityOperation = delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck", delegate() { DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); ForcePosition = _position; - }; - if (inTaintTime) - sanityOperation(); - else - PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation); - + }); ret = true; } return ret; @@ -542,10 +533,10 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Quaternion Orientation { get { + // Children move around because tied to parent. Get a fresh value. if (!Linkset.IsRoot(this)) { - // Children move around because tied to parent. Get a fresh value. - _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); + _orientation = Linkset.Orientation(this); } return _orientation; } @@ -946,7 +937,7 @@ public sealed class BSPrim : BSPhysObject m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); return; } - BSScene.TaintCallback addForceOperation = delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() { OMV.Vector3 fSum = OMV.Vector3.Zero; lock (m_accumulatedForces) @@ -961,11 +952,7 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum); if (fSum != OMV.Vector3.Zero) BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); - }; - if (inTaintTime) - addForceOperation(); - else - PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation); + }); } private List m_accumulatedAngularForces = new List(); @@ -985,7 +972,7 @@ public sealed class BSPrim : BSPhysObject m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); return; } - BSScene.TaintCallback addAngularForceOperation = delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() { OMV.Vector3 fSum = OMV.Vector3.Zero; lock (m_accumulatedAngularForces) @@ -1003,26 +990,19 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum); _torque = fSum; } - }; - if (inTaintTime) - addAngularForceOperation(); - else - PhysicsScene.TaintedObject("BSPrim.AddAngularForce", addAngularForceOperation); + }); } // A torque impulse. public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime) { OMV.Vector3 applyImpulse = impulse; - BSScene.TaintCallback applyTorqueImpulseOperation = delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() { DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse); BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); - }; - if (inTaintTime) - applyTorqueImpulseOperation(); - else - PhysicsScene.TaintedObject("BSPrim.ApplyTorqueImpulse", applyTorqueImpulseOperation); + }); } + public override void SetMomentum(OMV.Vector3 momentum) { // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index cc5dbb2..dcfcb83 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -692,6 +692,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters return; } + // Sometimes a potentially tainted operation can be used in and out of taint time. + // This routine executes the command immediately if in taint-time otherwise it is queued. + public void TaintedObject(bool inTaintTime, string ident, TaintCallback callback) + { + if (inTaintTime) + callback(); + else + TaintedObject(ident, callback); + } + // When someone tries to change a property on a BSPrim or BSCharacter, the object queues // a callback into itself to do the actual property change. That callback is called // here just before the physics engine is called to step the simulation. @@ -1438,7 +1448,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { PhysicsLogging.Write(msg, args); // Add the Flush() if debugging crashes to get all the messages written out. - // PhysicsLogging.Flush(); + PhysicsLogging.Flush(); } // Used to fill in the LocalID when there isn't one. It's the correct number of characters. public const string DetailLogZero = "0000000000"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index e131919..107befe 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -122,18 +122,14 @@ public sealed class BSShapeCollection : IDisposable lock (m_collectionActivityLock) { DetailLog("{0},BSShapeCollection.ReferenceBody,newBody", body.ID, body); - BSScene.TaintCallback createOperation = delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() { if (!BulletSimAPI.IsInWorld2(body.ptr)) { BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); } - }; - if (inTaintTime) - createOperation(); - else - PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation); + }); } } @@ -146,7 +142,7 @@ public sealed class BSShapeCollection : IDisposable lock (m_collectionActivityLock) { - BSScene.TaintCallback removeOperation = delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate() { DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}", body.ID, body.ptr.ToString("X"), inTaintTime); @@ -159,12 +155,7 @@ public sealed class BSShapeCollection : IDisposable // Zero any reference to the shape so it is not freed when the body is deleted. BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); - }; - // If already in taint-time, do the operations now. Otherwise queue for later. - if (inTaintTime) - removeOperation(); - else - PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation); + }); } } @@ -238,7 +229,7 @@ public sealed class BSShapeCollection : IDisposable if (shape.ptr == IntPtr.Zero) return; - BSScene.TaintCallback dereferenceOperation = delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate() { if (shape.ptr != IntPtr.Zero) { @@ -270,18 +261,7 @@ public sealed class BSShapeCollection : IDisposable } } } - }; - if (inTaintTime) - { - lock (m_collectionActivityLock) - { - dereferenceOperation(); - } - } - else - { - PhysicsScene.TaintedObject("BSShapeCollection.DereferenceShape", dereferenceOperation); - } + }); } // Count down the reference count for a mesh shape @@ -311,7 +291,10 @@ public sealed class BSShapeCollection : IDisposable { 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; DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}", @@ -320,10 +303,48 @@ public sealed class BSShapeCollection : IDisposable } // Remove a reference to a compound shape. + // Taking a compound shape apart is a little tricky because if you just delete the + // physical object, 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) { - // Compound shape is made of a bunch of meshes and natives. + if (!BulletSimAPI.IsCompound2(shape.ptr)) + { + // 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.ptr.ToString("X")); + DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", + BSScene.DetailLogZero, shape.type, shape.ptr.ToString("X")); + return; + } + int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr); + for (int ii = 0; ii < numChildren; ii++) + { + IntPtr childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii); + DereferenceAnonCollisionShape(childShape); + } + BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); + } + + // 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. + // This is coming from a compound shape that we created so we know it is either native or mesh. + // Called at taint-time. + private void DereferenceAnonCollisionShape(IntPtr cShape) + { + BulletShape shapeInfo = new BulletShape(cShape, ShapeData.PhysicsShapeType.SHAPE_MESH); + if (BulletSimAPI.IsCompound2(cShape)) + shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_COMPOUND; + + if (BulletSimAPI.IsNativeShape2(cShape)) + { + shapeInfo.isNativeShape = true; + shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) + } + + DereferenceShape(shapeInfo, true, null); } // Create the geometry information in Bullet for later use. @@ -338,10 +359,8 @@ public sealed class BSShapeCollection : IDisposable { bool ret = false; bool haveShape = false; - bool nativeShapePossible = true; - PrimitiveBaseShape pbs = prim.BaseShape; - if (prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + if (!haveShape && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { // an avatar capsule is close to a native shape (it is not shared) ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR, @@ -350,6 +369,31 @@ public sealed class BSShapeCollection : IDisposable 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 already been created. + if (!haveShape && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND) + { + ret = GetReferenceToCompoundShape(prim, shapeCallback); + DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape); + haveShape = true; + } + + if (!haveShape) + { + ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback); + } + + return ret; + } + + private bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) + { + bool ret = false; + bool haveShape = false; + bool nativeShapePossible = true; + PrimitiveBaseShape pbs = prim.BaseShape; + // If the prim attributes are simple, this could be a simple Bullet native shape if (!haveShape && pbs != null @@ -363,6 +407,7 @@ public sealed class BSShapeCollection : IDisposable && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) ) { + // It doesn't look like Bullet scales spheres so make sure the scales are all equal if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z) { @@ -378,7 +423,7 @@ public sealed class BSShapeCollection : IDisposable prim.LocalID, forceRebuild, prim.PhysShape); } } - if (pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) + if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) { haveShape = true; if (forceRebuild @@ -393,9 +438,10 @@ public sealed class BSShapeCollection : IDisposable } } } + // If a simple shape is not happening, create a mesh and possibly a hull. // Note that if it's a native shape, the check for physical/non-physical is not - // made. Native shapes are best used in either case. + // made. Native shapes work in either case. if (!haveShape && pbs != null) { if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects) @@ -487,7 +533,7 @@ public sealed class BSShapeCollection : IDisposable if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH) return false; - DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}", + DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}", prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); // Since we're recreating new, get rid of the reference to the previous shape @@ -535,7 +581,7 @@ public sealed class BSShapeCollection : IDisposable verticesAsFloats[vi++] = vv.Z; } - // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", + // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, @@ -561,7 +607,7 @@ public sealed class BSShapeCollection : IDisposable if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) return false; - DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", + 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. @@ -693,6 +739,42 @@ public sealed class BSShapeCollection : IDisposable 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) + { + BulletShape cShape = new BulletShape( + BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr), ShapeData.PhysicsShapeType.SHAPE_COMPOUND); + + // The prim's linkset is the source of the children. + // TODO: there is too much knowledge here about the internals of linksets and too much + // dependency on the relationship of compound shapes and linksets (what if we want to use + // compound shapes for something else?). Think through this and clean up so the + // appropriate knowledge is used at the correct software levels. + + // Recreate the geometry of the root prim (might have been a linkset root in the past) + CreateGeomNonSpecial(true, prim, null); + + BSPhysObject rootPrim = prim.Linkset.LinksetRoot; + + prim.Linkset.ForEachMember(delegate(BSPhysObject cPrim) + { + OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(rootPrim.RawOrientation); + OMV.Vector3 displacementPos = (cPrim.RawPosition - rootPrim.RawPosition) * invRootOrientation; + OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; + + DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", + prim.LocalID, cPrim.LocalID, cPrim.PhysShape.ptr.ToString("X"), displacementPos, displacementRot); + + BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot); + return false; + }); + + prim.PhysShape = cShape; + + return true; + } + // Create a hash of all the shape parameters to be used as a key // for this particular shape. private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 11298fe..7c34af2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -238,7 +238,7 @@ public sealed class BSTerrainManager DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); - BSScene.TaintCallback rebuildOperation = delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:UpdateExisting", delegate() { if (MegaRegionParentPhysicsScene != null) { @@ -337,14 +337,7 @@ public sealed class BSTerrainManager BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); m_terrainModified = true; - }; - - // There is the option to do the changes now (we're already in 'taint time'), or - // to do the Bullet operations later. - if (inTaintTime) - rebuildOperation(); - else - PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation); + }); } else { @@ -364,7 +357,7 @@ public sealed class BSTerrainManager BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); // Code that must happen at taint-time - BSScene.TaintCallback createOperation = delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:NewTerrain", delegate() { DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y); // Create a new mapInfo that will be filled with the new info @@ -377,13 +370,7 @@ public sealed class BSTerrainManager UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true); m_terrainModified = true; - }; - - // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time. - if (inTaintTime) - createOperation(); - else - PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation); + }); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 3b6355c..143b8be 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -399,8 +399,6 @@ public enum CollisionFilterGroups : uint }; - - // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. public enum ConstraintParams : int @@ -618,10 +616,19 @@ public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float public static extern IntPtr CreateCompoundShape2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot); +public static extern int GetNumberOfCompoundChildren2(IntPtr cShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape); +public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); -- cgit v1.1 From 1dc23b2b9713f4099534ae0d08c2caf5c8b036b4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 2 Nov 2012 10:35:12 -0700 Subject: BulletSim: parameterize selection of linkset implementation --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 28 ++++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 5 ++++ .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 1 + 3 files changed, 24 insertions(+), 10 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 8f973f4..3a92f93 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -36,21 +36,29 @@ public abstract class BSLinkset { // private static string LogHeader = "[BULLETSIM LINKSET]"; + public enum LinksetImplementation + { + Constraint = 0, // linkset tied together with constraints + Compound = 1, // linkset tied together as a compound object + Manual = 2 // linkset tied together manually (code moves all the pieces) + } // Create the correct type of linkset for this child public static BSLinkset Factory(BSScene physScene, BSPhysObject parent) { BSLinkset ret = null; - /* - if (parent.IsPhysical) - ret = new BSLinksetConstraints(physScene, parent); - else - ret = new BSLinksetManual(physScene, parent); - */ - - // at the moment, there is only one - // ret = new BSLinksetConstraints(physScene, parent); - ret = new BSLinksetCompound(physScene, parent); + switch ((int)physScene.Params.linksetImplementation) + { + case (int)LinksetImplementation.Compound: + ret = new BSLinksetCompound(physScene, parent); + break; + case (int)LinksetImplementation.Manual: + // ret = new BSLinksetManual(physScene, parent); + break; + default: + ret = new BSLinksetConstraints(physScene, parent); + break; + } return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index dcfcb83..13aa860 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1214,6 +1214,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].numberOfSolverIterations; }, (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ), + new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound)", + (float)BSLinkset.LinksetImplementation.Constraint, + (s,cf,p,v) => { s.m_params[0].linksetImplementation = cf.GetFloat(p,v); }, + (s) => { return s.m_params[0].linksetImplementation; }, + (s,p,l,v) => { s.m_params[0].linksetImplementation = v; } ), new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", ConfigurationParameters.numericFalse, (s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 143b8be..ac6d2b2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -300,6 +300,7 @@ public struct ConfigurationParameters public float shouldEnableFrictionCaching; public float numberOfSolverIterations; + public float linksetImplementation; public float linkConstraintUseFrameOffset; public float linkConstraintEnableTransMotor; public float linkConstraintTransMotorMaxVel; -- cgit v1.1 From 498ea76e637961d8b4e3d39b758f7f2dea2fe998 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 2 Nov 2012 17:22:34 -0700 Subject: BulletSim: Move construction of compound linkset from ShapeCollection into LinksetCompound where it should be. Create meshes for native shapes when part of a compound linkset because scale is currently per object and not per collision shape. Don't schedule a LinksetCompound refresh if just changing properties. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 72 ++++++++++++++---- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 24 +++++- .../Physics/BulletSPlugin/BSShapeCollection.cs | 85 +++++++++++----------- 3 files changed, 120 insertions(+), 61 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 8b97ebb..adf4aff 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -34,7 +34,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public sealed class BSLinksetCompound : BSLinkset { - // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; + private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; public BSLinksetCompound(BSScene scene, BSPhysObject parent) { @@ -59,6 +59,12 @@ public sealed class BSLinksetCompound : BSLinkset // refresh will happen once after all the other taints are applied. public override void Refresh(BSPhysObject requestor) { + // External request for Refresh (from BSPrim) is not necessary + // InternalRefresh(requestor); + } + + private void InternalRefresh(BSPhysObject requestor) + { DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID); // Queue to happen after all the other taint processing PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() @@ -135,13 +141,13 @@ public sealed class BSLinksetCompound : BSLinkset { bool ret = false; - DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2},isRoot={3}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), IsRoot(child)); + DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", + child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), IsRoot(child)); if (!IsRoot(child)) { // Cause the current shape to be freed and the new one to be built. - Refresh(LinksetRoot); + InternalRefresh(LinksetRoot); ret = true; } @@ -169,7 +175,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Cause constraints and assorted properties to be recomputed before the next simulation step. - Refresh(LinksetRoot); + InternalRefresh(LinksetRoot); } return; } @@ -196,34 +202,68 @@ public sealed class BSLinksetCompound : BSLinkset else { // Schedule a rebuild of the linkset before the next simulation tick. - Refresh(LinksetRoot); + InternalRefresh(LinksetRoot); } } return; } - - // Call each of the constraints that make up this linkset and recompute the - // various transforms and variables. Create constraints of not created yet. - // Called before the simulation step to make sure the constraint based linkset + // Called before the simulation step to make sure the compound based linkset // is all initialized. + // Constraint linksets are rebuilt every time. + // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! private void RecomputeLinksetCompound() { - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},numChildren={2}", - LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), NumberOfChildren); - + // Cause the root shape to be rebuilt as a compound object with just the root in it LinksetRoot.ForceBodyShapeRebuild(true); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", + LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); + + ForEachMember(delegate(BSPhysObject cPrim) + { + if (!IsRoot(cPrim)) + { + OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); + OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; + OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; + + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", + LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, displacementPos, displacementRot); + + if (cPrim.PhysShape.isNativeShape) + { + // Native shapes are not shared so we need to create a new one. + // A mesh or hull is created because scale is not available on a native shape. + // (TODO: Bullet does have a btScaledCollisionShape. Can that be used?) + BulletShape saveShape = cPrim.PhysShape; + PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); + BulletShape newShape = cPrim.PhysShape; + cPrim.PhysShape = saveShape; + BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot); + } + else + { + // For the shared shapes (meshes and hulls) just use the shape in the child + if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape)) + { + PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", + LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); + } + BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot); + } + } + return false; + }); + + float linksetMass = LinksetMass; LinksetRoot.UpdatePhysicalMassProperties(linksetMass); // DEBUG: see of inter-linkset collisions are causing problems // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,end,rBody={1},linksetMass={2}", - LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass); - } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 13aa860..de35359 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -116,6 +116,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // True if initialized and ready to do simulation steps private bool m_initialized = false; + // Flag which is true when processing taints. + // Not guaranteed to be correct all the time (don't depend on this) but good for debugging. + public bool InTaintTime { get; private set; } + // Pinned memory used to pass step information between managed and unmanaged private int m_maxCollisionsPerFrame; private CollisionDesc[] m_collisionArray; @@ -270,6 +274,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters TerrainManager = new BSTerrainManager(this); TerrainManager.CreateInitialGroundPlaneAndTerrain(); + m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)Params.linksetImplementation); + + InTaintTime = false; m_initialized = true; } @@ -707,8 +714,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // here just before the physics engine is called to step the simulation. public void ProcessTaints() { + InTaintTime = true; ProcessRegularTaints(); ProcessPostTaintTaints(); + InTaintTime = false; } private void ProcessRegularTaints() @@ -851,6 +860,17 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } } + public bool AssertInTaintTime(string whereFrom) + { + if (!InTaintTime) + { + DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); + m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); + Util.PrintCallStack(); + } + return InTaintTime; + } + #endregion // Taints #region Vehicles @@ -1214,8 +1234,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].numberOfSolverIterations; }, (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ), - new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound)", - (float)BSLinkset.LinksetImplementation.Constraint, + new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", + (float)BSLinkset.LinksetImplementation.Compound, (s,cf,p,v) => { s.m_params[0].linksetImplementation = cf.GetFloat(p,v); }, (s) => { return s.m_params[0].linksetImplementation; }, (s,p,l,v) => { s.m_params[0].linksetImplementation = v; } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 107befe..662b19d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -92,6 +92,8 @@ public sealed class BSShapeCollection : IDisposable public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) { + PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape"); + bool ret = false; // This lock could probably be pushed down lower but building shouldn't take long @@ -121,7 +123,7 @@ public sealed class BSShapeCollection : IDisposable { lock (m_collectionActivityLock) { - DetailLog("{0},BSShapeCollection.ReferenceBody,newBody", body.ID, body); + DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() { if (!BulletSimAPI.IsInWorld2(body.ptr)) @@ -165,7 +167,7 @@ public sealed class BSShapeCollection : IDisposable // 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. - private bool ReferenceShape(BulletShape shape) + public bool ReferenceShape(BulletShape shape) { bool ret = false; switch (shape.type) @@ -276,8 +278,8 @@ public sealed class BSShapeCollection : IDisposable if (shapeCallback != null) shapeCallback(shape); meshDesc.lastReferenced = System.DateTime.Now; Meshes[shape.shapeKey] = meshDesc; - DetailLog("{0},BSShapeCollection.DereferenceMesh,key={1},refCnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); + DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}", + BSScene.DetailLogZero, shape, meshDesc.referenceCount); } } @@ -297,8 +299,8 @@ public sealed class BSShapeCollection : IDisposable hullDesc.lastReferenced = System.DateTime.Now; Hulls[shape.shapeKey] = hullDesc; - DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); + DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}", + BSScene.DetailLogZero, shape, hullDesc.referenceCount); } } @@ -319,8 +321,11 @@ public sealed class BSShapeCollection : IDisposable BSScene.DetailLogZero, shape.type, shape.ptr.ToString("X")); return; } + int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr); - for (int ii = 0; ii < numChildren; ii++) + DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren); + + for (int ii = numChildren - 1; ii >= 0; ii--) { IntPtr childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii); DereferenceAnonCollisionShape(childShape); @@ -343,6 +348,7 @@ public sealed class BSShapeCollection : IDisposable shapeInfo.isNativeShape = true; shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) } + DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo); DereferenceShape(shapeInfo, true, null); } @@ -440,23 +446,32 @@ public sealed class BSShapeCollection : IDisposable } // If a simple shape is not happening, create a mesh and possibly a hull. + if (!haveShape && pbs != null) + { + ret = CreateGeomMeshOrHull(prim, shapeCallback); + } + + return ret; + } + + public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) + { + + bool ret = false; // Note that if it's a native shape, the check for physical/non-physical is not // made. Native shapes work in either case. - if (!haveShape && pbs != null) + if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects) { - if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects) - { - // Update prim.BSShape to reference a hull of this shape. - ret = GetReferenceToHull(prim,shapeCallback); - DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); - } - else - { - ret = GetReferenceToMesh(prim, shapeCallback); - DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); - } + // Update prim.BSShape to reference a hull of this shape. + ret = GetReferenceToHull(prim,shapeCallback); + DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", + prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); + } + else + { + ret = GetReferenceToMesh(prim, shapeCallback); + DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", + prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); } return ret; } @@ -743,32 +758,16 @@ public sealed class BSShapeCollection : IDisposable // 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 we create the new root shape below. + // DereferenceShape(prim.PhysShape, true, shapeCallback); + BulletShape cShape = new BulletShape( BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr), ShapeData.PhysicsShapeType.SHAPE_COMPOUND); - // The prim's linkset is the source of the children. - // TODO: there is too much knowledge here about the internals of linksets and too much - // dependency on the relationship of compound shapes and linksets (what if we want to use - // compound shapes for something else?). Think through this and clean up so the - // appropriate knowledge is used at the correct software levels. - - // Recreate the geometry of the root prim (might have been a linkset root in the past) + // Create the shape for the root prim and add it to the compound shape CreateGeomNonSpecial(true, prim, null); - - BSPhysObject rootPrim = prim.Linkset.LinksetRoot; - - prim.Linkset.ForEachMember(delegate(BSPhysObject cPrim) - { - OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(rootPrim.RawOrientation); - OMV.Vector3 displacementPos = (cPrim.RawPosition - rootPrim.RawPosition) * invRootOrientation; - OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; - - DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", - prim.LocalID, cPrim.LocalID, cPrim.PhysShape.ptr.ToString("X"), displacementPos, displacementRot); - - BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot); - return false; - }); + BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity); prim.PhysShape = cShape; -- cgit v1.1 From 894bb4893b8bb269f8561737e4603a9b31183f2c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 3 Nov 2012 18:26:00 -0700 Subject: BulletSim: search the mesh and hull lists to find shapes if type is not known. This makes sure the correct accounting is done for the particular shape. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 10 +- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 102 ++++++++++++++++++--- 4 files changed, 96 insertions(+), 20 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index adf4aff..6e68695 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -134,7 +134,7 @@ public sealed class BSLinksetCompound : BSLinkset } // Routine called when rebuilding the body of some member of the linkset. - // Since we don't keep in-physical world relationships, do nothing unless it's a child changing. + // 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(BSPrim child) @@ -221,10 +221,12 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); + // Add a shape for each of the other children in the linkset ForEachMember(delegate(BSPhysObject cPrim) { if (!IsRoot(cPrim)) { + // Each child position and rotation is given relative to the root. OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; @@ -245,7 +247,7 @@ public sealed class BSLinksetCompound : BSLinkset } else { - // For the shared shapes (meshes and hulls) just use the shape in the child + // For the shared shapes (meshes and hulls), just use the shape in the child. if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape)) { PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", @@ -254,10 +256,10 @@ public sealed class BSLinksetCompound : BSLinkset BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot); } } - return false; + return false; // 'false' says to move onto the next child in the list }); - + // With all of the linkset packed into the root prim, it has the mass of everyone. float linksetMass = LinksetMass; LinksetRoot.UpdatePhysicalMassProperties(linksetMass); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 67a59ef..d2387fb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -294,7 +294,7 @@ public sealed class BSLinksetConstraints : BSLinkset float linksetMass = LinksetMass; LinksetRoot.UpdatePhysicalMassProperties(linksetMass); - // DEBUG: see of inter-linkset collisions are causing problems + // DEBUG: see of inter-linkset collisions are causing problems // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index de35359..c2e0ef1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1472,7 +1472,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public void DetailLog(string msg, params Object[] args) { PhysicsLogging.Write(msg, args); - // Add the Flush() if debugging crashes to get all the messages written out. + // Add the Flush() if debugging crashes. Gets all the messages written out. PhysicsLogging.Flush(); } // Used to fill in the LocalID when there isn't one. It's the correct number of characters. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 662b19d..4a31c7d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -48,6 +48,7 @@ public sealed class BSShapeCollection : IDisposable public IntPtr ptr; public int referenceCount; public DateTime lastReferenced; + public UInt64 shapeKey; } // Description of a hull. @@ -57,6 +58,7 @@ public sealed class BSShapeCollection : IDisposable public IntPtr ptr; public int referenceCount; public DateTime lastReferenced; + public UInt64 shapeKey; } // The sharable set of meshes and hulls. Indexed by their shape hash. @@ -116,7 +118,7 @@ public sealed class BSShapeCollection : IDisposable return ret; } - // Track another user of a body + // 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. public void ReferenceBody(BulletBody body, bool inTaintTime) @@ -146,13 +148,16 @@ public sealed class BSShapeCollection : IDisposable { PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate() { - DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}", - body.ID, body.ptr.ToString("X"), inTaintTime); + DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}", + body.ID, body, inTaintTime); // If the caller needs to know the old body is going away, pass the event up. if (bodyCallback != null) bodyCallback(body); - // It may have already been removed from the world in which case the next is a NOOP. - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); + if (BulletSimAPI.IsInWorld2(body.ptr)) + { + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); + DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); + } // Zero any reference to the shape so it is not freed when the body is deleted. BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); @@ -185,6 +190,7 @@ public sealed class BSShapeCollection : IDisposable { // This is a new reference to a mesh meshDesc.ptr = shape.ptr; + meshDesc.shapeKey = shape.shapeKey; // We keep a reference to the underlying IMesh data so a hull can be built meshDesc.referenceCount = 1; DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}", @@ -207,6 +213,7 @@ public sealed class BSShapeCollection : IDisposable { // This is a new reference to a hull hullDesc.ptr = shape.ptr; + hullDesc.shapeKey = shape.shapeKey; hullDesc.referenceCount = 1; DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); @@ -306,7 +313,7 @@ public sealed class BSShapeCollection : IDisposable // Remove a reference to a compound shape. // Taking a compound shape apart is a little tricky because if you just delete the - // physical object, it will free all the underlying children. We can't do that because + // 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. @@ -335,22 +342,53 @@ public sealed class BSShapeCollection : IDisposable // 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. - // This is coming from a compound shape that we created so we know it is either native or mesh. // Called at taint-time. private void DereferenceAnonCollisionShape(IntPtr cShape) { - BulletShape shapeInfo = new BulletShape(cShape, ShapeData.PhysicsShapeType.SHAPE_MESH); - if (BulletSimAPI.IsCompound2(cShape)) - shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_COMPOUND; + MeshDesc meshDesc; + HullDesc hullDesc; - if (BulletSimAPI.IsNativeShape2(cShape)) + BulletShape shapeInfo = new BulletShape(cShape); + if (TryGetMeshByPtr(cShape, out meshDesc)) + { + shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_MESH; + shapeInfo.shapeKey = meshDesc.shapeKey; + } + else { - shapeInfo.isNativeShape = true; - shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) + if (TryGetHullByPtr(cShape, out hullDesc)) + { + shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_HULL; + shapeInfo.shapeKey = hullDesc.shapeKey; + } + else + { + if (BulletSimAPI.IsCompound2(cShape)) + { + shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_COMPOUND; + } + else + { + if (BulletSimAPI.IsNativeShape2(cShape)) + { + shapeInfo.isNativeShape = true; + shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) + } + } + } } + DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo); - DereferenceShape(shapeInfo, true, null); + if (shapeInfo.type != ShapeData.PhysicsShapeType.SHAPE_UNKNOWN) + { + DereferenceShape(shapeInfo, true, null); + } + else + { + PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}", + LogHeader, PhysicsScene.RegionName, cShape.ToString("X")); + } } // Create the geometry information in Bullet for later use. @@ -913,6 +951,42 @@ public sealed class BSShapeCollection : IDisposable return ret; } + private bool TryGetMeshByPtr(IntPtr addr, out MeshDesc outDesc) + { + bool ret = false; + MeshDesc foundDesc = new MeshDesc(); + foreach (MeshDesc md in Meshes.Values) + { + if (md.ptr == addr) + { + foundDesc = md; + ret = true; + break; + } + + } + outDesc = foundDesc; + return ret; + } + + private bool TryGetHullByPtr(IntPtr addr, out HullDesc outDesc) + { + bool ret = false; + HullDesc foundDesc = new HullDesc(); + foreach (HullDesc hd in Hulls.Values) + { + if (hd.ptr == addr) + { + foundDesc = hd; + ret = true; + break; + } + + } + outDesc = foundDesc; + return ret; + } + private void DetailLog(string msg, params Object[] args) { if (PhysicsScene.PhysicsLogging.Enabled) -- cgit v1.1 From 79f7c466a116bf368423d4e18163f34fd8d66ce1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 3 Nov 2012 21:08:39 -0700 Subject: BulletSim: fix compound linkset crash by not freeing shape of child prims. Remove all compilation warnings (mostly 'protected' in sealed classes.) Add the dynamicAabbEnable parameter to creation of compound shapes. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 6 +++--- .../Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 11 ++++++----- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 3 +++ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- .../Region/Physics/BulletSPlugin/BSShapeCollection.cs | 16 ++++++++++------ OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 2 +- 6 files changed, 25 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 38609e3..819635a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -89,7 +89,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin //Angular properties private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor - private int m_angularMotorApply = 0; // application frame counter + // private int m_angularMotorApply = 0; // application frame counter private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate @@ -199,7 +199,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.ANGULAR_MOTOR_DIRECTION: m_angularMotorDirection = new Vector3(pValue, pValue, pValue); - m_angularMotorApply = 100; + // m_angularMotorApply = 100; break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); @@ -229,7 +229,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f)); pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f)); m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_angularMotorApply = 100; + // m_angularMotorApply = 100; break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 6e68695..12c6d7a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -83,8 +83,8 @@ public sealed class BSLinksetCompound : BSLinkset public override bool MakeDynamic(BSPhysObject child) { bool ret = false; - DetailLog("{0},BSLinksetCompound.MakeDynamic,call,isChild={1}", child.LocalID, HasChild(child)); - if (HasChild(child)) + DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); + if (!IsRoot(child)) { // Physical children are removed from the world as the shape ofthe root compound // shape takes over. @@ -103,8 +103,8 @@ public sealed class BSLinksetCompound : BSLinkset public override bool MakeStatic(BSPhysObject child) { bool ret = false; - DetailLog("{0},BSLinksetCompound.MakeStatic,call,hasChild={1}", child.LocalID, HasChild(child)); - if (HasChild(child)) + DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); + if (!IsRoot(child)) { // The non-physical children can come back to life. BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); @@ -240,6 +240,7 @@ public sealed class BSLinksetCompound : BSLinkset // A mesh or hull is created because scale is not available on a native shape. // (TODO: Bullet does have a btScaledCollisionShape. Can that be used?) BulletShape saveShape = cPrim.PhysShape; + cPrim.PhysShape.ptr = IntPtr.Zero; // Don't let the create free the child's shape PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); BulletShape newShape = cPrim.PhysShape; cPrim.PhysShape = saveShape; @@ -263,7 +264,7 @@ public sealed class BSLinksetCompound : BSLinkset float linksetMass = LinksetMass; LinksetRoot.UpdatePhysicalMassProperties(linksetMass); - // DEBUG: see of inter-linkset collisions are causing problems + // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets. // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index af403aa..aaa0d93 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -703,6 +703,9 @@ public sealed class BSPrim : BSPhysObject // For good measure, make sure the transform is set through to the motion state BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + // Center of mass is at the center of the object + BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); + // A dynamic object has mass UpdatePhysicalMassProperties(RawMass); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index c2e0ef1..740f339 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1391,7 +1391,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // If the local ID is APPLY_TO_NONE, just change the default value // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs // If the localID is a specific object, apply the parameter change to only that object - protected void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val) + private void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val) { List objectIDs = new List(); switch (localID) @@ -1416,7 +1416,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } // schedule the actual updating of the paramter to when the phys engine is not busy - protected void TaintedUpdateParameter(string parm, List lIDs, float val) + private void TaintedUpdateParameter(string parm, List lIDs, float val) { float xval = val; List xlIDs = lIDs; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 4a31c7d..29a23c0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -38,7 +38,7 @@ public sealed class BSShapeCollection : IDisposable { private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; - protected BSScene PhysicsScene { get; set; } + private BSScene PhysicsScene { get; set; } private Object m_collectionActivityLock = new Object(); @@ -103,11 +103,12 @@ public sealed class BSShapeCollection : IDisposable { // Do we have the correct geometry for this type of object? // Updates prim.BSShape with information/pointers to shape. - // CreateGeom returns 'true' of BSShape as changed to a new shape. + // Returns 'true' of BSShape is changed to a new shape. bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback); // 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, prim.PhysShape, bodyCallback); ret = newGeom || newBody; @@ -431,6 +432,7 @@ public sealed class BSShapeCollection : IDisposable return ret; } + // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'. private bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) { bool ret = false; @@ -797,15 +799,17 @@ public sealed class BSShapeCollection : IDisposable 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 we create the new root shape below. + // 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 = new BulletShape( - BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr), ShapeData.PhysicsShapeType.SHAPE_COMPOUND); + BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), ShapeData.PhysicsShapeType.SHAPE_COMPOUND); - // Create the shape for the root prim and add it to the compound shape - CreateGeomNonSpecial(true, prim, null); + // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape. + CreateGeomMeshOrHull(prim, shapeCallback); BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity); + DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}", + prim.LocalID, cShape, prim.PhysShape); prim.PhysShape = cShape; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index ac6d2b2..702bd77 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -614,7 +614,7 @@ public static extern bool IsNativeShape2(IntPtr shape); public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateCompoundShape2(IntPtr sim); +public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int GetNumberOfCompoundChildren2(IntPtr cShape); -- cgit v1.1 From 36d77fe27c4a49127c5d5baa4ed4653a25f1726d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 6 Nov 2012 12:04:55 -0800 Subject: BulletSim: Add separate linear and angular damping function calls. Add function for recalculating compound shape bounding box. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 9 +++++++++ 1 file changed, 9 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 702bd77..07149d8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -632,6 +632,9 @@ public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShap public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -919,6 +922,12 @@ public static extern Vector3 GetGravity2(IntPtr obj); public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetLinearDamping2(IntPtr obj, float lin_damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetAngularDamping2(IntPtr obj, float ang_damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetLinearDamping2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 702fd1e09473cede1458eef7b2c50cd39149a9f3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 6 Nov 2012 12:07:22 -0800 Subject: BulletSim: only compute linkset mass when membership changes rather than everytime someone asks for it. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 3a92f93..436e043 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -49,6 +49,9 @@ public abstract class BSLinkset switch ((int)physScene.Params.linksetImplementation) { + case (int)LinksetImplementation.Constraint: + ret = new BSLinksetConstraints(physScene, parent); + break; case (int)LinksetImplementation.Compound: ret = new BSLinksetCompound(physScene, parent); break; @@ -56,7 +59,7 @@ public abstract class BSLinkset // ret = new BSLinksetManual(physScene, parent); break; default: - ret = new BSLinksetConstraints(physScene, parent); + ret = new BSLinksetCompound(physScene, parent); break; } return ret; @@ -97,7 +100,6 @@ public abstract class BSLinkset { get { - m_mass = ComputeLinksetMass(); return m_mass; } } @@ -138,6 +140,7 @@ public abstract class BSLinkset // Don't add the root to its own linkset if (!IsRoot(child)) AddChildToLinkset(child); + m_mass = ComputeLinksetMass(); } return this; } @@ -156,6 +159,7 @@ public abstract class BSLinkset return this; } RemoveChildFromLinkset(child); + m_mass = ComputeLinksetMass(); } // The child is down to a linkset of just itself -- cgit v1.1 From f70a3099b539f046e4d206a3244a3170751060b1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 6 Nov 2012 12:08:17 -0800 Subject: BulletSim: recalculate the compound shape bounding box when built. --- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 2 ++ 1 file changed, 2 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 12c6d7a..3238c85 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -264,6 +264,8 @@ public sealed class BSLinksetCompound : BSLinkset float linksetMass = LinksetMass; LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr); + // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets. // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); -- cgit v1.1 From e2130817e5c033ef671f0af512f568e422ec7887 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 6 Nov 2012 17:54:36 -0800 Subject: BulletSim: remove limit on taints that can happen before a step. Remove some debugging code (detail log flushing). --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 28 ++++++++++++++----------- 1 file changed, 16 insertions(+), 12 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 740f339..1cc607a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -491,7 +491,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Some of the prims operate with special vehicle properties ProcessVehicles(timeStep); - numTaints += _taintOperations.Count; ProcessTaints(); // the vehicles might have added taints // step the physical world one interval @@ -500,7 +499,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters try { - // DumpVehicles(); // DEBUG + if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, @@ -509,7 +508,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); - // DumpVehicles(); // DEBUG + if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG } catch (Exception e) { @@ -521,7 +520,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters collidersCount = 0; } - // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in // Get a value for 'now' so all the collision and update routines don't have to get their own @@ -724,6 +722,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { if (_taintOperations.Count > 0) // save allocating new list if there is nothing to process { + /* + // Code to limit the number of taints processed per step. Meant to limit step time. + // Unsure if a good idea as code assumes that taints are done before the step. int taintCount = m_taintsToProcessPerStep; TaintCallbackEntry oneCallback = new TaintCallbackEntry(); while (_taintOperations.Count > 0 && taintCount-- > 0) @@ -752,13 +753,17 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } } } - /* + if (_taintOperations.Count > 0) + { + DetailLog("{0},BSScene.ProcessTaints,leftTaintsOnList,numNotProcessed={1}", DetailLogZero, _taintOperations.Count); + } + */ // swizzle a new list into the list location so we can process what's there List oldList; lock (_taintLock) { - oldList = _taintedObjects; - _taintedObjects = new List(); + oldList = _taintOperations; + _taintOperations = new List(); } foreach (TaintCallbackEntry tcbe in oldList) @@ -774,7 +779,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } } oldList.Clear(); - */ } } @@ -1043,7 +1047,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s) => { return (float)s.m_maxUpdatesPerFrame; }, (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step", - 100f, + 500f, (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); }, (s) => { return (float)s.m_taintsToProcessPerStep; }, (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ), @@ -1097,13 +1101,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linearDamping; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, v); } ), + (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, s.m_params[0].angularDamping); } ), new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", 0f, (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].angularDamping; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, v); } ), + (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, s.m_params[0].linearDamping, v); } ), new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", 0.2f, (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); }, @@ -1473,7 +1477,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { PhysicsLogging.Write(msg, args); // Add the Flush() if debugging crashes. Gets all the messages written out. - PhysicsLogging.Flush(); + // PhysicsLogging.Flush(); } // Used to fill in the LocalID when there isn't one. It's the correct number of characters. public const string DetailLogZero = "0000000000"; -- cgit v1.1 From 76cc3030314b3302da46bfe4078f076ba1b3d8a1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 6 Nov 2012 17:58:55 -0800 Subject: BulletSim: Add ZeroAngularMotion method to physical objects. Add inTaint flag to ZeroMotion method. Update the references to those functions. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 27 +++++++--- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 2 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 20 +++++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 61 ++++++++++++++++------ 4 files changed, 82 insertions(+), 28 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 2a5397e..f33c124 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -103,7 +103,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); - // New body and shape into BSBody and BSShape + // New body and shape into PhysBody and PhysShape PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, null, null); SetPhysicalProperties(); @@ -126,7 +126,7 @@ public sealed class BSCharacter : BSPhysObject { BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); - ZeroMotion(); + ZeroMotion(true); ForcePosition = _position; // Set the velocity and compute the proper friction ForceVelocity = _velocity; @@ -218,18 +218,31 @@ public sealed class BSCharacter : BSPhysObject // Do it to the properties so the values get set in the physics engine. // Push the setting of the values to the viewer. // Called at taint time! - public override void ZeroMotion() + public override void ZeroMotion(bool inTaintTime) { _velocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolationVelocity2(PhysBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); - BulletSimAPI.ClearForces2(PhysBody.ptr); + PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() + { + BulletSimAPI.ClearAllForces2(PhysBody.ptr); + }); } + public override void ZeroAngularMotion(bool inTaintTime) + { + _rotationalVelocity = OMV.Vector3.Zero; + + PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() + { + BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + // The next also get rid of applied linear force but the linear velocity is untouched. + BulletSimAPI.ClearForces2(PhysBody.ptr); + }); + } + public override void LockAngularMotion(OMV.Vector3 axis) { return; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index d2387fb..c855fda 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -184,7 +184,7 @@ public sealed class BSLinksetConstraints : BSLinkset private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim) { // Zero motion for children so they don't interpolate - childPrim.ZeroMotion(); + childPrim.ZeroMotion(true); // Relative position normalized to the root prim // Essentually a vector pointing from center of rootPrim to center of childPrim diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 7127aaf..e803072 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -34,9 +34,17 @@ using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.BulletSPlugin { -// Class to wrap all objects. -// The rest of BulletSim doesn't need to keep checking for avatars or prims -// unless the difference is significant. +/* + * Class to wrap all objects. + * The rest of BulletSim doesn't need to keep checking for avatars or prims + * unless the difference is significant. + * + * Variables in the physicsl objects are in three forms: + * VariableName: used by the simulator and performs taint operations, etc + * RawVariableName: direct reference to the BulletSim storage for the variable value + * ForceVariableName: direct reference (store and fetch) to the value in the physics engine. + * The last two (and certainly the last one) should be referenced only in taint-time. + */ public abstract class BSPhysObject : PhysicsActor { protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName) @@ -67,6 +75,9 @@ public abstract class BSPhysObject : PhysicsActor // Set the raw mass but also update physical mass properties (inertia, ...) public abstract void UpdatePhysicalMassProperties(float mass); + // The last value calculated for the prim's inertia + public OMV.Vector3 Inertia { get; set; } + // Reference to the physical body (btCollisionObject) of this object public BulletBody PhysBody; // Reference to the physical shape (btCollisionShape) of this object @@ -96,7 +107,8 @@ public abstract class BSPhysObject : PhysicsActor public abstract bool IsStatic { get; } // Stop all physical motion. - public abstract void ZeroMotion(); + public abstract void ZeroMotion(bool inTaintTime); + public abstract void ZeroAngularMotion(bool inTaintTime); // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured. public virtual void StepVehicle(float timeStep) { } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index aaa0d93..14eb505 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -25,8 +25,6 @@ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ -// Uncomment this it enable code to do all shape an body memory management -// in the C# code. using System; using System.Reflection; using System.Collections.Generic; @@ -236,14 +234,27 @@ public sealed class BSPrim : BSPhysObject // Do it to the properties so the values get set in the physics engine. // Push the setting of the values to the viewer. // Called at taint time! - public override void ZeroMotion() + public override void ZeroMotion(bool inTaintTime) { _velocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties in the physics engine - BulletSimAPI.ClearAllForces2(PhysBody.ptr); + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() + { + BulletSimAPI.ClearAllForces2(PhysBody.ptr); + }); + } + public override void ZeroAngularMotion(bool inTaintTime) + { + _rotationalVelocity = OMV.Vector3.Zero; + // Zero some other properties in the physics engine + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() + { + BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + }); } public override void LockAngularMotion(OMV.Vector3 axis) @@ -371,17 +382,18 @@ public sealed class BSPrim : BSPhysObject { if (IsStatic) { - BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, OMV.Vector3.Zero); + Inertia = OMV.Vector3.Zero; + BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); } else { - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); - BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); + Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); + BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); + BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); // center of mass is at the zero of the object - BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); - // BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); - DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia); + // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); + DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia); } } @@ -582,7 +594,7 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); SetObjectDynamic(true); // whether phys-to-static or static-to-phys, the object is not moving. - ZeroMotion(); + ZeroMotion(true); }); } } @@ -648,6 +660,7 @@ public sealed class BSPrim : BSPhysObject // Recompute any linkset parameters. // When going from non-physical to physical, this re-enables the constraints that // had been automatically disabled when the mass was set to zero. + // For compound based linksets, this enables and disables interactions of the children. Linkset.Refresh(this); DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", @@ -666,9 +679,9 @@ public sealed class BSPrim : BSPhysObject // Become a Bullet 'static' object type CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement - ZeroMotion(); + ZeroMotion(true); // Center of mass is at the center of the object - BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); + // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); // Mass is zero which disables a bunch of physics stuff in Bullet UpdatePhysicalMassProperties(0f); // Set collision detection parameters @@ -704,7 +717,7 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); // Center of mass is at the center of the object - BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); + // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); // A dynamic object has mass UpdatePhysicalMassProperties(RawMass); @@ -958,6 +971,16 @@ public sealed class BSPrim : BSPhysObject }); } + public void ApplyForceImpulse(OMV.Vector3 impulse, bool inTaintTime) + { + OMV.Vector3 applyImpulse = impulse; + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate() + { + DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse); + BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse); + }); + } + private List m_accumulatedAngularForces = new List(); public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { AddAngularForce(force, pushforce, false); @@ -1001,7 +1024,6 @@ public sealed class BSPrim : BSPhysObject OMV.Vector3 applyImpulse = impulse; PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() { - DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse); BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); }); } @@ -1315,9 +1337,10 @@ public sealed class BSPrim : BSPhysObject // If this prim is part of a linkset, we must remove and restore the physical // links if the body is rebuilt. bool needToRestoreLinkset = false; + bool needToRestoreVehicle = false; // Create the correct physical representation for this type of object. - // Updates BSBody and BSShape with the new information. + // Updates PhysBody and PhysShape with the new information. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. // Returns 'true' if either the body or the shape was changed. PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody) @@ -1326,6 +1349,7 @@ public sealed class BSPrim : BSPhysObject // Remove all the physical dependencies on the old body. // (Maybe someday make the changing of BSShape an event handled by BSLinkset.) needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); + needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this); }); if (needToRestoreLinkset) @@ -1333,6 +1357,11 @@ public sealed class BSPrim : BSPhysObject // If physical body dependencies were removed, restore them Linkset.RestoreBodyDependencies(this); } + if (needToRestoreVehicle) + { + // If physical body dependencies were removed, restore them + _vehicle.RestoreBodyDependencies(this); + } // Make sure the properties are set on the new object UpdatePhysicalParameters(); -- cgit v1.1 From ee00c5c8851dd364acef858f3fd9f5164797fc1e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 6 Nov 2012 18:10:06 -0800 Subject: BulletSim: many changes to tune vehicles for BulletSim. The problem left is that the vehicle sitting on something needs to press down for gravity and what its sitting on pushes up so the vehicle does not penetrate. The effect is Bullet calculates a lot of random angular motion for the vehicle. Various schemes of damping and zeroing has not resolved the problem. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 224 +++++++++++++++------ 1 file changed, 161 insertions(+), 63 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 819635a..dbc9039 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -54,10 +54,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public sealed class BSDynamics { + private static string LogHeader = "[BULLETSIM VEHICLE]"; + private BSScene PhysicsScene { get; set; } // the prim this dynamic controller belongs to private BSPrim Prim { get; set; } + // mass of the vehicle fetched each time we're calles + private float m_vehicleMass; + // Vehicle properties public Vehicle Type { get; set; } @@ -516,7 +521,29 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Friction effects are handled by this vehicle code BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f); BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f); + + // BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, 0.8f); + + VDetailLog("{0},BSDynamics.Refresh,zeroingFriction and adding damping", Prim.LocalID); + } + } + + public bool RemoveBodyDependencies(BSPhysObject prim) + { + // If active, we need to add our properties back when the body is rebuilt. + return IsActive; + } + + public void RestoreBodyDependencies(BSPhysObject prim) + { + if (Prim.LocalID != prim.LocalID) + { + // The call should be on us by our prim. Error if not. + PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}", + LogHeader, prim.LocalID, Prim.LocalID); + return; } + Refresh(); } // One step of the vehicle properties for the next 'pTimestep' seconds. @@ -533,16 +560,26 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_lastLinearVelocityVector = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG: // END DEBUG + m_vehicleMass = Prim.Linkset.LinksetMass; + MoveLinear(pTimestep); + // Commented out for debug MoveAngular(pTimestep); - LimitRotation(pTimestep); + // Prim.ApplyTorqueImpulse(-Prim.RotationalVelocity * m_vehicleMass, false); // DEBUG DEBUG + // Prim.ForceRotationalVelocity = -Prim.RotationalVelocity; // DEBUG DEBUG - // DEBUG: Trying to figure out why Bullet goes crazy when the root prim is moved. - // BulletSimAPI.SetInterpolationVelocity2(Prim.BSBody.ptr, m_newVelocity, m_lastAngularVelocity); // DEBUG DEBUG DEBUG + LimitRotation(pTimestep); // remember the position so next step we can limit absolute movement effects m_lastPositionVector = Prim.ForcePosition; + VDetailLog("{0},BSDynamics.Step,frict={1},grav={2},inertia={3},mass={4}", // DEBUG DEBUG + Prim.LocalID, + BulletSimAPI.GetFriction2(Prim.PhysBody.ptr), + BulletSimAPI.GetGravity2(Prim.PhysBody.ptr), + Prim.Inertia, + m_vehicleMass + ); VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity); }// end Step @@ -555,25 +592,26 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_lastLinearVelocityVector is the current speed we are moving in that direction if (m_linearMotorDirection.LengthSquared() > 0.001f) { - Vector3 origDir = m_linearMotorDirection; - Vector3 origVel = m_lastLinearVelocityVector; + Vector3 origDir = m_linearMotorDirection; // DEBUG + Vector3 origVel = m_lastLinearVelocityVector; // DEBUG + // DEBUG: the vehicle velocity rotated to be relative to vehicle coordinates for comparison Vector3 vehicleVelocity = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG - // add drive to body + // Add (desiredVelocity - lastAppliedVelocity) / howLongItShouldTakeToComplete Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale) * pTimestep; - // lastLinearVelocityVector is the current body velocity vector m_lastLinearVelocityVector += addAmount; float decayFactor = (1.0f / m_linearMotorDecayTimescale) * pTimestep; m_linearMotorDirection *= (1f - decayFactor); - Vector3 frictionFactor = (Vector3.One / m_linearFrictionTimescale) * pTimestep; - m_lastLinearVelocityVector *= (Vector3.One - frictionFactor); - // Rotate new object velocity from vehicle relative to world coordinates m_newVelocity = m_lastLinearVelocityVector * Prim.ForceOrientation; - VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},vehVel={3},add={4},decay={5},frict={6},lmDir={7},lmVel={8},newVel={9}", + // Apply friction for next time + Vector3 frictionFactor = (Vector3.One / m_linearFrictionTimescale) * pTimestep; + m_lastLinearVelocityVector *= (Vector3.One - frictionFactor); + + VDetailLog("{0},MoveLinear,nonZero,origlmDir={1},origlvVel={2},vehVel={3},add={4},decay={5},frict={6},lmDir={7},lvVec={8},newVel={9}", Prim.LocalID, origDir, origVel, vehicleVelocity, addAmount, decayFactor, frictionFactor, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity); } @@ -607,7 +645,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // If below the terrain, move us above the ground a little. float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. - // Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. + // TODO: Add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation; // if (rotatedSize.Z < terrainHeight) if (pos.Z < terrainHeight) @@ -638,13 +676,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) { - // If body is aready heigher, use its height as target height - if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z; + // If body is already heigher, use its height as target height + if (pos.Z > m_VhoverTargetHeight) + m_VhoverTargetHeight = pos.Z; } if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) { - if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) + if (Math.Abs(pos.Z - m_VhoverTargetHeight) > 0.2f) { + pos.Z = m_VhoverTargetHeight; Prim.ForcePosition = pos; } } @@ -709,25 +749,28 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } - // Limit absolute vertical change - float Zchange = Math.Abs(posChange.Z); + #region downForce + Vector3 downForce = Vector3.Zero; + if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { - if (Zchange > .3) - grav.Z = (float)(grav.Z * 3); - if (Zchange > .15) - grav.Z = (float)(grav.Z * 2); - if (Zchange > .75) - grav.Z = (float)(grav.Z * 1.5); - if (Zchange > .05) - grav.Z = (float)(grav.Z * 1.25); - if (Zchange > .025) - grav.Z = (float)(grav.Z * 1.125); - float postemp = (pos.Z - terrainHeight); - if (postemp > 2.5f) - grav.Z = (float)(grav.Z * 1.037125); - VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", Prim.LocalID, grav); + // If the vehicle is motoring into the sky, get it going back down. + // Is this an angular force or both linear and angular?? + float distanceAboveGround = pos.Z - terrainHeight; + if (distanceAboveGround > 2f) + { + // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep); + // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); + downForce = new Vector3(0, 0, -distanceAboveGround); + } + // TODO: this calculation is all wrong. From the description at + // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce + // has a decay factor. This says this force should + // be computed with a motor. + VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", + Prim.LocalID, distanceAboveGround, downForce); } + #endregion // downForce // If not changing some axis, reduce out velocity if ((m_flags & (VehicleFlag.NO_X)) != 0) @@ -737,13 +780,28 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_flags & (VehicleFlag.NO_Z)) != 0) m_newVelocity.Z = 0; - // Apply velocity + // Clamp REALLY high or low velocities + if (m_newVelocity.LengthSquared() > 1e6f) + { + m_newVelocity /= m_newVelocity.Length(); + m_newVelocity *= 1000f; + } + else if (m_newVelocity.LengthSquared() < 1e-6f) + m_newVelocity = Vector3.Zero; + + // Stuff new linear velocity into the vehicle Prim.ForceVelocity = m_newVelocity; - // Prim.AddForce(m_newVelocity * Prim.Linkset.LinksetMass, false); - Prim.AddForce(grav * Prim.Linkset.LinksetMass, false); + // Prim.ApplyForceImpulse((m_newVelocity - Prim.Velocity) * m_vehicleMass, false); // DEBUG DEBUG - VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4}", - Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav); + Vector3 totalDownForce = downForce + grav; + if (totalDownForce != Vector3.Zero) + { + Prim.AddForce(totalDownForce * m_vehicleMass, false); + // Prim.ApplyForceImpulse(totalDownForce * m_vehicleMass, false); + } + + VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}", + Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, Prim.Velocity, totalDownForce); } // end MoveLinear() @@ -765,7 +823,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 origDir = m_angularMotorDirection; // new velocity += error / ( time to get there / step interval) - // requested speed - last motor speed + // requested direction - current vehicle direction m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep); // decay requested direction m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale)); @@ -784,10 +842,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 deflection = Vector3.Zero; Vector3 banking = Vector3.Zero; + // If vertical attaction timescale is reasonable and we applied an angular force last time... if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero) { float VAservo = pTimestep * 0.2f / m_verticalAttractionTimescale; - if (Prim.Linkset.LinksetIsColliding) + if (Prim.IsColliding) VAservo = pTimestep * 0.05f / (m_verticalAttractionTimescale); VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); @@ -806,7 +865,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin verticalError.X = 2.0f - verticalError.X; verticalError.Y = 2.0f - verticalError.Y; } - // scale it by VAservo + // scale it by VAservo (timestep and timescale) verticalError = verticalError * VAservo; // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y @@ -822,25 +881,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin vertattr.X += bounce * angularVelocity.X; vertattr.Y += bounce * angularVelocity.Y; - VDetailLog("{0},MoveAngular,verticalAttraction,verticalError={1},bounce={2},vertattr={3}", - Prim.LocalID, verticalError, bounce, vertattr); + VDetailLog("{0},MoveAngular,verticalAttraction,VAservo={1},effic={2},verticalError={3},bounce={4},vertattr={5}", + Prim.LocalID, VAservo, m_verticalAttractionEfficiency, verticalError, bounce, vertattr); } #endregion // Vertical attactor #region Deflection - //Forward is the prefered direction, but if the reference frame has changed, we need to take this into account as well if (m_angularDeflectionEfficiency != 0) { - Vector3 preferredAxisOfMotion = + // Compute a scaled vector that points in the preferred axis (X direction) + Vector3 scaledDefaultDirection = new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0); - preferredAxisOfMotion *= Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); + // Adding the current vehicle orientation and reference frame displaces the orientation to the frame. + // Rotate the scaled default axix relative to the actual vehicle direction giving where it should point. + Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); + // Scale by efficiency and timescale deflection = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", Prim.LocalID, preferredAxisOfMotion, deflection); + // This deflection computation is not correct. + deflection = Vector3.Zero; } #endregion @@ -875,7 +939,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } else banking.Z += (effSquared*(mult*mix))*(m_angularMotorVelocity.X) * 4; - if (!Prim.Linkset.LinksetIsColliding && Math.Abs(m_angularMotorVelocity.X) > mix) + if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix) //If they are colliding, we probably shouldn't shove the prim around... probably { float angVelZ = m_angularMotorVelocity.X*-1; @@ -904,6 +968,40 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Sum velocities m_lastAngularVelocity = m_angularMotorVelocity + vertattr + banking + deflection; + #region Linear Motor Offset + + //Offset section + if (m_linearMotorOffset != Vector3.Zero) + { + //Offset of linear velocity doesn't change the linear velocity, + // but causes a torque to be applied, for example... + // + // IIIII >>> IIIII + // IIIII >>> IIIII + // IIIII >>> IIIII + // ^ + // | Applying a force at the arrow will cause the object to move forward, but also rotate + // + // + // The torque created is the linear velocity crossed with the offset + + // NOTE: this computation does should be in the linear section + // because there we know the impulse being applied. + Vector3 torqueFromOffset = Vector3.Zero; + // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse); + if (float.IsNaN(torqueFromOffset.X)) + torqueFromOffset.X = 0; + if (float.IsNaN(torqueFromOffset.Y)) + torqueFromOffset.Y = 0; + if (float.IsNaN(torqueFromOffset.Z)) + torqueFromOffset.Z = 0; + torqueFromOffset *= m_vehicleMass; + Prim.ApplyTorqueImpulse(torqueFromOffset, true); + VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); + } + + #endregion + if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) { m_lastAngularVelocity.X = 0; @@ -914,25 +1012,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. - VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); + Prim.ZeroAngularMotion(true); + VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); + } + else + { + // Apply to the body. + // The above calculates the absolute angular velocity needed. Angular velocity is massless. + // Since we are stuffing the angular velocity directly into the object, the computed + // velocity needs to be scaled by the timestep. + Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - Prim.ForceRotationalVelocity); + Prim.ForceRotationalVelocity = applyAngularForce; + + // Decay the angular movement for next time + Vector3 decayamount = (Vector3.One / m_angularFrictionTimescale) * pTimestep; + m_lastAngularVelocity *= Vector3.One - decayamount; + + VDetailLog("{0},MoveAngular,done,newRotVel={1},decay={2},lastAngular={3}", + Prim.LocalID, applyAngularForce, decayamount, m_lastAngularVelocity); } - - // Apply to the body - // The above calculates the absolute angular velocity needed - // Prim.ForceRotationalVelocity = m_lastAngularVelocity; - - // Apply a force to overcome current angular velocity - Vector3 applyAngularForce = (m_lastAngularVelocity - Prim.ForceRotationalVelocity) * Prim.Linkset.LinksetMass; - // Vector3 applyAngularForce = (m_lastAngularVelocity - Prim.ForceRotationalVelocity); - // Prim.AddAngularForce(applyAngularForce, false); - Prim.ApplyTorqueImpulse(applyAngularForce, false); - - // Apply friction for next time - Vector3 decayamount = (Vector3.One / m_angularFrictionTimescale) * pTimestep; - m_lastAngularVelocity *= Vector3.One - decayamount; - - VDetailLog("{0},MoveAngular,done,applyAForce={1},decay={2},lastAngular={3}", - Prim.LocalID, applyAngularForce, decayamount, m_lastAngularVelocity); } //end MoveAngular internal void LimitRotation(float timestep) -- cgit v1.1 From 67d5dbbb49fa44e433bc6f5448f1b3e16c242524 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Nov 2012 15:28:06 -0800 Subject: BulletSim: add classes for physics motors. Eventually these will replace the manual code for vehicles and add PID functionality to avatar movement. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 104 +++++++++++++++++++++++ 1 file changed, 104 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs new file mode 100755 index 0000000..bc6e4c4 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -0,0 +1,104 @@ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public abstract class BSMotor +{ + public virtual void Reset() { } + public virtual void Zero() { } +} +// Can all the incremental stepping be replaced with motor classes? +public class BSVMotor : BSMotor +{ + public Vector3 FrameOfReference { get; set; } + public Vector3 Offset { get; set; } + + public float TimeScale { get; set; } + public float TargetValueDecayTimeScale { get; set; } + public Vector3 CurrentValueReductionTimescale { get; set; } + public float Efficiency { get; set; } + + public Vector3 TargetValue { get; private set; } + public Vector3 CurrentValue { get; private set; } + + + + BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) + { + TimeScale = timeScale; + TargetValueDecayTimeScale = decayTimeScale; + CurrentValueReductionTimescale = frictionTimeScale; + Efficiency = efficiency; + } + public void SetCurrent(Vector3 current) + { + CurrentValue = current; + } + public void SetTarget(Vector3 target) + { + TargetValue = target; + } + public Vector3 Step(float timeStep) + { + if (CurrentValue.LengthSquared() > 0.001f) + { + // Vector3 origDir = Target; // DEBUG + // Vector3 origVel = CurrentValue; // DEBUG + + // Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete + Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep; + CurrentValue += addAmount; + + float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; + TargetValue *= (1f - decayFactor); + + Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep; + CurrentValue *= (Vector3.One - frictionFactor); + } + else + { + // if what remains of direction is very small, zero it. + TargetValue = Vector3.Zero; + CurrentValue = Vector3.Zero; + + // VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); + } + return CurrentValue; + } +} + +public class BSFMotor : BSMotor +{ + public float TimeScale { get; set; } + public float DecayTimeScale { get; set; } + public float Friction { get; set; } + public float Efficiency { get; set; } + + public float Target { get; private set; } + public float CurrentValue { get; private set; } + + BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency) + { + } + public void SetCurrent(float target) + { + } + public void SetTarget(float target) + { + } + public float Step(float timeStep) + { + return 0f; + } +} +public class BSPIDMotor : BSMotor +{ + // TODO: write and use this one + BSPIDMotor() + { + } +} +} -- cgit v1.1 From 366651831952558b03b8f6ec442a0867b257b808 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Nov 2012 15:29:51 -0800 Subject: BulletSim: add skeleton classes for shape objectification. This will eventually replace all the if's and switches in ShapeCollection with polymorphism. --- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 213 +++++++++++++++++++++++ 1 file changed, 213 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs new file mode 100755 index 0000000..5e2c4a8 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -0,0 +1,213 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public abstract class BSShape +{ + public IntPtr ptr { get; set; } + public ShapeData.PhysicsShapeType type { get; set; } + public System.UInt64 key { get; set; } + public int referenceCount { get; set; } + public DateTime lastReferenced { get; set; } + + protected void Initialize() + { + ptr = IntPtr.Zero; + type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + key = 0; + referenceCount = 0; + lastReferenced = DateTime.Now; + } + + // 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 == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + { + // an avatar capsule is close to a native shape (it is not shared) + ret = BSShapeNative.GetReference(physicsScene, prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR, + ShapeData.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 already been created. + if (ret == null && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND) + { + // Getting a reference to a compound shape gets you the compound shape with the root prim shape added + ret = BSShapeCompound.GetReference(prim); + physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret); + } + + if (ret == null) + ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim); + + return ret; + } + public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) + { + return null; + } + public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) + { + return null; + } + + // Release the use of a physical shape. + public abstract void Dereference(BSScene physicsScene); + + // All shapes have a static call to get a reference to the physical shape + // protected abstract static BSShape GetReference(); + + public override string ToString() + { + StringBuilder buff = new StringBuilder(); + buff.Append(""); + return buff.ToString(); + } +} + +public class BSShapeNull : BSShape +{ + public BSShapeNull() + { + base.Initialize(); + } + public static BSShape GetReference() { return new BSShapeNull(); } + public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ } +} + +public class BSShapeNative : BSShape +{ + private static string LogHeader = "[BULLETSIM SHAPE NATIVE]"; + public BSShapeNative() + { + base.Initialize(); + } + public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, + ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) + { + // Native shapes are not shared and are always built anew. + return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); + } + + private BSShapeNative(BSScene physicsScene, BSPhysObject prim, + ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) + { + ShapeData nativeShapeData = new ShapeData(); + nativeShapeData.Type = shapeType; + nativeShapeData.ID = prim.LocalID; + nativeShapeData.Scale = prim.Scale; + nativeShapeData.Size = prim.Scale; + nativeShapeData.MeshKey = (ulong)shapeKey; + nativeShapeData.HullKey = (ulong)shapeKey; + + + if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + { + ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); + physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); + } + else + { + ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData); + } + if (ptr == IntPtr.Zero) + { + physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", + LogHeader, prim.LocalID, shapeType); + } + type = shapeType; + key = (UInt64)shapeKey; + } + // Make this reference to the physical shape go away since native shapes are not shared. + public override void Dereference(BSScene physicsScene) + { + // Native shapes are not tracked and are released immediately + physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); + BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr); + ptr = IntPtr.Zero; + // Garbage collection will free up this instance. + } +} + +public class BSShapeMesh : BSShape +{ + private static string LogHeader = "[BULLETSIM SHAPE MESH]"; + private static Dictionary Meshes = new Dictionary(); + + public BSShapeMesh() + { + base.Initialize(); + } + public static BSShape GetReference() { return new BSShapeNull(); } + public override void Dereference(BSScene physicsScene) { } +} + +public class BSShapeHull : BSShape +{ + private static string LogHeader = "[BULLETSIM SHAPE HULL]"; + private static Dictionary Hulls = new Dictionary(); + + public BSShapeHull() + { + base.Initialize(); + } + public static BSShape GetReference() { return new BSShapeNull(); } + public override void Dereference(BSScene physicsScene) { } +} + +public class BSShapeCompound : BSShape +{ + private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; + public BSShapeCompound() + { + base.Initialize(); + } + public static BSShape GetReference(BSPhysObject prim) + { + return new BSShapeNull(); + } + public override void Dereference(BSScene physicsScene) { } +} +} -- cgit v1.1 From aeeaa3a0a9b965dfe5d1111b178234c94de9ba9d Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Wed, 14 Nov 2012 11:09:43 -0800 Subject: Added AssemblyInfos to every dll in the OpenSim.Region namespace. --- .../BulletSPlugin/Properties/AssemblyInfo.cs | 33 ++++++++++++++++++++++ 1 file changed, 33 insertions(+) create mode 100644 OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs new file mode 100644 index 0000000..0d1db3b --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs @@ -0,0 +1,33 @@ +using System.Reflection; +using System.Runtime.CompilerServices; +using System.Runtime.InteropServices; + +// General Information about an assembly is controlled through the following +// set of attributes. Change these attribute values to modify the information +// associated with an assembly. +[assembly: AssemblyTitle("OpenSim.Region.Physics.BulletSPlugin")] +[assembly: AssemblyDescription("")] +[assembly: AssemblyConfiguration("")] +[assembly: AssemblyCompany("http://opensimulator.org")] +[assembly: AssemblyProduct("OpenSim")] +[assembly: AssemblyCopyright("OpenSimulator developers")] +[assembly: AssemblyTrademark("")] +[assembly: AssemblyCulture("")] + +// Setting ComVisible to false makes the types in this assembly not visible +// to COM components. If you need to access a type in this assembly from +// COM, set the ComVisible attribute to true on that type. +[assembly: ComVisible(false)] + +// The following GUID is for the ID of the typelib if this project is exposed to COM +[assembly: Guid("520ea11b-20cb-449d-ba05-c01015fed841")] + +// Version information for an assembly consists of the following four values: +// +// Major Version +// Minor Version +// Build Number +// Revision +// +[assembly: AssemblyVersion("0.7.5.*")] +[assembly: AssemblyFileVersion("1.0.0.0")] -- cgit v1.1 From 079a1e704fcaa9fddc9bb3de0a205969cba058bc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 18 Nov 2012 18:17:30 -0800 Subject: BulletSim: remove the obsolete interface to the Bullet code. Update BulletSim libraries with code stripped of the obsolete code. --- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 134 --------------------- 1 file changed, 134 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 07149d8..28fae13 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -429,140 +429,6 @@ static class BulletSimAPI { [UnmanagedFunctionPointer(CallingConvention.Cdecl)] public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -[return: MarshalAs(UnmanagedType.LPStr)] -public static extern string GetVersion(); - -/* Remove the linkage to the old api methods -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, - int maxCollisions, IntPtr collisionArray, - int maxUpdates, IntPtr updateArray, - DebugLogCallback logRoutine); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void CreateInitialGroundPlaneAndTerrain(uint worldID); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void Shutdown(uint worldID); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UpdateParameter(uint worldID, uint localID, - [MarshalAs(UnmanagedType.LPStr)]string paramCode, float value); - -// =============================================================================== -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, - out IntPtr updatedEntitiesPtr, - out int collidersCount, - out IntPtr collidersPtr); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, - int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls - ); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, - int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, - int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices - ); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyHull(uint worldID, System.UInt64 meshKey); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool CreateObject(uint worldID, ShapeData shapeData); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetObjectPosition(uint WorldID, uint id); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Quaternion GetObjectOrientation(uint WorldID, uint id); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectVelocity(uint worldID, uint id, Vector3 velocity); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectAngularVelocity(uint worldID, uint id, Vector3 angularVelocity); - -// Set the current force acting on the object -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectForce(uint worldID, uint id, Vector3 force); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectScaleMass(uint worldID, uint id, Vector3 scale, float mass, bool isDynamic); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectCollidable(uint worldID, uint id, bool phantom); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool HasObject(uint worldID, uint id); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyObject(uint worldID, uint id); - -// =============================================================================== -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern SweepHit ConvexSweepTest(uint worldID, uint id, Vector3 to, float extraMargin); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern RaycastHit RayTest(uint worldID, uint id, Vector3 from, Vector3 to); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 RecoverFromPenetration(uint worldID, uint id); - -// =============================================================================== -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpBulletStatistics(); -*/ -// Log a debug message -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetDebugLogCallback(DebugLogCallback callback); - -// =============================================================================== -// =============================================================================== -// =============================================================================== -// A new version of the API that enables moving all the logic out of the C++ code and into -// the C# code. This will make modifications easier for the next person. -// This interface passes the actual pointers to the objects in the unmanaged -// address space. All the management (calls for creation/destruction/lookup) -// is done in the C# code. -// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt -// and the old code is removed. - -// Functions use while converting from API1 to API2. Can be removed when totally converted. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetSimHandle2(uint worldID); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetBodyHandle2(IntPtr world, uint id); - // =============================================================================== // Initialization and simulation [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 22be36be69bbf571b26753307b9c2c5456a34d73 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 18 Nov 2012 22:57:26 -0800 Subject: BulletSim: fix the problem with flying being disabled when crossing region boundries. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index f33c124..3c48dcc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -78,8 +78,8 @@ public sealed class BSCharacter : BSPhysObject private float _PIDHoverTao; public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) + : base(parent_scene, localID, avName, "BSCharacter") { - base.BaseInitialize(parent_scene, localID, avName, "BSCharacter"); _physicsActorType = (int)ActorTypes.Agent; _position = pos; _size = size; @@ -131,6 +131,10 @@ public sealed class BSCharacter : BSPhysObject // Set the velocity and compute the proper friction ForceVelocity = _velocity; + // This will enable or disable the flying buoyancy of the avatar. + // Needs to be reset especially when an avatar is recreated after crossing a region boundry. + Flying = _flying; + BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution); BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); @@ -615,7 +619,7 @@ public sealed class BSCharacter : BSPhysObject newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; // From the total height, remove the capsule half spheres that are at each end - newScale.Z = size.Z- (newScale.X + newScale.Y); + newScale.Z = size.Z - (newScale.X + newScale.Y); Scale = newScale; } -- cgit v1.1 From 6c961d8addf5c6aad81165042e684e45429b3b21 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 18 Nov 2012 22:58:36 -0800 Subject: BulletSim: Use base class constructors for initialization of BSShape and other classes. --- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 5 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 421 ++++++++++----------- 4 files changed, 214 insertions(+), 216 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index e803072..991e5b1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -47,7 +47,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin */ public abstract class BSPhysObject : PhysicsActor { - protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName) + protected BSPhysObject() + { + } + protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) { PhysicsScene = parentScene; LocalID = localID; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 14eb505..500c84a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -88,9 +88,9 @@ public sealed class BSPrim : BSPhysObject public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) + : base(parent_scene, localID, primName, "BSPrim") { // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); - base.BaseInitialize(parent_scene, localID, primName, "BSPrim"); _physicsActorType = (int)ActorTypes.Prim; _position = pos; _size = size; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 1cc607a..2fee95e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -683,7 +683,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #region Taints // Calls to the PhysicsActors can't directly call into the physics engine - // because it might be busy. We delay changes to a known time. + // because it might be busy. We delay changes to a known time. // We rely on C#'s closure to save and restore the context for the delegate. public void TaintedObject(String ident, TaintCallback callback) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 5e2c4a8..d59a486 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -1,213 +1,208 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -using System; -using System.Collections.Generic; -using System.Linq; -using System.Text; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public abstract class BSShape -{ - public IntPtr ptr { get; set; } - public ShapeData.PhysicsShapeType type { get; set; } - public System.UInt64 key { get; set; } - public int referenceCount { get; set; } - public DateTime lastReferenced { get; set; } - - protected void Initialize() - { - ptr = IntPtr.Zero; - type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; - key = 0; - referenceCount = 0; - lastReferenced = DateTime.Now; - } - - // 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 == ShapeData.PhysicsShapeType.SHAPE_AVATAR) - { - // an avatar capsule is close to a native shape (it is not shared) - ret = BSShapeNative.GetReference(physicsScene, prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR, - ShapeData.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 already been created. - if (ret == null && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND) - { - // Getting a reference to a compound shape gets you the compound shape with the root prim shape added - ret = BSShapeCompound.GetReference(prim); - physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret); - } - - if (ret == null) - ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim); - - return ret; - } - public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) - { - return null; - } - public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) - { - return null; - } - - // Release the use of a physical shape. - public abstract void Dereference(BSScene physicsScene); - - // All shapes have a static call to get a reference to the physical shape - // protected abstract static BSShape GetReference(); - - public override string ToString() - { - StringBuilder buff = new StringBuilder(); - buff.Append(""); - return buff.ToString(); - } -} - -public class BSShapeNull : BSShape -{ - public BSShapeNull() - { - base.Initialize(); - } - public static BSShape GetReference() { return new BSShapeNull(); } - public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ } -} - -public class BSShapeNative : BSShape -{ - private static string LogHeader = "[BULLETSIM SHAPE NATIVE]"; - public BSShapeNative() - { - base.Initialize(); - } - public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, - ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) - { - // Native shapes are not shared and are always built anew. - return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); - } - - private BSShapeNative(BSScene physicsScene, BSPhysObject prim, - ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) - { - ShapeData nativeShapeData = new ShapeData(); - nativeShapeData.Type = shapeType; - nativeShapeData.ID = prim.LocalID; - nativeShapeData.Scale = prim.Scale; - nativeShapeData.Size = prim.Scale; - nativeShapeData.MeshKey = (ulong)shapeKey; - nativeShapeData.HullKey = (ulong)shapeKey; - - - if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) - { - ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); - physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); - } - else - { - ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData); - } - if (ptr == IntPtr.Zero) - { - physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", - LogHeader, prim.LocalID, shapeType); - } - type = shapeType; - key = (UInt64)shapeKey; - } - // Make this reference to the physical shape go away since native shapes are not shared. - public override void Dereference(BSScene physicsScene) - { - // Native shapes are not tracked and are released immediately - physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); - BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr); - ptr = IntPtr.Zero; - // Garbage collection will free up this instance. - } -} - -public class BSShapeMesh : BSShape -{ - private static string LogHeader = "[BULLETSIM SHAPE MESH]"; - private static Dictionary Meshes = new Dictionary(); - - public BSShapeMesh() - { - base.Initialize(); - } - public static BSShape GetReference() { return new BSShapeNull(); } - public override void Dereference(BSScene physicsScene) { } -} - -public class BSShapeHull : BSShape -{ - private static string LogHeader = "[BULLETSIM SHAPE HULL]"; - private static Dictionary Hulls = new Dictionary(); - - public BSShapeHull() - { - base.Initialize(); - } - public static BSShape GetReference() { return new BSShapeNull(); } - public override void Dereference(BSScene physicsScene) { } -} - -public class BSShapeCompound : BSShape -{ - private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; - public BSShapeCompound() - { - base.Initialize(); - } - public static BSShape GetReference(BSPhysObject prim) - { - return new BSShapeNull(); - } - public override void Dereference(BSScene physicsScene) { } -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public abstract class BSShape +{ + public IntPtr ptr { get; set; } + public ShapeData.PhysicsShapeType type { get; set; } + public System.UInt64 key { get; set; } + public int referenceCount { get; set; } + public DateTime lastReferenced { get; set; } + + public BSShape() + { + ptr = IntPtr.Zero; + type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + key = 0; + referenceCount = 0; + lastReferenced = DateTime.Now; + } + + // 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 == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + { + // an avatar capsule is close to a native shape (it is not shared) + ret = BSShapeNative.GetReference(physicsScene, prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR, + ShapeData.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 already been created. + if (ret == null && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND) + { + // Getting a reference to a compound shape gets you the compound shape with the root prim shape added + ret = BSShapeCompound.GetReference(prim); + physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret); + } + + if (ret == null) + ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim); + + return ret; + } + public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) + { + return null; + } + public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) + { + return null; + } + + // Release the use of a physical shape. + public abstract void Dereference(BSScene physicsScene); + + // All shapes have a static call to get a reference to the physical shape + // protected abstract static BSShape GetReference(); + + public override string ToString() + { + StringBuilder buff = new StringBuilder(); + buff.Append(""); + return buff.ToString(); + } +} + +public class BSShapeNull : BSShape +{ + public BSShapeNull() : base() + { + } + public static BSShape GetReference() { return new BSShapeNull(); } + public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ } +} + +public class BSShapeNative : BSShape +{ + private static string LogHeader = "[BULLETSIM SHAPE NATIVE]"; + public BSShapeNative() : base() + { + } + public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, + ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) + { + // Native shapes are not shared and are always built anew. + return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); + } + + private BSShapeNative(BSScene physicsScene, BSPhysObject prim, + ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) + { + ShapeData nativeShapeData = new ShapeData(); + nativeShapeData.Type = shapeType; + nativeShapeData.ID = prim.LocalID; + nativeShapeData.Scale = prim.Scale; + nativeShapeData.Size = prim.Scale; + nativeShapeData.MeshKey = (ulong)shapeKey; + nativeShapeData.HullKey = (ulong)shapeKey; + + + if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + { + ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); + physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); + } + else + { + ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData); + } + if (ptr == IntPtr.Zero) + { + physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", + LogHeader, prim.LocalID, shapeType); + } + type = shapeType; + key = (UInt64)shapeKey; + } + // Make this reference to the physical shape go away since native shapes are not shared. + public override void Dereference(BSScene physicsScene) + { + // Native shapes are not tracked and are released immediately + physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); + BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr); + ptr = IntPtr.Zero; + // Garbage collection will free up this instance. + } +} + +public class BSShapeMesh : BSShape +{ + private static string LogHeader = "[BULLETSIM SHAPE MESH]"; + private static Dictionary Meshes = new Dictionary(); + + public BSShapeMesh() : base() + { + } + public static BSShape GetReference() { return new BSShapeNull(); } + public override void Dereference(BSScene physicsScene) { } +} + +public class BSShapeHull : BSShape +{ + private static string LogHeader = "[BULLETSIM SHAPE HULL]"; + private static Dictionary Hulls = new Dictionary(); + + public BSShapeHull() : base() + { + } + public static BSShape GetReference() { return new BSShapeNull(); } + public override void Dereference(BSScene physicsScene) { } +} + +public class BSShapeCompound : BSShape +{ + private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; + public BSShapeCompound() : base() + { + } + public static BSShape GetReference(BSPhysObject prim) + { + return new BSShapeNull(); + } + public override void Dereference(BSScene physicsScene) { } +} +} -- cgit v1.1 From 2f5fe4b88e8eb0388cc2138c48a941b1317ed560 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 08:34:18 -0800 Subject: BulletSim: tweek avatar capsule parameters so avatar feet don't go below ground. This solves the bouncing, short avatar problem (Mantis 6403). --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 7 ++++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 11 ++++++----- 2 files changed, 10 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 3c48dcc..fa1a23f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -184,8 +184,8 @@ public sealed class BSCharacter : BSPhysObject _size = value; ComputeAvatarScale(_size); ComputeAvatarVolumeAndMass(); - DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}", - LocalID, Scale, _avatarDensity, _avatarVolume, RawMass); + DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", + LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { @@ -619,7 +619,8 @@ public sealed class BSCharacter : BSPhysObject newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; // From the total height, remove the capsule half spheres that are at each end - newScale.Z = size.Z - (newScale.X + newScale.Y); + // The 1.15f came from ODE. Not sure what this factors in. + newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y); Scale = newScale; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 2fee95e..58dccea 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -712,7 +712,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // here just before the physics engine is called to step the simulation. public void ProcessTaints() { - InTaintTime = true; + InTaintTime = true; // Only used for debugging so locking is not necessary. ProcessRegularTaints(); ProcessPostTaintTaints(); InTaintTime = false; @@ -758,6 +758,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters DetailLog("{0},BSScene.ProcessTaints,leftTaintsOnList,numNotProcessed={1}", DetailLogZero, _taintOperations.Count); } */ + // swizzle a new list into the list location so we can process what's there List oldList; lock (_taintLock) @@ -787,8 +788,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // will replace any previous operation by the same object. public void PostTaintObject(String ident, uint ID, TaintCallback callback) { - if (!m_initialized) return; - string uniqueIdent = ident + "-" + ID.ToString(); lock (_taintLock) { @@ -864,13 +863,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } } + // Only used for debugging. Does not change state of anything so locking is not necessary. public bool AssertInTaintTime(string whereFrom) { if (!InTaintTime) { DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); - Util.PrintCallStack(); + Util.PrintCallStack(); // Prints the stack into the DEBUG log file. } return InTaintTime; } @@ -1186,7 +1186,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].avatarCapsuleRadius; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ), new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", - 1.5f, + // 1.5f, + 2.140599f, (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarCapsuleHeight; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ), -- cgit v1.1 From 4d29488216f3619455cda72aaf2d6ccf8f3e2402 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 08:43:43 -0800 Subject: BulletSim: change PositionSanityCheck to apply a force to correct position corrections (below ground and floating). --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 61 ++++++++++------------ .../Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- 2 files changed, 30 insertions(+), 33 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 500c84a..b1b5846 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -47,7 +47,6 @@ public sealed class BSPrim : BSPhysObject // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. // Often Scale is unity because the meshmerizer will apply _size when creating the mesh. private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user - // private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer private bool _grabbed; private bool _isSelected; @@ -274,19 +273,19 @@ public sealed class BSPrim : BSPhysObject if (!Linkset.IsRoot(this)) _position = Linkset.Position(this); - // don't do the GetObjectPosition for root elements because this function is called a zillion times + // don't do the GetObjectPosition for root elements because this function is called a zillion times. // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); return _position; } set { - // If you must push the position into the physics engine, use ForcePosition. + // If the position must be forced into the physics engine, use ForcePosition. if (_position == value) { return; } _position = value; // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? - PositionSanityCheck(); + PositionSanityCheck(false); PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); @@ -302,7 +301,7 @@ public sealed class BSPrim : BSPhysObject } set { _position = value; - PositionSanityCheck(); + // PositionSanityCheck(); // Don't do this! Causes a loop and caller should know better. BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); ActivateIfPhysical(false); } @@ -311,52 +310,43 @@ public sealed class BSPrim : BSPhysObject // Check that the current position is sane and, if not, modify the position to make it so. // Check for being below terrain and being out of bounds. // Returns 'true' of the position was made sane by some action. - private bool PositionSanityCheck() + private bool PositionSanityCheck(bool inTaintTime) { bool ret = false; - // If totally below the ground, move the prim up - // TODO: figure out the right solution for this... only for dynamic objects? - /* float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); + OMV.Vector3 upForce = OMV.Vector3.Zero; if (Position.Z < terrainHeight) { DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); - _position.Z = terrainHeight + 2.0f; + float targetHeight = terrainHeight + (Size.Z / 2f); + // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec. + upForce.Z = (terrainHeight - Position.Z) * 1f; ret = true; } - */ + if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); // TODO: a floating motor so object will bob in the water - if (Position.Z < waterHeight) + if (Math.Abs(Position.Z - waterHeight) > 0.1f) { - _position.Z = waterHeight; + // Upforce proportional to the distance away from the water. Correct the error in 1 sec. + upForce.Z = (waterHeight - Position.Z) * 1f; ret = true; } } // TODO: check for out of bounds - return ret; - } - // A version of the sanity check that also makes sure a new position value is - // pushed to the physics engine. This routine would be used by anyone - // who is not already pushing the value. - private bool PositionSanityCheck(bool inTaintTime) - { - bool ret = false; - if (PositionSanityCheck()) + // The above code computes a force to apply to correct any out-of-bounds problems. Apply same. + if (ret) { - // The new position value must be pushed into the physics engine but we can't - // just assign to "Position" because of potential call loops. - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck", delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck:belowTerrain", delegate() { - DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - ForcePosition = _position; + // Apply upforce and overcome gravity. + ForceVelocity = ForceVelocity + upForce - PhysicsScene.DefaultGravity; }); - ret = true; } return ret; } @@ -940,6 +930,7 @@ public sealed class BSPrim : BSPhysObject public override void AddForce(OMV.Vector3 force, bool pushforce) { AddForce(force, pushforce, false); } + // Applying a force just adds this to the total force on the object. public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { // for an object, doesn't matter if force is a pushforce or not if (force.IsFinite()) @@ -971,6 +962,7 @@ public sealed class BSPrim : BSPhysObject }); } + // An impulse force is scaled by the mass of the object. public void ApplyForceImpulse(OMV.Vector3 impulse, bool inTaintTime) { OMV.Vector3 applyImpulse = impulse; @@ -1423,7 +1415,7 @@ public sealed class BSPrim : BSPhysObject if (changed != 0) { // Only update the position of single objects and linkset roots - if (this._parentPrim == null) + if (Linkset.IsRoot(this)) { base.RequestPhysicsterseUpdate(); } @@ -1435,19 +1427,24 @@ public sealed class BSPrim : BSPhysObject // Updates only for individual prims and for the root object of a linkset. if (Linkset.IsRoot(this)) { - // Assign to the local variables so the normal set action does not happen + // Assign directly to the local variables so the normal set action does not happen _position = entprop.Position; _orientation = entprop.Rotation; _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; + // The sanity check can change the velocity and/or position. + if (PositionSanityCheck(true)) + { + entprop.Position = _position; + entprop.Velocity = _velocity; + } + // remember the current and last set values LastEntityProperties = CurrentEntityProperties; CurrentEntityProperties = entprop; - PositionSanityCheck(true); - OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 29a23c0..7ef6429 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -940,7 +940,7 @@ public sealed class BSShapeCollection : IDisposable else { bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, - prim.LocalID, prim.ForcePosition, prim.ForceOrientation); + prim.LocalID, prim.RawPosition, prim.RawOrientation); DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } aBody = new BulletBody(prim.LocalID, bodyPtr); -- cgit v1.1 From d6db0d5740dae03174f65846556f2f06d573b5c4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 11:24:25 -0800 Subject: BulletSim: uplevel PhysicsShapeType out of ShapeData structure (since it is getting simplified out of existance someday) and update all the references to that enum. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 4 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 6 +-- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 56 +++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 16 +++---- .../Physics/BulletSPlugin/BSTerrainManager.cs | 4 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 37 +++++++------- 9 files changed, 67 insertions(+), 66 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index fa1a23f..92ff804 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -203,9 +203,9 @@ public sealed class BSCharacter : BSPhysObject set { BaseShape = value; } } // I want the physics engine to make an avatar capsule - public override ShapeData.PhysicsShapeType PreferredPhysicalShape + public override PhysicsShapeType PreferredPhysicalShape { - get {return ShapeData.PhysicsShapeType.SHAPE_AVATAR; } + get {return PhysicsShapeType.SHAPE_AVATAR; } } public override bool Grabbed { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 436e043..4ee047b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -82,9 +82,9 @@ public abstract class BSLinkset // Some linksets have a preferred physical shape. // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected. - public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) + public virtual PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) { - return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + return PhysicsShapeType.SHAPE_UNKNOWN; } // Linksets move around the children so the linkset might need to compute the child position diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 3238c85..cb37840 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -42,12 +42,12 @@ public sealed class BSLinksetCompound : BSLinkset } // For compound implimented linksets, if there are children, use compound shape for the root. - public override ShapeData.PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) + public override PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) { - ShapeData.PhysicsShapeType ret = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + PhysicsShapeType ret = PhysicsShapeType.SHAPE_UNKNOWN; if (IsRoot(requestor) && HasAnyChildren) { - ret = ShapeData.PhysicsShapeType.SHAPE_COMPOUND; + ret = PhysicsShapeType.SHAPE_COMPOUND; } // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret); return ret; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 991e5b1..e68b167 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -94,9 +94,9 @@ public abstract class BSPhysObject : PhysicsActor public PrimitiveBaseShape BaseShape { get; protected set; } // Some types of objects have preferred physical representations. // Returns SHAPE_UNKNOWN if there is no preference. - public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape + public virtual PhysicsShapeType PreferredPhysicalShape { - get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; } + get { return PhysicsShapeType.SHAPE_UNKNOWN; } } // When the physical properties are updated, an EntityProperty holds the update values. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b1b5846..2657e4b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -169,7 +169,7 @@ public sealed class BSPrim : BSPhysObject } } // Whatever the linkset wants is what I want. - public override ShapeData.PhysicsShapeType PreferredPhysicalShape + public override PhysicsShapeType PreferredPhysicalShape { get { return Linkset.PreferredPhysicalShape(this); } } public override bool ForceBodyShapeRebuild(bool inTaintTime) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 7ef6429..746a52e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -178,7 +178,7 @@ public sealed class BSShapeCollection : IDisposable bool ret = false; switch (shape.type) { - case ShapeData.PhysicsShapeType.SHAPE_MESH: + case PhysicsShapeType.SHAPE_MESH: MeshDesc meshDesc; if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) { @@ -201,7 +201,7 @@ public sealed class BSShapeCollection : IDisposable meshDesc.lastReferenced = System.DateTime.Now; Meshes[shape.shapeKey] = meshDesc; break; - case ShapeData.PhysicsShapeType.SHAPE_HULL: + case PhysicsShapeType.SHAPE_HULL: HullDesc hullDesc; if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) { @@ -224,7 +224,7 @@ public sealed class BSShapeCollection : IDisposable hullDesc.lastReferenced = System.DateTime.Now; Hulls[shape.shapeKey] = hullDesc; break; - case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN: + case PhysicsShapeType.SHAPE_UNKNOWN: break; default: // Native shapes are not tracked and they don't go into any list @@ -255,16 +255,16 @@ public sealed class BSShapeCollection : IDisposable { switch (shape.type) { - case ShapeData.PhysicsShapeType.SHAPE_HULL: + case PhysicsShapeType.SHAPE_HULL: DereferenceHull(shape, shapeCallback); break; - case ShapeData.PhysicsShapeType.SHAPE_MESH: + case PhysicsShapeType.SHAPE_MESH: DereferenceMesh(shape, shapeCallback); break; - case ShapeData.PhysicsShapeType.SHAPE_COMPOUND: + case PhysicsShapeType.SHAPE_COMPOUND: DereferenceCompound(shape, shapeCallback); break; - case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN: + case PhysicsShapeType.SHAPE_UNKNOWN: break; default: break; @@ -352,28 +352,28 @@ public sealed class BSShapeCollection : IDisposable BulletShape shapeInfo = new BulletShape(cShape); if (TryGetMeshByPtr(cShape, out meshDesc)) { - shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_MESH; + shapeInfo.type = PhysicsShapeType.SHAPE_MESH; shapeInfo.shapeKey = meshDesc.shapeKey; } else { if (TryGetHullByPtr(cShape, out hullDesc)) { - shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_HULL; + shapeInfo.type = PhysicsShapeType.SHAPE_HULL; shapeInfo.shapeKey = hullDesc.shapeKey; } else { if (BulletSimAPI.IsCompound2(cShape)) { - shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_COMPOUND; + shapeInfo.type = PhysicsShapeType.SHAPE_COMPOUND; } else { if (BulletSimAPI.IsNativeShape2(cShape)) { shapeInfo.isNativeShape = true; - shapeInfo.type = ShapeData.PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) + shapeInfo.type = PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) } } } @@ -381,7 +381,7 @@ public sealed class BSShapeCollection : IDisposable DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo); - if (shapeInfo.type != ShapeData.PhysicsShapeType.SHAPE_UNKNOWN) + if (shapeInfo.type != PhysicsShapeType.SHAPE_UNKNOWN) { DereferenceShape(shapeInfo, true, null); } @@ -405,10 +405,10 @@ public sealed class BSShapeCollection : IDisposable bool ret = false; bool haveShape = false; - if (!haveShape && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + if (!haveShape && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_AVATAR) { // an avatar capsule is close to a native shape (it is not shared) - ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR, + ret = GetReferenceToNativeShape(prim, PhysicsShapeType.SHAPE_AVATAR, ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); ret = true; @@ -417,7 +417,7 @@ public sealed class BSShapeCollection : IDisposable // 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 already been created. - if (!haveShape && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND) + if (!haveShape && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_COMPOUND) { ret = GetReferenceToCompoundShape(prim, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape); @@ -460,10 +460,10 @@ public sealed class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || prim.Scale != prim.Size - || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE + || prim.PhysShape.type != PhysicsShapeType.SHAPE_SPHERE ) { - ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_SPHERE, + ret = GetReferenceToNativeShape(prim, PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); @@ -474,10 +474,10 @@ public sealed class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || prim.Scale != prim.Size - || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX + || prim.PhysShape.type != PhysicsShapeType.SHAPE_BOX ) { - ret = GetReferenceToNativeShape( prim, ShapeData.PhysicsShapeType.SHAPE_BOX, + ret = GetReferenceToNativeShape( prim, PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); @@ -519,7 +519,7 @@ public sealed class BSShapeCollection : IDisposable // 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, - ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey, + PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey, ShapeDestructionCallback shapeCallback) { // release any previous shape @@ -538,7 +538,7 @@ public sealed class BSShapeCollection : IDisposable return true; } - private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, ShapeData.PhysicsShapeType shapeType, + private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) { BulletShape newShape; @@ -551,7 +551,7 @@ public sealed class BSShapeCollection : IDisposable nativeShapeData.MeshKey = (ulong)shapeKey; nativeShapeData.HullKey = (ulong)shapeKey; - if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + if (shapeType == PhysicsShapeType.SHAPE_AVATAR) { newShape = new BulletShape( BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale) @@ -585,7 +585,7 @@ public sealed class BSShapeCollection : IDisposable 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 == ShapeData.PhysicsShapeType.SHAPE_MESH) + if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == PhysicsShapeType.SHAPE_MESH) return false; DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}", @@ -643,7 +643,7 @@ public sealed class BSShapeCollection : IDisposable indices.GetLength(0), indices, vertices.Count, verticesAsFloats); } } - BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH); + BulletShape newShape = new BulletShape(meshPtr, PhysicsShapeType.SHAPE_MESH); newShape.shapeKey = newMeshKey; return newShape; @@ -659,7 +659,7 @@ public sealed class BSShapeCollection : IDisposable 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 == ShapeData.PhysicsShapeType.SHAPE_HULL) + if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == PhysicsShapeType.SHAPE_HULL) return false; DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}", @@ -780,7 +780,7 @@ public sealed class BSShapeCollection : IDisposable } } - BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL); + BulletShape newShape = new BulletShape(hullPtr, PhysicsShapeType.SHAPE_HULL); newShape.shapeKey = newHullKey; return newShape; // 'true' means a new shape has been added to this prim @@ -803,7 +803,7 @@ public sealed class BSShapeCollection : IDisposable // DereferenceShape(prim.PhysShape, true, shapeCallback); BulletShape cShape = new BulletShape( - BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), ShapeData.PhysicsShapeType.SHAPE_COMPOUND); + BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), PhysicsShapeType.SHAPE_COMPOUND); // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape. CreateGeomMeshOrHull(prim, shapeCallback); @@ -894,7 +894,7 @@ public sealed class BSShapeCollection : IDisposable // While we figure out the real problem, stick a simple native shape on the object. BulletShape fillinShape = - BuildPhysicalNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX); + BuildPhysicalNativeShape(prim, PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX); return fillinShape; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index d59a486..2896805 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -35,7 +35,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public abstract class BSShape { public IntPtr ptr { get; set; } - public ShapeData.PhysicsShapeType type { get; set; } + public PhysicsShapeType type { get; set; } public System.UInt64 key { get; set; } public int referenceCount { get; set; } public DateTime lastReferenced { get; set; } @@ -43,7 +43,7 @@ public abstract class BSShape public BSShape() { ptr = IntPtr.Zero; - type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + type = PhysicsShapeType.SHAPE_UNKNOWN; key = 0; referenceCount = 0; lastReferenced = DateTime.Now; @@ -54,17 +54,17 @@ public abstract class BSShape { BSShape ret = null; - if (prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + if (prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_AVATAR) { // an avatar capsule is close to a native shape (it is not shared) - ret = BSShapeNative.GetReference(physicsScene, prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR, + ret = BSShapeNative.GetReference(physicsScene, prim, PhysicsShapeType.SHAPE_AVATAR, ShapeData.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 already been created. - if (ret == null && prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_COMPOUND) + if (ret == null && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_COMPOUND) { // Getting a reference to a compound shape gets you the compound shape with the root prim shape added ret = BSShapeCompound.GetReference(prim); @@ -123,14 +123,14 @@ public class BSShapeNative : BSShape { } public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, - ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) + PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) { // Native shapes are not shared and are always built anew. return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); } private BSShapeNative(BSScene physicsScene, BSPhysObject prim, - ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) + PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) { ShapeData nativeShapeData = new ShapeData(); nativeShapeData.Type = shapeType; @@ -141,7 +141,7 @@ public class BSShapeNative : BSShape nativeShapeData.HullKey = (ulong)shapeKey; - if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) + if (shapeType == PhysicsShapeType.SHAPE_AVATAR) { ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 7c34af2..cc28e4d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -109,7 +109,7 @@ public sealed class BSTerrainManager // The ground plane is here to catch things that are trying to drop to negative infinity BulletShape groundPlaneShape = new BulletShape( BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN), - ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE); + PhysicsShapeType.SHAPE_GROUNDPLANE); m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity)); @@ -299,7 +299,7 @@ public sealed class BSTerrainManager // Create the terrain shape from the mapInfo mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr), - ShapeData.PhysicsShapeType.SHAPE_TERRAIN); + PhysicsShapeType.SHAPE_TERRAIN); // The terrain object initial position is at the center of the object Vector3 centerPos; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 28fae13..bb63b0a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -88,11 +88,11 @@ public struct BulletShape public BulletShape(IntPtr xx) { ptr = xx; - type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; + type=PhysicsShapeType.SHAPE_UNKNOWN; shapeKey = 0; isNativeShape = false; } - public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) + public BulletShape(IntPtr xx, PhysicsShapeType typ) { ptr = xx; type = typ; @@ -100,7 +100,7 @@ public struct BulletShape isNativeShape = false; } public IntPtr ptr; - public ShapeData.PhysicsShapeType type; + public PhysicsShapeType type; public System.UInt64 shapeKey; public bool isNativeShape; public override string ToString() @@ -178,24 +178,25 @@ public struct ConvexHull int VertexCount; Vector3[] Vertices; } +public enum PhysicsShapeType +{ + SHAPE_UNKNOWN = 0, + SHAPE_AVATAR = 1, + SHAPE_BOX = 2, + SHAPE_CONE = 3, + SHAPE_CYLINDER = 4, + SHAPE_SPHERE = 5, + SHAPE_MESH = 6, + SHAPE_HULL = 7, + // following defined by BulletSim + SHAPE_GROUNDPLANE = 20, + SHAPE_TERRAIN = 21, + SHAPE_COMPOUND = 22, + SHAPE_HEIGHTMAP = 23, +}; [StructLayout(LayoutKind.Sequential)] public struct ShapeData { - public enum PhysicsShapeType - { - SHAPE_UNKNOWN = 0, - SHAPE_AVATAR = 1, - SHAPE_BOX = 2, - SHAPE_CONE = 3, - SHAPE_CYLINDER = 4, - SHAPE_SPHERE = 5, - SHAPE_MESH = 6, - SHAPE_HULL = 7, - // following defined by BulletSim - SHAPE_GROUNDPLANE = 20, - SHAPE_TERRAIN = 21, - SHAPE_COMPOUND = 22, - }; public uint ID; public PhysicsShapeType Type; public Vector3 Position; -- cgit v1.1 From 65e55ada87e110b65f3d69eb0a4f2402fb1f3ece Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 11:30:22 -0800 Subject: BulletSim: uplevel FixedShapeKey out of ShapeData structure (since it is getting simplified out of existance someday) and update all the references to same. --- .../Physics/BulletSPlugin/BSShapeCollection.cs | 12 +++++------ OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 6 +++--- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 24 ++++++++++++---------- 3 files changed, 22 insertions(+), 20 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 746a52e..0232618 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -409,7 +409,7 @@ public sealed class BSShapeCollection : IDisposable { // an avatar capsule is close to a native shape (it is not shared) ret = GetReferenceToNativeShape(prim, PhysicsShapeType.SHAPE_AVATAR, - ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback); + FixedShapeKey.KEY_CAPSULE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); ret = true; haveShape = true; @@ -464,7 +464,7 @@ public sealed class BSShapeCollection : IDisposable ) { ret = GetReferenceToNativeShape(prim, PhysicsShapeType.SHAPE_SPHERE, - ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback); + FixedShapeKey.KEY_SPHERE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); } @@ -478,7 +478,7 @@ public sealed class BSShapeCollection : IDisposable ) { ret = GetReferenceToNativeShape( prim, PhysicsShapeType.SHAPE_BOX, - ShapeData.FixedShapeKey.KEY_BOX, shapeCallback); + FixedShapeKey.KEY_BOX, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); } @@ -519,7 +519,7 @@ public sealed class BSShapeCollection : IDisposable // 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, - PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey, + PhysicsShapeType shapeType, FixedShapeKey shapeKey, ShapeDestructionCallback shapeCallback) { // release any previous shape @@ -539,7 +539,7 @@ public sealed class BSShapeCollection : IDisposable } private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, PhysicsShapeType shapeType, - ShapeData.FixedShapeKey shapeKey) + FixedShapeKey shapeKey) { BulletShape newShape; // Need to make sure the passed shape information is for the native type. @@ -894,7 +894,7 @@ public sealed class BSShapeCollection : IDisposable // While we figure out the real problem, stick a simple native shape on the object. BulletShape fillinShape = - BuildPhysicalNativeShape(prim, PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX); + BuildPhysicalNativeShape(prim, PhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); return fillinShape; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 2896805..71b5074 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -58,7 +58,7 @@ public abstract class BSShape { // an avatar capsule is close to a native shape (it is not shared) ret = BSShapeNative.GetReference(physicsScene, prim, PhysicsShapeType.SHAPE_AVATAR, - ShapeData.FixedShapeKey.KEY_CAPSULE); + FixedShapeKey.KEY_CAPSULE); physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret); } @@ -123,14 +123,14 @@ public class BSShapeNative : BSShape { } public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, - PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) + PhysicsShapeType shapeType, FixedShapeKey shapeKey) { // Native shapes are not shared and are always built anew. return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); } private BSShapeNative(BSScene physicsScene, BSPhysObject prim, - PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey) + PhysicsShapeType shapeType, FixedShapeKey shapeKey) { ShapeData nativeShapeData = new ShapeData(); nativeShapeData.Type = shapeType; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index bb63b0a..75e7f99 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -89,7 +89,7 @@ public struct BulletShape { ptr = xx; type=PhysicsShapeType.SHAPE_UNKNOWN; - shapeKey = 0; + shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; isNativeShape = false; } public BulletShape(IntPtr xx, PhysicsShapeType typ) @@ -194,6 +194,18 @@ public enum PhysicsShapeType SHAPE_COMPOUND = 22, SHAPE_HEIGHTMAP = 23, }; + +// The native shapes have predefined shape hash keys +public enum FixedShapeKey : ulong +{ + KEY_NONE = 0, + KEY_BOX = 1, + KEY_SPHERE = 2, + KEY_CONE = 3, + KEY_CYLINDER = 4, + KEY_CAPSULE = 5, +} + [StructLayout(LayoutKind.Sequential)] public struct ShapeData { @@ -217,16 +229,6 @@ public struct ShapeData // note that bools are passed as floats since bool size changes by language and architecture public const float numericTrue = 1f; public const float numericFalse = 0f; - - // The native shapes have predefined shape hash keys - public enum FixedShapeKey : ulong - { - KEY_BOX = 1, - KEY_SPHERE = 2, - KEY_CONE = 3, - KEY_CYLINDER = 4, - KEY_CAPSULE = 5, - } } [StructLayout(LayoutKind.Sequential)] public struct SweepHit -- cgit v1.1 From 8dd5813889b17cc213d20491b41dbf8142b3ccb9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 11:33:42 -0800 Subject: BulletSim: rename SHAPE_AVATAR to SHAPE_CAPSULE with the eye to eventually having mesh avatars. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 6 +++--- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 6 +++--- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 2 +- 4 files changed, 8 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 92ff804..799211e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -205,7 +205,7 @@ public sealed class BSCharacter : BSPhysObject // I want the physics engine to make an avatar capsule public override PhysicsShapeType PreferredPhysicalShape { - get {return PhysicsShapeType.SHAPE_AVATAR; } + get {return PhysicsShapeType.SHAPE_CAPSULE; } } public override bool Grabbed { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 0232618..a53ad6e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -405,10 +405,10 @@ public sealed class BSShapeCollection : IDisposable bool ret = false; bool haveShape = false; - if (!haveShape && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_AVATAR) + if (!haveShape && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_CAPSULE) { // an avatar capsule is close to a native shape (it is not shared) - ret = GetReferenceToNativeShape(prim, PhysicsShapeType.SHAPE_AVATAR, + ret = GetReferenceToNativeShape(prim, PhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); ret = true; @@ -551,7 +551,7 @@ public sealed class BSShapeCollection : IDisposable nativeShapeData.MeshKey = (ulong)shapeKey; nativeShapeData.HullKey = (ulong)shapeKey; - if (shapeType == PhysicsShapeType.SHAPE_AVATAR) + if (shapeType == PhysicsShapeType.SHAPE_CAPSULE) { newShape = new BulletShape( BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 71b5074..f2e62d9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -54,10 +54,10 @@ public abstract class BSShape { BSShape ret = null; - if (prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_AVATAR) + if (prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_CAPSULE) { // an avatar capsule is close to a native shape (it is not shared) - ret = BSShapeNative.GetReference(physicsScene, prim, PhysicsShapeType.SHAPE_AVATAR, + ret = BSShapeNative.GetReference(physicsScene, prim, PhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE); physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret); } @@ -141,7 +141,7 @@ public class BSShapeNative : BSShape nativeShapeData.HullKey = (ulong)shapeKey; - if (shapeType == PhysicsShapeType.SHAPE_AVATAR) + if (shapeType == PhysicsShapeType.SHAPE_CAPSULE) { ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 75e7f99..407d6d7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -181,7 +181,7 @@ public struct ConvexHull public enum PhysicsShapeType { SHAPE_UNKNOWN = 0, - SHAPE_AVATAR = 1, + SHAPE_CAPSULE = 1, SHAPE_BOX = 2, SHAPE_CONE = 3, SHAPE_CYLINDER = 4, -- cgit v1.1 From 71b9640dfa67e830769aad64ef208d767e102c92 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 14:51:50 -0800 Subject: BulletSim: pull heightmap implementation out of the terrain manager so a mesh terrain can be implemented. --- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 174 ++++++++++++++ .../Physics/BulletSPlugin/BSTerrainManager.cs | 257 +++++++-------------- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 73 ++++++ .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 4 +- 4 files changed, 327 insertions(+), 181 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs new file mode 100755 index 0000000..3bb63cd --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -0,0 +1,174 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OpenSim.Framework; +using OpenSim.Region.Framework; +using OpenSim.Region.CoreModules; +using OpenSim.Region.Physics.Manager; + +using Nini.Config; +using log4net; + +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public sealed class BSTerrainHeightmap : BSTerrainPhys +{ + static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; + + BulletHeightMapInfo m_mapInfo; + + public BSTerrainHeightmap(BSScene physicsScene, uint id, Vector3 regionSize) + : base(physicsScene) + { + Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE); + Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION); + int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; + float[] initialMap = new float[totalHeights]; + for (int ii = 0; ii < totalHeights; ii++) + { + initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; + } + m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo.minCoords = minTerrainCoords; + m_mapInfo.maxCoords = maxTerrainCoords; + // Don't have to free any previous since we just got here. + BuildHeightmapTerrain(); + } + + // This minCoords and maxCoords passed in give the size of the terrain (min and max Z + // are the high and low points of the heightmap). + public BSTerrainHeightmap(BSScene physicsScene, uint id, float[] initialMap, + Vector3 minCoords, Vector3 maxCoords) + : base(physicsScene) + { + m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo.minCoords = minCoords; + m_mapInfo.maxCoords = maxCoords; + m_mapInfo.minZ = minCoords.Z; + m_mapInfo.maxZ = maxCoords.Z; + + // Don't have to free any previous since we just got here. + BuildHeightmapTerrain(); + } + + public override void Dispose() + { + ReleaseHeightMapTerrain(); + } + + // Using the information in m_mapInfo, create the physical representation of the heightmap. + private void BuildHeightmapTerrain() + { + m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, + m_mapInfo.minCoords, m_mapInfo.maxCoords, + m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN); + + // Create the terrain shape from the mapInfo + m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), + PhysicsShapeType.SHAPE_TERRAIN); + + // The terrain object initial position is at the center of the object + Vector3 centerPos; + centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f); + centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); + centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); + + m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, + BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, + m_mapInfo.ID, centerPos, Quaternion.Identity)); + + // Set current terrain attributes + BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); + BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); + BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); + BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + + // Return the new terrain to the world of physical objects + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + + // redo its bounding box now that it is in the world + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + + BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainFilter, + (uint)CollisionFilterGroups.TerrainMask); + + // Make it so the terrain will not move or be considered for movement. + BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + + return; + } + + // If there is information in m_mapInfo pointing to physical structures, release same. + private void ReleaseHeightMapTerrain() + { + if (m_mapInfo != null) + { + if (m_mapInfo.terrainBody.ptr != IntPtr.Zero) + { + if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr)) + { + // Frees both the body and the shape. + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); + } + } + } + m_mapInfo = null; + } + + // The passed position is relative to the base of the region. + public override float GetHeightAtXYZ(Vector3 pos) + { + float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + + int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X; + try + { + ret = m_mapInfo.heightMap[mapIndex]; + } + catch + { + // Sometimes they give us wonky values of X and Y. Give a warning and return something. + PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", + LogHeader, m_mapInfo.terrainRegionBase, pos); + ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + } + return ret; + } + + public override Vector3 TerrainBase + { + get { return m_mapInfo.terrainRegionBase; } + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index cc28e4d..db04299 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -40,6 +40,22 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { + +// The physical implementation of the terrain is wrapped in this class. +public abstract class BSTerrainPhys : IDisposable +{ + public BSScene PhysicsScene { get; private set; } + + public BSTerrainPhys(BSScene physicsScene) + { + PhysicsScene = physicsScene; + } + public abstract void Dispose(); + public abstract float GetHeightAtXYZ(Vector3 pos); + public abstract Vector3 TerrainBase { get; } +} + +// ========================================================================================== public sealed class BSTerrainManager { static string LogHeader = "[BULLETSIM TERRAIN MANAGER]"; @@ -67,11 +83,10 @@ public sealed class BSTerrainManager // If doing mega-regions, if we're region zero we will be managing multiple // region terrains since region zero does the physics for the whole mega-region. - private Dictionary m_heightMaps; + private Dictionary m_terrains; - // True of the terrain has been modified. - // Used to force recalculation of terrain height after terrain has been modified - private bool m_terrainModified; + // Flags used to know when to recalculate the height. + private bool m_terrainModified = false; // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount. // This is incremented before assigning to new region so it is the last ID allocated. @@ -89,8 +104,7 @@ public sealed class BSTerrainManager public BSTerrainManager(BSScene physicsScene) { PhysicsScene = physicsScene; - m_heightMaps = new Dictionary(); - m_terrainModified = false; + m_terrains = new Dictionary(); // Assume one region of default size m_worldOffset = Vector3.Zero; @@ -99,9 +113,6 @@ public sealed class BSTerrainManager } // Create the initial instance of terrain and the underlying ground plane. - // The objects are allocated in the unmanaged space and the pointers are tracked - // by the managed code. - // The terrains and the groundPlane are not added to the list of PhysObjects. // This is called from the initialization routine so we presume it is // safe to call Bullet in real time. We hope no one is moving prims around yet. public void CreateInitialGroundPlaneAndTerrain() @@ -121,15 +132,9 @@ public sealed class BSTerrainManager BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr, (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask); - Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE); - Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION); - int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; - float[] initialMap = new float[totalHeights]; - for (int ii = 0; ii < totalHeights; ii++) - { - initialMap[ii] = HEIGHT_INITIALIZATION; - } - UpdateOrCreateTerrain(BSScene.TERRAIN_ID, initialMap, minTerrainCoords, maxTerrainCoords, true); + // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. + BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, BSScene.TERRAIN_ID, DefaultRegionSize); + m_terrains.Add(Vector3.Zero, initialTerrain); } // Release all the terrain structures we might have allocated @@ -150,15 +155,11 @@ public sealed class BSTerrainManager // Release all the terrain we have allocated public void ReleaseTerrain() { - foreach (KeyValuePair kvp in m_heightMaps) + foreach (KeyValuePair kvp in m_terrains) { - if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr)) - { - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr); - BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr); - } + kvp.Value.Dispose(); } - m_heightMaps.Clear(); + m_terrains.Clear(); } // The simulator wants to set a new heightmap for the terrain. @@ -176,8 +177,9 @@ public sealed class BSTerrainManager { DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", BSScene.DetailLogZero, m_worldOffset, m_worldMax); - ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID, - localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true); + ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain( + BSScene.CHILDTERRAIN_ID, localHeightMap, + m_worldOffset, m_worldOffset + DefaultRegionSize, true); } } else @@ -185,7 +187,7 @@ public sealed class BSTerrainManager // If not doing the mega-prim thing, just change the terrain DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); - UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, + UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true); } }); @@ -195,56 +197,60 @@ public sealed class BSTerrainManager // based on the passed information. The 'id' should be either the terrain id or // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used. // The latter feature is for creating child terrains for mega-regions. - // If called with a mapInfo in m_heightMaps but the terrain has no body yet (mapInfo.terrainBody.Ptr == 0) - // then a new body and shape is created and the mapInfo is filled. - // This call is used for doing the initial terrain creation. // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new // terrain shape is created and added to the body. // This call is most often used to update the heightMap and parameters of the terrain. // (The above does suggest that some simplification/refactoring is in order.) - private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) + private void UpdateTerrain(uint id, float[] heightMap, + Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) { - DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}", + DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}", BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime); + // Find high and low points of passed heightmap. + // The min and max passed in are usually the region objects can exist in (maximum + // object height, for instance). The terrain wants the bounding box for the + // terrain so we replace passed min and max Z with the actual terrain min/max Z. + // limit, for float minZ = float.MaxValue; float maxZ = float.MinValue; - Vector2 terrainRegionBase = new Vector2(minCoords.X, minCoords.Y); - - int heightMapSize = heightMap.Length; - for (int ii = 0; ii < heightMapSize; ii++) + foreach (float height in heightMap) { - float height = heightMap[ii]; if (height < minZ) minZ = height; if (height > maxZ) maxZ = height; } - - // The shape of the terrain is from its base to its extents. minCoords.Z = minZ; maxCoords.Z = maxZ; - BulletHeightMapInfo mapInfo; - if (m_heightMaps.TryGetValue(terrainRegionBase, out mapInfo)) + Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f); + + BSTerrainPhys terrainPhys; + if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys)) { // If this is terrain we know about, it's easy to update - mapInfo.heightMap = heightMap; - mapInfo.minCoords = minCoords; - mapInfo.maxCoords = maxCoords; - mapInfo.minZ = minZ; - mapInfo.maxZ = maxZ; - mapInfo.sizeX = maxCoords.X - minCoords.X; - mapInfo.sizeY = maxCoords.Y - minCoords.Y; - DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", - BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); - - PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:UpdateExisting", delegate() + DetailLog("{0},UpdateTerrain:UpdateExisting,call,terrainBase={1}", BSScene.DetailLogZero, terrainRegionBase); + + PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:UpdateExisting", delegate() { - if (MegaRegionParentPhysicsScene != null) + // Remove old terrain from the collection + m_terrains.Remove(terrainPhys.TerrainBase); + // Release any physical memory it may be using. + terrainPhys.Dispose(); + + if (MegaRegionParentPhysicsScene == null) + { + BSTerrainPhys newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, id, + heightMap, minCoords, maxCoords); + m_terrains.Add(terrainRegionBase, newTerrainPhys); + + m_terrainModified = true; + } + else { // It's possible that Combine() was called after this code was queued. // If we are a child of combined regions, we don't create any terrain for us. - DetailLog("{0},UpdateOrCreateTerrain:AmACombineChild,taint", BSScene.DetailLogZero); + DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero); // Get rid of any terrain that may have been allocated for us. ReleaseGroundPlaneAndTerrain(); @@ -252,91 +258,6 @@ public sealed class BSTerrainManager // I hate doing this, but just bail return; } - - if (mapInfo.terrainBody.ptr != IntPtr.Zero) - { - // Updating an existing terrain. - DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", - BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); - - // Remove from the dynamics world because we're going to mangle this object - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); - - // Get rid of the old terrain - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); - BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr); - mapInfo.Ptr = IntPtr.Zero; - - /* - // NOTE: This routine is half here because I can't get the terrain shape replacement - // to work. In the short term, the above three lines completely delete the old - // terrain and the code below recreates one from scratch. - // Hopefully the Bullet community will help me out on this one. - - // First, release the old collision shape (there is only one terrain) - BulletSimAPI.DeleteCollisionShape2(m_physicsScene.World.Ptr, mapInfo.terrainShape.Ptr); - - // Fill the existing height map info with the new location and size information - BulletSimAPI.FillHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.Ptr, mapInfo.ID, - mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); - - // Create a terrain shape based on the new info - mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr)); - - // Stuff the shape into the existing terrain body - BulletSimAPI.SetBodyShape2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr, mapInfo.terrainShape.Ptr); - */ - } - // else - { - // Creating a new terrain. - DetailLog("{0},UpdateOrCreateTerrain:CreateNewTerrain,taint,baseX={1},baseY={2},minZ={3},maxZ={4}", - BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ); - - mapInfo.ID = id; - mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID, - mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); - - // Create the terrain shape from the mapInfo - mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr), - PhysicsShapeType.SHAPE_TERRAIN); - - // The terrain object initial position is at the center of the object - Vector3 centerPos; - centerPos.X = minCoords.X + (mapInfo.sizeX / 2f); - centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f); - centerPos.Z = minZ + ((maxZ - minZ) / 2f); - - mapInfo.terrainBody = new BulletBody(mapInfo.ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, - id, centerPos, Quaternion.Identity)); - } - - // Make sure the entry is in the heightmap table - m_heightMaps[terrainRegionBase] = mapInfo; - - // Set current terrain attributes - BulletSimAPI.SetFriction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); - BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); - BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - - // Return the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); - - // redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); - - BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr, - (uint)CollisionFilterGroups.TerrainFilter, - (uint)CollisionFilterGroups.TerrainMask); - - // Make sure the new shape is processed. - // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); - // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING); - BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); - - m_terrainModified = true; }); } else @@ -353,34 +274,23 @@ public sealed class BSTerrainManager Vector3 minCoordsX = minCoords; Vector3 maxCoordsX = maxCoords; - DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}", + DetailLog("{0},UpdateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}", BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); // Code that must happen at taint-time - PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateOrCreateTerrain:NewTerrain", delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:NewTerrain", delegate() { - DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y); - // Create a new mapInfo that will be filled with the new info - mapInfo = new BulletHeightMapInfo(id, heightMapX, - BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, newTerrainID, - minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN)); - // Put the unfilled heightmap info into the collection of same - m_heightMaps.Add(terrainRegionBase, mapInfo); - // Build the terrain - UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true); + DetailLog("{0},UpdateTerrain:NewTerrain,taint,baseX={1},baseY={2}", + BSScene.DetailLogZero, minCoordsX.X, minCoordsX.Y); + BSTerrainPhys newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, newTerrainID, + heightMapX, minCoordsX, maxCoordsX); + m_terrains.Add(terrainRegionBase, newTerrainPhys); m_terrainModified = true; }); } } - // Someday we will have complex terrain with caves and tunnels - public float GetTerrainHeightAtXYZ(Vector3 loc) - { - // For the moment, it's flat and convex - return GetTerrainHeightAtXY(loc.X, loc.Y); - } - // Given an X and Y, find the height of the terrain. // Since we could be handling multiple terrains for a mega-region, // the base of the region is calcuated assuming all regions are @@ -390,8 +300,10 @@ public sealed class BSTerrainManager private float lastHeightTX = 999999f; private float lastHeightTY = 999999f; private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT; - private float GetTerrainHeightAtXY(float tX, float tY) + public float GetTerrainHeightAtXYZ(Vector3 loc) { + float tX = loc.X; + float tY = loc.Y; // You'd be surprized at the number of times this routine is called // with the same parameters as last time. if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY) @@ -403,27 +315,14 @@ public sealed class BSTerrainManager int offsetX = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; - Vector2 terrainBaseXY = new Vector2(offsetX, offsetY); + Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f); - BulletHeightMapInfo mapInfo; - if (m_heightMaps.TryGetValue(terrainBaseXY, out mapInfo)) + BSTerrainPhys physTerrain; + if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain)) { - float regionX = tX - offsetX; - float regionY = tY - offsetY; - int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX; - try - { - ret = mapInfo.heightMap[mapIndex]; - } - catch - { - // Sometimes they give us wonky values of X and Y. Give a warning and return something. - PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}", - LogHeader, terrainBaseXY, regionX, regionY); - ret = HEIGHT_GETHEIGHT_RET; - } - // DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}", - // BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret); + ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ); + DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,loc={1},base={2},height={3}", + BSScene.DetailLogZero, loc, terrainBaseXYZ, ret); } else { @@ -466,7 +365,7 @@ public sealed class BSTerrainManager // Unhook all the combining that I know about. public void UnCombine(PhysicsScene pScene) { - // Just like ODE, for the moment a NOP + // Just like ODE, we don't do anything yet. DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs new file mode 100755 index 0000000..387c78b --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -0,0 +1,73 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OpenSim.Framework; +using OpenSim.Region.Framework; +using OpenSim.Region.CoreModules; +using OpenSim.Region.Physics.Manager; + +using Nini.Config; +using log4net; + +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public sealed class BSTerrainMesh : BSTerrainPhys +{ + static string LogHeader = "[BULLETSIM TERRAIN MESH]"; + + public BSTerrainMesh(BSScene physicsScene, uint id, Vector3 regionSize) + : base(physicsScene) + { + } + + public BSTerrainMesh(BSScene physicsScene /* parameters for making mesh */) + : base(physicsScene) + { + } + + public override void Dispose() + { + return; + } + + public override float GetHeightAtXYZ(Vector3 pos) + { + return 12345f; + } + + public override Vector3 TerrainBase + { + get { return Vector3.Zero; } + } + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 407d6d7..bab3b3d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -152,7 +152,7 @@ public class BulletHeightMapInfo ID = id; Ptr = xx; heightMap = hm; - terrainRegionBase = new Vector2(0f, 0f); + terrainRegionBase = Vector3.Zero; minCoords = new Vector3(100f, 100f, 25f); maxCoords = new Vector3(101f, 101f, 26f); minZ = maxZ = 0f; @@ -161,7 +161,7 @@ public class BulletHeightMapInfo public uint ID; public IntPtr Ptr; public float[] heightMap; - public Vector2 terrainRegionBase; + public Vector3 terrainRegionBase; public Vector3 minCoords; public Vector3 maxCoords; public float sizeX, sizeY; -- cgit v1.1 From 34cbc738a84b7946a87e8bfd3bb04869519b3dee Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 20:36:49 -0800 Subject: BulletSim: enablement and debugging of mesh terrain. --- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 28 ++- .../Physics/BulletSPlugin/BSTerrainManager.cs | 26 ++- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 229 ++++++++++++++++++++- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 6 +- 4 files changed, 253 insertions(+), 36 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 3bb63cd..e9fd0cb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -44,10 +44,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; - BulletHeightMapInfo m_mapInfo; + BulletHeightMapInfo m_mapInfo = null; - public BSTerrainHeightmap(BSScene physicsScene, uint id, Vector3 regionSize) - : base(physicsScene) + // Constructor to build a default, flat heightmap terrain. + public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) + : base(physicsScene, regionBase, id) { Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE); Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION); @@ -60,21 +61,23 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); m_mapInfo.minCoords = minTerrainCoords; m_mapInfo.maxCoords = maxTerrainCoords; + m_mapInfo.terrainRegionBase = TerrainBase; // Don't have to free any previous since we just got here. BuildHeightmapTerrain(); } // This minCoords and maxCoords passed in give the size of the terrain (min and max Z // are the high and low points of the heightmap). - public BSTerrainHeightmap(BSScene physicsScene, uint id, float[] initialMap, + public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, Vector3 minCoords, Vector3 maxCoords) - : base(physicsScene) + : base(physicsScene, regionBase, id) { m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); m_mapInfo.minCoords = minCoords; m_mapInfo.maxCoords = maxCoords; m_mapInfo.minZ = minCoords.Z; m_mapInfo.maxZ = maxCoords.Z; + m_mapInfo.terrainRegionBase = TerrainBase; // Don't have to free any previous since we just got here. BuildHeightmapTerrain(); @@ -135,12 +138,10 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { if (m_mapInfo.terrainBody.ptr != IntPtr.Zero) { - if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr)) - { - // Frees both the body and the shape. - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); - } + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + // Frees both the body and the shape. + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); } } m_mapInfo = null; @@ -165,10 +166,5 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys } return ret; } - - public override Vector3 TerrainBase - { - get { return m_mapInfo.terrainRegionBase; } - } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index db04299..ed0dfa8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -45,14 +45,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin public abstract class BSTerrainPhys : IDisposable { public BSScene PhysicsScene { get; private set; } + // Base of the region in world coordinates. Coordinates inside the region are relative to this. + public Vector3 TerrainBase { get; private set; } + public uint ID { get; private set; } - public BSTerrainPhys(BSScene physicsScene) + public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id) { PhysicsScene = physicsScene; + TerrainBase = regionBase; + ID = id; } public abstract void Dispose(); public abstract float GetHeightAtXYZ(Vector3 pos); - public abstract Vector3 TerrainBase { get; } } // ========================================================================================== @@ -133,7 +137,7 @@ public sealed class BSTerrainManager (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask); // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. - BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, BSScene.TERRAIN_ID, DefaultRegionSize); + BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); m_terrains.Add(Vector3.Zero, initialTerrain); } @@ -208,10 +212,9 @@ public sealed class BSTerrainManager BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime); // Find high and low points of passed heightmap. - // The min and max passed in are usually the region objects can exist in (maximum + // The min and max passed in is usually the area objects can be in (maximum // object height, for instance). The terrain wants the bounding box for the // terrain so we replace passed min and max Z with the actual terrain min/max Z. - // limit, for float minZ = float.MaxValue; float maxZ = float.MinValue; foreach (float height in heightMap) @@ -219,6 +222,11 @@ public sealed class BSTerrainManager if (height < minZ) minZ = height; if (height > maxZ) maxZ = height; } + if (minZ == maxZ) + { + // If min and max are the same, reduce min a little bit so a good bounding box is created. + minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE; + } minCoords.Z = minZ; maxCoords.Z = maxZ; @@ -240,7 +248,9 @@ public sealed class BSTerrainManager if (MegaRegionParentPhysicsScene == null) { - BSTerrainPhys newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, id, + // BSTerrainPhys newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, + // heightMap, minCoords, maxCoords); + BSTerrainPhys newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id, heightMap, minCoords, maxCoords); m_terrains.Add(terrainRegionBase, newTerrainPhys); @@ -282,8 +292,8 @@ public sealed class BSTerrainManager { DetailLog("{0},UpdateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoordsX.X, minCoordsX.Y); - BSTerrainPhys newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, newTerrainID, - heightMapX, minCoordsX, maxCoordsX); + BSTerrainPhys newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, + newTerrainID, heightMapX, minCoordsX, maxCoordsX); m_terrains.Add(terrainRegionBase, newTerrainPhys); m_terrainModified = true; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 387c78b..bbb014a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -44,30 +44,241 @@ public sealed class BSTerrainMesh : BSTerrainPhys { static string LogHeader = "[BULLETSIM TERRAIN MESH]"; - public BSTerrainMesh(BSScene physicsScene, uint id, Vector3 regionSize) - : base(physicsScene) + private float[] m_savedHeightMap; + int m_sizeX; + int m_sizeY; + + BulletShape m_terrainShape; + BulletBody m_terrainBody; + + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) + : base(physicsScene, regionBase, id) { } - public BSTerrainMesh(BSScene physicsScene /* parameters for making mesh */) - : base(physicsScene) + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */) + : base(physicsScene, regionBase, id) { } + // Create terrain mesh from a heightmap. + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, + Vector3 minCoords, Vector3 maxCoords) + : base(physicsScene, regionBase, id) + { + int indicesCount; + int[] indices; + int verticesCount; + float[] vertices; + + m_savedHeightMap = initialMap; + + m_sizeX = (int)(maxCoords.X - minCoords.X); + m_sizeY = (int)(maxCoords.Y - minCoords.Y); + + if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, m_sizeX, m_sizeY, + (float)m_sizeX, (float)m_sizeY, + Vector3.Zero, 1.0f, + out indicesCount, out indices, out verticesCount, out vertices)) + { + // DISASTER!! + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID); + PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase); + // Something is very messed up and a crash is in our future. + return; + } + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterConvertHeightmapToMesh,ver={1},ind={2}", + ID, verticesCount, indicesCount); + + m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, + indicesCount, indices, verticesCount, vertices), + PhysicsShapeType.SHAPE_MESH); + if (m_terrainShape.ptr == IntPtr.Zero) + { + // DISASTER!! + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID); + physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); + // Something is very messed up and a crash is in our future. + return; + } + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateShape,shape={1}", ID, m_terrainShape); + + // The terrain object initial position is at the center of the object + Vector3 centerPos; + centerPos.X = minCoords.X + (m_sizeX / 2f); + centerPos.Y = minCoords.Y + (m_sizeY / 2f); + centerPos.Z = minCoords.Z + ((maxCoords.Z - minCoords.Z) / 2f); + Quaternion rot = Quaternion.Identity; + + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,creatingBody,centerPos={1},rot={2}", ID, centerPos, rot); + m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( + m_terrainShape.ptr, ID, centerPos, rot)); + if (m_terrainBody.ptr == IntPtr.Zero) + { + // DISASTER!! + physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); + // Something is very messed up and a crash is in our future. + return; + } + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateBody,body={1}", ID, m_terrainBody); + + // Set current terrain attributes + BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction); + BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); + BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution); + BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + + // Static objects are not very massive. + BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); + + // Return the new terrain to the world of physical objects + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); + + // redo its bounding box now that it is in the world + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); + + BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainFilter, + (uint)CollisionFilterGroups.TerrainMask); + + // Make it so the terrain will not move or be considered for movement. + BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + } + public override void Dispose() { - return; + if (m_terrainBody.ptr != IntPtr.Zero) + { + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); + // Frees both the body and the shape. + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr); + } } public override float GetHeightAtXYZ(Vector3 pos) { - return 12345f; + // For the moment use the saved heightmap to get the terrain height. + // TODO: raycast downward to find the true terrain below the position. + float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + + int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X; + try + { + ret = m_savedHeightMap[mapIndex]; + } + catch + { + // Sometimes they give us wonky values of X and Y. Give a warning and return something. + PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", + LogHeader, TerrainBase, pos); + ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + } + return ret; } - public override Vector3 TerrainBase + // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). + // Return 'true' if successfully created. + public static bool ConvertHeightmapToMesh( + BSScene physicsScene, + float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap + float extentX, float extentY, // zero based range for output vertices + Vector3 extentBase, // base to be added to all vertices + float magnification, // number of vertices to create between heightMap coords + out int indicesCountO, out int[] indicesO, + out int verticesCountO, out float[] verticesO) { - get { return Vector3.Zero; } - } + bool ret = false; + + int indicesCount = 0; + int verticesCount = 0; + int[] indices = new int[0]; + float[] vertices = new float[0]; + // Simple mesh creation which assumes magnification == 1, sizeX == extentX and sizeY == extentY. + // TODO: do a more general solution that scales, adds new vertices and smoothes the result. + + try + { + // One vertice per heightmap value plus the vertices off the top and bottom edge. + int totalVertices = (sizeX + 1) * (sizeY + 1); + vertices = new float[totalVertices * 3]; + int totalIndices = sizeX * sizeY * 6; + indices = new int[totalIndices]; + + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2}", + BSScene.DetailLogZero, totalVertices, totalIndices); + float magX = (float)sizeX / extentX; + float magY = (float)sizeY / extentY; + // Note that sizeX+1 vertices are created since there is land between this and the next region. + for (int yy = 0; yy <= sizeY; yy++) + { + for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we got through sizeX + 1 times + { + int offset = yy * sizeX + xx; + // Extend the height from the height from the last row or column + if (yy == sizeY) offset -= sizeX; + if (xx == sizeX) offset -= 1; + float height = heightMap[offset]; + vertices[verticesCount + 0] = (float)xx * magX + extentBase.X; + vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y; + vertices[verticesCount + 2] = height + extentBase.Z; + if (physicsScene.PhysicsLogging.Enabled && verticesCount < 900) // DEBUG DEBUG DEBUG + { + Vector3 genVertex = new Vector3( + vertices[verticesCount + 0], + vertices[verticesCount + 1], + vertices[verticesCount + 2]); + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,ii={1},vertex={2}", + BSScene.DetailLogZero, verticesCount/3, genVertex); + } + verticesCount += 3; + } + } + verticesCount = verticesCount / 3; + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}", + BSScene.DetailLogZero, verticesCount); + + for (int yy = 0; yy < sizeY; yy++) + { + for (int xx = 0; xx < sizeX; xx++) + { + int offset = yy * sizeX + xx; + // Each vertices is presumed to be the upper left corner of a box of two triangles + indices[indicesCount + 0] = offset; + indices[indicesCount + 1] = offset + 1; + indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column + indices[indicesCount + 3] = offset + 1; + indices[indicesCount + 4] = offset + sizeX + 2; + indices[indicesCount + 5] = offset + sizeX + 1; + if (indicesCount < (300 * 6)) // DEBUG DEBUG DEBUG + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,i0={1},i1={2},i2={3},i3={4},i4={5},i5={6}", // DEEBUG DEBUG DEBUG + BSScene.DetailLogZero, + indices[indicesCount + 0], + indices[indicesCount + 1], + indices[indicesCount + 2], + indices[indicesCount + 3], + indices[indicesCount + 4], + indices[indicesCount + 5] + ); + indicesCount += 6; + } + } + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}", // DEEBUG DEBUG DEBUG + LogHeader, indicesCount); // DEBUG + ret = true; + } + catch (Exception e) + { + physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. Base={1}, e={2}", + LogHeader, extentBase, e); + } + + indicesCountO = indicesCount; + indicesO = indices; + verticesCountO = verticesCount; + verticesO = vertices; + + return ret; + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index bab3b3d..a2271a9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -391,13 +391,13 @@ public enum CollisionFilterGroups : uint ObjectFilter = BSolidFilter, ObjectMask = BAllFilter, StaticObjectFilter = BStaticFilter, - StaticObjectMask = BAllFilter, + StaticObjectMask = BAllFilter & ~BStaticFilter, // static objects don't collide with each other LinksetFilter = BLinksetFilter, - LinksetMask = BAllFilter & ~BLinksetFilter, + LinksetMask = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other VolumeDetectFilter = BSensorTrigger, VolumeDetectMask = ~BSensorTrigger, TerrainFilter = BTerrainFilter, - TerrainMask = BAllFilter & ~BStaticFilter, + TerrainMask = BAllFilter & ~BStaticFilter, // static objects on the ground don't collide GroundPlaneFilter = BGroundPlaneFilter, GroundPlaneMask = BAllFilter -- cgit v1.1 From 2dc7e9d3fa091418814af90565244a8c1972feec Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Nov 2012 20:38:51 -0800 Subject: BulletSim: fix line endings to be all Linux style (windows style keeps creeping in) --- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 340 ++++++------ .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 568 ++++++++++----------- 2 files changed, 454 insertions(+), 454 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index e9fd0cb..8fc36d1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -1,170 +1,170 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; - -using OpenSim.Framework; -using OpenSim.Region.Framework; -using OpenSim.Region.CoreModules; -using OpenSim.Region.Physics.Manager; - -using Nini.Config; -using log4net; - -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public sealed class BSTerrainHeightmap : BSTerrainPhys -{ - static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; - - BulletHeightMapInfo m_mapInfo = null; - - // Constructor to build a default, flat heightmap terrain. - public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) - : base(physicsScene, regionBase, id) - { - Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE); - Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION); - int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; - float[] initialMap = new float[totalHeights]; - for (int ii = 0; ii < totalHeights; ii++) - { - initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; - } - m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); - m_mapInfo.minCoords = minTerrainCoords; - m_mapInfo.maxCoords = maxTerrainCoords; - m_mapInfo.terrainRegionBase = TerrainBase; - // Don't have to free any previous since we just got here. - BuildHeightmapTerrain(); - } - - // This minCoords and maxCoords passed in give the size of the terrain (min and max Z - // are the high and low points of the heightmap). - public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, - Vector3 minCoords, Vector3 maxCoords) - : base(physicsScene, regionBase, id) - { - m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); - m_mapInfo.minCoords = minCoords; - m_mapInfo.maxCoords = maxCoords; - m_mapInfo.minZ = minCoords.Z; - m_mapInfo.maxZ = maxCoords.Z; - m_mapInfo.terrainRegionBase = TerrainBase; - - // Don't have to free any previous since we just got here. - BuildHeightmapTerrain(); - } - - public override void Dispose() - { - ReleaseHeightMapTerrain(); - } - - // Using the information in m_mapInfo, create the physical representation of the heightmap. - private void BuildHeightmapTerrain() - { - m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, - m_mapInfo.minCoords, m_mapInfo.maxCoords, - m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN); - - // Create the terrain shape from the mapInfo - m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), - PhysicsShapeType.SHAPE_TERRAIN); - - // The terrain object initial position is at the center of the object - Vector3 centerPos; - centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f); - centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); - centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); - - m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, - m_mapInfo.ID, centerPos, Quaternion.Identity)); - - // Set current terrain attributes - BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); - BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); - BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - - // Return the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - - // redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - - BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr, - (uint)CollisionFilterGroups.TerrainFilter, - (uint)CollisionFilterGroups.TerrainMask); - - // Make it so the terrain will not move or be considered for movement. - BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); - - return; - } - - // If there is information in m_mapInfo pointing to physical structures, release same. - private void ReleaseHeightMapTerrain() - { - if (m_mapInfo != null) - { - if (m_mapInfo.terrainBody.ptr != IntPtr.Zero) - { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - // Frees both the body and the shape. - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); - } - } - m_mapInfo = null; - } - - // The passed position is relative to the base of the region. - public override float GetHeightAtXYZ(Vector3 pos) - { - float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; - - int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X; - try - { - ret = m_mapInfo.heightMap[mapIndex]; - } - catch - { - // Sometimes they give us wonky values of X and Y. Give a warning and return something. - PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", - LogHeader, m_mapInfo.terrainRegionBase, pos); - ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; - } - return ret; - } -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OpenSim.Framework; +using OpenSim.Region.Framework; +using OpenSim.Region.CoreModules; +using OpenSim.Region.Physics.Manager; + +using Nini.Config; +using log4net; + +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public sealed class BSTerrainHeightmap : BSTerrainPhys +{ + static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; + + BulletHeightMapInfo m_mapInfo = null; + + // Constructor to build a default, flat heightmap terrain. + public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) + : base(physicsScene, regionBase, id) + { + Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE); + Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION); + int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y; + float[] initialMap = new float[totalHeights]; + for (int ii = 0; ii < totalHeights; ii++) + { + initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; + } + m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo.minCoords = minTerrainCoords; + m_mapInfo.maxCoords = maxTerrainCoords; + m_mapInfo.terrainRegionBase = TerrainBase; + // Don't have to free any previous since we just got here. + BuildHeightmapTerrain(); + } + + // This minCoords and maxCoords passed in give the size of the terrain (min and max Z + // are the high and low points of the heightmap). + public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, + Vector3 minCoords, Vector3 maxCoords) + : base(physicsScene, regionBase, id) + { + m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo.minCoords = minCoords; + m_mapInfo.maxCoords = maxCoords; + m_mapInfo.minZ = minCoords.Z; + m_mapInfo.maxZ = maxCoords.Z; + m_mapInfo.terrainRegionBase = TerrainBase; + + // Don't have to free any previous since we just got here. + BuildHeightmapTerrain(); + } + + public override void Dispose() + { + ReleaseHeightMapTerrain(); + } + + // Using the information in m_mapInfo, create the physical representation of the heightmap. + private void BuildHeightmapTerrain() + { + m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, + m_mapInfo.minCoords, m_mapInfo.maxCoords, + m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN); + + // Create the terrain shape from the mapInfo + m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), + PhysicsShapeType.SHAPE_TERRAIN); + + // The terrain object initial position is at the center of the object + Vector3 centerPos; + centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f); + centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); + centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); + + m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, + BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, + m_mapInfo.ID, centerPos, Quaternion.Identity)); + + // Set current terrain attributes + BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); + BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); + BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); + BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + + // Return the new terrain to the world of physical objects + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + + // redo its bounding box now that it is in the world + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + + BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainFilter, + (uint)CollisionFilterGroups.TerrainMask); + + // Make it so the terrain will not move or be considered for movement. + BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + + return; + } + + // If there is information in m_mapInfo pointing to physical structures, release same. + private void ReleaseHeightMapTerrain() + { + if (m_mapInfo != null) + { + if (m_mapInfo.terrainBody.ptr != IntPtr.Zero) + { + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + // Frees both the body and the shape. + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); + } + } + m_mapInfo = null; + } + + // The passed position is relative to the base of the region. + public override float GetHeightAtXYZ(Vector3 pos) + { + float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + + int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X; + try + { + ret = m_mapInfo.heightMap[mapIndex]; + } + catch + { + // Sometimes they give us wonky values of X and Y. Give a warning and return something. + PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", + LogHeader, m_mapInfo.terrainRegionBase, pos); + ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + } + return ret; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index bbb014a..a199078 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -1,284 +1,284 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; - -using OpenSim.Framework; -using OpenSim.Region.Framework; -using OpenSim.Region.CoreModules; -using OpenSim.Region.Physics.Manager; - -using Nini.Config; -using log4net; - -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public sealed class BSTerrainMesh : BSTerrainPhys -{ - static string LogHeader = "[BULLETSIM TERRAIN MESH]"; - - private float[] m_savedHeightMap; - int m_sizeX; - int m_sizeY; - - BulletShape m_terrainShape; - BulletBody m_terrainBody; - - public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) - : base(physicsScene, regionBase, id) - { - } - - public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */) - : base(physicsScene, regionBase, id) - { - } - - // Create terrain mesh from a heightmap. - public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, - Vector3 minCoords, Vector3 maxCoords) - : base(physicsScene, regionBase, id) - { - int indicesCount; - int[] indices; - int verticesCount; - float[] vertices; - - m_savedHeightMap = initialMap; - - m_sizeX = (int)(maxCoords.X - minCoords.X); - m_sizeY = (int)(maxCoords.Y - minCoords.Y); - - if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, m_sizeX, m_sizeY, - (float)m_sizeX, (float)m_sizeY, - Vector3.Zero, 1.0f, - out indicesCount, out indices, out verticesCount, out vertices)) - { - // DISASTER!! - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID); - PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase); - // Something is very messed up and a crash is in our future. - return; - } - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterConvertHeightmapToMesh,ver={1},ind={2}", - ID, verticesCount, indicesCount); - - m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, - indicesCount, indices, verticesCount, vertices), - PhysicsShapeType.SHAPE_MESH); - if (m_terrainShape.ptr == IntPtr.Zero) - { - // DISASTER!! - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID); - physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); - // Something is very messed up and a crash is in our future. - return; - } - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateShape,shape={1}", ID, m_terrainShape); - - // The terrain object initial position is at the center of the object - Vector3 centerPos; - centerPos.X = minCoords.X + (m_sizeX / 2f); - centerPos.Y = minCoords.Y + (m_sizeY / 2f); - centerPos.Z = minCoords.Z + ((maxCoords.Z - minCoords.Z) / 2f); - Quaternion rot = Quaternion.Identity; - - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,creatingBody,centerPos={1},rot={2}", ID, centerPos, rot); - m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( - m_terrainShape.ptr, ID, centerPos, rot)); - if (m_terrainBody.ptr == IntPtr.Zero) - { - // DISASTER!! - physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); - // Something is very messed up and a crash is in our future. - return; - } - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateBody,body={1}", ID, m_terrainBody); - - // Set current terrain attributes - BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction); - BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution); - BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - - // Static objects are not very massive. - BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); - - // Return the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); - - // redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); - - BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr, - (uint)CollisionFilterGroups.TerrainFilter, - (uint)CollisionFilterGroups.TerrainMask); - - // Make it so the terrain will not move or be considered for movement. - BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); - } - - public override void Dispose() - { - if (m_terrainBody.ptr != IntPtr.Zero) - { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); - // Frees both the body and the shape. - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr); - } - } - - public override float GetHeightAtXYZ(Vector3 pos) - { - // For the moment use the saved heightmap to get the terrain height. - // TODO: raycast downward to find the true terrain below the position. - float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; - - int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X; - try - { - ret = m_savedHeightMap[mapIndex]; - } - catch - { - // Sometimes they give us wonky values of X and Y. Give a warning and return something. - PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", - LogHeader, TerrainBase, pos); - ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; - } - return ret; - } - - // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). - // Return 'true' if successfully created. - public static bool ConvertHeightmapToMesh( - BSScene physicsScene, - float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap - float extentX, float extentY, // zero based range for output vertices - Vector3 extentBase, // base to be added to all vertices - float magnification, // number of vertices to create between heightMap coords - out int indicesCountO, out int[] indicesO, - out int verticesCountO, out float[] verticesO) - { - bool ret = false; - - int indicesCount = 0; - int verticesCount = 0; - int[] indices = new int[0]; - float[] vertices = new float[0]; - - // Simple mesh creation which assumes magnification == 1, sizeX == extentX and sizeY == extentY. - // TODO: do a more general solution that scales, adds new vertices and smoothes the result. - - try - { - // One vertice per heightmap value plus the vertices off the top and bottom edge. - int totalVertices = (sizeX + 1) * (sizeY + 1); - vertices = new float[totalVertices * 3]; - int totalIndices = sizeX * sizeY * 6; - indices = new int[totalIndices]; - - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2}", - BSScene.DetailLogZero, totalVertices, totalIndices); - float magX = (float)sizeX / extentX; - float magY = (float)sizeY / extentY; - // Note that sizeX+1 vertices are created since there is land between this and the next region. - for (int yy = 0; yy <= sizeY; yy++) - { - for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we got through sizeX + 1 times - { - int offset = yy * sizeX + xx; - // Extend the height from the height from the last row or column - if (yy == sizeY) offset -= sizeX; - if (xx == sizeX) offset -= 1; - float height = heightMap[offset]; - vertices[verticesCount + 0] = (float)xx * magX + extentBase.X; - vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y; - vertices[verticesCount + 2] = height + extentBase.Z; - if (physicsScene.PhysicsLogging.Enabled && verticesCount < 900) // DEBUG DEBUG DEBUG - { - Vector3 genVertex = new Vector3( - vertices[verticesCount + 0], - vertices[verticesCount + 1], - vertices[verticesCount + 2]); - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,ii={1},vertex={2}", - BSScene.DetailLogZero, verticesCount/3, genVertex); - } - verticesCount += 3; - } - } - verticesCount = verticesCount / 3; - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}", - BSScene.DetailLogZero, verticesCount); - - for (int yy = 0; yy < sizeY; yy++) - { - for (int xx = 0; xx < sizeX; xx++) - { - int offset = yy * sizeX + xx; - // Each vertices is presumed to be the upper left corner of a box of two triangles - indices[indicesCount + 0] = offset; - indices[indicesCount + 1] = offset + 1; - indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column - indices[indicesCount + 3] = offset + 1; - indices[indicesCount + 4] = offset + sizeX + 2; - indices[indicesCount + 5] = offset + sizeX + 1; - if (indicesCount < (300 * 6)) // DEBUG DEBUG DEBUG - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,i0={1},i1={2},i2={3},i3={4},i4={5},i5={6}", // DEEBUG DEBUG DEBUG - BSScene.DetailLogZero, - indices[indicesCount + 0], - indices[indicesCount + 1], - indices[indicesCount + 2], - indices[indicesCount + 3], - indices[indicesCount + 4], - indices[indicesCount + 5] - ); - indicesCount += 6; - } - } - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}", // DEEBUG DEBUG DEBUG - LogHeader, indicesCount); // DEBUG - ret = true; - } - catch (Exception e) - { - physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. Base={1}, e={2}", - LogHeader, extentBase, e); - } - - indicesCountO = indicesCount; - indicesO = indices; - verticesCountO = verticesCount; - verticesO = vertices; - - return ret; - } -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OpenSim.Framework; +using OpenSim.Region.Framework; +using OpenSim.Region.CoreModules; +using OpenSim.Region.Physics.Manager; + +using Nini.Config; +using log4net; + +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public sealed class BSTerrainMesh : BSTerrainPhys +{ + static string LogHeader = "[BULLETSIM TERRAIN MESH]"; + + private float[] m_savedHeightMap; + int m_sizeX; + int m_sizeY; + + BulletShape m_terrainShape; + BulletBody m_terrainBody; + + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) + : base(physicsScene, regionBase, id) + { + } + + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */) + : base(physicsScene, regionBase, id) + { + } + + // Create terrain mesh from a heightmap. + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, + Vector3 minCoords, Vector3 maxCoords) + : base(physicsScene, regionBase, id) + { + int indicesCount; + int[] indices; + int verticesCount; + float[] vertices; + + m_savedHeightMap = initialMap; + + m_sizeX = (int)(maxCoords.X - minCoords.X); + m_sizeY = (int)(maxCoords.Y - minCoords.Y); + + if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, m_sizeX, m_sizeY, + (float)m_sizeX, (float)m_sizeY, + Vector3.Zero, 1.0f, + out indicesCount, out indices, out verticesCount, out vertices)) + { + // DISASTER!! + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID); + PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase); + // Something is very messed up and a crash is in our future. + return; + } + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterConvertHeightmapToMesh,ver={1},ind={2}", + ID, verticesCount, indicesCount); + + m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, + indicesCount, indices, verticesCount, vertices), + PhysicsShapeType.SHAPE_MESH); + if (m_terrainShape.ptr == IntPtr.Zero) + { + // DISASTER!! + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID); + physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); + // Something is very messed up and a crash is in our future. + return; + } + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateShape,shape={1}", ID, m_terrainShape); + + // The terrain object initial position is at the center of the object + Vector3 centerPos; + centerPos.X = minCoords.X + (m_sizeX / 2f); + centerPos.Y = minCoords.Y + (m_sizeY / 2f); + centerPos.Z = minCoords.Z + ((maxCoords.Z - minCoords.Z) / 2f); + Quaternion rot = Quaternion.Identity; + + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,creatingBody,centerPos={1},rot={2}", ID, centerPos, rot); + m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( + m_terrainShape.ptr, ID, centerPos, rot)); + if (m_terrainBody.ptr == IntPtr.Zero) + { + // DISASTER!! + physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); + // Something is very messed up and a crash is in our future. + return; + } + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateBody,body={1}", ID, m_terrainBody); + + // Set current terrain attributes + BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction); + BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); + BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution); + BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + + // Static objects are not very massive. + BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); + + // Return the new terrain to the world of physical objects + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); + + // redo its bounding box now that it is in the world + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); + + BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainFilter, + (uint)CollisionFilterGroups.TerrainMask); + + // Make it so the terrain will not move or be considered for movement. + BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + } + + public override void Dispose() + { + if (m_terrainBody.ptr != IntPtr.Zero) + { + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); + // Frees both the body and the shape. + BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr); + } + } + + public override float GetHeightAtXYZ(Vector3 pos) + { + // For the moment use the saved heightmap to get the terrain height. + // TODO: raycast downward to find the true terrain below the position. + float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + + int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X; + try + { + ret = m_savedHeightMap[mapIndex]; + } + catch + { + // Sometimes they give us wonky values of X and Y. Give a warning and return something. + PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", + LogHeader, TerrainBase, pos); + ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; + } + return ret; + } + + // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). + // Return 'true' if successfully created. + public static bool ConvertHeightmapToMesh( + BSScene physicsScene, + float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap + float extentX, float extentY, // zero based range for output vertices + Vector3 extentBase, // base to be added to all vertices + float magnification, // number of vertices to create between heightMap coords + out int indicesCountO, out int[] indicesO, + out int verticesCountO, out float[] verticesO) + { + bool ret = false; + + int indicesCount = 0; + int verticesCount = 0; + int[] indices = new int[0]; + float[] vertices = new float[0]; + + // Simple mesh creation which assumes magnification == 1, sizeX == extentX and sizeY == extentY. + // TODO: do a more general solution that scales, adds new vertices and smoothes the result. + + try + { + // One vertice per heightmap value plus the vertices off the top and bottom edge. + int totalVertices = (sizeX + 1) * (sizeY + 1); + vertices = new float[totalVertices * 3]; + int totalIndices = sizeX * sizeY * 6; + indices = new int[totalIndices]; + + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2}", + BSScene.DetailLogZero, totalVertices, totalIndices); + float magX = (float)sizeX / extentX; + float magY = (float)sizeY / extentY; + // Note that sizeX+1 vertices are created since there is land between this and the next region. + for (int yy = 0; yy <= sizeY; yy++) + { + for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we got through sizeX + 1 times + { + int offset = yy * sizeX + xx; + // Extend the height from the height from the last row or column + if (yy == sizeY) offset -= sizeX; + if (xx == sizeX) offset -= 1; + float height = heightMap[offset]; + vertices[verticesCount + 0] = (float)xx * magX + extentBase.X; + vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y; + vertices[verticesCount + 2] = height + extentBase.Z; + if (physicsScene.PhysicsLogging.Enabled && verticesCount < 900) // DEBUG DEBUG DEBUG + { + Vector3 genVertex = new Vector3( + vertices[verticesCount + 0], + vertices[verticesCount + 1], + vertices[verticesCount + 2]); + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,ii={1},vertex={2}", + BSScene.DetailLogZero, verticesCount/3, genVertex); + } + verticesCount += 3; + } + } + verticesCount = verticesCount / 3; + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}", + BSScene.DetailLogZero, verticesCount); + + for (int yy = 0; yy < sizeY; yy++) + { + for (int xx = 0; xx < sizeX; xx++) + { + int offset = yy * sizeX + xx; + // Each vertices is presumed to be the upper left corner of a box of two triangles + indices[indicesCount + 0] = offset; + indices[indicesCount + 1] = offset + 1; + indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column + indices[indicesCount + 3] = offset + 1; + indices[indicesCount + 4] = offset + sizeX + 2; + indices[indicesCount + 5] = offset + sizeX + 1; + if (indicesCount < (300 * 6)) // DEBUG DEBUG DEBUG + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,i0={1},i1={2},i2={3},i3={4},i4={5},i5={6}", // DEEBUG DEBUG DEBUG + BSScene.DetailLogZero, + indices[indicesCount + 0], + indices[indicesCount + 1], + indices[indicesCount + 2], + indices[indicesCount + 3], + indices[indicesCount + 4], + indices[indicesCount + 5] + ); + indicesCount += 6; + } + } + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}", // DEEBUG DEBUG DEBUG + LogHeader, indicesCount); // DEBUG + ret = true; + } + catch (Exception e) + { + physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. Base={1}, e={2}", + LogHeader, extentBase, e); + } + + indicesCountO = indicesCount; + indicesO = indices; + verticesCountO = verticesCount; + verticesO = vertices; + + return ret; + } +} +} -- cgit v1.1 From a59368c4a1889ccd79da9e564ee84b213a7f6fbd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 21 Nov 2012 10:37:40 -0800 Subject: BulletSim: add terrainImplementation parameter with default to Mesh. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 5 +++ .../Physics/BulletSPlugin/BSTerrainManager.cs | 45 +++++++++++++++++++--- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 1 + 3 files changed, 46 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 58dccea..0e73d04 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1145,6 +1145,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); }, (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), + new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", + (float)BSTerrainPhys.TerrainImplementation.Mesh, + (s,cf,p,v) => { s.m_params[0].terrainImplementation = cf.GetFloat(p,v); }, + (s) => { return s.m_params[0].terrainImplementation; }, + (s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ), new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , 0.5f, (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index ed0dfa8..b88f561 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -44,6 +44,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // The physical implementation of the terrain is wrapped in this class. public abstract class BSTerrainPhys : IDisposable { + public enum TerrainImplementation + { + Heightmap = 0, + Mesh = 1 + } + public BSScene PhysicsScene { get; private set; } // Base of the region in world coordinates. Coordinates inside the region are relative to this. public Vector3 TerrainBase { get; private set; } @@ -246,12 +252,27 @@ public sealed class BSTerrainManager // Release any physical memory it may be using. terrainPhys.Dispose(); + BSTerrainPhys newTerrainPhys = null; ; if (MegaRegionParentPhysicsScene == null) { - // BSTerrainPhys newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, - // heightMap, minCoords, maxCoords); - BSTerrainPhys newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id, + // TODO: redo terrain implementation selection to be centralized (there is another + // use below) and to accept an asset specification (for a mesh). + switch ((int)PhysicsScene.Params.terrainImplementation) + { + case (int)BSTerrainPhys.TerrainImplementation.Heightmap: + newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, + heightMap, minCoords, maxCoords); + break; + case (int)BSTerrainPhys.TerrainImplementation.Mesh: + newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id, heightMap, minCoords, maxCoords); + break; + default: + PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. type={1}/{2}", + LogHeader, (int)PhysicsScene.Params.terrainImplementation, PhysicsScene.Params.terrainImplementation); + break; + } + m_terrains.Add(terrainRegionBase, newTerrainPhys); m_terrainModified = true; @@ -292,8 +313,22 @@ public sealed class BSTerrainManager { DetailLog("{0},UpdateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoordsX.X, minCoordsX.Y); - BSTerrainPhys newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, - newTerrainID, heightMapX, minCoordsX, maxCoordsX); + BSTerrainPhys newTerrainPhys = null; + switch ((int)PhysicsScene.Params.terrainImplementation) + { + case (int)BSTerrainPhys.TerrainImplementation.Heightmap: + newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, + heightMap, minCoords, maxCoords); + break; + case (int)BSTerrainPhys.TerrainImplementation.Mesh: + newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id, + heightMap, minCoords, maxCoords); + break; + default: + PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. type={1}/{2}", + LogHeader, (int)PhysicsScene.Params.terrainImplementation, PhysicsScene.Params.terrainImplementation); + break; + } m_terrains.Add(terrainRegionBase, newTerrainPhys); m_terrainModified = true; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index a2271a9..e218053 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -283,6 +283,7 @@ public struct ConfigurationParameters public float ccdSweptSphereRadius; public float contactProcessingThreshold; + public float terrainImplementation; public float terrainFriction; public float terrainHitFraction; public float terrainRestitution; -- cgit v1.1 From 4a0de0170412a939bade6cd149c94c7fd3ef020e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 21 Nov 2012 13:44:02 -0800 Subject: BulletSim: Properly position mesh terrain on creation (fixes terrain not appearing to be working). Centralize terrain shape creation logic. Remove very chatty detail log messages. --- .../Physics/BulletSPlugin/BSTerrainManager.cs | 74 ++++++++++------------ .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 46 +++----------- 2 files changed, 44 insertions(+), 76 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index b88f561..097cd3e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -241,38 +241,20 @@ public sealed class BSTerrainManager BSTerrainPhys terrainPhys; if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys)) { - // If this is terrain we know about, it's easy to update - - DetailLog("{0},UpdateTerrain:UpdateExisting,call,terrainBase={1}", BSScene.DetailLogZero, terrainRegionBase); + // There is already a terrain in this spot. Free the old and build the new. + DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}", + BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords); PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:UpdateExisting", delegate() { // Remove old terrain from the collection - m_terrains.Remove(terrainPhys.TerrainBase); + m_terrains.Remove(terrainRegionBase); // Release any physical memory it may be using. terrainPhys.Dispose(); - BSTerrainPhys newTerrainPhys = null; ; if (MegaRegionParentPhysicsScene == null) { - // TODO: redo terrain implementation selection to be centralized (there is another - // use below) and to accept an asset specification (for a mesh). - switch ((int)PhysicsScene.Params.terrainImplementation) - { - case (int)BSTerrainPhys.TerrainImplementation.Heightmap: - newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, - heightMap, minCoords, maxCoords); - break; - case (int)BSTerrainPhys.TerrainImplementation.Mesh: - newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id, - heightMap, minCoords, maxCoords); - break; - default: - PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. type={1}/{2}", - LogHeader, (int)PhysicsScene.Params.terrainImplementation, PhysicsScene.Params.terrainImplementation); - break; - } - + BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); m_terrains.Add(terrainRegionBase, newTerrainPhys); m_terrainModified = true; @@ -313,22 +295,7 @@ public sealed class BSTerrainManager { DetailLog("{0},UpdateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoordsX.X, minCoordsX.Y); - BSTerrainPhys newTerrainPhys = null; - switch ((int)PhysicsScene.Params.terrainImplementation) - { - case (int)BSTerrainPhys.TerrainImplementation.Heightmap: - newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, - heightMap, minCoords, maxCoords); - break; - case (int)BSTerrainPhys.TerrainImplementation.Mesh: - newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id, - heightMap, minCoords, maxCoords); - break; - default: - PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. type={1}/{2}", - LogHeader, (int)PhysicsScene.Params.terrainImplementation, PhysicsScene.Params.terrainImplementation); - break; - } + BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); m_terrains.Add(terrainRegionBase, newTerrainPhys); m_terrainModified = true; @@ -336,6 +303,35 @@ public sealed class BSTerrainManager } } + // TODO: redo terrain implementation selection to allow other base types than heightMap. + private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) + { + PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", + LogHeader, PhysicsScene.RegionName, terrainRegionBase, + PhysicsScene.Params.terrainImplementation); + BSTerrainPhys newTerrainPhys = null; + switch ((int)PhysicsScene.Params.terrainImplementation) + { + case (int)BSTerrainPhys.TerrainImplementation.Heightmap: + newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, + heightMap, minCoords, maxCoords); + break; + case (int)BSTerrainPhys.TerrainImplementation.Mesh: + newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id, + heightMap, minCoords, maxCoords); + break; + default: + PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", + LogHeader, + (int)PhysicsScene.Params.terrainImplementation, + PhysicsScene.Params.terrainImplementation, + PhysicsScene.RegionName, terrainRegionBase); + break; + } + return newTerrainPhys; + } + + // Given an X and Y, find the height of the terrain. // Since we could be handling multiple terrains for a mega-region, // the base of the region is calcuated assuming all regions are diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index a199078..3279b6f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -76,7 +76,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys m_sizeX = (int)(maxCoords.X - minCoords.X); m_sizeY = (int)(maxCoords.Y - minCoords.Y); - if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, m_sizeX, m_sizeY, + if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, + m_sizeX, m_sizeY, (float)m_sizeX, (float)m_sizeY, Vector3.Zero, 1.0f, out indicesCount, out indices, out verticesCount, out vertices)) @@ -87,8 +88,6 @@ public sealed class BSTerrainMesh : BSTerrainPhys // Something is very messed up and a crash is in our future. return; } - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterConvertHeightmapToMesh,ver={1},ind={2}", - ID, verticesCount, indicesCount); m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, indicesCount, indices, verticesCount, vertices), @@ -101,18 +100,11 @@ public sealed class BSTerrainMesh : BSTerrainPhys // Something is very messed up and a crash is in our future. return; } - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateShape,shape={1}", ID, m_terrainShape); - // The terrain object initial position is at the center of the object - Vector3 centerPos; - centerPos.X = minCoords.X + (m_sizeX / 2f); - centerPos.Y = minCoords.Y + (m_sizeY / 2f); - centerPos.Z = minCoords.Z + ((maxCoords.Z - minCoords.Z) / 2f); + Vector3 pos = regionBase; Quaternion rot = Quaternion.Identity; - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,creatingBody,centerPos={1},rot={2}", ID, centerPos, rot); - m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( - m_terrainShape.ptr, ID, centerPos, rot)); + m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot)); if (m_terrainBody.ptr == IntPtr.Zero) { // DISASTER!! @@ -120,7 +112,6 @@ public sealed class BSTerrainMesh : BSTerrainPhys // Something is very messed up and a crash is in our future. return; } - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,afterCreateBody,body={1}", ID, m_terrainBody); // Set current terrain attributes BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction); @@ -194,7 +185,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys int[] indices = new int[0]; float[] vertices = new float[0]; - // Simple mesh creation which assumes magnification == 1, sizeX == extentX and sizeY == extentY. + // Simple mesh creation which assumes magnification == 1. // TODO: do a more general solution that scales, adds new vertices and smoothes the result. try @@ -205,10 +196,10 @@ public sealed class BSTerrainMesh : BSTerrainPhys int totalIndices = sizeX * sizeY * 6; indices = new int[totalIndices]; - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2}", - BSScene.DetailLogZero, totalVertices, totalIndices); float magX = (float)sizeX / extentX; float magY = (float)sizeY / extentY; + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}", + BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY); // Note that sizeX+1 vertices are created since there is land between this and the next region. for (int yy = 0; yy <= sizeY; yy++) { @@ -222,15 +213,6 @@ public sealed class BSTerrainMesh : BSTerrainPhys vertices[verticesCount + 0] = (float)xx * magX + extentBase.X; vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y; vertices[verticesCount + 2] = height + extentBase.Z; - if (physicsScene.PhysicsLogging.Enabled && verticesCount < 900) // DEBUG DEBUG DEBUG - { - Vector3 genVertex = new Vector3( - vertices[verticesCount + 0], - vertices[verticesCount + 1], - vertices[verticesCount + 2]); - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,ii={1},vertex={2}", - BSScene.DetailLogZero, verticesCount/3, genVertex); - } verticesCount += 3; } } @@ -250,16 +232,6 @@ public sealed class BSTerrainMesh : BSTerrainPhys indices[indicesCount + 3] = offset + 1; indices[indicesCount + 4] = offset + sizeX + 2; indices[indicesCount + 5] = offset + sizeX + 1; - if (indicesCount < (300 * 6)) // DEBUG DEBUG DEBUG - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,i0={1},i1={2},i2={3},i3={4},i4={5},i5={6}", // DEEBUG DEBUG DEBUG - BSScene.DetailLogZero, - indices[indicesCount + 0], - indices[indicesCount + 1], - indices[indicesCount + 2], - indices[indicesCount + 3], - indices[indicesCount + 4], - indices[indicesCount + 5] - ); indicesCount += 6; } } @@ -269,8 +241,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys } catch (Exception e) { - physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. Base={1}, e={2}", - LogHeader, extentBase, e); + physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}", + LogHeader, physicsScene.RegionName, extentBase, e); } indicesCountO = indicesCount; -- cgit v1.1 From cbc7e7bf85bfd9e916146b0ae4a605996c24720b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 21 Nov 2012 16:31:23 -0800 Subject: BulletSim: Make avatar capsule so it is not circular. Simple attempt to make avatars better shaped. Replace parameter 'avatarCapsuleRadius' with 'avatarCapsuleWidth' and 'avatarCapsuleDepth'. More tweeking to avatar height calculation. A little better but short avatar's feet are above the terrain and tall avatar's feet are a little below the ground. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 24 +++++++++++++++------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +++- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 18 +++++++++------- .../Physics/BulletSPlugin/BSShapeCollection.cs | 9 ++++---- .../Physics/BulletSPlugin/BSTerrainManager.cs | 2 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 3 ++- 6 files changed, 39 insertions(+), 21 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 799211e..e2aa41e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -82,7 +82,13 @@ public sealed class BSCharacter : BSPhysObject { _physicsActorType = (int)ActorTypes.Agent; _position = pos; + + // Old versions of ScenePresence passed only the height. If width and/or depth are zero, + // replace with the default values. _size = size; + if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth; + if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth; + _flying = isFlying; _orientation = OMV.Quaternion.Identity; _velocity = OMV.Vector3.Zero; @@ -175,8 +181,7 @@ public sealed class BSCharacter : BSPhysObject get { // Avatar capsule size is kept in the scale parameter. - // return _size; - return new OMV.Vector3(Scale.X * 2f, Scale.Y * 2f, Scale.Z); + return _size; } set { @@ -614,14 +619,19 @@ public sealed class BSCharacter : BSPhysObject // The 'size' given by the simulator is the mid-point of the avatar // and X and Y are unspecified. - OMV.Vector3 newScale = OMV.Vector3.Zero; - newScale.X = PhysicsScene.Params.avatarCapsuleRadius; - newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; + OMV.Vector3 newScale = size; + // newScale.X = PhysicsScene.Params.avatarCapsuleWidth; + // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth; // From the total height, remove the capsule half spheres that are at each end // The 1.15f came from ODE. Not sure what this factors in. - newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y); - Scale = newScale; + // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y); + + // The total scale height is the central cylindar plus the caps on the two ends. + newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f); + + // Convert diameters to radii and height to half height -- the way Bullet expects it. + Scale = newScale / 2f; } // set _avatarVolume and _mass based on capsule size, _density and Scale diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 2657e4b..5d16bbf 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -93,7 +93,7 @@ public sealed class BSPrim : BSPhysObject _physicsActorType = (int)ActorTypes.Prim; _position = pos; _size = size; - Scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type + Scale = size; // the scale will be set by CreateGeom depending on object type _orientation = rotation; _buoyancy = 1f; _velocity = OMV.Vector3.Zero; @@ -154,6 +154,8 @@ public sealed class BSPrim : BSPhysObject public override OMV.Vector3 Size { get { return _size; } set { + // We presume the scale and size are the same. If scale must be changed for + // the physical shape, that is done when the geometry is built. _size = value; ForceBodyShapeRebuild(false); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 0e73d04..27a78d1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1185,14 +1185,18 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarRestitution; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ), - new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar", - 0.37f, - (s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarCapsuleRadius; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ), + new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", + 0.6f, + (s,cf,p,v) => { s.m_params[0].avatarCapsuleWidth = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarCapsuleWidth; }, + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleWidth, p, l, v); } ), + new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", + 0.45f, + (s,cf,p,v) => { s.m_params[0].avatarCapsuleDepth = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarCapsuleDepth; }, + (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleDepth, p, l, v); } ), new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", - // 1.5f, - 2.140599f, + 1.5f, (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarCapsuleHeight; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index a53ad6e..869735c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -525,9 +525,6 @@ public sealed class BSShapeCollection : IDisposable // release any previous shape DereferenceShape(prim.PhysShape, true, shapeCallback); - // Bullet native objects are scaled by the Bullet engine so pass the size in - prim.Scale = prim.Size; - BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey); // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. @@ -547,12 +544,13 @@ public sealed class BSShapeCollection : IDisposable nativeShapeData.Type = shapeType; nativeShapeData.ID = prim.LocalID; nativeShapeData.Scale = prim.Scale; - nativeShapeData.Size = prim.Scale; + nativeShapeData.Size = prim.Scale; // unneeded, I think. nativeShapeData.MeshKey = (ulong)shapeKey; nativeShapeData.HullKey = (ulong)shapeKey; if (shapeType == PhysicsShapeType.SHAPE_CAPSULE) { + // The proper scale has been calculated in the prim. newShape = new BulletShape( BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale) , shapeType); @@ -560,6 +558,9 @@ public sealed class BSShapeCollection : IDisposable } else { + // Native shapes are scaled in Bullet so set the scaling to the size + prim.Scale = prim.Size; + nativeShapeData.Scale = prim.Scale; newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); } if (newShape.ptr == IntPtr.Zero) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 097cd3e..71fca33 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -308,7 +308,7 @@ public sealed class BSTerrainManager { PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", LogHeader, PhysicsScene.RegionName, terrainRegionBase, - PhysicsScene.Params.terrainImplementation); + (BSTerrainPhys.TerrainImplementation)PhysicsScene.Params.terrainImplementation); BSTerrainPhys newTerrainPhys = null; switch ((int)PhysicsScene.Params.terrainImplementation) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index e218053..4647c2d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -291,7 +291,8 @@ public struct ConfigurationParameters public float avatarStandingFriction; public float avatarDensity; public float avatarRestitution; - public float avatarCapsuleRadius; + public float avatarCapsuleWidth; + public float avatarCapsuleDepth; public float avatarCapsuleHeight; public float avatarContactProcessingThreshold; -- cgit v1.1 From 3b2caa63b0ba890555990a88821ee37daa2607b4 Mon Sep 17 00:00:00 2001 From: Melanie Date: Thu, 22 Nov 2012 14:45:41 +0000 Subject: Rename BulletSim's PhysicsShapeType to BSPhysicsShapeType because it conflicts with PhysicsShape type defined in later libOMV --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 4 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 6 +-- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 56 +++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 16 +++---- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 2 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 2 +- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 2 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 10 ++-- 11 files changed, 54 insertions(+), 54 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e2aa41e..4c195e1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -208,9 +208,9 @@ public sealed class BSCharacter : BSPhysObject set { BaseShape = value; } } // I want the physics engine to make an avatar capsule - public override PhysicsShapeType PreferredPhysicalShape + public override BSPhysicsShapeType PreferredPhysicalShape { - get {return PhysicsShapeType.SHAPE_CAPSULE; } + get {return BSPhysicsShapeType.SHAPE_CAPSULE; } } public override bool Grabbed { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 4ee047b..0df4310 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -82,9 +82,9 @@ public abstract class BSLinkset // Some linksets have a preferred physical shape. // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected. - public virtual PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) + public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) { - return PhysicsShapeType.SHAPE_UNKNOWN; + return BSPhysicsShapeType.SHAPE_UNKNOWN; } // Linksets move around the children so the linkset might need to compute the child position diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index cb37840..b9c2cf9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -42,12 +42,12 @@ public sealed class BSLinksetCompound : BSLinkset } // For compound implimented linksets, if there are children, use compound shape for the root. - public override PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) + public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) { - PhysicsShapeType ret = PhysicsShapeType.SHAPE_UNKNOWN; + BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; if (IsRoot(requestor) && HasAnyChildren) { - ret = PhysicsShapeType.SHAPE_COMPOUND; + ret = BSPhysicsShapeType.SHAPE_COMPOUND; } // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret); return ret; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index e68b167..f6a890e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -94,9 +94,9 @@ public abstract class BSPhysObject : PhysicsActor public PrimitiveBaseShape BaseShape { get; protected set; } // Some types of objects have preferred physical representations. // Returns SHAPE_UNKNOWN if there is no preference. - public virtual PhysicsShapeType PreferredPhysicalShape + public virtual BSPhysicsShapeType PreferredPhysicalShape { - get { return PhysicsShapeType.SHAPE_UNKNOWN; } + get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } } // When the physical properties are updated, an EntityProperty holds the update values. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 5d16bbf..2b3fa25 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -171,7 +171,7 @@ public sealed class BSPrim : BSPhysObject } } // Whatever the linkset wants is what I want. - public override PhysicsShapeType PreferredPhysicalShape + public override BSPhysicsShapeType PreferredPhysicalShape { get { return Linkset.PreferredPhysicalShape(this); } } public override bool ForceBodyShapeRebuild(bool inTaintTime) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 869735c..892c34b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -178,7 +178,7 @@ public sealed class BSShapeCollection : IDisposable bool ret = false; switch (shape.type) { - case PhysicsShapeType.SHAPE_MESH: + case BSPhysicsShapeType.SHAPE_MESH: MeshDesc meshDesc; if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) { @@ -201,7 +201,7 @@ public sealed class BSShapeCollection : IDisposable meshDesc.lastReferenced = System.DateTime.Now; Meshes[shape.shapeKey] = meshDesc; break; - case PhysicsShapeType.SHAPE_HULL: + case BSPhysicsShapeType.SHAPE_HULL: HullDesc hullDesc; if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) { @@ -224,7 +224,7 @@ public sealed class BSShapeCollection : IDisposable hullDesc.lastReferenced = System.DateTime.Now; Hulls[shape.shapeKey] = hullDesc; break; - case PhysicsShapeType.SHAPE_UNKNOWN: + case BSPhysicsShapeType.SHAPE_UNKNOWN: break; default: // Native shapes are not tracked and they don't go into any list @@ -255,16 +255,16 @@ public sealed class BSShapeCollection : IDisposable { switch (shape.type) { - case PhysicsShapeType.SHAPE_HULL: + case BSPhysicsShapeType.SHAPE_HULL: DereferenceHull(shape, shapeCallback); break; - case PhysicsShapeType.SHAPE_MESH: + case BSPhysicsShapeType.SHAPE_MESH: DereferenceMesh(shape, shapeCallback); break; - case PhysicsShapeType.SHAPE_COMPOUND: + case BSPhysicsShapeType.SHAPE_COMPOUND: DereferenceCompound(shape, shapeCallback); break; - case PhysicsShapeType.SHAPE_UNKNOWN: + case BSPhysicsShapeType.SHAPE_UNKNOWN: break; default: break; @@ -352,28 +352,28 @@ public sealed class BSShapeCollection : IDisposable BulletShape shapeInfo = new BulletShape(cShape); if (TryGetMeshByPtr(cShape, out meshDesc)) { - shapeInfo.type = PhysicsShapeType.SHAPE_MESH; + shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH; shapeInfo.shapeKey = meshDesc.shapeKey; } else { if (TryGetHullByPtr(cShape, out hullDesc)) { - shapeInfo.type = PhysicsShapeType.SHAPE_HULL; + shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL; shapeInfo.shapeKey = hullDesc.shapeKey; } else { if (BulletSimAPI.IsCompound2(cShape)) { - shapeInfo.type = PhysicsShapeType.SHAPE_COMPOUND; + shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND; } else { if (BulletSimAPI.IsNativeShape2(cShape)) { shapeInfo.isNativeShape = true; - shapeInfo.type = PhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) + shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) } } } @@ -381,7 +381,7 @@ public sealed class BSShapeCollection : IDisposable DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo); - if (shapeInfo.type != PhysicsShapeType.SHAPE_UNKNOWN) + if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN) { DereferenceShape(shapeInfo, true, null); } @@ -405,10 +405,10 @@ public sealed class BSShapeCollection : IDisposable bool ret = false; bool haveShape = false; - if (!haveShape && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_CAPSULE) + if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) { // an avatar capsule is close to a native shape (it is not shared) - ret = GetReferenceToNativeShape(prim, PhysicsShapeType.SHAPE_CAPSULE, + ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); ret = true; @@ -417,7 +417,7 @@ public sealed class BSShapeCollection : IDisposable // 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 already been created. - if (!haveShape && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_COMPOUND) + if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) { ret = GetReferenceToCompoundShape(prim, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape); @@ -460,10 +460,10 @@ public sealed class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || prim.Scale != prim.Size - || prim.PhysShape.type != PhysicsShapeType.SHAPE_SPHERE + || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE ) { - ret = GetReferenceToNativeShape(prim, PhysicsShapeType.SHAPE_SPHERE, + ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_SPHERE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); @@ -474,10 +474,10 @@ public sealed class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || prim.Scale != prim.Size - || prim.PhysShape.type != PhysicsShapeType.SHAPE_BOX + || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX ) { - ret = GetReferenceToNativeShape( prim, PhysicsShapeType.SHAPE_BOX, + ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); @@ -519,7 +519,7 @@ public sealed class BSShapeCollection : IDisposable // 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, - PhysicsShapeType shapeType, FixedShapeKey shapeKey, + BSPhysicsShapeType shapeType, FixedShapeKey shapeKey, ShapeDestructionCallback shapeCallback) { // release any previous shape @@ -535,7 +535,7 @@ public sealed class BSShapeCollection : IDisposable return true; } - private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, PhysicsShapeType shapeType, + private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) { BulletShape newShape; @@ -548,7 +548,7 @@ public sealed class BSShapeCollection : IDisposable nativeShapeData.MeshKey = (ulong)shapeKey; nativeShapeData.HullKey = (ulong)shapeKey; - if (shapeType == PhysicsShapeType.SHAPE_CAPSULE) + if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) { // The proper scale has been calculated in the prim. newShape = new BulletShape( @@ -586,7 +586,7 @@ public sealed class BSShapeCollection : IDisposable 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 == PhysicsShapeType.SHAPE_MESH) + if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH) return false; DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}", @@ -644,7 +644,7 @@ public sealed class BSShapeCollection : IDisposable indices.GetLength(0), indices, vertices.Count, verticesAsFloats); } } - BulletShape newShape = new BulletShape(meshPtr, PhysicsShapeType.SHAPE_MESH); + BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH); newShape.shapeKey = newMeshKey; return newShape; @@ -660,7 +660,7 @@ public sealed class BSShapeCollection : IDisposable 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 == PhysicsShapeType.SHAPE_HULL) + if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL) return false; DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}", @@ -781,7 +781,7 @@ public sealed class BSShapeCollection : IDisposable } } - BulletShape newShape = new BulletShape(hullPtr, PhysicsShapeType.SHAPE_HULL); + BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL); newShape.shapeKey = newHullKey; return newShape; // 'true' means a new shape has been added to this prim @@ -804,7 +804,7 @@ public sealed class BSShapeCollection : IDisposable // DereferenceShape(prim.PhysShape, true, shapeCallback); BulletShape cShape = new BulletShape( - BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), PhysicsShapeType.SHAPE_COMPOUND); + BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND); // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape. CreateGeomMeshOrHull(prim, shapeCallback); @@ -895,7 +895,7 @@ public sealed class BSShapeCollection : IDisposable // While we figure out the real problem, stick a simple native shape on the object. BulletShape fillinShape = - BuildPhysicalNativeShape(prim, PhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); + BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); return fillinShape; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index f2e62d9..96cd55e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -35,7 +35,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public abstract class BSShape { public IntPtr ptr { get; set; } - public PhysicsShapeType type { get; set; } + public BSPhysicsShapeType type { get; set; } public System.UInt64 key { get; set; } public int referenceCount { get; set; } public DateTime lastReferenced { get; set; } @@ -43,7 +43,7 @@ public abstract class BSShape public BSShape() { ptr = IntPtr.Zero; - type = PhysicsShapeType.SHAPE_UNKNOWN; + type = BSPhysicsShapeType.SHAPE_UNKNOWN; key = 0; referenceCount = 0; lastReferenced = DateTime.Now; @@ -54,17 +54,17 @@ public abstract class BSShape { BSShape ret = null; - if (prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_CAPSULE) + if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) { // an avatar capsule is close to a native shape (it is not shared) - ret = BSShapeNative.GetReference(physicsScene, prim, PhysicsShapeType.SHAPE_CAPSULE, + 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 already been created. - if (ret == null && prim.PreferredPhysicalShape == PhysicsShapeType.SHAPE_COMPOUND) + 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(prim); @@ -123,14 +123,14 @@ public class BSShapeNative : BSShape { } public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, - PhysicsShapeType shapeType, FixedShapeKey shapeKey) + BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) { // Native shapes are not shared and are always built anew. return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); } private BSShapeNative(BSScene physicsScene, BSPhysObject prim, - PhysicsShapeType shapeType, FixedShapeKey shapeKey) + BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) { ShapeData nativeShapeData = new ShapeData(); nativeShapeData.Type = shapeType; @@ -141,7 +141,7 @@ public class BSShapeNative : BSShape nativeShapeData.HullKey = (ulong)shapeKey; - if (shapeType == PhysicsShapeType.SHAPE_CAPSULE) + if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) { ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 8fc36d1..3ca756c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -97,7 +97,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys // Create the terrain shape from the mapInfo m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), - PhysicsShapeType.SHAPE_TERRAIN); + BSPhysicsShapeType.SHAPE_TERRAIN); // The terrain object initial position is at the center of the object Vector3 centerPos; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 71fca33..23fcfd3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -130,7 +130,7 @@ public sealed class BSTerrainManager // The ground plane is here to catch things that are trying to drop to negative infinity BulletShape groundPlaneShape = new BulletShape( BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN), - PhysicsShapeType.SHAPE_GROUNDPLANE); + BSPhysicsShapeType.SHAPE_GROUNDPLANE); m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity)); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 3279b6f..dca7150 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -91,7 +91,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, indicesCount, indices, verticesCount, vertices), - PhysicsShapeType.SHAPE_MESH); + BSPhysicsShapeType.SHAPE_MESH); if (m_terrainShape.ptr == IntPtr.Zero) { // DISASTER!! diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 4647c2d..e60a760 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -88,11 +88,11 @@ public struct BulletShape public BulletShape(IntPtr xx) { ptr = xx; - type=PhysicsShapeType.SHAPE_UNKNOWN; + type=BSPhysicsShapeType.SHAPE_UNKNOWN; shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; isNativeShape = false; } - public BulletShape(IntPtr xx, PhysicsShapeType typ) + public BulletShape(IntPtr xx, BSPhysicsShapeType typ) { ptr = xx; type = typ; @@ -100,7 +100,7 @@ public struct BulletShape isNativeShape = false; } public IntPtr ptr; - public PhysicsShapeType type; + public BSPhysicsShapeType type; public System.UInt64 shapeKey; public bool isNativeShape; public override string ToString() @@ -178,7 +178,7 @@ public struct ConvexHull int VertexCount; Vector3[] Vertices; } -public enum PhysicsShapeType +public enum BSPhysicsShapeType { SHAPE_UNKNOWN = 0, SHAPE_CAPSULE = 1, @@ -210,7 +210,7 @@ public enum FixedShapeKey : ulong public struct ShapeData { public uint ID; - public PhysicsShapeType Type; + public BSPhysicsShapeType Type; public Vector3 Position; public Quaternion Rotation; public Vector3 Velocity; -- cgit v1.1 From 4ae30873ad1c0d48b7e03047eafe5cd690bbe61c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 22 Nov 2012 12:01:56 -0800 Subject: BulletSim: Add tables and initialization for different attributes for different materials. For the moment, the per material tables are not used. --- .../Region/Physics/BulletSPlugin/BSMaterials.cs | 191 +++++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 7 + 2 files changed, 198 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs new file mode 100755 index 0000000..663b6f4 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs @@ -0,0 +1,191 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using System.Reflection; +using Nini.Config; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public struct MaterialAttributes +{ + // Material type values that correspond with definitions for LSL + public enum Material : int + { + Stone = 0, + Metal, + Glass, + Wood, + Flesh, + Plastic, + Rubber, + Light, + // Hereafter are BulletSim additions + Avatar, + NumberOfTypes // the count of types in the enum. + } + // Names must be in the order of the above enum. + public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", + "Flesh", "Plastic", "Rubber", "Light", "Avatar" }; + public static string[] MaterialAttribs = { "Density", "Friction", "Restitution", + "ccdMotionThreshold", "ccdSweptSphereRadius" }; + + public MaterialAttributes(string t, float d, float f, float r, float ccdM, float ccdS) + { + type = t; + density = d; + friction = f; + restitution = r; + ccdMotionThreshold = ccdM; + ccdSweptSphereRadius = ccdS; + } + public string type; + public float density; + public float friction; + public float restitution; + public float ccdMotionThreshold; + public float ccdSweptSphereRadius; +} + +public static class BSMaterials +{ + public static MaterialAttributes[] Attributes; + + static BSMaterials() + { + // Attribute sets for both the non-physical and physical instances of materials. + Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2]; + } + + // This is where all the default material attributes are defined. + public static void InitializeFromDefaults(ConfigurationParameters parms) + { + // public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", + // "Flesh", "Plastic", "Rubber", "Light", "Avatar" }; + float dFriction = parms.defaultFriction; + float dRestitution = parms.defaultRestitution; + float dDensity = parms.defaultDensity; + float dCcdM = parms.ccdMotionThreshold; + float dCcdS = parms.ccdSweptSphereRadius; + Attributes[(int)MaterialAttributes.Material.Stone] = + new MaterialAttributes("stone",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Metal] = + new MaterialAttributes("metal",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Glass] = + new MaterialAttributes("glass",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Wood] = + new MaterialAttributes("wood",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Flesh] = + new MaterialAttributes("flesh",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Plastic] = + new MaterialAttributes("plastic",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Rubber] = + new MaterialAttributes("rubber",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Light] = + new MaterialAttributes("light",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Avatar] = + new MaterialAttributes("avatar",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + + Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("stonePhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("metalPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("glassPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("woodPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("fleshPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("plasticPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("rubberPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("lightPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("avatarPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); + } + + // Under the [BulletSim] section, one can change the individual material + // attribute values. The format of the configuration parameter is: + // ["Physical"] = floatValue + // For instance: + // [BulletSim] + // StoneFriction = 0.2 + // FleshRestitutionPhysical = 0.8 + // Materials can have different parameters for their static and + // physical instantiations. When setting the non-physical value, + // both values are changed. Setting the physical value only changes + // the physical value. + public static void InitializefromParameters(IConfig pConfig) + { + int matType = 0; + foreach (string matName in MaterialAttributes.MaterialNames) + { + foreach (string attribName in MaterialAttributes.MaterialAttribs) + { + string paramName = matName + attribName; + if (pConfig.Contains(paramName)) + { + float paramValue = pConfig.GetFloat(paramName); + SetAttributeValue(matType, attribName, paramValue); + // set the physical value also + SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); + } + paramName += "Physical"; + if (pConfig.Contains(paramName)) + { + float paramValue = pConfig.GetFloat(paramName); + SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); + } + } + matType++; + } + } + + private static void SetAttributeValue(int matType, string attribName, float val) + { + MaterialAttributes thisAttrib = Attributes[matType]; + FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName); + if (fieldInfo != null) + { + fieldInfo.SetValue(thisAttrib, val); + Attributes[matType] = thisAttrib; + } + } + + public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical) + { + int ind = (int)type; + if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes; + return Attributes[ind]; + } + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 27a78d1..37bdb84 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -308,6 +308,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Do any replacements in the parameters m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName); } + + // The material characteristics. + BSMaterials.InitializeFromDefaults(Params); + if (pConfig != null) + { + BSMaterials.InitializefromParameters(pConfig); + } } } -- cgit v1.1 From c3f30fef96674e9f43a277399c987a85cec9a7d3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 24 Nov 2012 19:57:11 -0800 Subject: BulletSim: add parameter for terrain collision margin. Add locking around unlikely but possible race conditions on terrain list. --- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 2 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 93 ++++++++++------------ .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 4 - 3 files changed, 45 insertions(+), 54 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 3ca756c..1450f66 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -93,7 +93,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, - m_mapInfo.heightMap, BSTerrainManager.TERRAIN_COLLISION_MARGIN); + m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin); // Create the terrain shape from the mapInfo m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 23fcfd3..cd623f1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -80,8 +80,6 @@ public sealed class BSTerrainManager // amount to make sure that a bounding box is built for the terrain. public const float HEIGHT_EQUAL_FUDGE = 0.2f; - public const float TERRAIN_COLLISION_MARGIN = 0.0f; - // Until the whole simulator is changed to pass us the region size, we rely on constants. public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); @@ -129,7 +127,8 @@ public sealed class BSTerrainManager { // The ground plane is here to catch things that are trying to drop to negative infinity BulletShape groundPlaneShape = new BulletShape( - BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN), + BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, + PhysicsScene.Params.terrainCollisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, @@ -165,17 +164,22 @@ public sealed class BSTerrainManager // Release all the terrain we have allocated public void ReleaseTerrain() { - foreach (KeyValuePair kvp in m_terrains) + lock (m_terrains) { - kvp.Value.Dispose(); + foreach (KeyValuePair kvp in m_terrains) + { + kvp.Value.Dispose(); + } + m_terrains.Clear(); } - m_terrains.Clear(); } // The simulator wants to set a new heightmap for the terrain. public void SetTerrain(float[] heightMap) { float[] localHeightMap = heightMap; - PhysicsScene.TaintedObject("TerrainManager.SetTerrain", delegate() + // If there are multiple requests for changes to the same terrain between ticks, + // only do that last one. + PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate() { if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null) { @@ -211,6 +215,7 @@ public sealed class BSTerrainManager // terrain shape is created and added to the body. // This call is most often used to update the heightMap and parameters of the terrain. // (The above does suggest that some simplification/refactoring is in order.) + // Called during taint-time. private void UpdateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) { @@ -220,7 +225,7 @@ public sealed class BSTerrainManager // Find high and low points of passed heightmap. // The min and max passed in is usually the area objects can be in (maximum // object height, for instance). The terrain wants the bounding box for the - // terrain so we replace passed min and max Z with the actual terrain min/max Z. + // terrain so replace passed min and max Z with the actual terrain min/max Z. float minZ = float.MaxValue; float maxZ = float.MinValue; foreach (float height in heightMap) @@ -238,15 +243,15 @@ public sealed class BSTerrainManager Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f); - BSTerrainPhys terrainPhys; - if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys)) + lock (m_terrains) { - // There is already a terrain in this spot. Free the old and build the new. - DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}", - BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords); - - PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:UpdateExisting", delegate() + BSTerrainPhys terrainPhys; + if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys)) { + // There is already a terrain in this spot. Free the old and build the new. + DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}", + BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords); + // Remove old terrain from the collection m_terrains.Remove(terrainRegionBase); // Release any physical memory it may be using. @@ -271,35 +276,24 @@ public sealed class BSTerrainManager // I hate doing this, but just bail return; } - }); - } - else - { - // We don't know about this terrain so either we are creating a new terrain or - // our mega-prim child is giving us a new terrain to add to the phys world - - // if this is a child terrain, calculate a unique terrain id - uint newTerrainID = id; - if (newTerrainID >= BSScene.CHILDTERRAIN_ID) - newTerrainID = ++m_terrainCount; - - float[] heightMapX = heightMap; - Vector3 minCoordsX = minCoords; - Vector3 maxCoordsX = maxCoords; + } + else + { + // We don't know about this terrain so either we are creating a new terrain or + // our mega-prim child is giving us a new terrain to add to the phys world - DetailLog("{0},UpdateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}", - BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); + // if this is a child terrain, calculate a unique terrain id + uint newTerrainID = id; + if (newTerrainID >= BSScene.CHILDTERRAIN_ID) + newTerrainID = ++m_terrainCount; - // Code that must happen at taint-time - PhysicsScene.TaintedObject(inTaintTime, "BSScene.UpdateTerrain:NewTerrain", delegate() - { - DetailLog("{0},UpdateTerrain:NewTerrain,taint,baseX={1},baseY={2}", - BSScene.DetailLogZero, minCoordsX.X, minCoordsX.Y); + DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}", + BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); m_terrains.Add(terrainRegionBase, newTerrainPhys); m_terrainModified = true; - }); + } } } @@ -349,6 +343,7 @@ public sealed class BSTerrainManager // with the same parameters as last time. if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY) return lastHeight; + m_terrainModified = false; lastHeightTX = tX; lastHeightTY = tY; @@ -358,19 +353,19 @@ public sealed class BSTerrainManager int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f); - BSTerrainPhys physTerrain; - if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain)) + lock (m_terrains) { - ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ); - DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,loc={1},base={2},height={3}", - BSScene.DetailLogZero, loc, terrainBaseXYZ, ret); - } - else - { - PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", - LogHeader, PhysicsScene.RegionName, tX, tY); + BSTerrainPhys physTerrain; + if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain)) + { + ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ); + } + else + { + PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", + LogHeader, PhysicsScene.RegionName, tX, tY); + } } - m_terrainModified = false; lastHeight = ret; return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index dca7150..d7afdeb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -217,8 +217,6 @@ public sealed class BSTerrainMesh : BSTerrainPhys } } verticesCount = verticesCount / 3; - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeVerts,verCount={1}", - BSScene.DetailLogZero, verticesCount); for (int yy = 0; yy < sizeY; yy++) { @@ -235,8 +233,6 @@ public sealed class BSTerrainMesh : BSTerrainPhys indicesCount += 6; } } - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,completeIndices,indCount={1}", // DEEBUG DEBUG DEBUG - LogHeader, indicesCount); // DEBUG ret = true; } catch (Exception e) -- cgit v1.1 From d1480ac7ee3f4a7386feac261a9a2618f946adb3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 24 Nov 2012 19:58:52 -0800 Subject: BulletSim: add terrain collision margin and vehicle angular damping parameters to the parameter block. New API call for setting collision margin. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index e60a760..12baee9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -287,6 +287,8 @@ public struct ConfigurationParameters public float terrainFriction; public float terrainHitFraction; public float terrainRestitution; + public float terrainCollisionMargin; + public float avatarFriction; public float avatarStandingFriction; public float avatarDensity; @@ -296,6 +298,8 @@ public struct ConfigurationParameters public float avatarCapsuleHeight; public float avatarContactProcessingThreshold; + public float vehicleAngularDamping; + public float maxPersistantManifoldPoolSize; public float maxCollisionAlgorithmPoolSize; public float shouldDisableContactPoolDynamicAllocation; @@ -482,6 +486,9 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData) public static extern bool IsNativeShape2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetShapeCollisionMargin(IntPtr shape, float margin); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From 22d5bf8ff9942707c3e189aa31e1e253dc20603b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 24 Nov 2012 20:01:34 -0800 Subject: BulletSim: complete vector motor. Correct line endings. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 233 +++++++++++++---------- 1 file changed, 129 insertions(+), 104 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index bc6e4c4..b8bdd87 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -1,104 +1,129 @@ -using System; -using System.Collections.Generic; -using System.Text; -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public abstract class BSMotor -{ - public virtual void Reset() { } - public virtual void Zero() { } -} -// Can all the incremental stepping be replaced with motor classes? -public class BSVMotor : BSMotor -{ - public Vector3 FrameOfReference { get; set; } - public Vector3 Offset { get; set; } - - public float TimeScale { get; set; } - public float TargetValueDecayTimeScale { get; set; } - public Vector3 CurrentValueReductionTimescale { get; set; } - public float Efficiency { get; set; } - - public Vector3 TargetValue { get; private set; } - public Vector3 CurrentValue { get; private set; } - - - - BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) - { - TimeScale = timeScale; - TargetValueDecayTimeScale = decayTimeScale; - CurrentValueReductionTimescale = frictionTimeScale; - Efficiency = efficiency; - } - public void SetCurrent(Vector3 current) - { - CurrentValue = current; - } - public void SetTarget(Vector3 target) - { - TargetValue = target; - } - public Vector3 Step(float timeStep) - { - if (CurrentValue.LengthSquared() > 0.001f) - { - // Vector3 origDir = Target; // DEBUG - // Vector3 origVel = CurrentValue; // DEBUG - - // Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete - Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep; - CurrentValue += addAmount; - - float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; - TargetValue *= (1f - decayFactor); - - Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep; - CurrentValue *= (Vector3.One - frictionFactor); - } - else - { - // if what remains of direction is very small, zero it. - TargetValue = Vector3.Zero; - CurrentValue = Vector3.Zero; - - // VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); - } - return CurrentValue; - } -} - -public class BSFMotor : BSMotor -{ - public float TimeScale { get; set; } - public float DecayTimeScale { get; set; } - public float Friction { get; set; } - public float Efficiency { get; set; } - - public float Target { get; private set; } - public float CurrentValue { get; private set; } - - BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency) - { - } - public void SetCurrent(float target) - { - } - public void SetTarget(float target) - { - } - public float Step(float timeStep) - { - return 0f; - } -} -public class BSPIDMotor : BSMotor -{ - // TODO: write and use this one - BSPIDMotor() - { - } -} -} +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public abstract class BSMotor +{ + public BSMotor() + { + PhysicsScene = null; + } + public virtual void Reset() { } + public virtual void Zero() { } + + // Used only for outputting debug information. Might not be set so check for null. + public BSScene PhysicsScene { get; set; } + protected void MDetailLog(string msg, params Object[] parms) + { + if (PhysicsScene != null) + { + if (PhysicsScene.VehicleLoggingEnabled) + { + PhysicsScene.DetailLog(msg, parms); + } + } + } +} +// Can all the incremental stepping be replaced with motor classes? +public class BSVMotor : BSMotor +{ + public Vector3 FrameOfReference { get; set; } + public Vector3 Offset { get; set; } + + public float TimeScale { get; set; } + public float TargetValueDecayTimeScale { get; set; } + public Vector3 CurrentValueReductionTimescale { get; set; } + public float Efficiency { get; set; } + + public Vector3 TargetValue { get; private set; } + public Vector3 CurrentValue { get; private set; } + + BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) : base() + { + TimeScale = timeScale; + TargetValueDecayTimeScale = decayTimeScale; + CurrentValueReductionTimescale = frictionTimeScale; + Efficiency = efficiency; + CurrentValue = TargetValue = Vector3.Zero; + } + public void SetCurrent(Vector3 current) + { + CurrentValue = current; + } + public void SetTarget(Vector3 target) + { + TargetValue = target; + } + public Vector3 Step(float timeStep) + { + Vector3 returnCurrent = Vector3.Zero; + if (CurrentValue.LengthSquared() > 0.001f) + { + // Vector3 origDir = Target; // DEBUG + // Vector3 origVel = CurrentValue; // DEBUG + + // Add (desiredVector - currentAppliedVector) / howLongItShouldTakeToComplete + Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep; + CurrentValue += addAmount; + returnCurrent = CurrentValue; + + // The desired value reduces to zero when also reduces the difference with current. + float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; + TargetValue *= (1f - decayFactor); + + Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep; + CurrentValue *= (Vector3.One - frictionFactor); + + MDetailLog("{0},BSVMotor.Step,nonZero,curr={1},target={2},add={3},decay={4},frict={5},ret={6}", + BSScene.DetailLogZero, TargetValue, CurrentValue, + addAmount, decayFactor, frictionFactor, returnCurrent); + } + else + { + // Difference between what we have and target is small. Motor is done. + CurrentValue = Vector3.Zero; + TargetValue = Vector3.Zero; + + MDetailLog("{0},BSVMotor.Step,zero,curr={1},target={2},ret={3}", + BSScene.DetailLogZero, TargetValue, CurrentValue, returnCurrent); + + } + return returnCurrent; + } +} + +public class BSFMotor : BSMotor +{ + public float TimeScale { get; set; } + public float DecayTimeScale { get; set; } + public float Friction { get; set; } + public float Efficiency { get; set; } + + public float Target { get; private set; } + public float CurrentValue { get; private set; } + + BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency) : base() + { + } + public void SetCurrent(float target) + { + } + public void SetTarget(float target) + { + } + public float Step(float timeStep) + { + return 0f; + } +} +public class BSPIDMotor : BSMotor +{ + // TODO: write and use this one + BSPIDMotor() : base() + { + } +} +} -- cgit v1.1 From 9a424059446fadb80c2700ece273905ebe5a2b5a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 24 Nov 2012 20:11:38 -0800 Subject: BulletSim: small change to add position correction force with AddForce rather than just storing it in the variable --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 29 ++++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 9 +++---- 2 files changed, 22 insertions(+), 16 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index dbc9039..a121c3d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -518,13 +518,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (IsActive) { + VDetailLog("{0},BSDynamics.Refresh", Prim.LocalID); + m_vehicleMass = Prim.Linkset.LinksetMass; + // Friction effects are handled by this vehicle code BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f); BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f); - // BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, 0.8f); + BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, 0.8f); + + BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, new Vector3(1f, 1f, 1f)); + - VDetailLog("{0},BSDynamics.Refresh,zeroingFriction and adding damping", Prim.LocalID); } } @@ -560,8 +565,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_lastLinearVelocityVector = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG: // END DEBUG - m_vehicleMass = Prim.Linkset.LinksetMass; - MoveLinear(pTimestep); // Commented out for debug MoveAngular(pTimestep); @@ -650,6 +653,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // if (rotatedSize.Z < terrainHeight) if (pos.Z < terrainHeight) { + // TODO: correct position by applying force rather than forcing position. pos.Z = terrainHeight + 2; Prim.ForcePosition = pos; VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos); @@ -810,9 +814,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin private void MoveAngular(float pTimestep) { // m_angularMotorDirection // angular velocity requested by LSL motor - // m_angularMotorApply // application frame counter // m_angularMotorVelocity // current angular motor velocity (ramps up and down) - // m_angularMotorTimescale // motor angular velocity ramp up rate + // m_angularMotorTimescale // motor angular velocity ramp up time // m_angularMotorDecayTimescale // motor angular velocity decay rate // m_angularFrictionTimescale // body angular velocity decay rate // m_lastAngularVelocity // what was last applied to body @@ -847,7 +850,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { float VAservo = pTimestep * 0.2f / m_verticalAttractionTimescale; if (Prim.IsColliding) - VAservo = pTimestep * 0.05f / (m_verticalAttractionTimescale); + VAservo = pTimestep * 0.05f / m_verticalAttractionTimescale; VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); @@ -925,6 +928,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin float mix = Math.Abs(m_bankingMix); if (m_angularMotorVelocity.X == 0) { + // The vehicle is stopped /*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f)) { Vector3 axisAngle; @@ -938,9 +942,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin }*/ } else - banking.Z += (effSquared*(mult*mix))*(m_angularMotorVelocity.X) * 4; + { + banking.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4; + } + + //If they are colliding, we probably shouldn't shove the prim around... probably if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix) - //If they are colliding, we probably shouldn't shove the prim around... probably { float angVelZ = m_angularMotorVelocity.X*-1; /*if(angVelZ > mix) @@ -957,8 +964,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin banking += bankingRot; } m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; - VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},banking={3}", - Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, banking); + VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}", + Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, banking); } #endregion diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 2b3fa25..caa6c46 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -342,13 +342,12 @@ public sealed class BSPrim : BSPhysObject // TODO: check for out of bounds // The above code computes a force to apply to correct any out-of-bounds problems. Apply same. + // TODO: This should be intergrated with a geneal physics action mechanism. + // TODO: This should be moderated with PID'ness. if (ret) { - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck:belowTerrain", delegate() - { - // Apply upforce and overcome gravity. - ForceVelocity = ForceVelocity + upForce - PhysicsScene.DefaultGravity; - }); + // Apply upforce and overcome gravity. + AddForce(upForce - PhysicsScene.DefaultGravity, false, inTaintTime); } return ret; } -- cgit v1.1 From 980edabc2e9c3563a27f76bc6d8dcc88a59568a1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 24 Nov 2012 20:15:07 -0800 Subject: BulletSim: clean up TODO list. It is kept somewhere wlse that should be more public. Add error logging for the detail log writer so a message is output when it cannot write to the specified logging directory. Modify friction defaults to be closer to ODE's values. Add new collision margin and vehicle angular damping parameters. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 33 +++++++++++----------- 2 files changed, 17 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index a121c3d..7fd7b82 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -525,7 +525,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f); BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f); - BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, 0.8f); + BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, PhysicsScene.Params.vehicleAngularDamping); BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, new Vector3(1f, 1f, 1f)); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 37bdb84..333247f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -39,23 +39,10 @@ using log4net; using OpenMetaverse; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) -// Test sculpties (verified that they don't work) -// Compute physics FPS reasonably // Based on material, set density and friction -// Don't use constraints in linksets of non-physical objects. Means having to move children manually. -// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? -// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) -// At the moment, physical and phantom causes object to drop through the terrain -// Physical phantom objects and related typing (collision options ) -// Check out llVolumeDetect. Must do something for that. -// Use collision masks for collision with terrain and phantom objects // More efficient memory usage when passing hull information from BSPrim to BulletSim -// Should prim.link() and prim.delink() membership checking happen at taint time? -// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once. // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect // Implement LockAngularMotion -// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) -// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet. // Add PID movement operations. What does ScenePresence.MoveToTarget do? // Check terrain size. 128 or 127? // Raycast @@ -234,6 +221,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (m_physicsLoggingEnabled) { PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); + PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages. } else { @@ -1076,7 +1064,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,p,l,v) => { s.PID_P = v; } ), new ParameterDefn("DefaultFriction", "Friction factor used on new objects", - 0.5f, + 0.2f, (s,cf,p,v) => { s.m_params[0].defaultFriction = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].defaultFriction; }, (s,p,l,v) => { s.m_params[0].defaultFriction = v; } ), @@ -1091,7 +1079,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].defaultRestitution; }, (s,p,l,v) => { s.m_params[0].defaultRestitution = v; } ), new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", - 0f, + 0.04f, (s,cf,p,v) => { s.m_params[0].collisionMargin = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].collisionMargin; }, (s,p,l,v) => { s.m_params[0].collisionMargin = v; } ), @@ -1158,7 +1146,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].terrainImplementation; }, (s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ), new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , - 0.5f, + 0.3f, (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].terrainFriction; }, (s,p,l,v) => { s.m_params[0].terrainFriction = v; /* TODO: set on real terrain */} ), @@ -1172,13 +1160,19 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].terrainRestitution; }, (s,p,l,v) => { s.m_params[0].terrainRestitution = v; /* TODO: set on real terrain */ } ), + new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , + 0.04f, + (s,cf,p,v) => { s.m_params[0].terrainCollisionMargin = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].terrainCollisionMargin; }, + (s,p,l,v) => { s.m_params[0].terrainCollisionMargin = v; /* TODO: set on real terrain */ } ), + new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", 0.2f, (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarFriction; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ), new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", - 10f, + 0.99f, (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarStandingFriction; }, (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ), @@ -1213,6 +1207,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].avatarContactProcessingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ), + new ParameterDefn("vehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", + 0.8f, + (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].vehicleAngularDamping; }, + (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ), new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 0f, -- cgit v1.1 From 319ec3235c69bb207fe04415feb8bc9f90601f37 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 25 Nov 2012 17:41:15 -0800 Subject: BulletSim: add BSVMotor as BSDynamics linear motor. Properly limit *_MOTOR_DECAY_TIMESCALE to 120 as per specs. Invode BSDynamics.Refresh() when vehicle type is changed. Previously the vehicle properties weren't getting set because the physical properties were set before the vehicle type was set. Add a "use name" to BSMotors for identification while debugging. Correct current and target confusion in BSVMotor design. Rename CurrentValueReductionTimescale to FrictionTimescale. Event more detailed logging. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 55 +++++++++++++++++----- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 46 ++++++++++++------ 2 files changed, 74 insertions(+), 27 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 7fd7b82..bf8a004 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -80,6 +80,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Quaternion m_referenceFrame = Quaternion.Identity; // Linear properties + private BSVMotor m_linearMotor = new BSVMotor("LinearMotor"); private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL @@ -152,7 +153,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: - m_angularMotorDecayTimescale = Math.Max(pValue, 0.01f); + m_angularMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120)); break; case Vehicle.ANGULAR_MOTOR_TIMESCALE: m_angularMotorTimescale = Math.Max(pValue, 0.01f); @@ -185,10 +186,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: - m_linearMotorDecayTimescale = Math.Max(pValue, 0.01f); + m_linearMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120)); + m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale; break; case Vehicle.LINEAR_MOTOR_TIMESCALE: m_linearMotorTimescale = Math.Max(pValue, 0.01f); + m_linearMotor.TimeScale = m_linearMotorTimescale; break; case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f)); @@ -208,10 +211,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); + m_linearMotor.FrictionTimescale = m_linearFrictionTimescale; break; case Vehicle.LINEAR_MOTOR_DIRECTION: m_linearMotorDirection = new Vector3(pValue, pValue, pValue); m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); + m_linearMotor.SetTarget(m_linearMotorDirection); break; case Vehicle.LINEAR_MOTOR_OFFSET: m_linearMotorOffset = new Vector3(pValue, pValue, pValue); @@ -238,10 +243,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); + m_linearMotor.FrictionTimescale = m_linearFrictionTimescale; break; case Vehicle.LINEAR_MOTOR_DIRECTION: m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); + m_linearMotor.SetTarget(m_linearMotorDirection); break; case Vehicle.LINEAR_MOTOR_OFFSET: m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); @@ -319,6 +326,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_referenceFrame = Quaternion.Identity; m_flags = (VehicleFlag)0; + break; case Vehicle.TYPE_SLED: @@ -510,6 +518,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin | VehicleFlag.HOVER_GLOBAL_HEIGHT); break; } + + // Update any physical parameters based on this type. + Refresh(); + + m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f); + m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) } // Some of the properties of this prim may have changed. @@ -518,18 +532,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (IsActive) { - VDetailLog("{0},BSDynamics.Refresh", Prim.LocalID); m_vehicleMass = Prim.Linkset.LinksetMass; // Friction effects are handled by this vehicle code - BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f); - BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f); - - BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, PhysicsScene.Params.vehicleAngularDamping); - - BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, new Vector3(1f, 1f, 1f)); - - + float friction = 0f; + BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction); + + // Moderate angular movement introduced by Bullet. + // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. + // Maybe compute linear and angular factor and damping from params. + float angularDamping = PhysicsScene.Params.vehicleAngularDamping; + BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); + + // DEBUG DEBUG DEBUG: use uniform inertia to smooth movement added by Bullet + // Vector3 localInertia = new Vector3(1f, 1f, 1f); + Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass); + BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); + + VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", + Prim.LocalID, friction, localInertia, angularDamping); } } @@ -591,6 +612,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Also does hover and float. private void MoveLinear(float pTimestep) { + /* // m_linearMotorDirection is the target direction we are moving relative to the vehicle coordinates // m_lastLinearVelocityVector is the current speed we are moving in that direction if (m_linearMotorDirection.LengthSquared() > 0.001f) @@ -627,6 +649,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); } + */ + + m_newVelocity = m_linearMotor.Step(pTimestep); + + // Rotate new object velocity from vehicle relative to world coordinates + m_newVelocity *= Prim.ForceOrientation; // m_newVelocity is velocity computed from linear motor in world coordinates @@ -785,12 +813,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_newVelocity.Z = 0; // Clamp REALLY high or low velocities - if (m_newVelocity.LengthSquared() > 1e6f) + float newVelocityLengthSq = m_newVelocity.LengthSquared(); + if (newVelocityLengthSq > 1e6f) { m_newVelocity /= m_newVelocity.Length(); m_newVelocity *= 1000f; } - else if (m_newVelocity.LengthSquared() < 1e-6f) + else if (newVelocityLengthSq < 1e-6f) m_newVelocity = Vector3.Zero; // Stuff new linear velocity into the vehicle diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index b8bdd87..68eec2d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -7,13 +7,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public abstract class BSMotor { - public BSMotor() + public BSMotor(string useName) { + UseName = useName; PhysicsScene = null; } public virtual void Reset() { } public virtual void Zero() { } + public string UseName { get; private set; } // Used only for outputting debug information. Might not be set so check for null. public BSScene PhysicsScene { get; set; } protected void MDetailLog(string msg, params Object[] parms) @@ -35,17 +37,25 @@ public class BSVMotor : BSMotor public float TimeScale { get; set; } public float TargetValueDecayTimeScale { get; set; } - public Vector3 CurrentValueReductionTimescale { get; set; } + public Vector3 FrictionTimescale { get; set; } public float Efficiency { get; set; } public Vector3 TargetValue { get; private set; } public Vector3 CurrentValue { get; private set; } - BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) : base() + public BSVMotor(string useName) + : base(useName) + { + TimeScale = TargetValueDecayTimeScale = Efficiency = 1f; + FrictionTimescale = Vector3.Zero; + CurrentValue = TargetValue = Vector3.Zero; + } + public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) + : this(useName) { TimeScale = timeScale; TargetValueDecayTimeScale = decayTimeScale; - CurrentValueReductionTimescale = frictionTimeScale; + FrictionTimescale = frictionTimeScale; Efficiency = efficiency; CurrentValue = TargetValue = Vector3.Zero; } @@ -60,10 +70,10 @@ public class BSVMotor : BSMotor public Vector3 Step(float timeStep) { Vector3 returnCurrent = Vector3.Zero; - if (CurrentValue.LengthSquared() > 0.001f) + if (!CurrentValue.ApproxEquals(TargetValue, 0.01f)) { - // Vector3 origDir = Target; // DEBUG - // Vector3 origVel = CurrentValue; // DEBUG + Vector3 origTarget = TargetValue; // DEBUG + Vector3 origCurrVal = CurrentValue; // DEBUG // Add (desiredVector - currentAppliedVector) / howLongItShouldTakeToComplete Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep; @@ -74,11 +84,17 @@ public class BSVMotor : BSMotor float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; TargetValue *= (1f - decayFactor); - Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep; + Vector3 frictionFactor = Vector3.Zero; + frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; CurrentValue *= (Vector3.One - frictionFactor); - MDetailLog("{0},BSVMotor.Step,nonZero,curr={1},target={2},add={3},decay={4},frict={5},ret={6}", - BSScene.DetailLogZero, TargetValue, CurrentValue, + MDetailLog("{0},BSVMotor.Step,nonZero,{1},origTarget={2},origCurr={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}", + BSScene.DetailLogZero, UseName, origTarget, origCurrVal, + timeStep, TimeScale, addAmount, + TargetValueDecayTimeScale, decayFactor, + FrictionTimescale, frictionFactor); + MDetailLog("{0},BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}", + BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, addAmount, decayFactor, frictionFactor, returnCurrent); } else @@ -87,8 +103,8 @@ public class BSVMotor : BSMotor CurrentValue = Vector3.Zero; TargetValue = Vector3.Zero; - MDetailLog("{0},BSVMotor.Step,zero,curr={1},target={2},ret={3}", - BSScene.DetailLogZero, TargetValue, CurrentValue, returnCurrent); + MDetailLog("{0},BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}", + BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, returnCurrent); } return returnCurrent; @@ -105,7 +121,8 @@ public class BSFMotor : BSMotor public float Target { get; private set; } public float CurrentValue { get; private set; } - BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency) : base() + public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency) + : base(useName) { } public void SetCurrent(float target) @@ -122,7 +139,8 @@ public class BSFMotor : BSMotor public class BSPIDMotor : BSMotor { // TODO: write and use this one - BSPIDMotor() : base() + public BSPIDMotor(string useName) + : base(useName) { } } -- cgit v1.1 From f977131fe084b9bd431a24c27e61b59ebe88ec84 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 25 Nov 2012 19:05:42 -0800 Subject: BulletSim: add ToString override to BSVMotor. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 68eec2d..480da2c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -75,7 +75,7 @@ public class BSVMotor : BSMotor Vector3 origTarget = TargetValue; // DEBUG Vector3 origCurrVal = CurrentValue; // DEBUG - // Add (desiredVector - currentAppliedVector) / howLongItShouldTakeToComplete + // Addition = (desiredVector - currentAppliedVector) / secondsItShouldTakeToComplete Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep; CurrentValue += addAmount; returnCurrent = CurrentValue; @@ -109,6 +109,11 @@ public class BSVMotor : BSMotor } return returnCurrent; } + public override string ToString() + { + return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>", + UseName, CurrentValue, TargetValue, TargetValueDecayTimeScale, FrictionTimescale); + } } public class BSFMotor : BSMotor -- cgit v1.1 From 4c077a06947fe879fb02849f7ed7c4ec5358366f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 25 Nov 2012 19:06:53 -0800 Subject: BulletSim: organize MoveLinear code for understandability. Make LIMIT_MOTOR_UP contribution a velocity and not a force. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 129 +++++++-------------- 1 file changed, 40 insertions(+), 89 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index bf8a004..7757584 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -84,7 +84,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL - private Vector3 m_newVelocity = Vector3.Zero; // velocity computed to be applied to body private Vector3 m_linearFrictionTimescale = Vector3.Zero; private float m_linearMotorDecayTimescale = 0; private float m_linearMotorTimescale = 0; @@ -577,15 +576,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (!IsActive) return; - // DEBUG - // Because Bullet does apply forces to the vehicle, our last computed - // linear and angular velocities are not what is happening now. - // Vector3 externalAngularVelocity = Prim.ForceRotationalVelocity - m_lastAngularVelocity; - // m_lastAngularVelocity += (externalAngularVelocity * 0.5f) * pTimestep; - // m_lastAngularVelocity = Prim.ForceRotationalVelocity; // DEBUG: account for what Bullet did last time - // m_lastLinearVelocityVector = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG: - // END DEBUG - MoveLinear(pTimestep); // Commented out for debug MoveAngular(pTimestep); @@ -612,67 +602,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Also does hover and float. private void MoveLinear(float pTimestep) { - /* - // m_linearMotorDirection is the target direction we are moving relative to the vehicle coordinates - // m_lastLinearVelocityVector is the current speed we are moving in that direction - if (m_linearMotorDirection.LengthSquared() > 0.001f) - { - Vector3 origDir = m_linearMotorDirection; // DEBUG - Vector3 origVel = m_lastLinearVelocityVector; // DEBUG - // DEBUG: the vehicle velocity rotated to be relative to vehicle coordinates for comparison - Vector3 vehicleVelocity = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG - - // Add (desiredVelocity - lastAppliedVelocity) / howLongItShouldTakeToComplete - Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale) * pTimestep; - m_lastLinearVelocityVector += addAmount; - - float decayFactor = (1.0f / m_linearMotorDecayTimescale) * pTimestep; - m_linearMotorDirection *= (1f - decayFactor); - - // Rotate new object velocity from vehicle relative to world coordinates - m_newVelocity = m_lastLinearVelocityVector * Prim.ForceOrientation; - - // Apply friction for next time - Vector3 frictionFactor = (Vector3.One / m_linearFrictionTimescale) * pTimestep; - m_lastLinearVelocityVector *= (Vector3.One - frictionFactor); - - VDetailLog("{0},MoveLinear,nonZero,origlmDir={1},origlvVel={2},vehVel={3},add={4},decay={5},frict={6},lmDir={7},lvVec={8},newVel={9}", - Prim.LocalID, origDir, origVel, vehicleVelocity, addAmount, decayFactor, frictionFactor, - m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity); - } - else - { - // if what remains of direction is very small, zero it. - m_linearMotorDirection = Vector3.Zero; - m_lastLinearVelocityVector = Vector3.Zero; - m_newVelocity = Vector3.Zero; - - VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); - } - */ - - m_newVelocity = m_linearMotor.Step(pTimestep); + Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep); // Rotate new object velocity from vehicle relative to world coordinates - m_newVelocity *= Prim.ForceOrientation; - - // m_newVelocity is velocity computed from linear motor in world coordinates + linearMotorContribution *= Prim.ForceOrientation; + // ================================================================== // Gravity and Buoyancy // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); - /* - * RA: Not sure why one would do this unless we are hoping external forces are doing gravity, ... - // Preserve the current Z velocity - Vector3 vel_now = m_prim.Velocity; - m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity - */ - + // Current vehicle position Vector3 pos = Prim.ForcePosition; -// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); + // ================================================================== + Vector3 terrainHeightContribution = Vector3.Zero; // If below the terrain, move us above the ground a little. float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. @@ -687,6 +632,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos); } + // ================================================================== + Vector3 hoverContribution = Vector3.Zero; // Check if hovering // m_VhoverEfficiency: 0=bouncy, 1=totally damped // m_VhoverTimescale: time to achieve height @@ -726,24 +673,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin // RA: where does the 50 come from? float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale); // Replace Vertical speed with correction figure if significant - if (Math.Abs(verticalError) > 0.01f) + if (verticalError > 0.01f) { - m_newVelocity.Z += verticalCorrectionVelocity; + hoverContribution = new Vector3(0f, 0f, verticalCorrectionVelocity); //KF: m_VhoverEfficiency is not yet implemented } else if (verticalError < -0.01) { - m_newVelocity.Z -= verticalCorrectionVelocity; - } - else - { - m_newVelocity.Z = 0f; + hoverContribution = new Vector3(0f, 0f, -verticalCorrectionVelocity); } } - VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", Prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight); + VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", + Prim.LocalID, pos, hoverContribution, m_VhoverHeight, m_VhoverTargetHeight); } + // ================================================================== Vector3 posChange = pos - m_lastPositionVector; if (m_BlockingEndPoint != Vector3.Zero) { @@ -781,60 +726,66 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } - #region downForce - Vector3 downForce = Vector3.Zero; - + // ================================================================== + Vector3 limitMotorUpContribution = Vector3.Zero; if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { // If the vehicle is motoring into the sky, get it going back down. - // Is this an angular force or both linear and angular?? float distanceAboveGround = pos.Z - terrainHeight; - if (distanceAboveGround > 2f) + if (distanceAboveGround > 1f) { // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep); // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); - downForce = new Vector3(0, 0, -distanceAboveGround); + limitMotorUpContribution = new Vector3(0, 0, -distanceAboveGround); } // TODO: this calculation is all wrong. From the description at // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce // has a decay factor. This says this force should // be computed with a motor. VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", - Prim.LocalID, distanceAboveGround, downForce); + Prim.LocalID, distanceAboveGround, limitMotorUpContribution); } - #endregion // downForce + + // ================================================================== + Vector3 newVelocity = linearMotorContribution + + terrainHeightContribution + + hoverContribution + + limitMotorUpContribution; // If not changing some axis, reduce out velocity if ((m_flags & (VehicleFlag.NO_X)) != 0) - m_newVelocity.X = 0; + newVelocity.X = 0; if ((m_flags & (VehicleFlag.NO_Y)) != 0) - m_newVelocity.Y = 0; + newVelocity.Y = 0; if ((m_flags & (VehicleFlag.NO_Z)) != 0) - m_newVelocity.Z = 0; + newVelocity.Z = 0; + // ================================================================== // Clamp REALLY high or low velocities - float newVelocityLengthSq = m_newVelocity.LengthSquared(); + float newVelocityLengthSq = newVelocity.LengthSquared(); if (newVelocityLengthSq > 1e6f) { - m_newVelocity /= m_newVelocity.Length(); - m_newVelocity *= 1000f; + newVelocity /= newVelocity.Length(); + newVelocity *= 1000f; } else if (newVelocityLengthSq < 1e-6f) - m_newVelocity = Vector3.Zero; + newVelocity = Vector3.Zero; + // ================================================================== // Stuff new linear velocity into the vehicle - Prim.ForceVelocity = m_newVelocity; + Prim.ForceVelocity = newVelocity; // Prim.ApplyForceImpulse((m_newVelocity - Prim.Velocity) * m_vehicleMass, false); // DEBUG DEBUG - Vector3 totalDownForce = downForce + grav; + // Other linear forces are applied as forces. + Vector3 totalDownForce = grav * m_vehicleMass; if (totalDownForce != Vector3.Zero) { - Prim.AddForce(totalDownForce * m_vehicleMass, false); - // Prim.ApplyForceImpulse(totalDownForce * m_vehicleMass, false); + Prim.AddForce(totalDownForce, false); } VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}", - Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, Prim.Velocity, totalDownForce); + Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, + newVelocity, Prim.Velocity, totalDownForce); } // end MoveLinear() -- cgit v1.1 From d7126a14e15958b00f8ea33b34253f88b1c341c5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 25 Nov 2012 20:02:19 -0800 Subject: BulletSim: up the vehicle angular damping to 0.95. Still trying to overcome the movement added by Bullet. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 333247f..805e670 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1207,8 +1207,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].avatarContactProcessingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ), - new ParameterDefn("vehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", - 0.8f, + new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", + 0.95f, (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].vehicleAngularDamping; }, (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ), -- cgit v1.1 From 084e3926ca4c344279935f1bce3173c8f6e8258a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 25 Nov 2012 20:03:36 -0800 Subject: BulletSim: use m_angularMotor to do the basic movement. Add the setting of same. Rename the angular forces and add comments to match MoveAngular to the form of MoveLinear. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 124 +++++++++++---------- 1 file changed, 64 insertions(+), 60 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 7757584..95a4134 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -93,6 +93,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // private Vector3 m_linearMotorOffset = Vector3.Zero; //Angular properties + private BSVMotor m_angularMotor = new BSVMotor("AngularMotor"); private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor // private int m_angularMotorApply = 0; // application frame counter private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity @@ -153,9 +154,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: m_angularMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120)); + m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale; break; case Vehicle.ANGULAR_MOTOR_TIMESCALE: m_angularMotorTimescale = Math.Max(pValue, 0.01f); + m_angularMotor.TimeScale = m_angularMotorTimescale; break; case Vehicle.BANKING_EFFICIENCY: m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f)); @@ -203,10 +206,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // set all of the components to the same value case Vehicle.ANGULAR_FRICTION_TIMESCALE: m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); + m_angularMotor.FrictionTimescale = m_angularFrictionTimescale; break; case Vehicle.ANGULAR_MOTOR_DIRECTION: m_angularMotorDirection = new Vector3(pValue, pValue, pValue); - // m_angularMotorApply = 100; + m_angularMotor.SetTarget(m_angularMotorDirection); break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); @@ -231,6 +235,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { case Vehicle.ANGULAR_FRICTION_TIMESCALE: m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); + m_angularMotor.FrictionTimescale = m_angularFrictionTimescale; break; case Vehicle.ANGULAR_MOTOR_DIRECTION: // Limit requested angular speed to 2 rps= 4 pi rads/sec @@ -238,7 +243,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f)); pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f)); m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); - // m_angularMotorApply = 100; + m_angularMotor.SetTarget(m_angularMotorDirection); break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); @@ -358,10 +363,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingMix = 1; m_referenceFrame = Quaternion.Identity; - m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); - m_flags &= - ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | - VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); + m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY + | VehicleFlag.HOVER_TERRAIN_ONLY + | VehicleFlag.HOVER_GLOBAL_HEIGHT + | VehicleFlag.HOVER_UP_ONLY); + m_flags |= (VehicleFlag.NO_DEFLECTION_UP + | VehicleFlag.LIMIT_ROLL_ONLY + | VehicleFlag.LIMIT_MOTOR_UP); break; case Vehicle.TYPE_CAR: m_linearMotorDirection = Vector3.Zero; @@ -521,8 +529,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Update any physical parameters based on this type. Refresh(); - m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f); + m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, + m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f); m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) + m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, + m_angularMotorDecayTimescale, m_angularFrictionTimescale, 1f); + m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) + + // m_bankingMotor = new BSVMotor("BankingMotor", ...); } // Some of the properties of this prim may have changed. @@ -577,26 +591,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (!IsActive) return; MoveLinear(pTimestep); - // Commented out for debug MoveAngular(pTimestep); - // Prim.ApplyTorqueImpulse(-Prim.RotationalVelocity * m_vehicleMass, false); // DEBUG DEBUG - // Prim.ForceRotationalVelocity = -Prim.RotationalVelocity; // DEBUG DEBUG LimitRotation(pTimestep); // remember the position so next step we can limit absolute movement effects m_lastPositionVector = Prim.ForcePosition; - VDetailLog("{0},BSDynamics.Step,frict={1},grav={2},inertia={3},mass={4}", // DEBUG DEBUG - Prim.LocalID, - BulletSimAPI.GetFriction2(Prim.PhysBody.ptr), - BulletSimAPI.GetGravity2(Prim.PhysBody.ptr), - Prim.Inertia, - m_vehicleMass - ); VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity); - }// end Step + } // Apply the effect of the linear motor. // Also does hover and float. @@ -790,6 +794,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // end MoveLinear() // ======================================================================= + // ======================================================================= // Apply the effect of the angular motor. private void MoveAngular(float pTimestep) { @@ -819,12 +824,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularMotorVelocity = Vector3.Zero; } - #region Vertical attactor - - Vector3 vertattr = Vector3.Zero; - Vector3 deflection = Vector3.Zero; - Vector3 banking = Vector3.Zero; + Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); + // ================================================================== + Vector3 verticalAttractionContribution = Vector3.Zero; // If vertical attaction timescale is reasonable and we applied an angular force last time... if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero) { @@ -854,24 +857,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y // then .X increases, so change Body angular velocity X based on Y, and Y based on X. // Z is not changed. - vertattr.X = verticalError.Y; - vertattr.Y = - verticalError.X; - vertattr.Z = 0f; + verticalAttractionContribution.X = verticalError.Y; + verticalAttractionContribution.Y = - verticalError.X; + verticalAttractionContribution.Z = 0f; // scaling appears better usingsquare-law Vector3 angularVelocity = Prim.ForceRotationalVelocity; float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); - vertattr.X += bounce * angularVelocity.X; - vertattr.Y += bounce * angularVelocity.Y; + verticalAttractionContribution.X += bounce * angularVelocity.X; + verticalAttractionContribution.Y += bounce * angularVelocity.Y; VDetailLog("{0},MoveAngular,verticalAttraction,VAservo={1},effic={2},verticalError={3},bounce={4},vertattr={5}", - Prim.LocalID, VAservo, m_verticalAttractionEfficiency, verticalError, bounce, vertattr); + Prim.LocalID, VAservo, m_verticalAttractionEfficiency, verticalError, bounce, verticalAttractionContribution); } - #endregion // Vertical attactor - - #region Deflection + // ================================================================== + Vector3 deflectionContribution = Vector3.Zero; if (m_angularDeflectionEfficiency != 0) { // Compute a scaled vector that points in the preferred axis (X direction) @@ -882,18 +884,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); // Scale by efficiency and timescale - deflection = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; + deflectionContribution = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", - Prim.LocalID, preferredAxisOfMotion, deflection); + Prim.LocalID, preferredAxisOfMotion, deflectionContribution); // This deflection computation is not correct. - deflection = Vector3.Zero; + deflectionContribution = Vector3.Zero; } - #endregion - - #region Banking - + // ================================================================== + Vector3 bankingContribution = Vector3.Zero; if (m_bankingEfficiency != 0) { Vector3 dir = Vector3.One * Prim.ForceOrientation; @@ -923,7 +923,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } else { - banking.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4; + bankingContribution.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4; } //If they are colliding, we probably shouldn't shove the prim around... probably @@ -941,22 +941,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin else if (bankingRot.X < -3) bankingRot.X = -3; bankingRot *= Prim.ForceOrientation; - banking += bankingRot; + bankingContribution += bankingRot; } m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}", - Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, banking); + Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, bankingContribution); } - #endregion - - m_lastVertAttractor = vertattr; + // ================================================================== + m_lastVertAttractor = verticalAttractionContribution; // Sum velocities - m_lastAngularVelocity = m_angularMotorVelocity + vertattr + banking + deflection; - - #region Linear Motor Offset + m_lastAngularVelocity = angularMotorContribution + + verticalAttractionContribution + + bankingContribution + + deflectionContribution; + // ================================================================== //Offset section if (m_linearMotorOffset != Vector3.Zero) { @@ -972,8 +973,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // // The torque created is the linear velocity crossed with the offset - // NOTE: this computation does should be in the linear section - // because there we know the impulse being applied. + // TODO: this computation should be in the linear section + // because that is where we know the impulse being applied. Vector3 torqueFromOffset = Vector3.Zero; // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse); if (float.IsNaN(torqueFromOffset.X)) @@ -987,8 +988,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); } - #endregion - + // ================================================================== + // NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) { m_lastAngularVelocity.X = 0; @@ -996,6 +997,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); } + // ================================================================== if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. @@ -1008,18 +1010,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin // The above calculates the absolute angular velocity needed. Angular velocity is massless. // Since we are stuffing the angular velocity directly into the object, the computed // velocity needs to be scaled by the timestep. - Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - Prim.ForceRotationalVelocity); + // Also remove any motion that is on the object so added motion is only from vehicle. + Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) + - Prim.ForceRotationalVelocity); Prim.ForceRotationalVelocity = applyAngularForce; - // Decay the angular movement for next time - Vector3 decayamount = (Vector3.One / m_angularFrictionTimescale) * pTimestep; - m_lastAngularVelocity *= Vector3.One - decayamount; - - VDetailLog("{0},MoveAngular,done,newRotVel={1},decay={2},lastAngular={3}", - Prim.LocalID, applyAngularForce, decayamount, m_lastAngularVelocity); + VDetailLog("{0},MoveAngular,done,newRotVel={1},lastAngular={2}", + Prim.LocalID, applyAngularForce, m_lastAngularVelocity); } - } //end MoveAngular + } + // This is from previous instantiations of XXXDynamics.cs. + // Applies roll reference frame. + // TODO: is this the right way to separate the code to do this operation? + // Should this be in MoveAngular()? internal void LimitRotation(float timestep) { Quaternion rotq = Prim.ForceOrientation; -- cgit v1.1 From 5685b33071c683c41643fcb78d6f8a28d98db468 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 26 Nov 2012 10:47:34 -0800 Subject: BulletSim: increase vehicle stability by suppressing Bullet's update to angular velocity. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 21 +++++---- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 50 +++------------------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 12 +++--- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 2 +- 4 files changed, 26 insertions(+), 59 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 95a4134..6ff8a48 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -805,6 +805,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_angularFrictionTimescale // body angular velocity decay rate // m_lastAngularVelocity // what was last applied to body + /* if (m_angularMotorDirection.LengthSquared() > 0.0001) { Vector3 origVel = m_angularMotorVelocity; @@ -823,6 +824,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { m_angularMotorVelocity = Vector3.Zero; } + */ Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); @@ -842,15 +844,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // verticalError.X and .Y are the World error amounts. They are 0 when there is no // error (Vehicle Body is 'vertical'), and .Z will be 1. As the body leans to its // side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall - // and .Z will go // negative. Similar for tilt and |.Y|. .X and .Y must be + // and .Z will go negative. Similar for tilt and |.Y|. .X and .Y must be // modulated to prevent a stable inverted body. // Error is 0 (no error) to +/- 2 (max error) - if (verticalError.Z < 0.0f) - { - verticalError.X = 2.0f - verticalError.X; - verticalError.Y = 2.0f - verticalError.Y; - } + verticalError.X = Math.Max(-2f, Math.Min(verticalError.X, 2f)); + verticalError.Y = Math.Max(-2f, Math.Min(verticalError.Y, 2f)); + // scale it by VAservo (timestep and timescale) verticalError = verticalError * VAservo; @@ -1013,10 +1013,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Also remove any motion that is on the object so added motion is only from vehicle. Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - Prim.ForceRotationalVelocity); + // Unscale the force by the angular factor so it overwhelmes the Bullet additions. Prim.ForceRotationalVelocity = applyAngularForce; - VDetailLog("{0},MoveAngular,done,newRotVel={1},lastAngular={2}", - Prim.LocalID, applyAngularForce, m_lastAngularVelocity); + VDetailLog("{0},MoveAngular,done,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}", + Prim.LocalID, + angularMotorContribution, verticalAttractionContribution, + bankingContribution, deflectionContribution, + applyAngularForce, m_lastAngularVelocity + ); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index caa6c46..c62c79a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1380,54 +1380,16 @@ public sealed class BSPrim : BSPhysObject public override void UpdateProperties(EntityProperties entprop) { - /* - UpdatedProperties changed = 0; - // assign to the local variables so the normal set action does not happen - // if (_position != entprop.Position) - if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE)) - { - _position = entprop.Position; - changed |= UpdatedProperties.Position; - } - // if (_orientation != entprop.Rotation) - if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE)) - { - _orientation = entprop.Rotation; - changed |= UpdatedProperties.Rotation; - } - // if (_velocity != entprop.Velocity) - if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE)) - { - _velocity = entprop.Velocity; - changed |= UpdatedProperties.Velocity; - } - // if (_acceleration != entprop.Acceleration) - if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE)) - { - _acceleration = entprop.Acceleration; - changed |= UpdatedProperties.Acceleration; - } - // if (_rotationalVelocity != entprop.RotationalVelocity) - if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE)) - { - _rotationalVelocity = entprop.RotationalVelocity; - changed |= UpdatedProperties.RotationalVel; - } - if (changed != 0) + // Updates only for individual prims and for the root object of a linkset. + if (Linkset.IsRoot(this)) { - // Only update the position of single objects and linkset roots - if (Linkset.IsRoot(this)) + // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet + // TODO: handle physics introduced by Bullet with computed vehicle physics. + if (_vehicle.IsActive) { - base.RequestPhysicsterseUpdate(); + entprop.RotationalVelocity = OMV.Vector3.Zero; } - } - */ - - // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. - // Updates only for individual prims and for the root object of a linkset. - if (Linkset.IsRoot(this)) - { // Assign directly to the local variables so the normal set action does not happen _position = entprop.Position; _orientation = entprop.Rotation; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 805e670..09b1423 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -515,9 +515,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters collidersCount = 0; } - // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in + // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in. - // Get a value for 'now' so all the collision and update routines don't have to get their own + // Get a value for 'now' so all the collision and update routines don't have to get their own. SimulationNowTime = Util.EnvironmentTickCount(); // If there were collisions, process them by sending the event to the prim. @@ -563,6 +563,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters ObjectsWithCollisions.Remove(po); ObjectsWithNoMoreCollisions.Clear(); } + // Done with collisions. // If any of the objects had updated properties, tell the object it has been changed by the physics engine if (updatedEntityCount > 0) @@ -586,9 +587,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. - // We multiply by 55 to give a recognizable running rate (55 or less). - return numSubSteps * m_fixedTimeStep * 1000 * 55; - // return timeStep * 1000 * 55; + // Multiply by 55 to give a nominal frame rate of 55. + return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f; } // Something has collided @@ -1172,7 +1172,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].avatarFriction; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ), new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", - 0.99f, + 10.0f, (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].avatarStandingFriction; }, (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 12baee9..1e003e6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -357,7 +357,7 @@ public enum CollisionFlags : uint CF_CHARACTER_OBJECT = 1 << 4, CF_DISABLE_VISUALIZE_OBJECT = 1 << 5, CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, - // Following used by BulletSim to control collisions + // Following used by BulletSim to control collisions and updates BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, BS_FLOATS_ON_WATER = 1 << 11, BS_NONE = 0, -- cgit v1.1 From 9e0db36c82da303a0d9c709b84b1c35879a39e86 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 27 Nov 2012 05:23:50 -0800 Subject: BulletSim: add 'infinite' timescale that does not reduce motor target or friction. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 37 +++++++++++++++++------- 1 file changed, 27 insertions(+), 10 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 480da2c..e91bfa8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -7,6 +7,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public abstract class BSMotor { + // Timescales and other things can be turned off by setting them to 'infinite'. + public const float Infinite = 10000f; + public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite); + public BSMotor(string useName) { UseName = useName; @@ -46,8 +50,9 @@ public class BSVMotor : BSMotor public BSVMotor(string useName) : base(useName) { - TimeScale = TargetValueDecayTimeScale = Efficiency = 1f; - FrictionTimescale = Vector3.Zero; + TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite; + Efficiency = 1f; + FrictionTimescale = BSMotor.InfiniteVector; CurrentValue = TargetValue = Vector3.Zero; } public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) @@ -78,23 +83,35 @@ public class BSVMotor : BSMotor // Addition = (desiredVector - currentAppliedVector) / secondsItShouldTakeToComplete Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep; CurrentValue += addAmount; + returnCurrent = CurrentValue; - // The desired value reduces to zero when also reduces the difference with current. - float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; - TargetValue *= (1f - decayFactor); + // The desired value reduces to zero which also reduces the difference with current. + // If the decay time is infinite, don't decay at all. + float decayFactor = 0f; + if (TargetValueDecayTimeScale != BSMotor.Infinite) + { + decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; + TargetValue *= (1f - decayFactor); + } Vector3 frictionFactor = Vector3.Zero; - frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; - CurrentValue *= (Vector3.One - frictionFactor); + if (FrictionTimescale != BSMotor.InfiniteVector) + { + // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; + frictionFactor.X = FrictionTimescale.X == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.X) * timeStep; + frictionFactor.Y = FrictionTimescale.Y == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Y) * timeStep; + frictionFactor.Z = FrictionTimescale.Z == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Z) * timeStep; + CurrentValue *= (Vector3.One - frictionFactor); + } - MDetailLog("{0},BSVMotor.Step,nonZero,{1},origTarget={2},origCurr={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}", - BSScene.DetailLogZero, UseName, origTarget, origCurrVal, + MDetailLog("{0},BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}", + BSScene.DetailLogZero, UseName, origCurrVal, origTarget, timeStep, TimeScale, addAmount, TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor); MDetailLog("{0},BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}", - BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, + BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, addAmount, decayFactor, frictionFactor, returnCurrent); } else -- cgit v1.1 From 59554758b155c7965dc414a16e8b35c115ad3f64 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 27 Nov 2012 05:24:29 -0800 Subject: BulletSim: implementation of vertical attraction motor. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 103 +++++++++++++-------- 1 file changed, 62 insertions(+), 41 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 6ff8a48..d94abf4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -125,6 +125,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. //Attractor properties + private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction"); private float m_verticalAttractionEfficiency = 1.0f; // damped private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. @@ -197,9 +198,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f)); + m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency; break; case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: m_verticalAttractionTimescale = Math.Max(pValue, 0.01f); + m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale; break; // These are vector properties but the engine lets you use a single float value to @@ -530,12 +533,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin Refresh(); m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, - m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f); + m_linearMotorDecayTimescale, m_linearFrictionTimescale, + 1f); m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) + m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, - m_angularMotorDecayTimescale, m_angularFrictionTimescale, 1f); + m_angularMotorDecayTimescale, m_angularFrictionTimescale, + 1f); m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) + m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale, + BSMotor.Infinite, BSMotor.InfiniteVector, + m_verticalAttractionEfficiency); + // Z goes away and we keep X and Y + m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f); + m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) + // m_bankingMotor = new BSVMotor("BankingMotor", ...); } @@ -829,46 +842,63 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); // ================================================================== + // NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement + if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) + { + angularMotorContribution.X = 0f; + angularMotorContribution.Y = 0f; + VDetailLog("{0},MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); + } + + // ================================================================== Vector3 verticalAttractionContribution = Vector3.Zero; // If vertical attaction timescale is reasonable and we applied an angular force last time... - if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero) + if (m_verticalAttractionTimescale < 500) { - float VAservo = pTimestep * 0.2f / m_verticalAttractionTimescale; - if (Prim.IsColliding) - VAservo = pTimestep * 0.05f / m_verticalAttractionTimescale; + Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation; + verticalError.Normalize(); + m_verticalAttractionMotor.SetCurrent(verticalError); + m_verticalAttractionMotor.SetTarget(Vector3.UnitZ); + verticalAttractionContribution = m_verticalAttractionMotor.Step(pTimestep); + /* + // Take a vector pointing up and convert it from world to vehicle relative coords. + Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation; + verticalError.Normalize(); - VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); + // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) + // is now leaning to one side (rotated around the X axis) and the Y value will + // go from zero (nearly straight up) to one (completely to the side) or leaning + // front-to-back (rotated around the Y axis) and the value of X will be between + // zero and one. + // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees. - // Create a vector of the vehicle "up" in world coordinates - Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation; - // verticalError.X and .Y are the World error amounts. They are 0 when there is no - // error (Vehicle Body is 'vertical'), and .Z will be 1. As the body leans to its - // side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall - // and .Z will go negative. Similar for tilt and |.Y|. .X and .Y must be - // modulated to prevent a stable inverted body. - - // Error is 0 (no error) to +/- 2 (max error) - verticalError.X = Math.Max(-2f, Math.Min(verticalError.X, 2f)); - verticalError.Y = Math.Max(-2f, Math.Min(verticalError.Y, 2f)); - - // scale it by VAservo (timestep and timescale) - verticalError = verticalError * VAservo; - - // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y - // then .X increases, so change Body angular velocity X based on Y, and Y based on X. - // Z is not changed. + // If verticalError.Z is negative, the vehicle is upside down. Add additional push. + if (verticalError.Z < 0f) + { + verticalError.X = 2f - verticalError.X; + verticalError.Y = 2f - verticalError.Y; + } + + // Y error means needed rotation around X axis and visa versa. verticalAttractionContribution.X = verticalError.Y; verticalAttractionContribution.Y = - verticalError.X; verticalAttractionContribution.Z = 0f; - // scaling appears better usingsquare-law - Vector3 angularVelocity = Prim.ForceRotationalVelocity; - float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); - verticalAttractionContribution.X += bounce * angularVelocity.X; - verticalAttractionContribution.Y += bounce * angularVelocity.Y; + // scale by the time scale and timestep + Vector3 unscaledContrib = verticalAttractionContribution; + verticalAttractionContribution /= m_verticalAttractionTimescale; + verticalAttractionContribution *= pTimestep; - VDetailLog("{0},MoveAngular,verticalAttraction,VAservo={1},effic={2},verticalError={3},bounce={4},vertattr={5}", - Prim.LocalID, VAservo, m_verticalAttractionEfficiency, verticalError, bounce, verticalAttractionContribution); + // apply efficiency + Vector3 preEfficiencyContrib = verticalAttractionContribution; + float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency; + verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); + + VDetailLog("{0},MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", + Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, + m_verticalAttractionEfficiency, efficencySquared, + verticalAttractionContribution); + */ } @@ -989,15 +1019,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // ================================================================== - // NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement - if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) - { - m_lastAngularVelocity.X = 0; - m_lastAngularVelocity.Y = 0; - VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); - } - - // ================================================================== if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. -- cgit v1.1 From 68fe7dff20fb38480a1c760f1347dafac43899c5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 27 Nov 2012 05:37:06 -0800 Subject: BulletSim: reorganize angular movement routine into separate subroutines enabling external calibration routines and unit testing. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 209 +++++++++++---------- 1 file changed, 114 insertions(+), 95 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index d94abf4..eb4d06a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -317,7 +317,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_VhoverEfficiency = 0; m_VhoverTimescale = 0; m_VehicleBuoyancy = 0; - + m_linearDeflectionEfficiency = 1; m_linearDeflectionTimescale = 1; @@ -366,8 +366,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingMix = 1; m_referenceFrame = Quaternion.Identity; - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY - | VehicleFlag.HOVER_TERRAIN_ONLY + m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY + | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); m_flags |= (VehicleFlag.NO_DEFLECTION_UP @@ -575,7 +575,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass); BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); - VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", + VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", Prim.LocalID, friction, localInertia, angularDamping); } } @@ -759,13 +759,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce // has a decay factor. This says this force should // be computed with a motor. - VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", + VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", Prim.LocalID, distanceAboveGround, limitMotorUpContribution); } // ================================================================== - Vector3 newVelocity = linearMotorContribution - + terrainHeightContribution + Vector3 newVelocity = linearMotorContribution + + terrainHeightContribution + hoverContribution + limitMotorUpContribution; @@ -801,7 +801,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}", - Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, + Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, newVelocity, Prim.Velocity, totalDownForce); } // end MoveLinear() @@ -850,8 +850,84 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0},MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); } + Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(pTimestep); + + Vector3 deflectionContribution = ComputeAngularDeflection(pTimestep); + + Vector3 bankingContribution = ComputeAngularBanking(pTimestep); + + // ================================================================== + m_lastVertAttractor = verticalAttractionContribution; + + // Sum velocities + m_lastAngularVelocity = angularMotorContribution + + verticalAttractionContribution + + bankingContribution + + deflectionContribution; + + // ================================================================== + //Offset section + if (m_linearMotorOffset != Vector3.Zero) + { + //Offset of linear velocity doesn't change the linear velocity, + // but causes a torque to be applied, for example... + // + // IIIII >>> IIIII + // IIIII >>> IIIII + // IIIII >>> IIIII + // ^ + // | Applying a force at the arrow will cause the object to move forward, but also rotate + // + // + // The torque created is the linear velocity crossed with the offset + + // TODO: this computation should be in the linear section + // because that is where we know the impulse being applied. + Vector3 torqueFromOffset = Vector3.Zero; + // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse); + if (float.IsNaN(torqueFromOffset.X)) + torqueFromOffset.X = 0; + if (float.IsNaN(torqueFromOffset.Y)) + torqueFromOffset.Y = 0; + if (float.IsNaN(torqueFromOffset.Z)) + torqueFromOffset.Z = 0; + torqueFromOffset *= m_vehicleMass; + Prim.ApplyTorqueImpulse(torqueFromOffset, true); + VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); + } + // ================================================================== - Vector3 verticalAttractionContribution = Vector3.Zero; + if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) + { + m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. + Prim.ZeroAngularMotion(true); + VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); + } + else + { + // Apply to the body. + // The above calculates the absolute angular velocity needed. Angular velocity is massless. + // Since we are stuffing the angular velocity directly into the object, the computed + // velocity needs to be scaled by the timestep. + // Also remove any motion that is on the object so added motion is only from vehicle. + Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) + - Prim.ForceRotationalVelocity); + // Unscale the force by the angular factor so it overwhelmes the Bullet additions. + Prim.ForceRotationalVelocity = applyAngularForce; + + VDetailLog("{0},MoveAngular,done,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}", + Prim.LocalID, + angularMotorContribution, verticalAttractionContribution, + bankingContribution, deflectionContribution, + applyAngularForce, m_lastAngularVelocity + ); + } + } + + public Vector3 ComputeAngularVerticalAttraction(float pTimestep) + { + Vector3 ret = Vector3.Zero; + // If vertical attaction timescale is reasonable and we applied an angular force last time... if (m_verticalAttractionTimescale < 500) { @@ -859,7 +935,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin verticalError.Normalize(); m_verticalAttractionMotor.SetCurrent(verticalError); m_verticalAttractionMotor.SetTarget(Vector3.UnitZ); - verticalAttractionContribution = m_verticalAttractionMotor.Step(pTimestep); + ret = m_verticalAttractionMotor.Step(pTimestep); /* // Take a vector pointing up and convert it from world to vehicle relative coords. Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation; @@ -895,15 +971,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); VDetailLog("{0},MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", - Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, + Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, m_verticalAttractionEfficiency, efficencySquared, verticalAttractionContribution); */ } + return ret; + } + + public Vector3 ComputeAngularDeflection(float pTimestep) + { + Vector3 ret = Vector3.Zero; - // ================================================================== - Vector3 deflectionContribution = Vector3.Zero; if (m_angularDeflectionEfficiency != 0) { // Compute a scaled vector that points in the preferred axis (X direction) @@ -914,24 +994,28 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); // Scale by efficiency and timescale - deflectionContribution = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; + ret = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; + + VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", Prim.LocalID, preferredAxisOfMotion, ret); - VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", - Prim.LocalID, preferredAxisOfMotion, deflectionContribution); // This deflection computation is not correct. - deflectionContribution = Vector3.Zero; + ret = Vector3.Zero; } + return ret; + } + + public Vector3 ComputeAngularBanking(float pTimestep) + { + Vector3 ret = Vector3.Zero; - // ================================================================== - Vector3 bankingContribution = Vector3.Zero; if (m_bankingEfficiency != 0) { Vector3 dir = Vector3.One * Prim.ForceOrientation; - float mult = (m_bankingMix*m_bankingMix)*-1*(m_bankingMix < 0 ? -1 : 1); - //Changes which way it banks in and out of turns + float mult = (m_bankingMix * m_bankingMix) * -1 * (m_bankingMix < 0 ? -1 : 1); + //Changes which way it banks in and out of turns //Use the square of the efficiency, as it looks much more how SL banking works - float effSquared = (m_bankingEfficiency*m_bankingEfficiency); + float effSquared = (m_bankingEfficiency * m_bankingEfficiency); if (m_bankingEfficiency < 0) effSquared *= -1; //Keep the negative! @@ -953,99 +1037,34 @@ namespace OpenSim.Region.Physics.BulletSPlugin } else { - bankingContribution.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4; + ret.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4; } //If they are colliding, we probably shouldn't shove the prim around... probably if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix) { - float angVelZ = m_angularMotorVelocity.X*-1; + float angVelZ = m_angularMotorVelocity.X * -1; /*if(angVelZ > mix) angVelZ = mix; else if(angVelZ < -mix) angVelZ = -mix;*/ //This controls how fast and how far the banking occurs - Vector3 bankingRot = new Vector3(angVelZ*(effSquared*mult), 0, 0); + Vector3 bankingRot = new Vector3(angVelZ * (effSquared * mult), 0, 0); if (bankingRot.X > 3) bankingRot.X = 3; else if (bankingRot.X < -3) bankingRot.X = -3; bankingRot *= Prim.ForceOrientation; - bankingContribution += bankingRot; + ret += bankingRot; } m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; - VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}", - Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, bankingContribution); - } - - // ================================================================== - m_lastVertAttractor = verticalAttractionContribution; - - // Sum velocities - m_lastAngularVelocity = angularMotorContribution - + verticalAttractionContribution - + bankingContribution - + deflectionContribution; - - // ================================================================== - //Offset section - if (m_linearMotorOffset != Vector3.Zero) - { - //Offset of linear velocity doesn't change the linear velocity, - // but causes a torque to be applied, for example... - // - // IIIII >>> IIIII - // IIIII >>> IIIII - // IIIII >>> IIIII - // ^ - // | Applying a force at the arrow will cause the object to move forward, but also rotate - // - // - // The torque created is the linear velocity crossed with the offset - - // TODO: this computation should be in the linear section - // because that is where we know the impulse being applied. - Vector3 torqueFromOffset = Vector3.Zero; - // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse); - if (float.IsNaN(torqueFromOffset.X)) - torqueFromOffset.X = 0; - if (float.IsNaN(torqueFromOffset.Y)) - torqueFromOffset.Y = 0; - if (float.IsNaN(torqueFromOffset.Z)) - torqueFromOffset.Z = 0; - torqueFromOffset *= m_vehicleMass; - Prim.ApplyTorqueImpulse(torqueFromOffset, true); - VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); - } - - // ================================================================== - if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) - { - m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. - Prim.ZeroAngularMotion(true); - VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); - } - else - { - // Apply to the body. - // The above calculates the absolute angular velocity needed. Angular velocity is massless. - // Since we are stuffing the angular velocity directly into the object, the computed - // velocity needs to be scaled by the timestep. - // Also remove any motion that is on the object so added motion is only from vehicle. - Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - - Prim.ForceRotationalVelocity); - // Unscale the force by the angular factor so it overwhelmes the Bullet additions. - Prim.ForceRotationalVelocity = applyAngularForce; - - VDetailLog("{0},MoveAngular,done,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}", - Prim.LocalID, - angularMotorContribution, verticalAttractionContribution, - bankingContribution, deflectionContribution, - applyAngularForce, m_lastAngularVelocity - ); + VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}", + Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, ret); } + return ret; } + // This is from previous instantiations of XXXDynamics.cs. // Applies roll reference frame. // TODO: is this the right way to separate the code to do this operation? -- cgit v1.1 From a5100cafee7e1e79f911c1e33fb1742075ca7283 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 27 Nov 2012 10:01:25 -0800 Subject: BulletSim: fix terrain mesh generation for problem with regions that have unequal edge heights. Thanks UBit. --- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 22 ++++++++++++++++------ 1 file changed, 16 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index d7afdeb..5f6675d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -88,9 +88,11 @@ public sealed class BSTerrainMesh : BSTerrainPhys // Something is very messed up and a crash is in our future. return; } + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", + ID, indicesCount, indices.Length, verticesCount, vertices.Length); m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, - indicesCount, indices, verticesCount, vertices), + indicesCount, indices, verticesCount, vertices), BSPhysicsShapeType.SHAPE_MESH); if (m_terrainShape.ptr == IntPtr.Zero) { @@ -122,10 +124,10 @@ public sealed class BSTerrainMesh : BSTerrainPhys // Static objects are not very massive. BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); - // Return the new terrain to the world of physical objects + // Put the new terrain to the world of physical objects BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); - // redo its bounding box now that it is in the world + // Redo its bounding box now that it is in the world BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr, @@ -188,6 +190,11 @@ public sealed class BSTerrainMesh : BSTerrainPhys // Simple mesh creation which assumes magnification == 1. // TODO: do a more general solution that scales, adds new vertices and smoothes the result. + // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop + // from zero to <= sizeX). The triangle indices are then generated as two triangles + // per heightmap point. There are sizeX by sizeY of these squares. The extra row and + // column of vertices are used to complete the triangles of the last row and column + // of the heightmap. try { // One vertice per heightmap value plus the vertices off the top and bottom edge. @@ -200,16 +207,18 @@ public sealed class BSTerrainMesh : BSTerrainPhys float magY = (float)sizeY / extentY; physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}", BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY); + float minHeight = float.MaxValue; // Note that sizeX+1 vertices are created since there is land between this and the next region. for (int yy = 0; yy <= sizeY; yy++) { - for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we got through sizeX + 1 times + for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we go around sizeX + 1 times { int offset = yy * sizeX + xx; - // Extend the height from the height from the last row or column + // Extend the height with the height from the last row or column if (yy == sizeY) offset -= sizeX; if (xx == sizeX) offset -= 1; float height = heightMap[offset]; + minHeight = Math.Min(minHeight, height); vertices[verticesCount + 0] = (float)xx * magX + extentBase.X; vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y; vertices[verticesCount + 2] = height + extentBase.Z; @@ -222,7 +231,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys { for (int xx = 0; xx < sizeX; xx++) { - int offset = yy * sizeX + xx; + int offset = yy * (sizeX + 1) + xx; // Each vertices is presumed to be the upper left corner of a box of two triangles indices[indicesCount + 0] = offset; indices[indicesCount + 1] = offset + 1; @@ -233,6 +242,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys indicesCount += 6; } } + ret = true; } catch (Exception e) -- cgit v1.1 From 8e459a03467ffa45145f90ea764854deaf2615ed Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 27 Nov 2012 10:02:29 -0800 Subject: BulletSim: reorganize linear movement routine into separate subroutines enabling external calibration routines and unit tests. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 137 ++++++++++++--------- 1 file changed, 79 insertions(+), 58 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index eb4d06a..74eb9ab 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -630,13 +630,64 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); - // Current vehicle position Vector3 pos = Prim.ForcePosition; + float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); + + Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep, ref pos, terrainHeight); + + Vector3 hoverContribution = ComputeLinearHover(pTimestep, ref pos, terrainHeight); + + ComputeLinearBlockingEndPoint(pTimestep, ref pos); + + Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep, pos, terrainHeight); + + // ================================================================== + Vector3 newVelocity = linearMotorContribution + + terrainHeightContribution + + hoverContribution + + limitMotorUpContribution; + + // If not changing some axis, reduce out velocity + if ((m_flags & (VehicleFlag.NO_X)) != 0) + newVelocity.X = 0; + if ((m_flags & (VehicleFlag.NO_Y)) != 0) + newVelocity.Y = 0; + if ((m_flags & (VehicleFlag.NO_Z)) != 0) + newVelocity.Z = 0; + + // ================================================================== + // Clamp REALLY high or low velocities + float newVelocityLengthSq = newVelocity.LengthSquared(); + if (newVelocityLengthSq > 1e6f) + { + newVelocity /= newVelocity.Length(); + newVelocity *= 1000f; + } + else if (newVelocityLengthSq < 1e-6f) + newVelocity = Vector3.Zero; // ================================================================== - Vector3 terrainHeightContribution = Vector3.Zero; + // Stuff new linear velocity into the vehicle + Prim.ForceVelocity = newVelocity; + // Prim.ApplyForceImpulse((m_newVelocity - Prim.Velocity) * m_vehicleMass, false); // DEBUG DEBUG + + // Other linear forces are applied as forces. + Vector3 totalDownForce = grav * m_vehicleMass; + if (totalDownForce != Vector3.Zero) + { + Prim.AddForce(totalDownForce, false); + } + + VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}", + Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, + newVelocity, Prim.Velocity, totalDownForce); + + } // end MoveLinear() + + public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep, ref Vector3 pos, float terrainHeight) + { + Vector3 ret = Vector3.Zero; // If below the terrain, move us above the ground a little. - float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. // TODO: Add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation; @@ -648,10 +699,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin Prim.ForcePosition = pos; VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos); } + return ret; + } + + public Vector3 ComputeLinearHover(float pTimestep, ref Vector3 pos, float terrainHeight) + { + Vector3 ret = Vector3.Zero; - // ================================================================== - Vector3 hoverContribution = Vector3.Zero; - // Check if hovering // m_VhoverEfficiency: 0=bouncy, 1=totally damped // m_VhoverTimescale: time to achieve height if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) @@ -692,24 +746,29 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Replace Vertical speed with correction figure if significant if (verticalError > 0.01f) { - hoverContribution = new Vector3(0f, 0f, verticalCorrectionVelocity); + ret = new Vector3(0f, 0f, verticalCorrectionVelocity); //KF: m_VhoverEfficiency is not yet implemented } else if (verticalError < -0.01) { - hoverContribution = new Vector3(0f, 0f, -verticalCorrectionVelocity); + ret = new Vector3(0f, 0f, -verticalCorrectionVelocity); } } VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", - Prim.LocalID, pos, hoverContribution, m_VhoverHeight, m_VhoverTargetHeight); + Prim.LocalID, pos, ret, m_VhoverHeight, m_VhoverTargetHeight); } - // ================================================================== + return ret; + } + + public bool ComputeLinearBlockingEndPoint(float pTimestep, ref Vector3 pos) + { + bool changed = false; + Vector3 posChange = pos - m_lastPositionVector; if (m_BlockingEndPoint != Vector3.Zero) { - bool changed = false; if (pos.X >= (m_BlockingEndPoint.X - (float)1)) { pos.X -= posChange.X + 1; @@ -742,9 +801,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin Prim.LocalID, m_BlockingEndPoint, posChange, pos); } } + return changed; + } - // ================================================================== - Vector3 limitMotorUpContribution = Vector3.Zero; + public Vector3 ComputeLinearMotorUp(float pTimestep, Vector3 pos, float terrainHeight) + { + Vector3 ret = Vector3.Zero; if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { // If the vehicle is motoring into the sky, get it going back down. @@ -753,58 +815,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep); // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); - limitMotorUpContribution = new Vector3(0, 0, -distanceAboveGround); + ret = new Vector3(0, 0, -distanceAboveGround); } // TODO: this calculation is all wrong. From the description at // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce // has a decay factor. This says this force should // be computed with a motor. VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", - Prim.LocalID, distanceAboveGround, limitMotorUpContribution); + Prim.LocalID, distanceAboveGround, ret); } - - // ================================================================== - Vector3 newVelocity = linearMotorContribution - + terrainHeightContribution - + hoverContribution - + limitMotorUpContribution; - - // If not changing some axis, reduce out velocity - if ((m_flags & (VehicleFlag.NO_X)) != 0) - newVelocity.X = 0; - if ((m_flags & (VehicleFlag.NO_Y)) != 0) - newVelocity.Y = 0; - if ((m_flags & (VehicleFlag.NO_Z)) != 0) - newVelocity.Z = 0; - - // ================================================================== - // Clamp REALLY high or low velocities - float newVelocityLengthSq = newVelocity.LengthSquared(); - if (newVelocityLengthSq > 1e6f) - { - newVelocity /= newVelocity.Length(); - newVelocity *= 1000f; - } - else if (newVelocityLengthSq < 1e-6f) - newVelocity = Vector3.Zero; - - // ================================================================== - // Stuff new linear velocity into the vehicle - Prim.ForceVelocity = newVelocity; - // Prim.ApplyForceImpulse((m_newVelocity - Prim.Velocity) * m_vehicleMass, false); // DEBUG DEBUG - - // Other linear forces are applied as forces. - Vector3 totalDownForce = grav * m_vehicleMass; - if (totalDownForce != Vector3.Zero) - { - Prim.AddForce(totalDownForce, false); - } - - VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}", - Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, - newVelocity, Prim.Velocity, totalDownForce); - - } // end MoveLinear() + return ret; + } // ======================================================================= // ======================================================================= -- cgit v1.1 From 0a66317fa6414dff9a7a4ab5bae10802e1e6693f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 28 Nov 2012 08:05:01 -0800 Subject: BulletSim: move GetWaterLevelAtXYZ from BSScene to BSPhysTerrain. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 10 ++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 7 +++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 17 +++++------ .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 8 +++++- .../Physics/BulletSPlugin/BSTerrainManager.cs | 33 ++++++++++++++++++++-- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 8 +++++- 7 files changed, 63 insertions(+), 22 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 4c195e1..1dfc420 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -307,7 +307,7 @@ public sealed class BSCharacter : BSPhysObject } if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); if (Position.Z < waterHeight) { _position.Z = waterHeight; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 74eb9ab..b6e3594 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -713,7 +713,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // We should hover, get the target height if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) { - m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; + m_VhoverTargetHeight = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { @@ -730,6 +730,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z; } + if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) { if (Math.Abs(pos.Z - m_VhoverTargetHeight) > 0.2f) @@ -883,8 +884,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Sum velocities m_lastAngularVelocity = angularMotorContribution + verticalAttractionContribution - + bankingContribution - + deflectionContribution; + + deflectionContribution + + bankingContribution; // ================================================================== //Offset section @@ -921,8 +922,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. - Prim.ZeroAngularMotion(true); + // TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle. VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); + Prim.ZeroAngularMotion(true); } else { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index c62c79a..3fb0300 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -253,8 +253,9 @@ public sealed class BSPrim : BSPhysObject // Zero some other properties in the physics engine PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() { - BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); + BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); }); } @@ -329,7 +330,7 @@ public sealed class BSPrim : BSPhysObject if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); // TODO: a floating motor so object will bob in the water if (Math.Abs(Position.Z - waterHeight) > 0.1f) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 09b1423..0c80611 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -127,7 +127,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public const uint GROUNDPLANE_ID = 1; public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here - private float m_waterLevel; + public float SimpleWaterLevel { get; set; } public BSTerrainManager TerrainManager { get; private set; } public ConfigurationParameters Params @@ -182,6 +182,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters private string m_physicsLoggingDir; private string m_physicsLoggingPrefix; private int m_physicsLoggingFileMinutes; + private bool m_physicsLoggingDoFlush; // 'true' of the vehicle code is to log lots of details public bool VehicleLoggingEnabled { get; private set; } @@ -290,6 +291,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", "."); m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-"); m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); + m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false); // Very detailed logging for vehicle debugging VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); @@ -494,7 +496,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters try { - if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG + // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, @@ -503,7 +505,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); - if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG + // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG } catch (Exception e) { @@ -634,12 +636,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public override void SetWaterLevel(float baseheight) { - m_waterLevel = baseheight; - } - // Someday.... - public float GetWaterLevelAtXYZ(Vector3 loc) - { - return m_waterLevel; + SimpleWaterLevel = baseheight; } public override void DeleteTerrain() @@ -1493,7 +1490,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { PhysicsLogging.Write(msg, args); // Add the Flush() if debugging crashes. Gets all the messages written out. - // PhysicsLogging.Flush(); + if (m_physicsLoggingDoFlush) PhysicsLogging.Flush(); } // Used to fill in the LocalID when there isn't one. It's the correct number of characters. public const string DetailLogZero = "0000000000"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 1450f66..0cb151e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -148,7 +148,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys } // The passed position is relative to the base of the region. - public override float GetHeightAtXYZ(Vector3 pos) + public override float GetTerrainHeightAtXYZ(Vector3 pos) { float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; @@ -166,5 +166,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys } return ret; } + + // The passed position is relative to the base of the region. + public override float GetWaterLevelAtXYZ(Vector3 pos) + { + return PhysicsScene.SimpleWaterLevel; + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index cd623f1..17d9536 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -62,7 +62,8 @@ public abstract class BSTerrainPhys : IDisposable ID = id; } public abstract void Dispose(); - public abstract float GetHeightAtXYZ(Vector3 pos); + public abstract float GetTerrainHeightAtXYZ(Vector3 pos); + public abstract float GetWaterLevelAtXYZ(Vector3 pos); } // ========================================================================================== @@ -75,6 +76,7 @@ public sealed class BSTerrainManager public const float HEIGHT_INITIALIZATION = 24.987f; public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f; public const float HEIGHT_GETHEIGHT_RET = 24.765f; + public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f; // If the min and max height are equal, we reduce the min by this // amount to make sure that a bounding box is built for the terrain. @@ -358,7 +360,7 @@ public sealed class BSTerrainManager BSTerrainPhys physTerrain; if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain)) { - ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ); + ret = physTerrain.GetTerrainHeightAtXYZ(loc - terrainBaseXYZ); } else { @@ -370,6 +372,33 @@ public sealed class BSTerrainManager return ret; } + public float GetWaterLevelAtXYZ(Vector3 pos) + { + float ret = WATER_HEIGHT_GETHEIGHT_RET; + + float tX = pos.X; + float tY = pos.Y; + + Vector3 terrainBaseXYZ = Vector3.Zero; + terrainBaseXYZ.X = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; + terrainBaseXYZ.Y = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; + + lock (m_terrains) + { + BSTerrainPhys physTerrain; + if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain)) + { + ret = physTerrain.GetWaterLevelAtXYZ(pos); + } + else + { + PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: region={1}, x={2}, y={3}", + LogHeader, PhysicsScene.RegionName, tX, tY); + } + } + return ret; + } + // Although no one seems to check this, I do support combining. public bool SupportsCombining() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 5f6675d..7e93ab4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -148,7 +148,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys } } - public override float GetHeightAtXYZ(Vector3 pos) + public override float GetTerrainHeightAtXYZ(Vector3 pos) { // For the moment use the saved heightmap to get the terrain height. // TODO: raycast downward to find the true terrain below the position. @@ -169,6 +169,12 @@ public sealed class BSTerrainMesh : BSTerrainPhys return ret; } + // The passed position is relative to the base of the region. + public override float GetWaterLevelAtXYZ(Vector3 pos) + { + return PhysicsScene.SimpleWaterLevel; + } + // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). // Return 'true' if successfully created. public static bool ConvertHeightmapToMesh( -- cgit v1.1 From 2ccd4c130234ff16a6c31845958476c759f72245 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 28 Nov 2012 09:46:05 -0800 Subject: BulletSim: fix boats floating low by removing LIMIT_MOTOR_UP flag from TYPE_BOAT definition. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index b6e3594..3a73fba 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -445,9 +445,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.LIMIT_ROLL_ONLY + | VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY); m_flags |= (VehicleFlag.NO_DEFLECTION_UP - | VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_WATER_ONLY); break; case Vehicle.TYPE_AIRPLANE: @@ -805,6 +805,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin return changed; } + // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : + // Prevent ground vehicles from motoring into the sky.This flag has a subtle effect when + // used with conjunction with banking: the strength of the banking will decay when the + // vehicle no longer experiences collisions. The decay timescale is the same as + // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering + // when they are in mid jump. + // TODO: this code is wrong. Also, what should it do for boats? public Vector3 ComputeLinearMotorUp(float pTimestep, Vector3 pos, float terrainHeight) { Vector3 ret = Vector3.Zero; @@ -818,10 +825,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); ret = new Vector3(0, 0, -distanceAboveGround); } - // TODO: this calculation is all wrong. From the description at + // TODO: this calculation is wrong. From the description at // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce // has a decay factor. This says this force should // be computed with a motor. + // TODO: add interaction with banking. VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", Prim.LocalID, distanceAboveGround, ret); } @@ -864,7 +872,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); // ================================================================== - // NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement + // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : + // This flag prevents linear deflection parallel to world z-axis. This is useful + // for preventing ground vehicles with large linear deflection, like bumper cars, + // from climbing their linear deflection into the sky. + // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) { angularMotorContribution.X = 0f; -- cgit v1.1 From b8a7cbb9e916f0fe47e56a35a1bf3a6001ed02d0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 29 Nov 2012 08:03:30 -0800 Subject: BulletSim: reverse direction of hover correction. Removes problem with vehicles being orbited. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 3a73fba..a398b74 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -742,22 +742,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin else { float verticalError = pos.Z - m_VhoverTargetHeight; - // RA: where does the 50 come from? - float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale); - // Replace Vertical speed with correction figure if significant + float verticalCorrectionVelocity = pTimestep * (verticalError / m_VhoverTimescale); + + // TODO: implement m_VhoverEfficiency if (verticalError > 0.01f) { - ret = new Vector3(0f, 0f, verticalCorrectionVelocity); - //KF: m_VhoverEfficiency is not yet implemented + // If error is positive (we're above the target height), push down + ret = new Vector3(0f, 0f, -verticalCorrectionVelocity); } else if (verticalError < -0.01) { - ret = new Vector3(0f, 0f, -verticalCorrectionVelocity); + ret = new Vector3(0f, 0f, verticalCorrectionVelocity); } } - VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", - Prim.LocalID, pos, ret, m_VhoverHeight, m_VhoverTargetHeight); + VDetailLog("{0},MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}", + Prim.LocalID, pos, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight); } return ret; -- cgit v1.1 From 0cd99c74a70ddfd42c3e8325716f56bf35d4474c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 29 Nov 2012 09:24:53 -0800 Subject: BulletSim: add expanded call to IMesher/Meshmerizer which enables/disables mesh caching. Since BulletSim caches and tracks the unmanaged memory version of meshes, the Meshmerizer itself does not need to cache built meshes once BulletSim has made the physical proxy mesh. --- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 892c34b..b94dcf6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -620,8 +620,7 @@ public sealed class BSShapeCollection : IDisposable } else { - // Pass false for physicalness as this creates some sort of bounding box which we don't need - meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); + meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); if (meshData != null) { @@ -694,8 +693,8 @@ public sealed class BSShapeCollection : IDisposable else { // Build a new hull in the physical world - // Pass false for physicalness as this creates some sort of bounding box which we don't need - IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); + // Pass true for physicalness as this creates some sort of bounding box which we don't need + IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); if (meshData != null) { -- cgit v1.1 From 0bda35e18fdba53998d752b7ce7ef5b0580a642e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 29 Nov 2012 09:53:59 -0800 Subject: BulletSim: add copyright header where it is missing. Remove some unnecessary 'using' requirements so testing framework is less complicated. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 -- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 32 +++++++++++++++++++++- 2 files changed, 31 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index a398b74..fcee1de 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -45,9 +45,7 @@ using System; using System.Collections.Generic; using System.Reflection; using System.Runtime.InteropServices; -using log4net; using OpenMetaverse; -using OpenSim.Framework; using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.BulletSPlugin diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index e91bfa8..eca1452 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -1,3 +1,30 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ using System; using System.Collections.Generic; using System.Text; @@ -8,7 +35,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public abstract class BSMotor { // Timescales and other things can be turned off by setting them to 'infinite'. - public const float Infinite = 10000f; + public const float Infinite = 12345f; public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite); public BSMotor(string useName) @@ -19,7 +46,9 @@ public abstract class BSMotor public virtual void Reset() { } public virtual void Zero() { } + // A name passed at motor creation for easily identifyable debugging messages. public string UseName { get; private set; } + // Used only for outputting debug information. Might not be set so check for null. public BSScene PhysicsScene { get; set; } protected void MDetailLog(string msg, params Object[] parms) @@ -99,6 +128,7 @@ public class BSVMotor : BSMotor if (FrictionTimescale != BSMotor.InfiniteVector) { // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; + // Individual friction components can be 'infinite' so compute each separately. frictionFactor.X = FrictionTimescale.X == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.X) * timeStep; frictionFactor.Y = FrictionTimescale.Y == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Y) * timeStep; frictionFactor.Z = FrictionTimescale.Z == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Z) * timeStep; -- cgit v1.1 From ec63e4ff29f9983b65d76232018156605762ccc0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 29 Nov 2012 22:21:45 -0800 Subject: BulletSim: remove time scaling of computed vehicle absolute velocity since Bullet will scale the movement by the time slice. Restore LIMIT_MOTOR_UP to definitition of BOAT simce some vehicle engines use it even for land vehicles. Push vehicle parameter updates through the regular property update to solve vehicles floating off when they should be stopped. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 98 ++++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 8 ++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 15 +--- 3 files changed, 73 insertions(+), 48 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index fcee1de..fcc1224 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -127,6 +127,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_verticalAttractionEfficiency = 1.0f; // damped private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. + // Local + private float m_knownTerrainHeight; + private float m_knownWaterLevel; + public BSDynamics(BSScene myScene, BSPrim myPrim) { PhysicsScene = myScene; @@ -443,9 +447,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.LIMIT_ROLL_ONLY - | VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_UP_ONLY); m_flags |= (VehicleFlag.NO_DEFLECTION_UP + | VehicleFlag.LIMIT_MOTOR_UP | VehicleFlag.HOVER_WATER_ONLY); break; case Vehicle.TYPE_AIRPLANE: @@ -596,11 +600,32 @@ namespace OpenSim.Region.Physics.BulletSPlugin Refresh(); } + // Since the computation of terrain height can be a little involved, this routine + // is used ot fetch the height only once for each vehicle simulation step. + private float GetTerrainHeight(Vector3 pos) + { + if (m_knownTerrainHeight == float.MinValue) + m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); + return m_knownTerrainHeight; + } + + // Since the computation of water level can be a little involved, this routine + // is used ot fetch the level only once for each vehicle simulation step. + private float GetWaterLevel(Vector3 pos) + { + if (m_knownWaterLevel == float.MinValue) + m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); + return m_knownWaterLevel; + } + // One step of the vehicle properties for the next 'pTimestep' seconds. internal void Step(float pTimestep) { if (!IsActive) return; + // zap values so they will be fetched when needed + m_knownTerrainHeight = m_knownWaterLevel = float.MinValue; + MoveLinear(pTimestep); MoveAngular(pTimestep); @@ -609,6 +634,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // remember the position so next step we can limit absolute movement effects m_lastPositionVector = Prim.ForcePosition; + // Force the physics engine to decide whether values have updated. + // TODO: this is only necessary if pos, velocity, ... were updated. Is it quicker + // to check for changes here or just push the update? + BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); + VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity); } @@ -629,15 +659,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); Vector3 pos = Prim.ForcePosition; - float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); - Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep, ref pos, terrainHeight); + Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(ref pos); - Vector3 hoverContribution = ComputeLinearHover(pTimestep, ref pos, terrainHeight); + Vector3 hoverContribution = ComputeLinearHover(ref pos); - ComputeLinearBlockingEndPoint(pTimestep, ref pos); + ComputeLinearBlockingEndPoint(ref pos); - Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep, pos, terrainHeight); + Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pos); // ================================================================== Vector3 newVelocity = linearMotorContribution @@ -665,42 +694,40 @@ namespace OpenSim.Region.Physics.BulletSPlugin newVelocity = Vector3.Zero; // ================================================================== - // Stuff new linear velocity into the vehicle + // Stuff new linear velocity into the vehicle. + // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us. Prim.ForceVelocity = newVelocity; - // Prim.ApplyForceImpulse((m_newVelocity - Prim.Velocity) * m_vehicleMass, false); // DEBUG DEBUG // Other linear forces are applied as forces. - Vector3 totalDownForce = grav * m_vehicleMass; + Vector3 totalDownForce = grav * m_vehicleMass * pTimestep; if (totalDownForce != Vector3.Zero) { Prim.AddForce(totalDownForce, false); } - VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}", - Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, - newVelocity, Prim.Velocity, totalDownForce); + VDetailLog("{0},MoveLinear,done,newVel={1},totDown={2},linContrib={3},terrContrib={4},hoverContrib={5},limitContrib={6}", + Prim.LocalID, newVelocity, totalDownForce, + linearMotorContribution, terrainHeightContribution, hoverContribution, limitMotorUpContribution + ); } // end MoveLinear() - public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep, ref Vector3 pos, float terrainHeight) + public Vector3 ComputeLinearTerrainHeightCorrection(ref Vector3 pos) { Vector3 ret = Vector3.Zero; // If below the terrain, move us above the ground a little. - // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. - // TODO: Add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. - // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation; - // if (rotatedSize.Z < terrainHeight) - if (pos.Z < terrainHeight) + // TODO: Consider taking the rotated size of the object or possibly casting a ray. + if (pos.Z < GetTerrainHeight(pos)) { // TODO: correct position by applying force rather than forcing position. - pos.Z = terrainHeight + 2; + pos.Z = GetTerrainHeight(pos) + 2; Prim.ForcePosition = pos; - VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos); + VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, GetTerrainHeight(pos), pos); } return ret; } - public Vector3 ComputeLinearHover(float pTimestep, ref Vector3 pos, float terrainHeight) + public Vector3 ComputeLinearHover(ref Vector3 pos) { Vector3 ret = Vector3.Zero; @@ -711,11 +738,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // We should hover, get the target height if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) { - m_VhoverTargetHeight = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; + m_VhoverTargetHeight = GetWaterLevel(pos) + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { - m_VhoverTargetHeight = terrainHeight + m_VhoverHeight; + m_VhoverTargetHeight = GetTerrainHeight(pos) + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) { @@ -739,16 +766,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin } else { - float verticalError = pos.Z - m_VhoverTargetHeight; - float verticalCorrectionVelocity = pTimestep * (verticalError / m_VhoverTimescale); + // Error is positive if below the target and negative if above. + float verticalError = m_VhoverTargetHeight - pos.Z; + float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; - // TODO: implement m_VhoverEfficiency - if (verticalError > 0.01f) - { - // If error is positive (we're above the target height), push down - ret = new Vector3(0f, 0f, -verticalCorrectionVelocity); - } - else if (verticalError < -0.01) + // TODO: implement m_VhoverEfficiency correctly + if (Math.Abs(verticalError) > m_VhoverEfficiency) { ret = new Vector3(0f, 0f, verticalCorrectionVelocity); } @@ -761,7 +784,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin return ret; } - public bool ComputeLinearBlockingEndPoint(float pTimestep, ref Vector3 pos) + public bool ComputeLinearBlockingEndPoint(ref Vector3 pos) { bool changed = false; @@ -810,13 +833,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering // when they are in mid jump. // TODO: this code is wrong. Also, what should it do for boats? - public Vector3 ComputeLinearMotorUp(float pTimestep, Vector3 pos, float terrainHeight) + public Vector3 ComputeLinearMotorUp(Vector3 pos) { Vector3 ret = Vector3.Zero; if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { // If the vehicle is motoring into the sky, get it going back down. - float distanceAboveGround = pos.Z - terrainHeight; + // float distanceAboveGround = pos.Z - Math.Max(GetTerrainHeight(pos), GetWaterLevel(pos)); + float distanceAboveGround = pos.Z - GetTerrainHeight(pos); if (distanceAboveGround > 1f) { // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep); @@ -933,7 +957,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. // TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle. - VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); + VDetailLog("{0},MoveAngular,done,zero,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); Prim.ZeroAngularMotion(true); } else @@ -948,7 +972,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Unscale the force by the angular factor so it overwhelmes the Bullet additions. Prim.ForceRotationalVelocity = applyAngularForce; - VDetailLog("{0},MoveAngular,done,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}", + VDetailLog("{0},MoveAngular,done,nonZero,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}", Prim.LocalID, angularMotorContribution, verticalAttractionContribution, bankingContribution, deflectionContribution, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index eca1452..b256887 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -101,6 +101,14 @@ public class BSVMotor : BSMotor { TargetValue = target; } + + // A form of stepping that does not take the time quantum into account. + // The caller must do the right thing later. + public Vector3 Step() + { + return Step(1f); + } + public Vector3 Step(float timeStep) { Vector3 returnCurrent = Vector3.Zero; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 3fb0300..54b4167 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -348,7 +348,9 @@ public sealed class BSPrim : BSPhysObject if (ret) { // Apply upforce and overcome gravity. - AddForce(upForce - PhysicsScene.DefaultGravity, false, inTaintTime); + OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity; + DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); + AddForce(correctionForce, false, inTaintTime); } return ret; } @@ -839,15 +841,6 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Vector3 RotationalVelocity { get { - /* - OMV.Vector3 pv = OMV.Vector3.Zero; - // if close to zero, report zero - // This is copied from ODE but I'm not sure why it returns zero but doesn't - // zero the property in the physics engine. - if (_rotationalVelocity.ApproxEquals(pv, 0.2f)) - return pv; - */ - return _rotationalVelocity; } set { @@ -1409,7 +1402,7 @@ public sealed class BSPrim : BSPhysObject LastEntityProperties = CurrentEntityProperties; CurrentEntityProperties = entprop; - OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; + OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); -- cgit v1.1 From b124aae05e6aeca02f692a7a5d96569b804612bd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 1 Dec 2012 15:39:13 -0800 Subject: BulletSim: Add DumpActivationInfo2 function. Change static objects from DISABLE_SIMULATION to ISLAND_SLEEPING. Update DLLs and SOs to add DumpActivationInfo2 function. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 12 ++++++------ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 ++ OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 7 +++++-- 4 files changed, 15 insertions(+), 10 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index fcc1224..15a40fe 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -623,7 +623,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (!IsActive) return; - // zap values so they will be fetched when needed + // Zap values so they will be fetched if needed m_knownTerrainHeight = m_knownWaterLevel = float.MinValue; MoveLinear(pTimestep); @@ -634,8 +634,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // remember the position so next step we can limit absolute movement effects m_lastPositionVector = Prim.ForcePosition; - // Force the physics engine to decide whether values have updated. - // TODO: this is only necessary if pos, velocity, ... were updated. Is it quicker + // Force the physics engine to decide whether values were updated. + // TODO: this is only necessary if pos, velocity, etc were updated. Is it quicker // to check for changes here or just push the update? BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); @@ -643,13 +643,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity); } - // Apply the effect of the linear motor. - // Also does hover and float. + // Apply the effect of the linear motor and other linear motions (like hover and float). private void MoveLinear(float pTimestep) { Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep); - // Rotate new object velocity from vehicle relative to world coordinates + // The movement computed in the linear motor is relative to the vehicle + // coordinates. Rotate the movement to world coordinates. linearMotorContribution *= Prim.ForceOrientation; // ================================================================== diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 54b4167..42a362f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -687,9 +687,9 @@ public sealed class BSPrim : BSPhysObject // There can be special things needed for implementing linksets Linkset.MakeStatic(this); // The activation state is 'disabled' so Bullet will not try to act on it. - BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); + // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); // Start it out sleeping and physical actions could wake it up. - // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); + BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING); PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 0c80611..5e70a23 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -971,6 +971,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Should handle fetching the right type from the ini file and converting it. // -- a delegate for getting the value as a float // -- a delegate for setting the value from a float + // -- an optional delegate to update the value in the world. Most often used to + // push the new value to an in-world object. // // The single letter parameters for the delegates are: // s = BSScene diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 1e003e6..21bc6a3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -1007,13 +1007,16 @@ public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpAllInfo2(IntPtr sim); +public static extern void DumpActivationInfo2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); +public static extern void DumpAllInfo2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpPhysicsStatistics2(IntPtr sim); -- cgit v1.1 From 20c3ec7d9277997d9510f5d08df6a0523faaa31e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 1 Dec 2012 18:03:32 -0800 Subject: BulletSim: localize vehicle property setting so the vehicle prim is only updated at the end of the vehicle simulation step and the push of the physics property update event only happens if the properties are actually changed. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 161 ++++++++++++++++----- 1 file changed, 128 insertions(+), 33 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 15a40fe..9749429 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -127,10 +127,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_verticalAttractionEfficiency = 1.0f; // damped private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. - // Local - private float m_knownTerrainHeight; - private float m_knownWaterLevel; - public BSDynamics(BSScene myScene, BSPrim myPrim) { PhysicsScene = myScene; @@ -560,9 +556,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (IsActive) { + // Remember the mass so we don't have to fetch it every step m_vehicleMass = Prim.Linkset.LinksetMass; - // Friction effects are handled by this vehicle code + // Friction affects are handled by this vehicle code float friction = 0f; BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction); @@ -600,31 +597,130 @@ namespace OpenSim.Region.Physics.BulletSPlugin Refresh(); } + #region Known vehicle value functions + private int m_knownChanged; + private float? m_knownTerrainHeight; + private float? m_knownWaterLevel; + + private Vector3? m_knownPosition; + private Vector3? m_knownVelocity; + private Quaternion? m_knownOrientation; + private Vector3? m_knownRotationalVelocity; + + private const int m_knownChangedPosition = 1 << 0; + private const int m_knownChangedVelocity = 1 << 1; + private const int m_knownChangedOrientation = 1 << 2; + private const int m_knownChangedRotationalVelocity = 1 << 3; + + private void ForgetKnownVehicleProperties() + { + m_knownTerrainHeight = null; + m_knownWaterLevel = null; + m_knownPosition = null; + m_knownVelocity = null; + m_knownOrientation = null; + m_knownRotationalVelocity = null; + m_knownChanged = 0; + } + private void PushKnownChanged() + { + if (m_knownChanged != 0) + { + if ((m_knownChanged & m_knownChangedPosition) != 0) Prim.ForcePosition = VehiclePosition; + if ((m_knownChanged & m_knownChangedOrientation) != 0) Prim.ForceOrientation = VehicleOrientation; + if ((m_knownChanged & m_knownChangedVelocity) != 0) Prim.ForceVelocity = VehicleVelocity; + if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) Prim.ForceRotationalVelocity = VehicleRotationalVelocity; + // If we set one of the values (ie, the physics engine doesn't do it) we must make sure there + // is an UpdateProperties event to send the changes up to the simulator. + BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); + } + } + // Since the computation of terrain height can be a little involved, this routine // is used ot fetch the height only once for each vehicle simulation step. private float GetTerrainHeight(Vector3 pos) { - if (m_knownTerrainHeight == float.MinValue) + if (m_knownTerrainHeight == null) m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); - return m_knownTerrainHeight; + return (float)m_knownTerrainHeight; } // Since the computation of water level can be a little involved, this routine // is used ot fetch the level only once for each vehicle simulation step. private float GetWaterLevel(Vector3 pos) { - if (m_knownWaterLevel == float.MinValue) + if (m_knownWaterLevel == null) m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); - return m_knownWaterLevel; + return (float)m_knownWaterLevel; + } + + private Vector3 VehiclePosition + { + get + { + if (m_knownPosition == null) + m_knownPosition = Prim.ForcePosition; + return (Vector3)m_knownPosition; + } + set + { + m_knownPosition = value; + m_knownChanged |= m_knownChangedPosition; + } + } + + private Quaternion VehicleOrientation + { + get + { + if (m_knownOrientation == null) + m_knownOrientation = Prim.ForceOrientation; + return (Quaternion)m_knownOrientation; + } + set + { + m_knownOrientation = value; + m_knownChanged |= m_knownChangedOrientation; + } + } + + private Vector3 VehicleVelocity + { + get + { + if (m_knownVelocity == null) + m_knownVelocity = Prim.ForceVelocity; + return (Vector3)m_knownVelocity; + } + set + { + m_knownVelocity = value; + m_knownChanged |= m_knownChangedVelocity; + } + } + + private Vector3 VehicleRotationalVelocity + { + get + { + if (m_knownRotationalVelocity == null) + m_knownRotationalVelocity = Prim.ForceRotationalVelocity; + return (Vector3)m_knownRotationalVelocity; + } + set + { + m_knownRotationalVelocity = value; + m_knownChanged |= m_knownChangedRotationalVelocity; + } } + #endregion // Known vehicle value functions // One step of the vehicle properties for the next 'pTimestep' seconds. internal void Step(float pTimestep) { if (!IsActive) return; - // Zap values so they will be fetched if needed - m_knownTerrainHeight = m_knownWaterLevel = float.MinValue; + ForgetKnownVehicleProperties(); MoveLinear(pTimestep); MoveAngular(pTimestep); @@ -632,15 +728,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin LimitRotation(pTimestep); // remember the position so next step we can limit absolute movement effects - m_lastPositionVector = Prim.ForcePosition; + m_lastPositionVector = VehiclePosition; - // Force the physics engine to decide whether values were updated. - // TODO: this is only necessary if pos, velocity, etc were updated. Is it quicker - // to check for changes here or just push the update? - BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); + // If we forced the changing of some vehicle parameters, update the values and + // for the physics engine to note the changes so an UpdateProperties event will happen. + PushKnownChanged(); VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", - Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity); + Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity); } // Apply the effect of the linear motor and other linear motions (like hover and float). @@ -650,7 +745,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // The movement computed in the linear motor is relative to the vehicle // coordinates. Rotate the movement to world coordinates. - linearMotorContribution *= Prim.ForceOrientation; + linearMotorContribution *= VehicleOrientation; // ================================================================== // Gravity and Buoyancy @@ -658,7 +753,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); - Vector3 pos = Prim.ForcePosition; + Vector3 pos = VehiclePosition; Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(ref pos); @@ -696,7 +791,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== // Stuff new linear velocity into the vehicle. // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us. - Prim.ForceVelocity = newVelocity; + VehicleVelocity = newVelocity; // Other linear forces are applied as forces. Vector3 totalDownForce = grav * m_vehicleMass * pTimestep; @@ -721,7 +816,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // TODO: correct position by applying force rather than forcing position. pos.Z = GetTerrainHeight(pos) + 2; - Prim.ForcePosition = pos; + VehiclePosition = pos; VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, GetTerrainHeight(pos), pos); } return ret; @@ -761,7 +856,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (Math.Abs(pos.Z - m_VhoverTargetHeight) > 0.2f) { pos.Z = m_VhoverTargetHeight; - Prim.ForcePosition = pos; + VehiclePosition = pos; } } else @@ -818,7 +913,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } if (changed) { - Prim.ForcePosition = pos; + VehiclePosition = pos; VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", Prim.LocalID, m_BlockingEndPoint, posChange, pos); } @@ -958,6 +1053,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. // TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle. VDetailLog("{0},MoveAngular,done,zero,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); + VehicleRotationalVelocity = Vector3.Zero; Prim.ZeroAngularMotion(true); } else @@ -967,10 +1063,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Since we are stuffing the angular velocity directly into the object, the computed // velocity needs to be scaled by the timestep. // Also remove any motion that is on the object so added motion is only from vehicle. - Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - - Prim.ForceRotationalVelocity); + Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - VehicleRotationalVelocity); // Unscale the force by the angular factor so it overwhelmes the Bullet additions. - Prim.ForceRotationalVelocity = applyAngularForce; + VehicleRotationalVelocity = applyAngularForce; VDetailLog("{0},MoveAngular,done,nonZero,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}", Prim.LocalID, @@ -988,14 +1083,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin // If vertical attaction timescale is reasonable and we applied an angular force last time... if (m_verticalAttractionTimescale < 500) { - Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation; + Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; verticalError.Normalize(); m_verticalAttractionMotor.SetCurrent(verticalError); m_verticalAttractionMotor.SetTarget(Vector3.UnitZ); ret = m_verticalAttractionMotor.Step(pTimestep); /* // Take a vector pointing up and convert it from world to vehicle relative coords. - Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation; + Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; verticalError.Normalize(); // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) @@ -1048,7 +1143,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0); // Adding the current vehicle orientation and reference frame displaces the orientation to the frame. // Rotate the scaled default axix relative to the actual vehicle direction giving where it should point. - Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); + Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(VehicleOrientation, m_referenceFrame); // Scale by efficiency and timescale ret = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; @@ -1067,7 +1162,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (m_bankingEfficiency != 0) { - Vector3 dir = Vector3.One * Prim.ForceOrientation; + Vector3 dir = Vector3.One * VehicleOrientation; float mult = (m_bankingMix * m_bankingMix) * -1 * (m_bankingMix < 0 ? -1 : 1); //Changes which way it banks in and out of turns @@ -1111,7 +1206,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin bankingRot.X = 3; else if (bankingRot.X < -3) bankingRot.X = -3; - bankingRot *= Prim.ForceOrientation; + bankingRot *= VehicleOrientation; ret += bankingRot; } m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; @@ -1128,7 +1223,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Should this be in MoveAngular()? internal void LimitRotation(float timestep) { - Quaternion rotq = Prim.ForceOrientation; + Quaternion rotq = VehicleOrientation; Quaternion m_rot = rotq; if (m_RollreferenceFrame != Quaternion.Identity) { @@ -1156,7 +1251,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } if (rotq != m_rot) { - Prim.ForceOrientation = m_rot; + VehicleOrientation = m_rot; VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); } -- cgit v1.1 From f9fed421fed75d2494fe55c6b153f59232e2c796 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 1 Dec 2012 18:06:39 -0800 Subject: BulletSim: format vehicle detail logging messages so vehicle changs are grouped better in the log output. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 28 +++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 6 ++--- 2 files changed, 17 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 9749429..cbad3bf 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -800,7 +800,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Prim.AddForce(totalDownForce, false); } - VDetailLog("{0},MoveLinear,done,newVel={1},totDown={2},linContrib={3},terrContrib={4},hoverContrib={5},limitContrib={6}", + VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},linContrib={3},terrContrib={4},hoverContrib={5},limitContrib={6}", Prim.LocalID, newVelocity, totalDownForce, linearMotorContribution, terrainHeightContribution, hoverContribution, limitMotorUpContribution ); @@ -817,7 +817,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // TODO: correct position by applying force rather than forcing position. pos.Z = GetTerrainHeight(pos) + 2; VehiclePosition = pos; - VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, GetTerrainHeight(pos), pos); + VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, GetTerrainHeight(pos), pos); } return ret; } @@ -872,7 +872,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } - VDetailLog("{0},MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}", + VDetailLog("{0}, MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}", Prim.LocalID, pos, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight); } @@ -914,7 +914,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (changed) { VehiclePosition = pos; - VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", + VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", Prim.LocalID, m_BlockingEndPoint, posChange, pos); } } @@ -947,7 +947,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // has a decay factor. This says this force should // be computed with a motor. // TODO: add interaction with banking. - VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", + VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},downForce={2}", Prim.LocalID, distanceAboveGround, ret); } return ret; @@ -977,7 +977,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // decay requested direction m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale)); - VDetailLog("{0},MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}", + VDetailLog("{0}, MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}", Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity); } else @@ -998,7 +998,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { angularMotorContribution.X = 0f; angularMotorContribution.Y = 0f; - VDetailLog("{0},MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); + VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); } Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(pTimestep); @@ -1044,7 +1044,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin torqueFromOffset.Z = 0; torqueFromOffset *= m_vehicleMass; Prim.ApplyTorqueImpulse(torqueFromOffset, true); - VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); + VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); } // ================================================================== @@ -1052,7 +1052,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. // TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle. - VDetailLog("{0},MoveAngular,done,zero,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); + VDetailLog("{0}, MoveAngular,done,zero,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); VehicleRotationalVelocity = Vector3.Zero; Prim.ZeroAngularMotion(true); } @@ -1067,7 +1067,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Unscale the force by the angular factor so it overwhelmes the Bullet additions. VehicleRotationalVelocity = applyAngularForce; - VDetailLog("{0},MoveAngular,done,nonZero,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}", + VDetailLog("{0}, MoveAngular,done,nonZero,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}", Prim.LocalID, angularMotorContribution, verticalAttractionContribution, bankingContribution, deflectionContribution, @@ -1122,7 +1122,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency; verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); - VDetailLog("{0},MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", + VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, m_verticalAttractionEfficiency, efficencySquared, verticalAttractionContribution); @@ -1148,7 +1148,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Scale by efficiency and timescale ret = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; - VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", Prim.LocalID, preferredAxisOfMotion, ret); + VDetailLog("{0}, MoveAngular,Deflection,perfAxis={1},deflection={2}", Prim.LocalID, preferredAxisOfMotion, ret); // This deflection computation is not correct. ret = Vector3.Zero; @@ -1210,7 +1210,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin ret += bankingRot; } m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; - VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}", + VDetailLog("{0}, MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}", Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, ret); } return ret; @@ -1252,7 +1252,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (rotq != m_rot) { VehicleOrientation = m_rot; - VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); + VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index b256887..e9f1549 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -143,12 +143,12 @@ public class BSVMotor : BSMotor CurrentValue *= (Vector3.One - frictionFactor); } - MDetailLog("{0},BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}", + MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, timeStep, TimeScale, addAmount, TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor); - MDetailLog("{0},BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}", + MDetailLog("{0}, BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}", BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, addAmount, decayFactor, frictionFactor, returnCurrent); } @@ -158,7 +158,7 @@ public class BSVMotor : BSMotor CurrentValue = Vector3.Zero; TargetValue = Vector3.Zero; - MDetailLog("{0},BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}", + MDetailLog("{0}, BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}", BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, returnCurrent); } -- cgit v1.1 From 10fcc70b36aa1b38cd92e9c4d9c441e4c0eeb5f6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 2 Dec 2012 20:07:05 -0800 Subject: BulletSim: revert angular vertical attraction from motor to code. The motor code did not return the restoring difference but the current value. Remove unused commented out code. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 66 +++++++--------------- 1 file changed, 19 insertions(+), 47 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index cbad3bf..4d067cf 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -125,7 +125,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin //Attractor properties private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction"); private float m_verticalAttractionEfficiency = 1.0f; // damped - private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. + private float m_verticalAttractionTimescale = 600f; // Timescale > 500 means no vert attractor. public BSDynamics(BSScene myScene, BSPrim myPrim) { @@ -573,6 +573,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Vector3 localInertia = new Vector3(1f, 1f, 1f); Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass); BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); + BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", Prim.LocalID, friction, localInertia, angularDamping); @@ -958,34 +959,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Apply the effect of the angular motor. private void MoveAngular(float pTimestep) { - // m_angularMotorDirection // angular velocity requested by LSL motor - // m_angularMotorVelocity // current angular motor velocity (ramps up and down) - // m_angularMotorTimescale // motor angular velocity ramp up time - // m_angularMotorDecayTimescale // motor angular velocity decay rate - // m_angularFrictionTimescale // body angular velocity decay rate - // m_lastAngularVelocity // what was last applied to body - - /* - if (m_angularMotorDirection.LengthSquared() > 0.0001) - { - Vector3 origVel = m_angularMotorVelocity; - Vector3 origDir = m_angularMotorDirection; - - // new velocity += error / ( time to get there / step interval) - // requested direction - current vehicle direction - m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep); - // decay requested direction - m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale)); - - VDetailLog("{0}, MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}", - Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity); - } - else - { - m_angularMotorVelocity = Vector3.Zero; - } - */ - Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); // ================================================================== @@ -1050,9 +1023,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { - m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. // TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle. - VDetailLog("{0}, MoveAngular,done,zero,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); + VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); VehicleRotationalVelocity = Vector3.Zero; Prim.ZeroAngularMotion(true); } @@ -1063,15 +1035,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Since we are stuffing the angular velocity directly into the object, the computed // velocity needs to be scaled by the timestep. // Also remove any motion that is on the object so added motion is only from vehicle. - Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - VehicleRotationalVelocity); - // Unscale the force by the angular factor so it overwhelmes the Bullet additions. - VehicleRotationalVelocity = applyAngularForce; + Vector3 setAngularVelocity = ((m_lastAngularVelocity * pTimestep) - VehicleRotationalVelocity); + VehicleRotationalVelocity = setAngularVelocity; - VDetailLog("{0}, MoveAngular,done,nonZero,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}", + VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},setAngVelocity={6}", Prim.LocalID, angularMotorContribution, verticalAttractionContribution, bankingContribution, deflectionContribution, - applyAngularForce, m_lastAngularVelocity + m_lastAngularVelocity, setAngularVelocity ); } } @@ -1083,12 +1054,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // If vertical attaction timescale is reasonable and we applied an angular force last time... if (m_verticalAttractionTimescale < 500) { + /* Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; verticalError.Normalize(); m_verticalAttractionMotor.SetCurrent(verticalError); m_verticalAttractionMotor.SetTarget(Vector3.UnitZ); ret = m_verticalAttractionMotor.Step(pTimestep); - /* + */ // Take a vector pointing up and convert it from world to vehicle relative coords. Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; verticalError.Normalize(); @@ -1108,25 +1080,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // Y error means needed rotation around X axis and visa versa. - verticalAttractionContribution.X = verticalError.Y; - verticalAttractionContribution.Y = - verticalError.X; - verticalAttractionContribution.Z = 0f; + ret.X = verticalError.Y; + ret.Y = - verticalError.X; + ret.Z = 0f; // scale by the time scale and timestep - Vector3 unscaledContrib = verticalAttractionContribution; - verticalAttractionContribution /= m_verticalAttractionTimescale; - verticalAttractionContribution *= pTimestep; + Vector3 unscaledContrib = ret; + ret /= m_verticalAttractionTimescale; + ret *= pTimestep; // apply efficiency - Vector3 preEfficiencyContrib = verticalAttractionContribution; + Vector3 preEfficiencyContrib = ret; + // Effenciency squared seems to give a more realistic effect float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency; - verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); + ret *= efficencySquared; VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, m_verticalAttractionEfficiency, efficencySquared, - verticalAttractionContribution); - */ + ret); } return ret; -- cgit v1.1 From dc0497c1b831b3bb8fe021d48520bbff7305ce2e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 2 Dec 2012 20:08:11 -0800 Subject: BulletSim: begin tracking a TODO list. There just are so many things to remember to do. --- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 112 +++++++++++++++++++++ 1 file changed, 112 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt new file mode 100755 index 0000000..cf112fb --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -0,0 +1,112 @@ +CRASHES +================================================= +20121129.1411: editting/moving phys object across region boundries causes crash + getPos-> btRigidBody::upcast -> getBodyType -> BOOM +20121128.1600: mesh object not rezzing (no physics mesh). + Causes many errors. Doesn't stop after first error with box shape. + Eventually crashes when deleting the object. + +BULLETSIM TODO LIST: +================================================= +Neb car jiggling left and right +Vehicles (Move smoothly) +Light cycle falling over when driving +Light cycle not banking +Do single prim vehicles don't seem to properly vehiclize. +Gun sending shooter flying +Collision margin (gap between physical objects lying on each other) +Boundry checking (crashes related to crossing boundry) + Add check for border edge position for avatars and objects. + Verify the events are created for border crossings. +Avatar rotation (check out changes to ScenePresence for physical rotation) +Avatar running (what does phys engine need to do?) +Small physical objects do not interact correctly + Create chain of .5x.5x.1 torui and make all but top physical so to hang. + The chain will fall apart and pairs will dance around on ground + Chains of 1x1x.2 will stay connected but will dance. + Chains above 2x2x.4 are move stable and get stablier as torui get larger. +Add material type linkage and input all the material property definitions. + Skeleton classes and table are in the sources but are not filled or used. + +After getting off a vehicle, the root prim is phantom (can be walked through) + Need to force a position update for the root prim after compound shape destruction +Find/remove avatar collision with ID=0. +Test avatar walking up stairs. How does compare with SL. + Radius of the capsule affects ability to climb edges. +Tune terrain/object friction to be closer to SL. +Debounce avatar contact so legs don't keep folding up when standing. +Implement LSL physics controls. Like STATUS_ROTATE_X. +Add border extensions to terrain to help region crossings and objects leaving region. +Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint) + +Speed up creation of large physical linksets + For instance, sitting in Neb's car (130 prims) takes several seconds to become physical +Performance test with lots of avatars. Can BulletSim support a thousand? +Optimize collisions in C++: only send up to the object subscribed to collisions. + Use collision subscription and remove the collsion(A,B) and collision(B,A) +Check wheter SimMotionState needs large if statement (see TODO). + +Implement 'top colliders' info. +Avatar jump +Implement meshes or just verify that they work. +Do prim hash codes work for sculpties and meshes? +Performance measurement and changes to make quicker. +Implement detailed physics stats (GetStats()). + +Eliminate collisions between objects in a linkset. (LinksetConstraint) + Have UserPointer point to struct with localID and linksetID? + Objects in original linkset still collide with each other? + +Measure performance improvement from hulls +Test not using ghost objects for volume detect implementation. +Performance of closures and delegates for taint processing + Are there faster ways? + Is any slowdown introduced by the existing implementation significant? +Is there are more efficient method of implementing pre and post step actions? + See http://www.codeproject.com/Articles/29922/Weak-Events-in-C + +Package Bullet source mods for Bullet internal stats output + +Physics Arena central pyramid: why is one side permiable? + +INTERNAL IMPROVEMENT/CLEANUP +================================================= +Remove unused fields from ShapeData (not used in API2) +Breakout code for mesh/hull/compound/native into separate BSShape* classes + Standardize access to building and reference code. + The skeleton classes are in the sources but are not complete or linked in. +Generalize Dynamics and PID with standardized motors. +Generalize Linkset and vehicles into PropertyManagers + Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies + Possibly generalized a 'per step action' registration. +Implement linkset by setting position of children when root updated. (LinksetManual) +LinkablePrim class? Would that simplify/centralize the linkset logic? +Linkset implementation using manual prim movement. +Linkset implementation using compound shapes. + Compound shapes will need the LocalID in the shapes and collision + processing to get it from there. +BSScene.UpdateParameterSet() is broken. How to set params on objects? +Remove HeightmapInfo from terrain specification. + Since C++ code does not need terrain height, this structure et al are not needed. +Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will + bob at the water level. BSPrim.PositionSanityCheck(). + +DONE DONE DONE DONE +================================================= +Cleanup code in BSDynamics by using motors. +Consider implementing terrain with a mesh rather than heightmap. + Would have better and adjustable resolution. +NOTDONE: Build terrain mesh so heighmap is height of the center of the square meter. + SL and ODE define meter square as being at one corner with one diagional. +Terrain as mesh. +How are static linksets seen by the physics engine? + A: they are not linked in physics. When moved, all the children are repositioned. +Remember to remove BSScene.DetailLog Refresh call. +Convert BSCharacter to use all API2 +Avatar pushing difficult (too heavy?) +Use asset service passed to BulletSim to get sculptie bodies, etc. +Vehicles (fix bouncing on terrain) +Remove old code in DLL (all non-API2 stuff). +Measurements of mega-physical prim performance (with graph) +Debug Bullet internal stats output (why is timing all wrong?) + Bullet stats logging only works with a single instance of Bullet (one region). \ No newline at end of file -- cgit v1.1 From 2586bab2dde141c4d01c81c54291394ba07b1ee7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 2 Dec 2012 20:45:46 -0800 Subject: BulletSim: add stubs for generalization of preStep actions. Will eventually replace the specialized vehicle processing with preStep event processing. Add TODO comments about this feature. Redo line endings in TODO file to be all Linux. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 19 +++++++++++++++++-- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 6 +++++- 2 files changed, 22 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 5e70a23..17cc7b4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -96,6 +96,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public long SimulationStep { get { return m_simulationStep; } } private int m_taintsToProcessPerStep; + public delegate void PreStepAction(float timeStep); + public event PreStepAction BeforeStep; + // A value of the time now so all the collision and update routines do not have to get their own // Set to 'now' just before all the prims and actors are called for collisions and updates public int SimulationNowTime { get; private set; } @@ -487,8 +490,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters ProcessTaints(); // Some of the prims operate with special vehicle properties - ProcessVehicles(timeStep); - ProcessTaints(); // the vehicles might have added taints + DoPreStepActions(timeStep); + + // the prestep actions might have added taints + ProcessTaints(); // step the physical world one interval m_simulationStep++; @@ -907,6 +912,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } } + private void DoPreStepActions(float timeStep) + { + ProcessVehicles(timeStep); + + PreStepAction actions = BeforeStep; + if (actions != null) + actions(timeStep); + + } + // Some prims have extra vehicle actions // Called at taint time! private void ProcessVehicles(float timeStep) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index cf112fb..ca71313 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -27,6 +27,7 @@ Small physical objects do not interact correctly Chains above 2x2x.4 are move stable and get stablier as torui get larger. Add material type linkage and input all the material property definitions. Skeleton classes and table are in the sources but are not filled or used. +Add PID motor for avatar movement (slow to stop, ...) After getting off a vehicle, the root prim is phantom (can be walked through) Need to force a position update for the root prim after compound shape destruction @@ -78,7 +79,10 @@ Breakout code for mesh/hull/compound/native into separate BSShape* classes Generalize Dynamics and PID with standardized motors. Generalize Linkset and vehicles into PropertyManagers Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies - Possibly generalized a 'per step action' registration. + Possibly generalized a 'pre step action' registration. +Complete implemention of preStepActions + Replace vehicle step call with prestep event. + Is there a need for postStepActions? postStepTaints? Implement linkset by setting position of children when root updated. (LinksetManual) LinkablePrim class? Would that simplify/centralize the linkset logic? Linkset implementation using manual prim movement. -- cgit v1.1 From 41f1c5b7f712ed9c093ce421b39460c7711aece4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 2 Dec 2012 23:39:17 -0800 Subject: BulletSim: rework angular corrections to remove any hybrid code and compute absolute collections. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 204 ++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 17 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 1 + 4 files changed, 115 insertions(+), 111 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 4d067cf..525aac4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -98,7 +98,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate - private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body + private Vector3 m_lastAngularCorrection = Vector3.Zero; private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body //Deflection properties @@ -111,6 +111,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_bankingEfficiency = 0; private float m_bankingMix = 0; private float m_bankingTimescale = 0; + private Vector3 m_lastBanking = Vector3.Zero; //Hover and Buoyancy properties private float m_VhoverHeight = 0f; @@ -152,7 +153,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: - m_angularMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120)); + m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale; break; case Vehicle.ANGULAR_MOTOR_TIMESCALE: @@ -240,9 +241,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.ANGULAR_MOTOR_DIRECTION: // Limit requested angular speed to 2 rps= 4 pi rads/sec - pValue.X = Math.Max(-12.56f, Math.Min(pValue.X, 12.56f)); - pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f)); - pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f)); + pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f); + pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f); + pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f); m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); m_angularMotor.SetTarget(m_angularMotorDirection); break; @@ -328,6 +329,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = 0; m_bankingTimescale = 1000; m_bankingMix = 1; + m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags = (VehicleFlag)0; @@ -362,6 +364,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = 0; m_bankingTimescale = 10; m_bankingMix = 1; + m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY @@ -400,6 +403,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = -0.2f; m_bankingMix = 1; m_bankingTimescale = 1; + m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY @@ -438,6 +442,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = -0.3f; m_bankingMix = 0.8f; m_bankingTimescale = 1; + m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY @@ -476,6 +481,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = 1; m_bankingMix = 0.7f; m_bankingTimescale = 2; + m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY @@ -514,6 +520,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = 0; m_bankingMix = 0.7f; m_bankingTimescale = 5; + m_lastBanking = Vector3.Zero; + m_referenceFrame = Quaternion.Identity; m_referenceFrame = Quaternion.Identity; @@ -627,12 +635,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (m_knownChanged != 0) { - if ((m_knownChanged & m_knownChangedPosition) != 0) Prim.ForcePosition = VehiclePosition; - if ((m_knownChanged & m_knownChangedOrientation) != 0) Prim.ForceOrientation = VehicleOrientation; - if ((m_knownChanged & m_knownChangedVelocity) != 0) Prim.ForceVelocity = VehicleVelocity; - if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) Prim.ForceRotationalVelocity = VehicleRotationalVelocity; - // If we set one of the values (ie, the physics engine doesn't do it) we must make sure there - // is an UpdateProperties event to send the changes up to the simulator. + if ((m_knownChanged & m_knownChangedPosition) != 0) + Prim.ForcePosition = VehiclePosition; + if ((m_knownChanged & m_knownChangedOrientation) != 0) + Prim.ForceOrientation = VehicleOrientation; + if ((m_knownChanged & m_knownChangedVelocity) != 0) + Prim.ForceVelocity = VehicleVelocity; + if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) + Prim.ForceRotationalVelocity = VehicleRotationalVelocity; + // If we set one of the values (ie, the physics engine didn't do it) we must force + // an UpdateProperties event to send the changes up to the simulator. BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); } } @@ -957,9 +969,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ======================================================================= // ======================================================================= // Apply the effect of the angular motor. + // The 'contribution' is how much angular correction each function wants. + // All the contributions are added together and the orientation of the vehicle + // is changed by all the contributed corrections. private void MoveAngular(float pTimestep) { - Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); + Vector3 angularMotorContribution = m_angularMotor.Step(); // ================================================================== // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : @@ -974,22 +989,41 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); } - Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(pTimestep); + Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(); - Vector3 deflectionContribution = ComputeAngularDeflection(pTimestep); + Vector3 deflectionContribution = ComputeAngularDeflection(); - Vector3 bankingContribution = ComputeAngularBanking(pTimestep); + Vector3 bankingContribution = ComputeAngularBanking(angularMotorContribution.Z); // ================================================================== m_lastVertAttractor = verticalAttractionContribution; - // Sum velocities - m_lastAngularVelocity = angularMotorContribution + // Sum corrections + m_lastAngularCorrection = angularMotorContribution + verticalAttractionContribution + deflectionContribution + bankingContribution; // ================================================================== + // The correction is applied to the current orientation. + // Any angular velocity on the vehicle is not us so zero the current value. + VehicleRotationalVelocity = Vector3.Zero; + if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f)) + { + Vector3 scaledCorrection = m_lastAngularCorrection * pTimestep; + Quaternion quatCorrection = Quaternion.CreateFromEulers(scaledCorrection); + + VehicleOrientation = Quaternion.Add(VehicleOrientation, quatCorrection); + + VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}", + Prim.LocalID, + angularMotorContribution, verticalAttractionContribution, + bankingContribution, deflectionContribution, + m_lastAngularCorrection, scaledCorrection + ); + } + + // ================================================================== //Offset section if (m_linearMotorOffset != Vector3.Zero) { @@ -1020,50 +1054,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); } - // ================================================================== - if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) - { - // TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle. - VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); - VehicleRotationalVelocity = Vector3.Zero; - Prim.ZeroAngularMotion(true); - } - else - { - // Apply to the body. - // The above calculates the absolute angular velocity needed. Angular velocity is massless. - // Since we are stuffing the angular velocity directly into the object, the computed - // velocity needs to be scaled by the timestep. - // Also remove any motion that is on the object so added motion is only from vehicle. - Vector3 setAngularVelocity = ((m_lastAngularVelocity * pTimestep) - VehicleRotationalVelocity); - VehicleRotationalVelocity = setAngularVelocity; - - VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},setAngVelocity={6}", - Prim.LocalID, - angularMotorContribution, verticalAttractionContribution, - bankingContribution, deflectionContribution, - m_lastAngularVelocity, setAngularVelocity - ); - } } - public Vector3 ComputeAngularVerticalAttraction(float pTimestep) + public Vector3 ComputeAngularVerticalAttraction() { Vector3 ret = Vector3.Zero; // If vertical attaction timescale is reasonable and we applied an angular force last time... if (m_verticalAttractionTimescale < 500) { - /* - Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; - verticalError.Normalize(); - m_verticalAttractionMotor.SetCurrent(verticalError); - m_verticalAttractionMotor.SetTarget(Vector3.UnitZ); - ret = m_verticalAttractionMotor.Step(pTimestep); - */ // Take a vector pointing up and convert it from world to vehicle relative coords. Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; - verticalError.Normalize(); + // verticalError.Normalize(); // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) // is now leaning to one side (rotated around the X axis) and the Y value will @@ -1087,56 +1089,63 @@ namespace OpenSim.Region.Physics.BulletSPlugin // scale by the time scale and timestep Vector3 unscaledContrib = ret; ret /= m_verticalAttractionTimescale; - ret *= pTimestep; + // This returns the angular correction desired. Timestep is added later. + // ret *= pTimestep; // apply efficiency Vector3 preEfficiencyContrib = ret; + // TODO: implement efficiency. // Effenciency squared seems to give a more realistic effect float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency; - ret *= efficencySquared; + // ret *= efficencySquared; VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, m_verticalAttractionEfficiency, efficencySquared, ret); - } return ret; } - public Vector3 ComputeAngularDeflection(float pTimestep) + // Return the angular correction to correct the direction the vehicle is pointing to be + // the direction is should want to be pointing. + public Vector3 ComputeAngularDeflection() { Vector3 ret = Vector3.Zero; if (m_angularDeflectionEfficiency != 0) { - // Compute a scaled vector that points in the preferred axis (X direction) - Vector3 scaledDefaultDirection = - new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0); - // Adding the current vehicle orientation and reference frame displaces the orientation to the frame. - // Rotate the scaled default axix relative to the actual vehicle direction giving where it should point. - Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(VehicleOrientation, m_referenceFrame); + // Where the vehicle should want to point relative to the vehicle + Vector3 preferredDirection = Vector3.UnitX * m_referenceFrame; + + // Where the vehicle is pointing relative to the vehicle. + Vector3 currentDirection = Vector3.UnitX * Quaternion.Add(VehicleOrientation, m_referenceFrame); - // Scale by efficiency and timescale - ret = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; + // Difference between where vehicle is pointing and where it should wish to point + Vector3 directionCorrection = preferredDirection - currentDirection; - VDetailLog("{0}, MoveAngular,Deflection,perfAxis={1},deflection={2}", Prim.LocalID, preferredAxisOfMotion, ret); + // Scale the correction by recovery timescale and efficiency + ret = directionCorrection * m_angularDeflectionEfficiency / m_angularDeflectionTimescale; - // This deflection computation is not correct. - ret = Vector3.Zero; + VDetailLog("{0}, MoveAngular,Deflection,perfDir={1},currentDir={2},dirCorrection={3},ret={4}", + Prim.LocalID, preferredDirection, currentDirection, directionCorrection, ret); } return ret; } - public Vector3 ComputeAngularBanking(float pTimestep) + // Return an angular change to tip the vehicle (around X axis) when turning (turned around Z). + // Remembers the last banking value calculated and returns the difference needed this tick. + // TurningFactor is rate going left or right (pos=left, neg=right, scale=0..1). + public Vector3 ComputeAngularBanking(float turningFactor) { Vector3 ret = Vector3.Zero; + Vector3 computedBanking = Vector3.Zero; if (m_bankingEfficiency != 0) { - Vector3 dir = Vector3.One * VehicleOrientation; + Vector3 currentDirection = Vector3.UnitX * VehicleOrientation; + float mult = (m_bankingMix * m_bankingMix) * -1 * (m_bankingMix < 0 ? -1 : 1); - //Changes which way it banks in and out of turns //Use the square of the efficiency, as it looks much more how SL banking works float effSquared = (m_bankingEfficiency * m_bankingEfficiency); @@ -1144,51 +1153,27 @@ namespace OpenSim.Region.Physics.BulletSPlugin effSquared *= -1; //Keep the negative! float mix = Math.Abs(m_bankingMix); - if (m_angularMotorVelocity.X == 0) - { - // The vehicle is stopped - /*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f)) - { - Vector3 axisAngle; - float angle; - parent.Orientation.GetAxisAngle(out axisAngle, out angle); - Vector3 rotatedVel = parent.Velocity * parent.Orientation; - if ((rotatedVel.X < 0 && axisAngle.Y > 0) || (rotatedVel.X > 0 && axisAngle.Y < 0)) - m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (1f) * 10; - else - m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (-1f) * 10; - }*/ - } - else - { - ret.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4; - } + // TODO: Must include reference frame. + float forwardSpeed = VehicleVelocity.X; - //If they are colliding, we probably shouldn't shove the prim around... probably - if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix) + if (!Prim.IsColliding && forwardSpeed > mix) { - float angVelZ = m_angularMotorVelocity.X * -1; - /*if(angVelZ > mix) - angVelZ = mix; - else if(angVelZ < -mix) - angVelZ = -mix;*/ - //This controls how fast and how far the banking occurs - Vector3 bankingRot = new Vector3(angVelZ * (effSquared * mult), 0, 0); - if (bankingRot.X > 3) - bankingRot.X = 3; - else if (bankingRot.X < -3) - bankingRot.X = -3; - bankingRot *= VehicleOrientation; - ret += bankingRot; + computedBanking.X = ClampInRange(-3f, turningFactor * (effSquared * mult), 3f); } - m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; - VDetailLog("{0}, MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}", - Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, ret); + + // 'computedBanking' is now how much banking that should be happening. + ret = computedBanking - m_lastBanking; + + // Scale the correction by timescale and efficiency + ret /= m_bankingTimescale * m_bankingEfficiency; + + VDetailLog("{0}, MoveAngular,Banking,computedB={1},lastB={2},bEff={3},effSq={4},mult={5},mix={6},banking={7}", + Prim.LocalID, computedBanking, m_lastBanking, m_bankingEfficiency, effSquared, mult, mix, ret); } + m_lastBanking = computedBanking; return ret; } - // This is from previous instantiations of XXXDynamics.cs. // Applies roll reference frame. // TODO: is this the right way to separate the code to do this operation? @@ -1229,6 +1214,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin } + private float ClampInRange(float low, float val, float high) + { + return Math.Max(low, Math.Min(val, high)); + } + // Invoke the detailed logger and output something if it's enabled. private void VDetailLog(string msg, params Object[] args) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index e9f1549..851d508 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -63,10 +63,23 @@ public abstract class BSMotor } } // Can all the incremental stepping be replaced with motor classes? + +// Motor which moves CurrentValue to TargetValue over TimeScale seconds. +// The TargetValue is decays in TargetValueDecayTimeScale and +// the CurrentValue will be held back by FrictionTimeScale. +// TimeScale and TargetDelayTimeScale may be 'infinite' which means go decay. + +// For instance, if something is moving at speed X and the desired speed is Y, +// CurrentValue is X and TargetValue is Y. As the motor is stepped, new +// values of CurrentValue are returned that approach the TargetValue. +// The feature of decaying TargetValue is so vehicles will eventually +// come to a stop rather than run forever. This can be disabled by +// setting TargetValueDecayTimescale to 'infinite'. +// The change from CurrentValue to TargetValue is linear over TimeScale seconds. public class BSVMotor : BSMotor { - public Vector3 FrameOfReference { get; set; } - public Vector3 Offset { get; set; } + // public Vector3 FrameOfReference { get; set; } + // public Vector3 Offset { get; set; } public float TimeScale { get; set; } public float TargetValueDecayTimeScale { get; set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 17cc7b4..f72bd74 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -501,7 +501,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters try { - // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG + if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, @@ -510,7 +510,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); - // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG + if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG } catch (Exception e) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index ca71313..68f25fc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -28,6 +28,7 @@ Small physical objects do not interact correctly Add material type linkage and input all the material property definitions. Skeleton classes and table are in the sources but are not filled or used. Add PID motor for avatar movement (slow to stop, ...) +Implement function efficiency for lineaar and angular motion. After getting off a vehicle, the root prim is phantom (can be walked through) Need to force a position update for the root prim after compound shape destruction -- cgit v1.1 From 787636b97ac242c3a903664a2fe1f26ea8c0130a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 3 Dec 2012 16:25:51 -0800 Subject: BulletSim: Reduce idle region physics overhead where there are MANY static objects by more restrictive selection of objects that collide with static objects. Rename collision mask fuctions from 'filter' to 'group' so it is clear what is being set. Rename BulletSimAPI.SetCollisionFilterMask() to SetCollisionGroupMask to match above. Restore passing of time step to linear and angular motion component routines. Use buffering vehicle physical parameter get/set routines consistantly. Make range enforcement clearer by using ClampInRange() function for parameter setting. Remove commented out experimental vehicle calculations. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 81 ++++++++++++---------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 14 ++-- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 4 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 4 +- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 4 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 64 ++++++++--------- 7 files changed, 95 insertions(+), 80 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 1dfc420..21aa9be 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -165,8 +165,8 @@ public sealed class BSCharacter : BSPhysObject BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); // Do this after the object has been added to the world - BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, - (uint)CollisionFilterGroups.AvatarFilter, + BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, + (uint)CollisionFilterGroups.AvatarGroup, (uint)CollisionFilterGroups.AvatarMask); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 525aac4..be8a502 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -161,7 +161,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularMotor.TimeScale = m_angularMotorTimescale; break; case Vehicle.BANKING_EFFICIENCY: - m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f)); + m_bankingEfficiency = ClampInRange(-1f, pValue, 1f); break; case Vehicle.BANKING_MIX: m_bankingMix = Math.Max(pValue, 0.01f); @@ -170,10 +170,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.BUOYANCY: - m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f)); + m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f); break; case Vehicle.HOVER_EFFICIENCY: - m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f)); + m_VhoverEfficiency = ClampInRange(0f, pValue, 1f); break; case Vehicle.HOVER_HEIGHT: m_VhoverHeight = pValue; @@ -188,7 +188,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: - m_linearMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120)); + m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale; break; case Vehicle.LINEAR_MOTOR_TIMESCALE: @@ -196,7 +196,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_linearMotor.TimeScale = m_linearMotorTimescale; break; case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: - m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f)); + m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f); m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency; break; case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: @@ -607,10 +607,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin } #region Known vehicle value functions + // Vehicle physical parameters that we buffer from constant getting and setting. + // The "m_known*" variables are initialized to 'null', fetched only if referenced + // and stored back into the physics engine only if updated. + // This does two things: 1) saves continuious calls into unmanaged code, and + // 2) signals when a physics property update must happen back to the simulator + // to update values modified for the vehicle. private int m_knownChanged; private float? m_knownTerrainHeight; private float? m_knownWaterLevel; - private Vector3? m_knownPosition; private Vector3? m_knownVelocity; private Quaternion? m_knownOrientation; @@ -642,7 +647,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_knownChanged & m_knownChangedVelocity) != 0) Prim.ForceVelocity = VehicleVelocity; if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) + { Prim.ForceRotationalVelocity = VehicleRotationalVelocity; + BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, VehicleRotationalVelocity); + } // If we set one of the values (ie, the physics engine didn't do it) we must force // an UpdateProperties event to send the changes up to the simulator. BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); @@ -766,15 +774,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); - Vector3 pos = VehiclePosition; - - Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(ref pos); + Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep); - Vector3 hoverContribution = ComputeLinearHover(ref pos); + Vector3 hoverContribution = ComputeLinearHover(pTimestep); - ComputeLinearBlockingEndPoint(ref pos); + ComputeLinearBlockingEndPoint(pTimestep); - Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pos); + Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep); // ================================================================== Vector3 newVelocity = linearMotorContribution @@ -820,22 +826,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // end MoveLinear() - public Vector3 ComputeLinearTerrainHeightCorrection(ref Vector3 pos) + public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep) { Vector3 ret = Vector3.Zero; // If below the terrain, move us above the ground a little. // TODO: Consider taking the rotated size of the object or possibly casting a ray. - if (pos.Z < GetTerrainHeight(pos)) + if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition)) { // TODO: correct position by applying force rather than forcing position. - pos.Z = GetTerrainHeight(pos) + 2; - VehiclePosition = pos; - VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, GetTerrainHeight(pos), pos); + VehiclePosition += new Vector3(0f, 0f, GetTerrainHeight(VehiclePosition) + 2f); + VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); } return ret; } - public Vector3 ComputeLinearHover(ref Vector3 pos) + public Vector3 ComputeLinearHover(float pTimestep) { Vector3 ret = Vector3.Zero; @@ -846,11 +851,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // We should hover, get the target height if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) { - m_VhoverTargetHeight = GetWaterLevel(pos) + m_VhoverHeight; + m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { - m_VhoverTargetHeight = GetTerrainHeight(pos) + m_VhoverHeight; + m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) { @@ -860,14 +865,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) { // If body is already heigher, use its height as target height - if (pos.Z > m_VhoverTargetHeight) - m_VhoverTargetHeight = pos.Z; + if (VehiclePosition.Z > m_VhoverTargetHeight) + m_VhoverTargetHeight = VehiclePosition.Z; } if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) { - if (Math.Abs(pos.Z - m_VhoverTargetHeight) > 0.2f) + if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f) { + Vector3 pos = VehiclePosition; pos.Z = m_VhoverTargetHeight; VehiclePosition = pos; } @@ -875,7 +881,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin else { // Error is positive if below the target and negative if above. - float verticalError = m_VhoverTargetHeight - pos.Z; + float verticalError = m_VhoverTargetHeight - VehiclePosition.Z; float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; // TODO: implement m_VhoverEfficiency correctly @@ -886,16 +892,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin } VDetailLog("{0}, MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}", - Prim.LocalID, pos, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight); + Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight); } return ret; } - public bool ComputeLinearBlockingEndPoint(ref Vector3 pos) + public bool ComputeLinearBlockingEndPoint(float pTimestep) { bool changed = false; + Vector3 pos = VehiclePosition; Vector3 posChange = pos - m_lastPositionVector; if (m_BlockingEndPoint != Vector3.Zero) { @@ -941,14 +948,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering // when they are in mid jump. // TODO: this code is wrong. Also, what should it do for boats? - public Vector3 ComputeLinearMotorUp(Vector3 pos) + public Vector3 ComputeLinearMotorUp(float pTimestep) { Vector3 ret = Vector3.Zero; if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { // If the vehicle is motoring into the sky, get it going back down. // float distanceAboveGround = pos.Z - Math.Max(GetTerrainHeight(pos), GetWaterLevel(pos)); - float distanceAboveGround = pos.Z - GetTerrainHeight(pos); + float distanceAboveGround = VehiclePosition.Z - GetTerrainHeight(VehiclePosition); if (distanceAboveGround > 1f) { // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep); @@ -969,12 +976,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ======================================================================= // ======================================================================= // Apply the effect of the angular motor. - // The 'contribution' is how much angular correction each function wants. + // The 'contribution' is how much angular correction velocity each function wants. // All the contributions are added together and the orientation of the vehicle // is changed by all the contributed corrections. private void MoveAngular(float pTimestep) { - Vector3 angularMotorContribution = m_angularMotor.Step(); + // The user wants how many radians per second angular change? + Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); // ================================================================== // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : @@ -1006,14 +1014,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== // The correction is applied to the current orientation. - // Any angular velocity on the vehicle is not us so zero the current value. - VehicleRotationalVelocity = Vector3.Zero; if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f)) { Vector3 scaledCorrection = m_lastAngularCorrection * pTimestep; - Quaternion quatCorrection = Quaternion.CreateFromEulers(scaledCorrection); - VehicleOrientation = Quaternion.Add(VehicleOrientation, quatCorrection); + VehicleRotationalVelocity = scaledCorrection; VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}", Prim.LocalID, @@ -1022,6 +1027,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_lastAngularCorrection, scaledCorrection ); } + else + { + // The vehicle is not adding anything velocity wise. + VehicleRotationalVelocity = Vector3.Zero; + VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); + } // ================================================================== //Offset section @@ -1065,7 +1076,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // Take a vector pointing up and convert it from world to vehicle relative coords. Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; - // verticalError.Normalize(); + verticalError.Normalize(); // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) // is now leaning to one side (rotated around the X axis) and the Y value will diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 42a362f..ea1f71a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -646,9 +646,13 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); // Collision filter can be set only when the object is in the world - if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0) + if (PhysBody.collisionGroup != 0 || PhysBody.collisionMask != 0) { - BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask); + if (!BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, (uint)PhysBody.collisionGroup, (uint)PhysBody.collisionMask)) + { + PhysicsScene.Logger.ErrorFormat("{0} Failure setting prim collision mask. localID={1}, grp={2:X}, mask={3:X}", + LogHeader, LocalID, PhysBody.collisionGroup, PhysBody.collisionMask); + } } // Recompute any linkset parameters. @@ -691,7 +695,7 @@ public sealed class BSPrim : BSPhysObject // Start it out sleeping and physical actions could wake it up. BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING); - PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; + PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup; PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask; } else @@ -737,7 +741,7 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); // BulletSimAPI.Activate2(BSBody.ptr, true); - PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter; + PhysBody.collisionGroup = CollisionFilterGroups.ObjectGroup; PhysBody.collisionMask = CollisionFilterGroups.ObjectMask; } } @@ -765,7 +769,7 @@ public sealed class BSPrim : BSPhysObject m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); } CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter; + PhysBody.collisionGroup = CollisionFilterGroups.VolumeDetectGroup; PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 0cb151e..83b9c37 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -121,8 +121,8 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys // redo its bounding box now that it is in the world BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr, - (uint)CollisionFilterGroups.TerrainFilter, + BulletSimAPI.SetCollisionGroupMask2(m_mapInfo.terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainGroup, (uint)CollisionFilterGroups.TerrainMask); // Make it so the terrain will not move or be considered for movement. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 17d9536..83df360 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -140,8 +140,8 @@ public sealed class BSTerrainManager // Ground plane does not move BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); // Everything collides with the ground plane. - BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr, - (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask); + BulletSimAPI.SetCollisionGroupMask2(m_groundPlane.ptr, + (uint)CollisionFilterGroups.GroundPlaneGroup, (uint)CollisionFilterGroups.GroundPlaneMask); // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 7e93ab4..6ce767d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -130,8 +130,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys // Redo its bounding box now that it is in the world BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); - BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr, - (uint)CollisionFilterGroups.TerrainFilter, + BulletSimAPI.SetCollisionGroupMask2(m_terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainGroup, (uint)CollisionFilterGroups.TerrainMask); // Make it so the terrain will not move or be considered for movement. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 21bc6a3..a5acfd1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -57,12 +57,12 @@ public struct BulletBody { ID = id; ptr = xx; - collisionFilter = 0; + collisionGroup = 0; collisionMask = 0; } public IntPtr ptr; public uint ID; - public CollisionFilterGroups collisionFilter; + public CollisionFilterGroups collisionGroup; public CollisionFilterGroups collisionMask; public override string ToString() { @@ -71,10 +71,10 @@ public struct BulletBody buff.Append(ID.ToString()); buff.Append(",p="); buff.Append(ptr.ToString("X")); - if (collisionFilter != 0 || collisionMask != 0) + if (collisionGroup != 0 || collisionMask != 0) { - buff.Append(",f="); - buff.Append(collisionFilter.ToString("X")); + buff.Append(",g="); + buff.Append(collisionGroup.ToString("X")); buff.Append(",m="); buff.Append(collisionMask.ToString("X")); } @@ -376,36 +376,36 @@ public enum CollisionFilterGroups : uint // Don't use the bit definitions!! Define the use in a // filter/mask definition below. This way collision interactions // are more easily debugged. - BNoneFilter = 0, - BDefaultFilter = 1 << 0, - BStaticFilter = 1 << 1, - BKinematicFilter = 1 << 2, - BDebrisFilter = 1 << 3, - BSensorTrigger = 1 << 4, - BCharacterFilter = 1 << 5, - BAllFilter = 0xFFFFFFFF, + BNoneGroup = 0, + BDefaultGroup = 1 << 0, + BStaticGroup = 1 << 1, + BKinematicGroup = 1 << 2, + BDebrisGroup = 1 << 3, + BSensorTrigger = 1 << 4, + BCharacterGroup = 1 << 5, + BAllGroup = 0xFFFFFFFF, // Filter groups defined by BulletSim - BGroundPlaneFilter = 1 << 10, - BTerrainFilter = 1 << 11, - BRaycastFilter = 1 << 12, - BSolidFilter = 1 << 13, - BLinksetFilter = 1 << 14, + BGroundPlaneGroup = 1 << 10, + BTerrainGroup = 1 << 11, + BRaycastGroup = 1 << 12, + BSolidGroup = 1 << 13, + BLinksetGroup = 1 << 14, // The collsion filters and masked are defined in one place -- don't want them scattered - AvatarFilter = BCharacterFilter, - AvatarMask = BAllFilter, - ObjectFilter = BSolidFilter, - ObjectMask = BAllFilter, - StaticObjectFilter = BStaticFilter, - StaticObjectMask = BAllFilter & ~BStaticFilter, // static objects don't collide with each other - LinksetFilter = BLinksetFilter, - LinksetMask = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other - VolumeDetectFilter = BSensorTrigger, + AvatarGroup = BCharacterGroup, + AvatarMask = BAllGroup, + ObjectGroup = BSolidGroup, + ObjectMask = BAllGroup, + StaticObjectGroup = BStaticGroup, + StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much + LinksetGroup = BLinksetGroup, + LinksetMask = BAllGroup & ~BLinksetGroup, // linkset objects don't collide with each other + VolumeDetectGroup = BSensorTrigger, VolumeDetectMask = ~BSensorTrigger, - TerrainFilter = BTerrainFilter, - TerrainMask = BAllFilter & ~BStaticFilter, // static objects on the ground don't collide - GroundPlaneFilter = BGroundPlaneFilter, - GroundPlaneMask = BAllFilter + TerrainGroup = BTerrainGroup, + TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide + GroundPlaneGroup = BGroundPlaneGroup, + GroundPlaneMask = BAllGroup }; @@ -945,7 +945,7 @@ public static extern IntPtr GetConstraintRef2(IntPtr obj, int index); public static extern int GetNumConstraintRefs2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask); +public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask); // ===================================================================================== // btCollisionShape entries -- cgit v1.1 From e599a8b2421ab51860c65e49bdfd38fa064fa9b8 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 5 Dec 2012 09:27:38 -0800 Subject: BulletSim: Vehicle angular vertical attraction works. Other vehicle angular forces commented out for the moment for debugging. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 55 ++++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 3 ++ 2 files changed, 38 insertions(+), 20 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index be8a502..a83d966 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -620,11 +620,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Vector3? m_knownVelocity; private Quaternion? m_knownOrientation; private Vector3? m_knownRotationalVelocity; + private Vector3? m_knownRotationalForce; private const int m_knownChangedPosition = 1 << 0; private const int m_knownChangedVelocity = 1 << 1; private const int m_knownChangedOrientation = 1 << 2; private const int m_knownChangedRotationalVelocity = 1 << 3; + private const int m_knownChangedRotationalForce = 1 << 4; private void ForgetKnownVehicleProperties() { @@ -634,6 +636,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownVelocity = null; m_knownOrientation = null; m_knownRotationalVelocity = null; + m_knownRotationalForce = null; m_knownChanged = 0; } private void PushKnownChanged() @@ -645,12 +648,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_knownChanged & m_knownChangedOrientation) != 0) Prim.ForceOrientation = VehicleOrientation; if ((m_knownChanged & m_knownChangedVelocity) != 0) + { Prim.ForceVelocity = VehicleVelocity; + BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity); + } if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) { Prim.ForceRotationalVelocity = VehicleRotationalVelocity; + // Fake out Bullet by making it think the velocity is the same as last time. BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, VehicleRotationalVelocity); } + if ((m_knownChanged & m_knownChangedRotationalForce) != 0) + Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true); + // If we set one of the values (ie, the physics engine didn't do it) we must force // an UpdateProperties event to send the changes up to the simulator. BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); @@ -734,6 +744,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownChanged |= m_knownChangedRotationalVelocity; } } + private void VehicleAddAngularForce(Vector3 aForce) + { + m_knownRotationalForce += aForce; + m_knownChanged |= m_knownChangedRotationalForce; + } #endregion // Known vehicle value functions // One step of the vehicle properties for the next 'pTimestep' seconds. @@ -1013,11 +1028,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin + bankingContribution; // ================================================================== - // The correction is applied to the current orientation. + // Apply the correction velocity. + // TODO: Should this be applied as an angular force (torque)? if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f)) { Vector3 scaledCorrection = m_lastAngularCorrection * pTimestep; - VehicleRotationalVelocity = scaledCorrection; VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}", @@ -1029,7 +1044,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } else { - // The vehicle is not adding anything velocity wise. + // The vehicle is not adding anything angular wise. VehicleRotationalVelocity = Vector3.Zero; VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); } @@ -1060,8 +1075,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin torqueFromOffset.Y = 0; if (float.IsNaN(torqueFromOffset.Z)) torqueFromOffset.Z = 0; - torqueFromOffset *= m_vehicleMass; - Prim.ApplyTorqueImpulse(torqueFromOffset, true); + + VehicleAddAngularForce(torqueFromOffset * m_vehicleMass); VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); } @@ -1097,23 +1112,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin ret.Y = - verticalError.X; ret.Z = 0f; - // scale by the time scale and timestep + // Scale the correction force by how far we're off from vertical. + // Z error of one says little error. As Z gets smaller, the vehicle is leaning farther over. + // float clampedZError = ClampInRange(0.1f, Math.Abs(verticalError.Z), 1f); + float clampedSqrZError = ClampInRange(0.01f, verticalError.Z * verticalError.Z, 1f); + // float vertForce = 1f / clampedSqrZError * m_verticalAttractionEfficiency; + float vertForce = 1f / clampedSqrZError; + + ret *= vertForce; + + // Correction happens over a number of seconds. Vector3 unscaledContrib = ret; ret /= m_verticalAttractionTimescale; - // This returns the angular correction desired. Timestep is added later. - // ret *= pTimestep; - - // apply efficiency - Vector3 preEfficiencyContrib = ret; - // TODO: implement efficiency. - // Effenciency squared seems to give a more realistic effect - float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency; - // ret *= efficencySquared; - - VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", - Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, - m_verticalAttractionEfficiency, efficencySquared, - ret); + + VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},vertForce={3},eff={4},vertAttr={5}", + Prim.LocalID, verticalError, unscaledContrib, vertForce, m_verticalAttractionEfficiency, ret); } return ret; } @@ -1123,6 +1136,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public Vector3 ComputeAngularDeflection() { Vector3 ret = Vector3.Zero; + return ret; // DEBUG DEBUG DEBUG debug the other contributors first if (m_angularDeflectionEfficiency != 0) { @@ -1151,6 +1165,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { Vector3 ret = Vector3.Zero; Vector3 computedBanking = Vector3.Zero; + return ret; // DEBUG DEBUG DEBUG debug the other contributors first if (m_bankingEfficiency != 0) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index ea1f71a..e392078 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1010,6 +1010,9 @@ public sealed class BSPrim : BSPhysObject }); } // A torque impulse. + // ApplyTorqueImpulse adds torque directly to the angularVelocity. + // AddAngularForce accumulates the force and applied it to the angular velocity all at once. + // Computed as: angularVelocity += impulse * inertia; public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime) { OMV.Vector3 applyImpulse = impulse; -- cgit v1.1 From 6d7f66f78192c686f2f9666bbb4c4517310c30a7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 5 Dec 2012 09:45:33 -0800 Subject: BulletSim: Don't add gravity to down force -- let Bullet do that. Add VehicleAddForce to set of managed vehicle prim properties. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 42 ++++++++++++++-------- 1 file changed, 28 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index a83d966..09aee17 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -618,15 +618,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float? m_knownWaterLevel; private Vector3? m_knownPosition; private Vector3? m_knownVelocity; + private Vector3? m_knownForce; private Quaternion? m_knownOrientation; private Vector3? m_knownRotationalVelocity; private Vector3? m_knownRotationalForce; private const int m_knownChangedPosition = 1 << 0; private const int m_knownChangedVelocity = 1 << 1; - private const int m_knownChangedOrientation = 1 << 2; - private const int m_knownChangedRotationalVelocity = 1 << 3; - private const int m_knownChangedRotationalForce = 1 << 4; + private const int m_knownChangedForce = 1 << 2; + private const int m_knownChangedOrientation = 1 << 3; + private const int m_knownChangedRotationalVelocity = 1 << 4; + private const int m_knownChangedRotationalForce = 1 << 5; private void ForgetKnownVehicleProperties() { @@ -634,6 +636,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownWaterLevel = null; m_knownPosition = null; m_knownVelocity = null; + m_knownForce = null; m_knownOrientation = null; m_knownRotationalVelocity = null; m_knownRotationalForce = null; @@ -652,6 +655,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin Prim.ForceVelocity = VehicleVelocity; BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity); } + if ((m_knownChanged & m_knownChangedForce) != 0) + Prim.AddForce((Vector3)m_knownForce, false, true); + if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) { Prim.ForceRotationalVelocity = VehicleRotationalVelocity; @@ -730,6 +736,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } + private void VehicleAddForce(Vector3 aForce) + { + m_knownForce += aForce; + m_knownChanged |= m_knownChangedForce; + } + private Vector3 VehicleRotationalVelocity { get @@ -784,10 +796,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin linearMotorContribution *= VehicleOrientation; // ================================================================== - // Gravity and Buoyancy - // There is some gravity, make a gravity force vector that is applied after object velocity. + // Buoyancy: force to overcome gravity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); + Vector3 buoyancyContribution = Prim.PhysicsScene.DefaultGravity * (m_VehicleBuoyancy - 1f); Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep); @@ -812,14 +823,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin newVelocity.Z = 0; // ================================================================== - // Clamp REALLY high or low velocities + // Clamp high or low velocities float newVelocityLengthSq = newVelocity.LengthSquared(); - if (newVelocityLengthSq > 1e6f) + // if (newVelocityLengthSq > 1e6f) + if (newVelocityLengthSq > 1000f) { newVelocity /= newVelocity.Length(); newVelocity *= 1000f; } - else if (newVelocityLengthSq < 1e-6f) + // else if (newVelocityLengthSq < 1e-6f) + else if (newVelocityLengthSq < 0.001f) newVelocity = Vector3.Zero; // ================================================================== @@ -828,15 +841,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleVelocity = newVelocity; // Other linear forces are applied as forces. - Vector3 totalDownForce = grav * m_vehicleMass * pTimestep; - if (totalDownForce != Vector3.Zero) + Vector3 totalDownForce = buoyancyContribution * m_vehicleMass; + if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f)) { - Prim.AddForce(totalDownForce, false); + VehicleAddForce(totalDownForce); } - VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},linContrib={3},terrContrib={4},hoverContrib={5},limitContrib={6}", + VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},linContrib={3},terrContrib={4},hoverContrib={5},limitContrib={6},buoyContrib={7}", Prim.LocalID, newVelocity, totalDownForce, - linearMotorContribution, terrainHeightContribution, hoverContribution, limitMotorUpContribution + linearMotorContribution, terrainHeightContribution, hoverContribution, + limitMotorUpContribution, buoyancyContribution ); } // end MoveLinear() -- cgit v1.1 From 2ecd8e6720ebc9668aa30a8276c8b15a8650b8fe Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 6 Dec 2012 06:45:51 -0800 Subject: BulletSim: add values for material friction and restitution. Fix line endings in material definition file. --- .../Region/Physics/BulletSPlugin/BSMaterials.cs | 376 ++++++++++----------- 1 file changed, 185 insertions(+), 191 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs index 663b6f4..390c2f9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs @@ -1,191 +1,185 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; -using System.Reflection; -using Nini.Config; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ - -public struct MaterialAttributes -{ - // Material type values that correspond with definitions for LSL - public enum Material : int - { - Stone = 0, - Metal, - Glass, - Wood, - Flesh, - Plastic, - Rubber, - Light, - // Hereafter are BulletSim additions - Avatar, - NumberOfTypes // the count of types in the enum. - } - // Names must be in the order of the above enum. - public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", - "Flesh", "Plastic", "Rubber", "Light", "Avatar" }; - public static string[] MaterialAttribs = { "Density", "Friction", "Restitution", - "ccdMotionThreshold", "ccdSweptSphereRadius" }; - - public MaterialAttributes(string t, float d, float f, float r, float ccdM, float ccdS) - { - type = t; - density = d; - friction = f; - restitution = r; - ccdMotionThreshold = ccdM; - ccdSweptSphereRadius = ccdS; - } - public string type; - public float density; - public float friction; - public float restitution; - public float ccdMotionThreshold; - public float ccdSweptSphereRadius; -} - -public static class BSMaterials -{ - public static MaterialAttributes[] Attributes; - - static BSMaterials() - { - // Attribute sets for both the non-physical and physical instances of materials. - Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2]; - } - - // This is where all the default material attributes are defined. - public static void InitializeFromDefaults(ConfigurationParameters parms) - { - // public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", - // "Flesh", "Plastic", "Rubber", "Light", "Avatar" }; - float dFriction = parms.defaultFriction; - float dRestitution = parms.defaultRestitution; - float dDensity = parms.defaultDensity; - float dCcdM = parms.ccdMotionThreshold; - float dCcdS = parms.ccdSweptSphereRadius; - Attributes[(int)MaterialAttributes.Material.Stone] = - new MaterialAttributes("stone",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Metal] = - new MaterialAttributes("metal",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Glass] = - new MaterialAttributes("glass",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Wood] = - new MaterialAttributes("wood",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Flesh] = - new MaterialAttributes("flesh",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Plastic] = - new MaterialAttributes("plastic",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Rubber] = - new MaterialAttributes("rubber",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Light] = - new MaterialAttributes("light",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Avatar] = - new MaterialAttributes("avatar",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - - Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("stonePhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("metalPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("glassPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("woodPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("fleshPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("plasticPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("rubberPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("lightPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("avatarPhysical",dDensity,dFriction,dRestitution, dCcdM, dCcdS); - } - - // Under the [BulletSim] section, one can change the individual material - // attribute values. The format of the configuration parameter is: - // ["Physical"] = floatValue - // For instance: - // [BulletSim] - // StoneFriction = 0.2 - // FleshRestitutionPhysical = 0.8 - // Materials can have different parameters for their static and - // physical instantiations. When setting the non-physical value, - // both values are changed. Setting the physical value only changes - // the physical value. - public static void InitializefromParameters(IConfig pConfig) - { - int matType = 0; - foreach (string matName in MaterialAttributes.MaterialNames) - { - foreach (string attribName in MaterialAttributes.MaterialAttribs) - { - string paramName = matName + attribName; - if (pConfig.Contains(paramName)) - { - float paramValue = pConfig.GetFloat(paramName); - SetAttributeValue(matType, attribName, paramValue); - // set the physical value also - SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); - } - paramName += "Physical"; - if (pConfig.Contains(paramName)) - { - float paramValue = pConfig.GetFloat(paramName); - SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); - } - } - matType++; - } - } - - private static void SetAttributeValue(int matType, string attribName, float val) - { - MaterialAttributes thisAttrib = Attributes[matType]; - FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName); - if (fieldInfo != null) - { - fieldInfo.SetValue(thisAttrib, val); - Attributes[matType] = thisAttrib; - } - } - - public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical) - { - int ind = (int)type; - if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes; - return Attributes[ind]; - } - -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using System.Reflection; +using Nini.Config; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public struct MaterialAttributes +{ + // Material type values that correspond with definitions for LSL + public enum Material : int + { + Stone = 0, + Metal, + Glass, + Wood, + Flesh, + Plastic, + Rubber, + Light, + // Hereafter are BulletSim additions + Avatar, + NumberOfTypes // the count of types in the enum. + } + // Names must be in the order of the above enum. + public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", + "Flesh", "Plastic", "Rubber", "Light", "Avatar" }; + public static string[] MaterialAttribs = { "Density", "Friction", "Restitution"}; + + public MaterialAttributes(string t, float d, float f, float r) + { + type = t; + density = d; + friction = f; + restitution = r; + } + public string type; + public float density; + public float friction; + public float restitution; +} + +public static class BSMaterials +{ + public static MaterialAttributes[] Attributes; + + static BSMaterials() + { + // Attribute sets for both the non-physical and physical instances of materials. + Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2]; + } + + // This is where all the default material attributes are defined. + public static void InitializeFromDefaults(ConfigurationParameters parms) + { + // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL + // public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", + // "Flesh", "Plastic", "Rubber", "Light", "Avatar" }; + float dFriction = parms.defaultFriction; + float dRestitution = parms.defaultRestitution; + float dDensity = parms.defaultDensity; + Attributes[(int)MaterialAttributes.Material.Stone] = + new MaterialAttributes("stone",dDensity, 0.8f, 0.4f); + Attributes[(int)MaterialAttributes.Material.Metal] = + new MaterialAttributes("metal",dDensity, 0.3f, 0.4f); + Attributes[(int)MaterialAttributes.Material.Glass] = + new MaterialAttributes("glass",dDensity, 0.2f, 0.7f); + Attributes[(int)MaterialAttributes.Material.Wood] = + new MaterialAttributes("wood",dDensity, 0.6f, 0.5f); + Attributes[(int)MaterialAttributes.Material.Flesh] = + new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f); + Attributes[(int)MaterialAttributes.Material.Plastic] = + new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f); + Attributes[(int)MaterialAttributes.Material.Rubber] = + new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f); + Attributes[(int)MaterialAttributes.Material.Light] = + new MaterialAttributes("light",dDensity, dFriction, dRestitution); + Attributes[(int)MaterialAttributes.Material.Avatar] = + new MaterialAttributes("avatar",60f, 0.2f, 0f); + + Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f); + Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("metalPhysical",dDensity, 0.8f, 0.4f); + Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("glassPhysical",dDensity, 0.8f, 0.7f); + Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("woodPhysical",dDensity, 0.8f, 0.5f); + Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("fleshPhysical",dDensity, 0.8f, 0.3f); + Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("plasticPhysical",dDensity, 0.8f, 0.7f); + Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("rubberPhysical",dDensity, 0.8f, 0.9f); + Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution); + Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] = + new MaterialAttributes("avatarPhysical",60f, 0.2f, 0f); + } + + // Under the [BulletSim] section, one can change the individual material + // attribute values. The format of the configuration parameter is: + // ["Physical"] = floatValue + // For instance: + // [BulletSim] + // StoneFriction = 0.2 + // FleshRestitutionPhysical = 0.8 + // Materials can have different parameters for their static and + // physical instantiations. When setting the non-physical value, + // both values are changed. Setting the physical value only changes + // the physical value. + public static void InitializefromParameters(IConfig pConfig) + { + int matType = 0; + foreach (string matName in MaterialAttributes.MaterialNames) + { + foreach (string attribName in MaterialAttributes.MaterialAttribs) + { + string paramName = matName + attribName; + if (pConfig.Contains(paramName)) + { + float paramValue = pConfig.GetFloat(paramName); + SetAttributeValue(matType, attribName, paramValue); + // set the physical value also + SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); + } + paramName += "Physical"; + if (pConfig.Contains(paramName)) + { + float paramValue = pConfig.GetFloat(paramName); + SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); + } + } + matType++; + } + } + + private static void SetAttributeValue(int matType, string attribName, float val) + { + MaterialAttributes thisAttrib = Attributes[matType]; + FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName); + if (fieldInfo != null) + { + fieldInfo.SetValue(thisAttrib, val); + Attributes[matType] = thisAttrib; + } + } + + public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical) + { + int ind = (int)type; + if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes; + return Attributes[ind]; + } + +} +} -- cgit v1.1 From cc59e3cbdf2d660422bc8707816d7d30d7c72b92 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 6 Dec 2012 09:21:04 -0800 Subject: BulletSim: only check position sanity if the prim is physical -- the user can do anything dumb they wish. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e392078..62aaf80 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1399,7 +1399,7 @@ public sealed class BSPrim : BSPhysObject _rotationalVelocity = entprop.RotationalVelocity; // The sanity check can change the velocity and/or position. - if (PositionSanityCheck(true)) + if (IsPhysical && PositionSanityCheck(true)) { entprop.Position = _position; entprop.Velocity = _velocity; @@ -1413,8 +1413,6 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); - // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG - base.RequestPhysicsterseUpdate(); } /* -- cgit v1.1 From 18fe35906dd07ecfe8f8b439f5648982262aa17f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 6 Dec 2012 09:22:29 -0800 Subject: BulletSim: add detail logging detail flag so I don't have to comment and uncomment the detail logging when changing the depth of logged info. --- .../Physics/BulletSPlugin/BSShapeCollection.cs | 61 ++++++++++++---------- 1 file changed, 34 insertions(+), 27 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index b94dcf6..e77b6ba 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -65,9 +65,16 @@ public sealed class BSShapeCollection : IDisposable private Dictionary Meshes = new Dictionary(); private Dictionary Hulls = new Dictionary(); + private bool DDetail = false; + public BSShapeCollection(BSScene physScene) { 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 + // statements can be commented/removed. + DDetail = true; } public void Dispose() @@ -126,13 +133,13 @@ public sealed class BSShapeCollection : IDisposable { lock (m_collectionActivityLock) { - DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); + if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() { if (!BulletSimAPI.IsInWorld2(body.ptr)) { BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); - DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); + if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); } }); } @@ -149,7 +156,7 @@ public sealed class BSShapeCollection : IDisposable { PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate() { - DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}", body.ID, body, inTaintTime); // If the caller needs to know the old body is going away, pass the event up. if (bodyCallback != null) bodyCallback(body); @@ -157,7 +164,7 @@ public sealed class BSShapeCollection : IDisposable if (BulletSimAPI.IsInWorld2(body.ptr)) { BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); - DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); + if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); } // Zero any reference to the shape so it is not freed when the body is deleted. @@ -184,7 +191,7 @@ public sealed class BSShapeCollection : IDisposable { // There is an existing instance of this mesh. meshDesc.referenceCount++; - DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); } else @@ -194,7 +201,7 @@ public sealed class BSShapeCollection : IDisposable meshDesc.shapeKey = shape.shapeKey; // We keep a reference to the underlying IMesh data so a hull can be built meshDesc.referenceCount = 1; - DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); ret = true; } @@ -207,7 +214,7 @@ public sealed class BSShapeCollection : IDisposable { // There is an existing instance of this hull. hullDesc.referenceCount++; - DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); } else @@ -216,7 +223,7 @@ public sealed class BSShapeCollection : IDisposable hullDesc.ptr = shape.ptr; hullDesc.shapeKey = shape.shapeKey; hullDesc.referenceCount = 1; - DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}", BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); ret = true; @@ -246,7 +253,7 @@ public sealed class BSShapeCollection : IDisposable if (shape.isNativeShape) { // Native shapes are not tracked and are released immediately - DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime); if (shapeCallback != null) shapeCallback(shape); BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); @@ -286,7 +293,7 @@ public sealed class BSShapeCollection : IDisposable if (shapeCallback != null) shapeCallback(shape); meshDesc.lastReferenced = System.DateTime.Now; Meshes[shape.shapeKey] = meshDesc; - DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}", BSScene.DetailLogZero, shape, meshDesc.referenceCount); } @@ -307,7 +314,7 @@ public sealed class BSShapeCollection : IDisposable hullDesc.lastReferenced = System.DateTime.Now; Hulls[shape.shapeKey] = hullDesc; - DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}", BSScene.DetailLogZero, shape, hullDesc.referenceCount); } } @@ -325,13 +332,13 @@ public sealed class BSShapeCollection : IDisposable // 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.ptr.ToString("X")); - DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", BSScene.DetailLogZero, shape.type, shape.ptr.ToString("X")); return; } int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr); - DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren); + if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren); for (int ii = numChildren - 1; ii >= 0; ii--) { @@ -379,7 +386,7 @@ public sealed class BSShapeCollection : IDisposable } } - DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo); + if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo); if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN) { @@ -410,7 +417,7 @@ public sealed class BSShapeCollection : IDisposable // an avatar capsule is close to a native shape (it is not shared) ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE, shapeCallback); - DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); ret = true; haveShape = true; } @@ -420,7 +427,7 @@ public sealed class BSShapeCollection : IDisposable if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) { ret = GetReferenceToCompoundShape(prim, shapeCallback); - DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape); + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape); haveShape = true; } @@ -465,7 +472,7 @@ public sealed class BSShapeCollection : IDisposable { ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_SPHERE, shapeCallback); - DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); } } @@ -479,7 +486,7 @@ public sealed class BSShapeCollection : IDisposable { ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX, shapeCallback); - DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", prim.LocalID, forceRebuild, prim.PhysShape); } } @@ -504,13 +511,13 @@ public sealed class BSShapeCollection : IDisposable { // Update prim.BSShape to reference a hull of this shape. ret = GetReferenceToHull(prim,shapeCallback); - DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); } else { ret = GetReferenceToMesh(prim, shapeCallback); - DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); } return ret; @@ -528,7 +535,7 @@ public sealed class BSShapeCollection : IDisposable BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey); // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. - DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", prim.LocalID, newShape, prim.Scale); prim.PhysShape = newShape; @@ -554,7 +561,7 @@ public sealed class BSShapeCollection : IDisposable newShape = new BulletShape( BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale) , shapeType); - DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); + if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); } else { @@ -589,7 +596,7 @@ public sealed class BSShapeCollection : IDisposable if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH) return false; - DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}", prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); // Since we're recreating new, get rid of the reference to the previous shape @@ -662,7 +669,7 @@ public sealed class BSShapeCollection : IDisposable if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL) return false; - DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}", + 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. @@ -808,7 +815,7 @@ public sealed class BSShapeCollection : IDisposable // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape. CreateGeomMeshOrHull(prim, shapeCallback); BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity); - DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}", + if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}", prim.LocalID, cShape, prim.PhysShape); prim.PhysShape = cShape; @@ -935,13 +942,13 @@ public sealed class BSShapeCollection : IDisposable { bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); - DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); + if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } else { bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); - DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); + if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); } aBody = new BulletBody(prim.LocalID, bodyPtr); -- cgit v1.1 From edd1b353a5b683b7d9b22e80d97e15e05f34611c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 6 Dec 2012 09:23:20 -0800 Subject: BulletSim: update and add to the TODO list. --- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 87 ++++++++++++++-------- 1 file changed, 56 insertions(+), 31 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 68f25fc..d51003c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -6,14 +6,34 @@ CRASHES Causes many errors. Doesn't stop after first error with box shape. Eventually crashes when deleting the object. -BULLETSIM TODO LIST: +VEHICLES TODO LIST: ================================================= Neb car jiggling left and right + Happens on terrain and any other mesh object. Flat cubes are much smoother. Vehicles (Move smoothly) -Light cycle falling over when driving -Light cycle not banking -Do single prim vehicles don't seem to properly vehiclize. -Gun sending shooter flying +Add vehicle collisions so IsColliding is properly reported. + Needed for banking, limitMotorUp, movementLimiting, ... +Some vehicles should not be able to turn if no speed or off ground. +For limitMotorUp, use raycast down to find if vehicle is in the air. +Implement function efficiency for lineaar and angular motion. +Should vehicle angular/linear movement friction happen after all the components + or does it only apply to the basic movement? +After getting off a vehicle, the root prim is phantom (can be walked through) + Need to force a position update for the root prim after compound shape destruction +Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint) +Implement referenceFrame for all the motion routines. +Cannot edit/move a vehicle being ridden: it jumps back to the origional position. + +BULLETSIM TODO LIST: +================================================= +Disable activity of passive linkset children. + Since the linkset is a compound object, the old prims are left lying + around and need to be phantomized so they don't collide, ... +Scenes with hundred of thousands of static objects take a lot of physics CPU time. +BSPrim.Force should set a continious force on the prim. The force should be + applied each tick. Some limits? +Single prim vehicles don't seem to properly vehiclize. +Gun sending shooter flying. Collision margin (gap between physical objects lying on each other) Boundry checking (crashes related to crossing boundry) Add check for border edge position for avatars and objects. @@ -28,10 +48,11 @@ Small physical objects do not interact correctly Add material type linkage and input all the material property definitions. Skeleton classes and table are in the sources but are not filled or used. Add PID motor for avatar movement (slow to stop, ...) -Implement function efficiency for lineaar and angular motion. +setForce should set a constant force. Different than AddImpulse. +Implement raycast. +Implement ShapeCollection.Dispose() +Implement water as a plain so raycasting and collisions can happen with same. -After getting off a vehicle, the root prim is phantom (can be walked through) - Need to force a position update for the root prim after compound shape destruction Find/remove avatar collision with ID=0. Test avatar walking up stairs. How does compare with SL. Radius of the capsule affects ability to climb edges. @@ -39,19 +60,16 @@ Tune terrain/object friction to be closer to SL. Debounce avatar contact so legs don't keep folding up when standing. Implement LSL physics controls. Like STATUS_ROTATE_X. Add border extensions to terrain to help region crossings and objects leaving region. -Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint) Speed up creation of large physical linksets For instance, sitting in Neb's car (130 prims) takes several seconds to become physical Performance test with lots of avatars. Can BulletSim support a thousand? Optimize collisions in C++: only send up to the object subscribed to collisions. Use collision subscription and remove the collsion(A,B) and collision(B,A) -Check wheter SimMotionState needs large if statement (see TODO). +Check whether SimMotionState needs large if statement (see TODO). Implement 'top colliders' info. Avatar jump -Implement meshes or just verify that they work. -Do prim hash codes work for sculpties and meshes? Performance measurement and changes to make quicker. Implement detailed physics stats (GetStats()). @@ -67,8 +85,6 @@ Performance of closures and delegates for taint processing Is there are more efficient method of implementing pre and post step actions? See http://www.codeproject.com/Articles/29922/Weak-Events-in-C -Package Bullet source mods for Bullet internal stats output - Physics Arena central pyramid: why is one side permiable? INTERNAL IMPROVEMENT/CLEANUP @@ -85,33 +101,42 @@ Complete implemention of preStepActions Replace vehicle step call with prestep event. Is there a need for postStepActions? postStepTaints? Implement linkset by setting position of children when root updated. (LinksetManual) + Linkset implementation using manual prim movement. LinkablePrim class? Would that simplify/centralize the linkset logic? -Linkset implementation using manual prim movement. -Linkset implementation using compound shapes. - Compound shapes will need the LocalID in the shapes and collision - processing to get it from there. BSScene.UpdateParameterSet() is broken. How to set params on objects? Remove HeightmapInfo from terrain specification. Since C++ code does not need terrain height, this structure et al are not needed. Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will bob at the water level. BSPrim.PositionSanityCheck(). +THREADING +================================================= +Do taint action immediately if not actually executing Bullet. + Add lock around Bullet execution and just do taint actions if simulation is not happening. + DONE DONE DONE DONE ================================================= -Cleanup code in BSDynamics by using motors. -Consider implementing terrain with a mesh rather than heightmap. +Cleanup code in BSDynamics by using motors. (Resolution: started) +Consider implementing terrain with a mesh rather than heightmap. (Resolution: done) Would have better and adjustable resolution. -NOTDONE: Build terrain mesh so heighmap is height of the center of the square meter. - SL and ODE define meter square as being at one corner with one diagional. -Terrain as mesh. +Build terrain mesh so heighmap is height of the center of the square meter. + Resolution: NOT DONE: SL and ODE define meter square as being at one corner with one diagional. +Terrain as mesh. (Resolution: done) How are static linksets seen by the physics engine? - A: they are not linked in physics. When moved, all the children are repositioned. -Remember to remove BSScene.DetailLog Refresh call. -Convert BSCharacter to use all API2 + Resolution: they are not linked in physics. When moved, all the children are repositioned. +Convert BSCharacter to use all API2 (Resolution: done) Avatar pushing difficult (too heavy?) -Use asset service passed to BulletSim to get sculptie bodies, etc. -Vehicles (fix bouncing on terrain) -Remove old code in DLL (all non-API2 stuff). -Measurements of mega-physical prim performance (with graph) +Use asset service passed to BulletSim to get sculptie bodies, etc. (Resolution: done) +Remove old code in DLL (all non-API2 stuff). (Resolution: done) +Measurements of mega-physical prim performance (with graph) (Resolution: done, email) Debug Bullet internal stats output (why is timing all wrong?) - Bullet stats logging only works with a single instance of Bullet (one region). \ No newline at end of file + Resolution: Bullet stats logging only works with a single instance of Bullet (one region). +Implement meshes or just verify that they work. (Resolution: they do!) +Do prim hash codes work for sculpties and meshes? (Resolution: yes) +Linkset implementation using compound shapes. (Resolution: implemented LinksetCompound) + Compound shapes will need the LocalID in the shapes and collision + processing to get it from there. +Light cycle falling over when driving (Resolution: implemented VerticalAttractor) +Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.) +Package Bullet source mods for Bullet internal stats output + (Resolution: move code into WorldData.h rather than relying on patches) \ No newline at end of file -- cgit v1.1 From 7fd8202ae3fbe5627396f34dfc03e3571f4f9fe4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 6 Dec 2012 09:24:24 -0800 Subject: BulletSim: rewrite and improve vehicle angularDeflection, verticalAttraction, linearMotorUp and related vehicle forces. Fixed problems with downward vehicle position correction forces being too large. Add vehicle collision flag so can sense whether vehicle is on the ground. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 212 +++++++++++++-------- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 1 + 2 files changed, 130 insertions(+), 83 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 09aee17..fa3110c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -24,21 +24,10 @@ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * - -/* RA: June 14, 2011. Copied from ODEDynamics.cs and converted to - * call the BulletSim system. - */ -/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces - * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: - * ODEPrim.cs contains methods dealing with Prim editing, Prim - * characteristics and Kinetic motion. - * ODEDynamics.cs contains methods dealing with Prim Physical motion - * (dynamics) and the associated settings. Old Linear and angular - * motors for dynamic motion have been replace with MoveLinear() - * and MoveAngular(); 'Physical' is used only to switch ODE dynamic - * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_ is to - * switch between 'VEHICLE' parameter use and general dynamics - * settings use. + * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial + * are Copyright (c) 2009 Linden Research, Inc and are used under their license + * of Creative Commons Attribution-Share Alike 3.0 + * (http://creativecommons.org/licenses/by-sa/3.0/). */ using System; @@ -111,7 +100,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_bankingEfficiency = 0; private float m_bankingMix = 0; private float m_bankingTimescale = 0; - private Vector3 m_lastBanking = Vector3.Zero; //Hover and Buoyancy properties private float m_VhoverHeight = 0f; @@ -125,8 +113,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin //Attractor properties private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction"); - private float m_verticalAttractionEfficiency = 1.0f; // damped - private float m_verticalAttractionTimescale = 600f; // Timescale > 500 means no vert attractor. + private float m_verticalAttractionEfficiency = 1.0f; // damped + private float m_verticalAttractionCutoff = 500f; // per the documentation + // Timescale > cutoff means no vert attractor. + private float m_verticalAttractionTimescale = 510f; public BSDynamics(BSScene myScene, BSPrim myPrim) { @@ -329,7 +319,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = 0; m_bankingTimescale = 1000; m_bankingMix = 1; - m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags = (VehicleFlag)0; @@ -364,7 +353,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = 0; m_bankingTimescale = 10; m_bankingMix = 1; - m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY @@ -374,6 +362,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); + break; case Vehicle.TYPE_CAR: m_linearMotorDirection = Vector3.Zero; @@ -403,7 +392,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = -0.2f; m_bankingMix = 1; m_bankingTimescale = 1; - m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY @@ -442,7 +430,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = -0.3f; m_bankingMix = 0.8f; m_bankingTimescale = 1; - m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY @@ -481,7 +468,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = 1; m_bankingMix = 0.7f; m_bankingTimescale = 2; - m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY @@ -520,7 +506,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = 0; m_bankingMix = 0.7f; m_bankingTimescale = 5; - m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; @@ -554,8 +539,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Z goes away and we keep X and Y m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f); m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) - - // m_bankingMotor = new BSVMotor("BankingMotor", ...); } // Some of the properties of this prim may have changed. @@ -577,15 +560,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin float angularDamping = PhysicsScene.Params.vehicleAngularDamping; BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); + // Vehicles report collision events so we know when it's on the ground + BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); + // DEBUG DEBUG DEBUG: use uniform inertia to smooth movement added by Bullet // Vector3 localInertia = new Vector3(1f, 1f, 1f); - Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass); + // Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass); + Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass); BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", Prim.LocalID, friction, localInertia, angularDamping); } + else + { + BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); + } } public bool RemoveBodyDependencies(BSPhysObject prim) @@ -618,10 +609,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float? m_knownWaterLevel; private Vector3? m_knownPosition; private Vector3? m_knownVelocity; - private Vector3? m_knownForce; + private Vector3 m_knownForce; private Quaternion? m_knownOrientation; private Vector3? m_knownRotationalVelocity; - private Vector3? m_knownRotationalForce; + private Vector3 m_knownRotationalForce; + private float? m_knownForwardSpeed; private const int m_knownChangedPosition = 1 << 0; private const int m_knownChangedVelocity = 1 << 1; @@ -636,10 +628,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownWaterLevel = null; m_knownPosition = null; m_knownVelocity = null; - m_knownForce = null; + m_knownForce = Vector3.Zero; m_knownOrientation = null; m_knownRotationalVelocity = null; - m_knownRotationalForce = null; + m_knownRotationalForce = Vector3.Zero; + m_knownForwardSpeed = null; m_knownChanged = 0; } private void PushKnownChanged() @@ -761,6 +754,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownRotationalForce += aForce; m_knownChanged |= m_knownChangedRotationalForce; } + private float VehicleForwardSpeed + { + get + { + if (m_knownForwardSpeed == null) + m_knownForwardSpeed = (VehicleVelocity * Quaternion.Inverse(VehicleOrientation)).X; + return (float)m_knownForwardSpeed; + } + } + #endregion // Known vehicle value functions // One step of the vehicle properties for the next 'pTimestep' seconds. @@ -798,7 +801,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== // Buoyancy: force to overcome gravity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - Vector3 buoyancyContribution = Prim.PhysicsScene.DefaultGravity * (m_VehicleBuoyancy - 1f); + // So, if zero, don't change anything (let gravity happen). If one, negate the effect of gravity. + Vector3 buoyancyContribution = Prim.PhysicsScene.DefaultGravity * m_VehicleBuoyancy; Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep); @@ -847,8 +851,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleAddForce(totalDownForce); } - VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},linContrib={3},terrContrib={4},hoverContrib={5},limitContrib={6},buoyContrib={7}", - Prim.LocalID, newVelocity, totalDownForce, + VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},IsColliding={3}", + Prim.LocalID, newVelocity, totalDownForce, Prim.IsColliding); + VDetailLog("{0}, MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},buoyContrib={5}", + Prim.LocalID, linearMotorContribution, terrainHeightContribution, hoverContribution, limitMotorUpContribution, buoyancyContribution ); @@ -971,21 +977,24 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : - // Prevent ground vehicles from motoring into the sky.This flag has a subtle effect when + // Prevent ground vehicles from motoring into the sky. This flag has a subtle effect when // used with conjunction with banking: the strength of the banking will decay when the // vehicle no longer experiences collisions. The decay timescale is the same as // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering // when they are in mid jump. - // TODO: this code is wrong. Also, what should it do for boats? + // TODO: this code is wrong. Also, what should it do for boats (height from water)? + // This is just using the ground and a general collision check. Should really be using + // a downward raycast to find what is below. public Vector3 ComputeLinearMotorUp(float pTimestep) { Vector3 ret = Vector3.Zero; + if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { // If the vehicle is motoring into the sky, get it going back down. - // float distanceAboveGround = pos.Z - Math.Max(GetTerrainHeight(pos), GetWaterLevel(pos)); float distanceAboveGround = VehiclePosition.Z - GetTerrainHeight(VehiclePosition); - if (distanceAboveGround > 1f) + // Not colliding if the vehicle is off the ground + if (!Prim.IsColliding) { // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep); // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); @@ -1006,8 +1015,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ======================================================================= // Apply the effect of the angular motor. // The 'contribution' is how much angular correction velocity each function wants. - // All the contributions are added together and the orientation of the vehicle - // is changed by all the contributed corrections. + // All the contributions are added together and the resulting velocity is + // set directly on the vehicle. private void MoveAngular(float pTimestep) { // The user wants how many radians per second angular change? @@ -1030,7 +1039,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 deflectionContribution = ComputeAngularDeflection(); - Vector3 bankingContribution = ComputeAngularBanking(angularMotorContribution.Z); + Vector3 bankingContribution = ComputeAngularBanking(); // ================================================================== m_lastVertAttractor = verticalAttractionContribution; @@ -1095,13 +1104,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } - + // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: + // Some vehicles, like boats, should always keep their up-side up. This can be done by + // enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to + // the world z-axis (a.k.a. "up"). To take advantage of this feature you would set the + // VEHICLE_VERTICAL_ATTRACTION_TIMESCALE to control the period of the spring frequency, + // and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An + // efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an + // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay. public Vector3 ComputeAngularVerticalAttraction() { Vector3 ret = Vector3.Zero; // If vertical attaction timescale is reasonable and we applied an angular force last time... - if (m_verticalAttractionTimescale < 500) + if (m_verticalAttractionTimescale < m_verticalAttractionCutoff) { // Take a vector pointing up and convert it from world to vehicle relative coords. Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; @@ -1128,9 +1144,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Scale the correction force by how far we're off from vertical. // Z error of one says little error. As Z gets smaller, the vehicle is leaning farther over. - // float clampedZError = ClampInRange(0.1f, Math.Abs(verticalError.Z), 1f); float clampedSqrZError = ClampInRange(0.01f, verticalError.Z * verticalError.Z, 1f); - // float vertForce = 1f / clampedSqrZError * m_verticalAttractionEfficiency; float vertForce = 1f / clampedSqrZError; ret *= vertForce; @@ -1147,70 +1161,102 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Return the angular correction to correct the direction the vehicle is pointing to be // the direction is should want to be pointing. + // The vehicle is moving in some direction and correct its orientation to it is pointing + // in that direction. + // TODO: implement reference frame. public Vector3 ComputeAngularDeflection() { Vector3 ret = Vector3.Zero; - return ret; // DEBUG DEBUG DEBUG debug the other contributors first + return ret; // DEBUG DEBUG DEBUG debug one force at a time if (m_angularDeflectionEfficiency != 0) { - // Where the vehicle should want to point relative to the vehicle - Vector3 preferredDirection = Vector3.UnitX * m_referenceFrame; + // The direction the vehicle is moving + Vector3 movingDirection = VehicleVelocity; + movingDirection.Normalize(); - // Where the vehicle is pointing relative to the vehicle. - Vector3 currentDirection = Vector3.UnitX * Quaternion.Add(VehicleOrientation, m_referenceFrame); + // The direction the vehicle is pointing + Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; + pointingDirection.Normalize(); - // Difference between where vehicle is pointing and where it should wish to point - Vector3 directionCorrection = preferredDirection - currentDirection; + // The difference between what is and what should be + Vector3 deflectionError = movingDirection - pointingDirection; // Scale the correction by recovery timescale and efficiency - ret = directionCorrection * m_angularDeflectionEfficiency / m_angularDeflectionTimescale; + ret = (-deflectionError * VehicleForwardSpeed) * m_angularDeflectionEfficiency; + ret /= m_angularDeflectionTimescale; - VDetailLog("{0}, MoveAngular,Deflection,perfDir={1},currentDir={2},dirCorrection={3},ret={4}", - Prim.LocalID, preferredDirection, currentDirection, directionCorrection, ret); + VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", + Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret); } return ret; } - // Return an angular change to tip the vehicle (around X axis) when turning (turned around Z). - // Remembers the last banking value calculated and returns the difference needed this tick. - // TurningFactor is rate going left or right (pos=left, neg=right, scale=0..1). - public Vector3 ComputeAngularBanking(float turningFactor) + // Return an angular change to rotate the vehicle around the Z axis when the vehicle + // is tipped around the X axis. + // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: + // The vertical attractor feature must be enabled in order for the banking behavior to + // function. The way banking works is this: a rotation around the vehicle's roll-axis will + // produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude + // of the yaw effect will be proportional to the + // VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's + // velocity along its preferred axis of motion. + // The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any + // positive rotation (by the right-hand rule) about the roll-axis will effect a + // (negative) torque around the yaw-axis, making it turn to the right--that is the + // vehicle will lean into the turn, which is how real airplanes and motorcycle's work. + // Negating the banking coefficient will make it so that the vehicle leans to the + // outside of the turn (not very "physical" but might allow interesting vehicles so why not?). + // The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making + // banking vehicles do what you want rather than what the laws of physics allow. + // For example, consider a real motorcycle...it must be moving forward in order for + // it to turn while banking, however video-game motorcycles are often configured + // to turn in place when at a dead stop--because they are often easier to control + // that way using the limited interface of the keyboard or game controller. The + // VEHICLE_BANKING_MIX enables combinations of both realistic and non-realistic + // banking by functioning as a slider between a banking that is correspondingly + // totally static (0.0) and totally dynamic (1.0). By "static" we mean that the + // banking effect depends only on the vehicle's rotation about its roll-axis compared + // to "dynamic" where the banking is also proportional to its velocity along its + // roll-axis. Finding the best value of the "mixture" will probably require trial and error. + // The time it takes for the banking behavior to defeat a preexisting angular velocity about the + // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to + // bank quickly then give it a banking timescale of about a second or less, otherwise you can + // make a sluggish vehicle by giving it a timescale of several seconds. + public Vector3 ComputeAngularBanking() { Vector3 ret = Vector3.Zero; - Vector3 computedBanking = Vector3.Zero; - return ret; // DEBUG DEBUG DEBUG debug the other contributors first - if (m_bankingEfficiency != 0) + if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { - Vector3 currentDirection = Vector3.UnitX * VehicleOrientation; - - float mult = (m_bankingMix * m_bankingMix) * -1 * (m_bankingMix < 0 ? -1 : 1); + // This works by rotating a unit vector to the orientation of the vehicle. The + // roll (tilt) will be Y component of a tilting Z vector (zero for no tilt + // up to one for full over). + Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; - //Use the square of the efficiency, as it looks much more how SL banking works - float effSquared = (m_bankingEfficiency * m_bankingEfficiency); - if (m_bankingEfficiency < 0) - effSquared *= -1; //Keep the negative! + // Figure out the yaw value for this much roll. + float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency; + // Keep the sign + if (rollComponents.Y < 0f) + turnComponent = -turnComponent; - float mix = Math.Abs(m_bankingMix); - // TODO: Must include reference frame. - float forwardSpeed = VehicleVelocity.X; + // TODO: there must be a better computation of the banking force. + float bankingTurnForce = turnComponent; - if (!Prim.IsColliding && forwardSpeed > mix) - { - computedBanking.X = ClampInRange(-3f, turningFactor * (effSquared * mult), 3f); - } + // actual error = static turn error + dynamic turn error + float mixedBankingError = bankingTurnForce * (1f - m_bankingMix) + bankingTurnForce * m_bankingMix * VehicleForwardSpeed; + // TODO: the banking effect should not go to infinity but what to limit it to? + mixedBankingError = ClampInRange(-20f, mixedBankingError, 20f); - // 'computedBanking' is now how much banking that should be happening. - ret = computedBanking - m_lastBanking; + // Build the force vector to change rotation from what it is to what it should be + ret.Z = -mixedBankingError; - // Scale the correction by timescale and efficiency - ret /= m_bankingTimescale * m_bankingEfficiency; + // Don't do it all at once. + ret /= m_bankingTimescale; - VDetailLog("{0}, MoveAngular,Banking,computedB={1},lastB={2},bEff={3},effSq={4},mult={5},mix={6},banking={7}", - Prim.LocalID, computedBanking, m_lastBanking, m_bankingEfficiency, effSquared, mult, mix, ret); + VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},turnComp={3},bankErr={4},mixedBankErr={5},ret={6}", + Prim.LocalID, rollComponents, VehicleForwardSpeed, turnComponent, bankingTurnForce, mixedBankingError, ret); } - m_lastBanking = computedBanking; return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index a5acfd1..2671995 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -360,6 +360,7 @@ public enum CollisionFlags : uint // Following used by BulletSim to control collisions and updates BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, BS_FLOATS_ON_WATER = 1 << 11, + BS_VEHICLE_COLLISIONS = 1 << 12, BS_NONE = 0, BS_ALL = 0xFFFFFFFF, -- cgit v1.1 From addb791f3df481560d36cbeea6824bfe48d0d971 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 6 Dec 2012 13:00:52 -0800 Subject: BulletSim: update comments and add more to TODO list. --- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 6 +++--- OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 8 +++++++- 2 files changed, 10 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index b9c2cf9..492c7b1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -59,7 +59,7 @@ public sealed class BSLinksetCompound : BSLinkset // refresh will happen once after all the other taints are applied. public override void Refresh(BSPhysObject requestor) { - // External request for Refresh (from BSPrim) is not necessary + // External request for Refresh (from BSPrim) doesn't need to do anything // InternalRefresh(requestor); } @@ -86,7 +86,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); if (!IsRoot(child)) { - // Physical children are removed from the world as the shape ofthe root compound + // The origional prims are removed from the world as the shape of the root compound // shape takes over. BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION); @@ -118,7 +118,7 @@ public sealed class BSLinksetCompound : BSLinkset // Called at taint-time!! public override void UpdateProperties(BSPhysObject updated) { - // Nothing to do for constraints on property updates + // Nothing to do for compound linksets on property updates } // The children move around in relationship to the root. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index d51003c..a2161c3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -5,6 +5,9 @@ CRASHES 20121128.1600: mesh object not rezzing (no physics mesh). Causes many errors. Doesn't stop after first error with box shape. Eventually crashes when deleting the object. +20121206.1434: rez Sam-pan into OSGrid BulletSim11 region + Immediate simulator crash. Mono does not output any stacktrace and + log just stops after reporting taint-time linking of the linkset. VEHICLES TODO LIST: ================================================= @@ -23,9 +26,12 @@ After getting off a vehicle, the root prim is phantom (can be walked through) Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint) Implement referenceFrame for all the motion routines. Cannot edit/move a vehicle being ridden: it jumps back to the origional position. +Border crossing with linked vehicle causes crash BULLETSIM TODO LIST: ================================================= +Duplicating a physical prim causes old prim to jump away + Dup a phys prim and the original become unselected and thus interacts w/ selected prim. Disable activity of passive linkset children. Since the linkset is a compound object, the old prims are left lying around and need to be phantomized so they don't collide, ... @@ -96,7 +102,7 @@ Breakout code for mesh/hull/compound/native into separate BSShape* classes Generalize Dynamics and PID with standardized motors. Generalize Linkset and vehicles into PropertyManagers Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies - Possibly generalized a 'pre step action' registration. + Potentially add events for shape destruction, etc. Complete implemention of preStepActions Replace vehicle step call with prestep event. Is there a need for postStepActions? postStepTaints? -- cgit v1.1 From 216c121935537f707e6334176e590225fdc988d8 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 8 Dec 2012 08:59:53 -0800 Subject: BulletSim: fix small problem with setting size/scale of native shapes which caused the native shapes to be rebuilt when not necessary. --- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index e77b6ba..933f573 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -415,7 +415,7 @@ public sealed class BSShapeCollection : IDisposable if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) { // an avatar capsule is close to a native shape (it is not shared) - ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, + GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE, shapeCallback); if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); ret = true; @@ -423,7 +423,7 @@ public sealed class BSShapeCollection : IDisposable } // 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 already been created. + // 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); @@ -460,6 +460,9 @@ public sealed class BSShapeCollection : IDisposable && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) ) { + 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); + // It doesn't look like Bullet scales spheres so make sure the scales are all equal if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z) @@ -538,6 +541,8 @@ public sealed class BSShapeCollection : IDisposable if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", prim.LocalID, newShape, prim.Scale); + // native shapes are scaled by Bullet + prim.Scale = prim.Size; prim.PhysShape = newShape; return true; } @@ -550,8 +555,8 @@ public sealed class BSShapeCollection : IDisposable ShapeData nativeShapeData = new ShapeData(); nativeShapeData.Type = shapeType; nativeShapeData.ID = prim.LocalID; - nativeShapeData.Scale = prim.Scale; - nativeShapeData.Size = prim.Scale; // unneeded, I think. + nativeShapeData.Scale = prim.Size; + nativeShapeData.Size = prim.Size; // unneeded, I think. nativeShapeData.MeshKey = (ulong)shapeKey; nativeShapeData.HullKey = (ulong)shapeKey; @@ -566,8 +571,6 @@ public sealed class BSShapeCollection : IDisposable else { // Native shapes are scaled in Bullet so set the scaling to the size - prim.Scale = prim.Size; - nativeShapeData.Scale = prim.Scale; newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); } if (newShape.ptr == IntPtr.Zero) -- cgit v1.1 From 04e64d73dfddf9ef3e3716f6c43752c6f63438cb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 8 Dec 2012 09:12:45 -0800 Subject: BulletSim: set material properties for static objects. Move Linkset.MakeStatic() after call to ForceActivationState2() since linkset might change activation state. Make BSPrim.CreateGeomAndObject public as linkset rebuilding might need access to it. Only rebuild prim if selection state is actually changes -- OpenSimulator calls PhysObject.Selected() multiple times whenever a prim is selected or deselected. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 5 ++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 30 ++++++++++++++-------- 2 files changed, 24 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 492c7b1..1f7c398 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -257,6 +257,11 @@ public sealed class BSLinksetCompound : BSLinkset BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot); } } + + // TODO: need to phantomize the child prims left behind. + // Maybe just destroy the children bodies and shapes and have them rebuild on unlink. + // Selection/deselection might cause way too many build/destructions esp. for LARGE linksets. + return false; // 'false' says to move onto the next child in the list }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 62aaf80..4d203ff 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -190,12 +190,15 @@ public sealed class BSPrim : BSPhysObject } public override bool Selected { set { - _isSelected = value; - PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() + if (value != _isSelected) { - DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); - SetObjectDynamic(false); - }); + _isSelected = value; + PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() + { + DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); + SetObjectDynamic(false); + }); + } } } public override void CrossingFailure() { return; } @@ -678,8 +681,11 @@ public sealed class BSPrim : BSPhysObject CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement ZeroMotion(true); - // Center of mass is at the center of the object - // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); + + // Set various physical properties so other object interact properly + BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction); + BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution); + // Mass is zero which disables a bunch of physics stuff in Bullet UpdatePhysicalMassProperties(0f); // Set collision detection parameters @@ -688,13 +694,15 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } - // There can be special things needed for implementing linksets - Linkset.MakeStatic(this); + // The activation state is 'disabled' so Bullet will not try to act on it. // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); // Start it out sleeping and physical actions could wake it up. BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING); + // There can be special things needed for implementing linksets + Linkset.MakeStatic(this); + PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup; PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask; } @@ -1326,7 +1334,7 @@ public sealed class BSPrim : BSPhysObject // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. // Called at taint-time!!! - private void CreateGeomAndObject(bool forceRebuild) + public void CreateGeomAndObject(bool forceRebuild) { // If this prim is part of a linkset, we must remove and restore the physical // links if the body is rebuilt. @@ -1341,7 +1349,7 @@ public sealed class BSPrim : BSPhysObject { // 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 handled by BSLinkset.) + // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this); }); -- cgit v1.1 From ce5083a504a82712149f5e3dab622d42e260bba3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 9 Dec 2012 22:10:32 -0800 Subject: BulletSim: adjust friction and restitution based on material type. --- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 ++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 12 +++++++----- 2 files changed, 17 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index f6a890e..b05d4ee 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -60,6 +60,9 @@ public abstract class BSPhysObject : PhysicsActor Linkset = BSLinkset.Factory(PhysicsScene, this); LastAssetBuildFailed = false; + // Default material type + Material = MaterialAttributes.Material.Wood; + CollisionCollection = new CollisionEventUpdate(); SubscribedEventsMs = 0; CollidingStep = 0; @@ -109,6 +112,13 @@ public abstract class BSPhysObject : PhysicsActor public abstract bool IsSolid { get; } public abstract bool IsStatic { get; } + // Materialness + public MaterialAttributes.Material Material { get; private set; } + public override void SetMaterial(int material) + { + Material = (MaterialAttributes.Material)material; + } + // Stop all physical motion. public abstract void ZeroMotion(bool inTaintTime); public abstract void ZeroAngularMotion(bool inTaintTime); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4d203ff..627393a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -683,8 +683,9 @@ public sealed class BSPrim : BSPhysObject ZeroMotion(true); // Set various physical properties so other object interact properly - BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction); - BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution); + MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); + BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); + BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); // Mass is zero which disables a bunch of physics stuff in Bullet UpdatePhysicalMassProperties(0f); @@ -711,9 +712,10 @@ public sealed class BSPrim : BSPhysObject // Not a Bullet static object CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - // Set various physical properties so internal dynamic properties will get computed correctly as they are set - BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction); - BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution); + // Set various physical properties so other object interact properly + MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true); + BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); + BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 // Since this can be called multiple times, only zero forces when becoming physical -- cgit v1.1 From a19896cc569c037436ad8e65f044224f169d63d4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 9 Dec 2012 22:32:13 -0800 Subject: BulletSim: some comments about rebuilding linksets (having to recompute and restore a child's position in the world based on its position in the moved linkset). --- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 1f7c398..bc9f9be 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -192,6 +192,8 @@ public sealed class BSLinksetCompound : BSLinkset child.LocalID, child.PhysBody.ptr.ToString("X")); // Cause the child's body to be rebuilt and thus restored to normal operation + // TODO: position and rotation must be restored because the child could have moved + // based on the linkset. child.ForceBodyShapeRebuild(false); if (!HasAnyChildren) @@ -236,9 +238,10 @@ public sealed class BSLinksetCompound : BSLinkset if (cPrim.PhysShape.isNativeShape) { - // Native shapes are not shared so we need to create a new one. - // A mesh or hull is created because scale is not available on a native shape. - // (TODO: Bullet does have a btScaledCollisionShape. Can that be used?) + // A native shape is turning into a null collision shape because native + // shapes are not shared so we have to hullify it so it will be tracked + // and freed at the correct time. This also solves the scaling problem + // (native shapes scaled but hull/meshes are assumed to not be). BulletShape saveShape = cPrim.PhysShape; cPrim.PhysShape.ptr = IntPtr.Zero; // Don't let the create free the child's shape PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); -- cgit v1.1 From 9df85eadf4b3719a898fda8769313ae023962c25 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 10 Dec 2012 15:35:53 -0800 Subject: BulletSim: Fix crash on the destruction of physical linksets. While fixing the above, add methods to physical body and shape pointer wrapper so routines won't have to know that IntPtr.Zero means no physical instance. Fix problem with physical linksets failing after a few sits and unsits by properly restoring child prom positions for compound linksets after multiple selection and deselections. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 + .../Region/Physics/BulletSPlugin/BSConstraint.cs | 4 +- .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 8 ++ .../Physics/BulletSPlugin/BSLinksetCompound.cs | 113 +++++++++++++++++---- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 5 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 16 +-- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 2 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 4 +- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 6 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 23 +++++ 12 files changed, 155 insertions(+), 38 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 21aa9be..88460cc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -124,7 +124,9 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() { PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); + PhysBody.Clear(); PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); + PhysShape.Clear(); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 65fac00..6b1e304 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -57,7 +57,7 @@ public abstract class BSConstraint : IDisposable if (m_enabled) { m_enabled = false; - if (m_constraint.ptr != IntPtr.Zero) + if (m_constraint.HasPhysicalConstraint) { bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", @@ -65,7 +65,7 @@ public abstract class BSConstraint : IDisposable m_body1.ID, m_body1.ptr.ToString("X"), m_body2.ID, m_body2.ptr.ToString("X"), success); - m_constraint.ptr = System.IntPtr.Zero; + m_constraint.Clear(); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index 23ef052..b073555 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -65,7 +65,7 @@ public sealed class BSConstraint6Dof : BSConstraint m_world = world; m_body1 = obj1; m_body2 = obj2; - if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero) + if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody) { world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", BSScene.DetailLogZero, world.worldID, @@ -83,7 +83,7 @@ public sealed class BSConstraint6Dof : BSConstraint world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"), obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); - if (m_constraint.ptr == IntPtr.Zero) + if (!m_constraint.HasPhysicalConstraint) { world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", LogHeader, obj1.ID, obj2.ID); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 0df4310..777c5cb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -32,6 +32,14 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { + +// A BSPrim can get individual information about its linkedness attached +// to it through an instance of a subclass of LinksetInfo. +// Each type of linkset will define the information needed for its type. +public abstract class BSLinksetInfo +{ +} + public abstract class BSLinkset { // private static string LogHeader = "[BULLETSIM LINKSET]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index bc9f9be..fe5b5e3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -32,6 +32,31 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { + +// When a child is linked, the relationship position of the child to the parent +// is remembered so the child's world position can be recomputed when it is +// removed from the linkset. +sealed class BSLinksetCompoundInfo : BSLinksetInfo +{ + public OMV.Vector3 OffsetPos; + public OMV.Quaternion OffsetRot; + public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r) + { + OffsetPos = p; + OffsetRot = r; + } + public override string ToString() + { + StringBuilder buff = new StringBuilder(); + buff.Append(""); + return buff.ToString(); + } +}; + public sealed class BSLinksetCompound : BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; @@ -44,6 +69,7 @@ public sealed class BSLinksetCompound : BSLinkset // For compound implimented linksets, if there are children, use compound shape for the root. public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) { + // Returning 'unknown' means we don't have a preference. BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; if (IsRoot(requestor) && HasAnyChildren) { @@ -63,10 +89,10 @@ public sealed class BSLinksetCompound : BSLinkset // InternalRefresh(requestor); } + // Schedule a refresh to happen after all the other taint processing. private void InternalRefresh(BSPhysObject requestor) { DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID); - // Queue to happen after all the other taint processing PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() { if (IsRoot(requestor) && HasAnyChildren) @@ -108,7 +134,7 @@ public sealed class BSLinksetCompound : BSLinkset { // The non-physical children can come back to life. BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - // Don't force activation so setting of DISABLE_SIMULATION can stay. + // Don't force activation so setting of DISABLE_SIMULATION can stay if used. BulletSimAPI.Activate2(child.PhysBody.ptr, false); ret = true; } @@ -146,6 +172,10 @@ public sealed class BSLinksetCompound : BSLinkset if (!IsRoot(child)) { + // Because it is a convenient time, recompute child world position and rotation based on + // its position in the linkset. + RecomputeChildWorldPosition(child, true); + // Cause the current shape to be freed and the new one to be built. InternalRefresh(LinksetRoot); ret = true; @@ -154,6 +184,42 @@ public sealed class BSLinksetCompound : BSLinkset return ret; } + // When the linkset is built, the child shape is added + // to the compound shape relative to the root shape. The linkset then moves around but + // this does not move the actual child prim. The child prim's location must be recomputed + // based on the location of the root shape. + private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) + { + BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo; + if (lci != null) + { + if (inTaintTime) + { + OMV.Vector3 oldPos = child.RawPosition; + child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos; + child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot; + DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}", + child.LocalID, oldPos, lci, child.RawPosition); + } + else + { + // TaintedObject is not used here so the raw position is set now and not at taint-time. + child.Position = LinksetRoot.RawPosition + lci.OffsetPos; + child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot; + } + } + else + { + // This happens when children have been added to the linkset but the linkset + // has not been constructed yet. So like, at taint time, adding children to a linkset + // and then changing properties of the children (makePhysical, for instance) + // but the post-print action of actually rebuilding the linkset has not yet happened. + // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}", + // LogHeader, child.LocalID); + DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID); + } + } + // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', // this routine will restore the removed constraints. // Called at taint-time!! @@ -192,8 +258,7 @@ public sealed class BSLinksetCompound : BSLinkset child.LocalID, child.PhysBody.ptr.ToString("X")); // Cause the child's body to be rebuilt and thus restored to normal operation - // TODO: position and rotation must be restored because the child could have moved - // based on the linkset. + RecomputeChildWorldPosition(child, false); child.ForceBodyShapeRebuild(false); if (!HasAnyChildren) @@ -228,43 +293,57 @@ public sealed class BSLinksetCompound : BSLinkset { if (!IsRoot(cPrim)) { - // Each child position and rotation is given relative to the root. - OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); - OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; - OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; + // Compute the displacement of the child from the root of the linkset. + // This info is saved in the child prim so the relationship does not + // change over time and the new child position can be computed + // when the linkset is being disassembled (the linkset may have moved). + BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; + if (lci == null) + { + // Each child position and rotation is given relative to the root. + OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); + OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; + OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; + + // Save relative position for recomputing child's world position after moving linkset. + lci = new BSLinksetCompoundInfo(displacementPos, displacementRot); + cPrim.LinksetInfo = lci; + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); + } DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", - LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, displacementPos, displacementRot); + LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); if (cPrim.PhysShape.isNativeShape) { - // A native shape is turning into a null collision shape because native + // A native shape is turning into a hull collision shape because native // shapes are not shared so we have to hullify it so it will be tracked // and freed at the correct time. This also solves the scaling problem // (native shapes scaled but hull/meshes are assumed to not be). + // TODO: decide of the native shape can just be used in the compound shape. + // Use call to CreateGeomNonSpecial(). BulletShape saveShape = cPrim.PhysShape; - cPrim.PhysShape.ptr = IntPtr.Zero; // Don't let the create free the child's shape + cPrim.PhysShape.Clear(); // Don't let the create free the child's shape + // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null); PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); BulletShape newShape = cPrim.PhysShape; cPrim.PhysShape = saveShape; - BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot); + BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos , lci.OffsetRot); } else { // For the shared shapes (meshes and hulls), just use the shape in the child. + // The reference count added here will be decremented when the compound shape + // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced). if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape)) { PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); } - BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot); + BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos , lci.OffsetRot); } } - // TODO: need to phantomize the child prims left behind. - // Maybe just destroy the children bodies and shapes and have them rebuild on unlink. - // Selection/deselection might cause way too many build/destructions esp. for LARGE linksets. - return false; // 'false' says to move onto the next child in the list }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index b05d4ee..d2fc15c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -75,6 +75,7 @@ public abstract class BSPhysObject : PhysicsActor public string TypeName { get; protected set; } public BSLinkset Linkset { get; set; } + public BSLinksetInfo LinksetInfo { get; set; } // Return the object mass without calculating it or having side effects public abstract float RawMass { get; } @@ -253,7 +254,9 @@ public abstract class BSPhysObject : PhysicsActor SubscribedEventsMs = 0; PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() { - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + // Make sure there is a body there because sometimes destruction happens in an un-ideal order. + if (PhysBody.HasPhysicalBody) + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } // Return 'true' if the simulator wants collision events diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 627393a..d1d100d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -108,8 +108,8 @@ public sealed class BSPrim : BSPhysObject _mass = CalculateMass(); // No body or shape yet - PhysBody = new BulletBody(LocalID, IntPtr.Zero); - PhysShape = new BulletShape(IntPtr.Zero); + PhysBody = new BulletBody(LocalID); + PhysShape = new BulletShape(); DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time @@ -143,7 +143,9 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // If there are physical body and shape, release my use of same. PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); + PhysBody.Clear(); PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); + PhysShape.Clear(); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 933f573..74b4371 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -149,7 +149,7 @@ public sealed class BSShapeCollection : IDisposable // Called when releasing use of a BSBody. BSShape is handled separately. public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback ) { - if (body.ptr == IntPtr.Zero) + if (!body.HasPhysicalBody) return; lock (m_collectionActivityLock) @@ -243,12 +243,12 @@ public sealed class BSShapeCollection : IDisposable // Release the usage of a shape. public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback) { - if (shape.ptr == IntPtr.Zero) + if (!shape.HasPhysicalShape) return; PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate() { - if (shape.ptr != IntPtr.Zero) + if (shape.HasPhysicalShape) { if (shape.isNativeShape) { @@ -440,7 +440,7 @@ public sealed class BSShapeCollection : IDisposable } // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'. - private bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) + public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) { bool ret = false; bool haveShape = false; @@ -573,7 +573,7 @@ public sealed class BSShapeCollection : IDisposable // Native shapes are scaled in Bullet so set the scaling to the size newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); } - if (newShape.ptr == IntPtr.Zero) + if (!newShape.HasPhysicalShape) { PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", LogHeader, prim.LocalID, shapeType); @@ -590,7 +590,7 @@ public sealed class BSShapeCollection : IDisposable // Called at taint-time! private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { - BulletShape newShape = new BulletShape(IntPtr.Zero); + BulletShape newShape = new BulletShape(); float lod; System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); @@ -860,7 +860,7 @@ public sealed class BSShapeCollection : IDisposable private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim) { // If the shape was successfully created, nothing more to do - if (newShape.ptr != IntPtr.Zero) + if (newShape.HasPhysicalShape) return newShape; // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset @@ -919,7 +919,7 @@ public sealed class BSShapeCollection : IDisposable bool ret = false; // the mesh, hull or native shape must have already been created in Bullet - bool mustRebuild = (prim.PhysBody.ptr == IntPtr.Zero); + bool mustRebuild = !prim.PhysBody.HasPhysicalBody; // If there is an existing body, verify it's of an acceptable type. // If not a solid object, body is a GhostObject. Otherwise a RigidBody. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 83b9c37..2d379bb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -136,7 +136,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { if (m_mapInfo != null) { - if (m_mapInfo.terrainBody.ptr != IntPtr.Zero) + if (m_mapInfo.terrainBody.HasPhysicalBody) { BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); // Frees both the body and the shape. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 83df360..c28d69d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -151,13 +151,13 @@ public sealed class BSTerrainManager // Release all the terrain structures we might have allocated public void ReleaseGroundPlaneAndTerrain() { - if (m_groundPlane.ptr != IntPtr.Zero) + if (m_groundPlane.HasPhysicalBody) { if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr)) { BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr); } - m_groundPlane.ptr = IntPtr.Zero; + m_groundPlane.Clear(); } ReleaseTerrain(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 6ce767d..3473006 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -94,7 +94,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, indicesCount, indices, verticesCount, vertices), BSPhysicsShapeType.SHAPE_MESH); - if (m_terrainShape.ptr == IntPtr.Zero) + if (!m_terrainShape.HasPhysicalShape) { // DISASTER!! PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID); @@ -107,7 +107,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys Quaternion rot = Quaternion.Identity; m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot)); - if (m_terrainBody.ptr == IntPtr.Zero) + if (!m_terrainBody.HasPhysicalBody) { // DISASTER!! physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); @@ -140,7 +140,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys public override void Dispose() { - if (m_terrainBody.ptr != IntPtr.Zero) + if (m_terrainBody.HasPhysicalBody) { BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); // Frees both the body and the shape. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 2671995..1559025 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -53,6 +53,9 @@ public struct BulletSim // An allocated Bullet btRigidBody public struct BulletBody { + public BulletBody(uint id) : this(id, IntPtr.Zero) + { + } public BulletBody(uint id, IntPtr xx) { ID = id; @@ -64,6 +67,13 @@ public struct BulletBody public uint ID; public CollisionFilterGroups collisionGroup; public CollisionFilterGroups collisionMask; + + public void Clear() + { + ptr = IntPtr.Zero; + } + public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } + public override string ToString() { StringBuilder buff = new StringBuilder(); @@ -103,6 +113,13 @@ public struct BulletShape public BSPhysicsShapeType type; public System.UInt64 shapeKey; public bool isNativeShape; + + public void Clear() + { + ptr = IntPtr.Zero; + } + public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } } + public override string ToString() { StringBuilder buff = new StringBuilder(); @@ -140,6 +157,12 @@ public struct BulletConstraint ptr = xx; } public IntPtr ptr; + + public void Clear() + { + ptr = IntPtr.Zero; + } + public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } } // An allocated HeightMapThing which holds various heightmap info. -- cgit v1.1 From 93393fb975f3886c448b6f945705304552fe8875 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 10 Dec 2012 16:46:12 -0800 Subject: BulletSim: comment out some chatty debug logging. Rearrange some code in BSDynamics to make velocity vs force calculation clearer. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 8 +++++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- 2 files changed, 7 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index fa3110c..cb84456 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -818,6 +818,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin + hoverContribution + limitMotorUpContribution; + Vector3 newForce = buoyancyContribution; + // If not changing some axis, reduce out velocity if ((m_flags & (VehicleFlag.NO_X)) != 0) newVelocity.X = 0; @@ -845,7 +847,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleVelocity = newVelocity; // Other linear forces are applied as forces. - Vector3 totalDownForce = buoyancyContribution * m_vehicleMass; + Vector3 totalDownForce = newForce * m_vehicleMass; if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f)) { VehicleAddForce(totalDownForce); @@ -1005,8 +1007,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // has a decay factor. This says this force should // be computed with a motor. // TODO: add interaction with banking. - VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},downForce={2}", - Prim.LocalID, distanceAboveGround, ret); + VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", + Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); } return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index f72bd74..17cc7b4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -501,7 +501,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters try { - if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG + // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, @@ -510,7 +510,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); - if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG + // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG } catch (Exception e) { -- cgit v1.1 From ebf30e7ba66446d7018346c12111d65a030d2786 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 00:02:20 -0800 Subject: BulletSim: set mass for single prim linksets when going physical. This fixes single prim vehicles not working (the surf board now zooms). --- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index fe5b5e3..d2abdb4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -110,12 +110,19 @@ public sealed class BSLinksetCompound : BSLinkset { bool ret = false; DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); - if (!IsRoot(child)) + if (IsRoot(child)) + { + // The root is going dynamic. Make sure mass is properly set. + m_mass = ComputeLinksetMass(); + } + else { // The origional prims are removed from the world as the shape of the root compound // shape takes over. BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION); + // We don't want collisions from the old linkset children. + BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); ret = true; } return ret; -- cgit v1.1 From 8b861e880ad128edc0267b8e2d5931cfc8a142bc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 00:13:13 -0800 Subject: BulletSim: add ini file and command line parameters to control dumping of physical vehicle parameters (out of Bullet) on each simulation step and to optionally scale vehicle angular velocity by the time step. The latter looks to be part of a difference between angular parameters for ODE and BulletSim. SL docs say angular velocity is measured in radians/timeScale. Not sure if this is different than what ODE does. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 9 ++++++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 12 ++++++++++-- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 7 +++++-- 4 files changed, 22 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index cb84456..acddc09 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -570,8 +570,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); - VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", - Prim.LocalID, friction, localInertia, angularDamping); + VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", + Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); } else { @@ -1057,7 +1057,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin // TODO: Should this be applied as an angular force (torque)? if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f)) { - Vector3 scaledCorrection = m_lastAngularCorrection * pTimestep; + // DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions. + Vector3 scaledCorrection = m_lastAngularCorrection; + if (PhysicsScene.VehicleScaleAngularVelocityByTimestep) + scaledCorrection *= pTimestep; VehicleRotationalVelocity = scaledCorrection; VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 17cc7b4..f4f2801 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -188,6 +188,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters private bool m_physicsLoggingDoFlush; // 'true' of the vehicle code is to log lots of details public bool VehicleLoggingEnabled { get; private set; } + public bool VehiclePhysicalLoggingEnabled { get; private set; } + public bool VehicleScaleAngularVelocityByTimestep { get; private set; } #region Construction and Initialization public BSScene(string identifier) @@ -297,6 +299,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false); // Very detailed logging for vehicle debugging VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); + VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false); // Do any replacements in the parameters m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName); @@ -501,7 +504,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters try { - // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG + if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, @@ -510,7 +513,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); - // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG + if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG } catch (Exception e) { @@ -1226,6 +1229,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].vehicleAngularDamping; }, (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ), + new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); }, + (s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); }, + (s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ), new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 0f, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 74b4371..4ab9a99 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -793,7 +793,7 @@ public sealed class BSShapeCollection : IDisposable BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL); newShape.shapeKey = newHullKey; - return newShape; // 'true' means a new shape has been added to this prim + return newShape; } // Callback from convex hull creater with a newly created hull. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index a2161c3..4b6e9a4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -38,7 +38,8 @@ Disable activity of passive linkset children. Scenes with hundred of thousands of static objects take a lot of physics CPU time. BSPrim.Force should set a continious force on the prim. The force should be applied each tick. Some limits? -Single prim vehicles don't seem to properly vehiclize. +Linksets should allow collisions to individual children + Add LocalID to children shapes in LinksetCompound and create events for individuals Gun sending shooter flying. Collision margin (gap between physical objects lying on each other) Boundry checking (crashes related to crossing boundry) @@ -145,4 +146,6 @@ Linkset implementation using compound shapes. (Resolution: implemented LinksetCo Light cycle falling over when driving (Resolution: implemented VerticalAttractor) Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.) Package Bullet source mods for Bullet internal stats output - (Resolution: move code into WorldData.h rather than relying on patches) \ No newline at end of file + (Resolution: move code into WorldData.h rather than relying on patches) +Single prim vehicles don't seem to properly vehiclize. + (Resolution: mass was not getting set properly for single prim linksets) -- cgit v1.1 From 905d7c43ad34869df03b21fcd24eb8ea8c6beeae Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 00:35:16 -0800 Subject: BulletSim: modify LIMIT_MOTOR_UP to limit BOAT types to be at water rather than ground level. This makes boats float at water level better but not perfectly. There probably needs to be some interaction between HOVER and LIMIT_MOTOR_UP. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index acddc09..82e829e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -993,8 +993,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { - // If the vehicle is motoring into the sky, get it going back down. - float distanceAboveGround = VehiclePosition.Z - GetTerrainHeight(VehiclePosition); + float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition); + float distanceAboveGround = VehiclePosition.Z - targetHeight; // Not colliding if the vehicle is off the ground if (!Prim.IsColliding) { -- cgit v1.1 From 63099184dbd2c1c5bcee2c3c87802f78444e7008 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 13:42:23 -0800 Subject: BulletSim: protect prim property setting to remove crash from taints setting properties after the destroy object taint has happened. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 54 +++++++++++++++------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 9 +++- 3 files changed, 45 insertions(+), 20 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 851d508..cf0a9dc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -65,7 +65,7 @@ public abstract class BSMotor // Can all the incremental stepping be replaced with motor classes? // Motor which moves CurrentValue to TargetValue over TimeScale seconds. -// The TargetValue is decays in TargetValueDecayTimeScale and +// The TargetValue decays in TargetValueDecayTimeScale and // the CurrentValue will be held back by FrictionTimeScale. // TimeScale and TargetDelayTimeScale may be 'infinite' which means go decay. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d1d100d..1280c25 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -249,7 +249,8 @@ public sealed class BSPrim : BSPhysObject // Zero some other properties in the physics engine PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() { - BulletSimAPI.ClearAllForces2(PhysBody.ptr); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ClearAllForces2(PhysBody.ptr); }); } public override void ZeroAngularMotion(bool inTaintTime) @@ -259,8 +260,11 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() { // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); - BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + if (PhysBody.HasPhysicalBody) + { + BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + } }); } @@ -297,8 +301,11 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - ActivateIfPhysical(false); + if (PhysBody.HasPhysicalBody) + { + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + ActivateIfPhysical(false); + } }); } } @@ -415,7 +422,8 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setForce", delegate() { // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); }); } } @@ -509,7 +517,8 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() { // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); }); } } @@ -558,9 +567,12 @@ public sealed class BSPrim : BSPhysObject // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() { - // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); - // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + if (PhysBody.HasPhysicalBody) + { + // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); + // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + } }); } } @@ -865,7 +877,8 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); }); } } @@ -900,8 +913,11 @@ public sealed class BSPrim : BSPhysObject _buoyancy = value; // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object - float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); + if (PhysBody.HasPhysicalBody) + { + float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); + BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); + } } } @@ -969,7 +985,8 @@ public sealed class BSPrim : BSPhysObject } DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum); if (fSum != OMV.Vector3.Zero) - BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); }); } @@ -980,7 +997,8 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate() { DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse); - BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse); }); } @@ -1016,7 +1034,8 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum); if (fSum != OMV.Vector3.Zero) { - BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum); _torque = fSum; } }); @@ -1030,7 +1049,8 @@ public sealed class BSPrim : BSPhysObject OMV.Vector3 applyImpulse = impulse; PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() { - BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 4b6e9a4..1c7b577 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -11,12 +11,14 @@ CRASHES VEHICLES TODO LIST: ================================================= -Neb car jiggling left and right - Happens on terrain and any other mesh object. Flat cubes are much smoother. +Neb vehicle taking > 25ms of physics time!! Vehicles (Move smoothly) Add vehicle collisions so IsColliding is properly reported. Needed for banking, limitMotorUp, movementLimiting, ... Some vehicles should not be able to turn if no speed or off ground. +Neb car jiggling left and right + Happens on terrain and any other mesh object. Flat cubes are much smoother. + This has been reduced but not eliminated. For limitMotorUp, use raycast down to find if vehicle is in the air. Implement function efficiency for lineaar and angular motion. Should vehicle angular/linear movement friction happen after all the components @@ -30,6 +32,9 @@ Border crossing with linked vehicle causes crash BULLETSIM TODO LIST: ================================================= +Avatar height off after unsitting (float off ground) + Editting appearance then moving restores. + Must not be initializing height when recreating capsule after unsit. Duplicating a physical prim causes old prim to jump away Dup a phys prim and the original become unselected and thus interacts w/ selected prim. Disable activity of passive linkset children. -- cgit v1.1 From d4e0e98c001c3501ac17849ab78e7ac5a59a5c26 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 13:54:26 -0800 Subject: BulletSim: protect character property setting to remove crash from taints setting properties after the destroy character taint. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 60 ++++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 3 +- 2 files changed, 42 insertions(+), 21 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 88460cc..83c78f6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -196,8 +196,11 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { - BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); - UpdatePhysicalMassProperties(RawMass); + if (PhysShape.HasPhysicalShape) + { + BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); + UpdatePhysicalMassProperties(RawMass); + } }); } @@ -238,7 +241,8 @@ public sealed class BSCharacter : BSPhysObject // Zero some other properties directly into the physics engine PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() { - BulletSimAPI.ClearAllForces2(PhysBody.ptr); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ClearAllForces2(PhysBody.ptr); }); } public override void ZeroAngularMotion(bool inTaintTime) @@ -247,10 +251,13 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() { - BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); - // The next also get rid of applied linear force but the linear velocity is untouched. - BulletSimAPI.ClearForces2(PhysBody.ptr); + if (PhysBody.HasPhysicalBody) + { + BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + // The next also get rid of applied linear force but the linear velocity is untouched. + BulletSimAPI.ClearForces2(PhysBody.ptr); + } }); } @@ -275,7 +282,8 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); }); } } @@ -334,7 +342,8 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); }); ret = true; } @@ -361,7 +370,8 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() { DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); }); } } @@ -400,7 +410,8 @@ public sealed class BSCharacter : BSPhysObject if (_currentFriction != PhysicsScene.Params.avatarStandingFriction) { _currentFriction = PhysicsScene.Params.avatarStandingFriction; - BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); } } else @@ -408,7 +419,8 @@ public sealed class BSCharacter : BSPhysObject if (_currentFriction != PhysicsScene.Params.avatarFriction) { _currentFriction = PhysicsScene.Params.avatarFriction; - BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); } } _velocity = value; @@ -445,8 +457,11 @@ public sealed class BSCharacter : BSPhysObject // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() { - // _position = BulletSimAPI.GetPosition2(BSBody.ptr); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + if (PhysBody.HasPhysicalBody) + { + // _position = BulletSimAPI.GetPosition2(BSBody.ptr); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + } }); } } @@ -519,10 +534,13 @@ public sealed class BSCharacter : BSPhysObject _floatOnWater = value; PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() { - if (_floatOnWater) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); - else - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + if (PhysBody.HasPhysicalBody) + { + if (_floatOnWater) + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + else + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + } }); } } @@ -555,7 +573,8 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); } } @@ -601,7 +620,8 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate() { DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); }); } else diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 1280c25..446e44c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -191,7 +191,8 @@ public sealed class BSPrim : BSPhysObject } } public override bool Selected { - set { + set + { if (value != _isSelected) { _isSelected = value; -- cgit v1.1 From a082ce9da78ffb50454834fde4e3dd19e3b5bc74 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 14:27:09 -0800 Subject: BulletSim: fix crash caused by the creation of a linkset child that is under the terrain. Users can sure find some interesting corner conditions. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 446e44c..35d22c0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -332,12 +332,12 @@ public sealed class BSPrim : BSPhysObject float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); OMV.Vector3 upForce = OMV.Vector3.Zero; - if (Position.Z < terrainHeight) + if (RawPosition.Z < terrainHeight) { DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); float targetHeight = terrainHeight + (Size.Z / 2f); // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec. - upForce.Z = (terrainHeight - Position.Z) * 1f; + upForce.Z = (terrainHeight - RawPosition.Z) * 1f; ret = true; } @@ -345,10 +345,10 @@ public sealed class BSPrim : BSPhysObject { float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); // TODO: a floating motor so object will bob in the water - if (Math.Abs(Position.Z - waterHeight) > 0.1f) + if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f) { // Upforce proportional to the distance away from the water. Correct the error in 1 sec. - upForce.Z = (waterHeight - Position.Z) * 1f; + upForce.Z = (waterHeight - RawPosition.Z) * 1f; ret = true; } } -- cgit v1.1 From bb6eeb54296246e26594bc06edc3a42c0e5824e9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 12 Dec 2012 11:01:36 -0800 Subject: BulletSim: do not return the current velocity for targetVelocity. --- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 +++++++++++ 1 file changed, 11 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index d2fc15c..f3b6993 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -139,6 +139,17 @@ public abstract class BSPhysObject : PhysicsActor public abstract OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } + // The system is telling us the velocity it wants to move at. + protected OMV.Vector3 m_targetVelocity; + public override OMV.Vector3 TargetVelocity + { + get { return m_targetVelocity; } + set + { + m_targetVelocity = value; + Velocity = value; + } + } public abstract OMV.Vector3 ForceVelocity { get; set; } public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } -- cgit v1.1 From 7bb5613dc665a788e1b151278c20d415f708242a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 16:46:43 -0800 Subject: BulletSim: updates and rearrangement of the TODO list. --- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 47 +++++++++++++++------- 1 file changed, 33 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 1c7b577..11c1387 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -20,6 +20,10 @@ Neb car jiggling left and right Happens on terrain and any other mesh object. Flat cubes are much smoother. This has been reduced but not eliminated. For limitMotorUp, use raycast down to find if vehicle is in the air. +Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. + Verify that angular motion specified around Z moves in the vehicle coordinates. +Verify llGetVel() is returning a smooth and good value for vehicle movement. +llGetVel() should return the root's velocity if requested in a child prim. Implement function efficiency for lineaar and angular motion. Should vehicle angular/linear movement friction happen after all the components or does it only apply to the basic movement? @@ -32,19 +36,14 @@ Border crossing with linked vehicle causes crash BULLETSIM TODO LIST: ================================================= -Avatar height off after unsitting (float off ground) +Avatar height off after unsitting (floats off ground) Editting appearance then moving restores. Must not be initializing height when recreating capsule after unsit. Duplicating a physical prim causes old prim to jump away Dup a phys prim and the original become unselected and thus interacts w/ selected prim. -Disable activity of passive linkset children. - Since the linkset is a compound object, the old prims are left lying - around and need to be phantomized so they don't collide, ... Scenes with hundred of thousands of static objects take a lot of physics CPU time. BSPrim.Force should set a continious force on the prim. The force should be applied each tick. Some limits? -Linksets should allow collisions to individual children - Add LocalID to children shapes in LinksetCompound and create events for individuals Gun sending shooter flying. Collision margin (gap between physical objects lying on each other) Boundry checking (crashes related to crossing boundry) @@ -57,14 +56,34 @@ Small physical objects do not interact correctly The chain will fall apart and pairs will dance around on ground Chains of 1x1x.2 will stay connected but will dance. Chains above 2x2x.4 are move stable and get stablier as torui get larger. -Add material type linkage and input all the material property definitions. - Skeleton classes and table are in the sources but are not filled or used. Add PID motor for avatar movement (slow to stop, ...) setForce should set a constant force. Different than AddImpulse. Implement raycast. Implement ShapeCollection.Dispose() Implement water as a plain so raycasting and collisions can happen with same. +Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE + Also osGetPhysicsEngineVerion() maybe. + +LINKSETS +====================================================== +Linksets should allow collisions to individual children + Add LocalID to children shapes in LinksetCompound and create events for individuals +Verify/think through scripts in children of linksets. What do they reference + and return when getting position, velocity, ... +Confirm constraint linksets still work after making all the changes for compound linksets. +Add 'changed' flag or similar to reduce the number of times a linkset is rebuilt. + For compound linksets, add ability to remove or reposition individual child shapes. +Disable activity of passive linkset children. + Since the linkset is a compound object, the old prims are left lying + around and need to be phantomized so they don't collide, ... +Speed up creation of large physical linksets + For instance, sitting in Neb's car (130 prims) takes several seconds to become physical +Eliminate collisions between objects in a linkset. (LinksetConstraint) + Have UserPointer point to struct with localID and linksetID? + Objects in original linkset still collide with each other? +MORE +====================================================== Find/remove avatar collision with ID=0. Test avatar walking up stairs. How does compare with SL. Radius of the capsule affects ability to climb edges. @@ -73,8 +92,6 @@ Debounce avatar contact so legs don't keep folding up when standing. Implement LSL physics controls. Like STATUS_ROTATE_X. Add border extensions to terrain to help region crossings and objects leaving region. -Speed up creation of large physical linksets - For instance, sitting in Neb's car (130 prims) takes several seconds to become physical Performance test with lots of avatars. Can BulletSim support a thousand? Optimize collisions in C++: only send up to the object subscribed to collisions. Use collision subscription and remove the collsion(A,B) and collision(B,A) @@ -85,10 +102,6 @@ Avatar jump Performance measurement and changes to make quicker. Implement detailed physics stats (GetStats()). -Eliminate collisions between objects in a linkset. (LinksetConstraint) - Have UserPointer point to struct with localID and linksetID? - Objects in original linkset still collide with each other? - Measure performance improvement from hulls Test not using ghost objects for volume detect implementation. Performance of closures and delegates for taint processing @@ -101,6 +114,9 @@ Physics Arena central pyramid: why is one side permiable? INTERNAL IMPROVEMENT/CLEANUP ================================================= +Consider moving prim/character body and shape destruction in destroy() + to postTimeTime rather than protecting all the potential sets that + might have been queued up. Remove unused fields from ShapeData (not used in API2) Breakout code for mesh/hull/compound/native into separate BSShape* classes Standardize access to building and reference code. @@ -154,3 +170,6 @@ Package Bullet source mods for Bullet internal stats output (Resolution: move code into WorldData.h rather than relying on patches) Single prim vehicles don't seem to properly vehiclize. (Resolution: mass was not getting set properly for single prim linksets) +Add material type linkage and input all the material property definitions. + Skeleton classes and table are in the sources but are not filled or used. + (Resolution: -- cgit v1.1 From 6f1f7f02065520d061745afff9b1ed1bd672d87b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 12 Dec 2012 15:07:17 -0800 Subject: BulletSim: non-functional commenting and reorganization of material attribute specifications. --- .../Region/Physics/BulletSPlugin/BSMaterials.cs | 81 +++++++++++++--------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 + 2 files changed, 49 insertions(+), 33 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs index 390c2f9..c113a43 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs @@ -50,10 +50,11 @@ public struct MaterialAttributes Avatar, NumberOfTypes // the count of types in the enum. } + // Names must be in the order of the above enum. - public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", - "Flesh", "Plastic", "Rubber", "Light", "Avatar" }; - public static string[] MaterialAttribs = { "Density", "Friction", "Restitution"}; + // These names must coorespond to the lower case field names in the MaterialAttributes + // structure as reflection is used to select the field to put the value in. + public static readonly string[] MaterialAttribs = { "Density", "Friction", "Restitution"}; public MaterialAttributes(string t, float d, float f, float r) { @@ -70,60 +71,74 @@ public struct MaterialAttributes public static class BSMaterials { - public static MaterialAttributes[] Attributes; + // Attributes for each material type + private static readonly MaterialAttributes[] Attributes; + + // Map of material name to material type code + public static readonly Dictionary MaterialMap; static BSMaterials() { // Attribute sets for both the non-physical and physical instances of materials. Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2]; + + // Map of name to type code. + MaterialMap = new Dictionary(); + MaterialMap.Add("Stone", MaterialAttributes.Material.Stone); + MaterialMap.Add("Metal", MaterialAttributes.Material.Metal); + MaterialMap.Add("Glass", MaterialAttributes.Material.Glass); + MaterialMap.Add("Wood", MaterialAttributes.Material.Wood); + MaterialMap.Add("Flesh", MaterialAttributes.Material.Flesh); + MaterialMap.Add("Plastic", MaterialAttributes.Material.Plastic); + MaterialMap.Add("Rubber", MaterialAttributes.Material.Rubber); + MaterialMap.Add("Light", MaterialAttributes.Material.Light); + MaterialMap.Add("Avatar", MaterialAttributes.Material.Avatar); } // This is where all the default material attributes are defined. public static void InitializeFromDefaults(ConfigurationParameters parms) { // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL - // public static string[] MaterialNames = { "Stone", "Metal", "Glass", "Wood", - // "Flesh", "Plastic", "Rubber", "Light", "Avatar" }; + float dDensity = parms.defaultDensity; float dFriction = parms.defaultFriction; float dRestitution = parms.defaultRestitution; - float dDensity = parms.defaultDensity; Attributes[(int)MaterialAttributes.Material.Stone] = - new MaterialAttributes("stone",dDensity, 0.8f, 0.4f); + new MaterialAttributes("stone",dDensity, 0.8f, 0.4f); Attributes[(int)MaterialAttributes.Material.Metal] = - new MaterialAttributes("metal",dDensity, 0.3f, 0.4f); + new MaterialAttributes("metal",dDensity, 0.3f, 0.4f); Attributes[(int)MaterialAttributes.Material.Glass] = - new MaterialAttributes("glass",dDensity, 0.2f, 0.7f); + new MaterialAttributes("glass",dDensity, 0.2f, 0.7f); Attributes[(int)MaterialAttributes.Material.Wood] = - new MaterialAttributes("wood",dDensity, 0.6f, 0.5f); + new MaterialAttributes("wood",dDensity, 0.6f, 0.5f); Attributes[(int)MaterialAttributes.Material.Flesh] = - new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f); + new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f); Attributes[(int)MaterialAttributes.Material.Plastic] = - new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f); + new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f); Attributes[(int)MaterialAttributes.Material.Rubber] = - new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f); + new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f); Attributes[(int)MaterialAttributes.Material.Light] = - new MaterialAttributes("light",dDensity, dFriction, dRestitution); + new MaterialAttributes("light",dDensity, dFriction, dRestitution); Attributes[(int)MaterialAttributes.Material.Avatar] = - new MaterialAttributes("avatar",60f, 0.2f, 0f); + new MaterialAttributes("avatar",60f, 0.2f, 0f); Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f); + new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f); Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("metalPhysical",dDensity, 0.8f, 0.4f); + new MaterialAttributes("metalPhysical",dDensity, 0.8f, 0.4f); Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("glassPhysical",dDensity, 0.8f, 0.7f); + new MaterialAttributes("glassPhysical",dDensity, 0.8f, 0.7f); Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("woodPhysical",dDensity, 0.8f, 0.5f); + new MaterialAttributes("woodPhysical",dDensity, 0.8f, 0.5f); Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("fleshPhysical",dDensity, 0.8f, 0.3f); + new MaterialAttributes("fleshPhysical",dDensity, 0.8f, 0.3f); Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("plasticPhysical",dDensity, 0.8f, 0.7f); + new MaterialAttributes("plasticPhysical",dDensity, 0.8f, 0.7f); Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("rubberPhysical",dDensity, 0.8f, 0.9f); + new MaterialAttributes("rubberPhysical",dDensity, 0.8f, 0.9f); Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution); + new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution); Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("avatarPhysical",60f, 0.2f, 0f); + new MaterialAttributes("avatarPhysical",60f, 0.2f, 0f); } // Under the [BulletSim] section, one can change the individual material @@ -139,34 +154,34 @@ public static class BSMaterials // the physical value. public static void InitializefromParameters(IConfig pConfig) { - int matType = 0; - foreach (string matName in MaterialAttributes.MaterialNames) + foreach (KeyValuePair kvp in MaterialMap) { + string matName = kvp.Key; foreach (string attribName in MaterialAttributes.MaterialAttribs) { string paramName = matName + attribName; if (pConfig.Contains(paramName)) { float paramValue = pConfig.GetFloat(paramName); - SetAttributeValue(matType, attribName, paramValue); + SetAttributeValue((int)kvp.Value, attribName, paramValue); // set the physical value also - SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); + SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); } paramName += "Physical"; if (pConfig.Contains(paramName)) { float paramValue = pConfig.GetFloat(paramName); - SetAttributeValue(matType + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); + SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue); } } - matType++; } } + // Use reflection to set the value in the attribute structure. private static void SetAttributeValue(int matType, string attribName, float val) { MaterialAttributes thisAttrib = Attributes[matType]; - FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName); + FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName.ToLower()); if (fieldInfo != null) { fieldInfo.SetValue(thisAttrib, val); @@ -174,12 +189,12 @@ public static class BSMaterials } } + // Given a material type, return a structure of attributes. public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical) { int ind = (int)type; if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes; return Attributes[ind]; } - } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index f4f2801..cf5bb57 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -309,6 +309,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters BSMaterials.InitializeFromDefaults(Params); if (pConfig != null) { + // Let the user add new and interesting material property values. BSMaterials.InitializefromParameters(pConfig); } } -- cgit v1.1 From e1814aa827c2d0af21d087bd34e3c7f4f7cf25bd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 12 Dec 2012 16:29:03 -0800 Subject: BulletSim: fix problem of avatar's floating off the ground after unsitting. Reworked size/scale logic so physical scale is kept in Bullet and physObject scale is the preferred size -- usually same as size but avatars are computed differently. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 18 +++++++++-------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 ++------ .../Physics/BulletSPlugin/BSShapeCollection.cs | 23 +++++++++++++--------- 4 files changed, 27 insertions(+), 24 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 83c78f6..c8aad8d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -105,12 +105,12 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); - // do actual create at taint time + // do actual creation in taint time PhysicsScene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); // New body and shape into PhysBody and PhysShape - PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, null, null); + PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this); SetPhysicalProperties(); }); @@ -189,6 +189,11 @@ public sealed class BSCharacter : BSPhysObject set { // When an avatar's size is set, only the height is changed. _size = value; + // Old versions of ScenePresence passed only the height. If width and/or depth are zero, + // replace with the default values. + if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth; + if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth; + ComputeAvatarScale(_size); ComputeAvatarVolumeAndMass(); DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", @@ -196,18 +201,18 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { - if (PhysShape.HasPhysicalShape) + if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) { BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); UpdatePhysicalMassProperties(RawMass); + // Make sure this change appears as a property update event + BulletSimAPI.PushUpdate2(PhysBody.ptr); } }); } } - public override OMV.Vector3 Scale { get; set; } - public override PrimitiveBaseShape Shape { set { BaseShape = value; } @@ -638,9 +643,6 @@ public sealed class BSCharacter : BSPhysObject private void ComputeAvatarScale(OMV.Vector3 size) { - // The 'size' given by the simulator is the mid-point of the avatar - // and X and Y are unspecified. - OMV.Vector3 newScale = size; // newScale.X = PhysicsScene.Params.avatarCapsuleWidth; // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index f3b6993..6539b43 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -109,7 +109,7 @@ public abstract class BSPhysObject : PhysicsActor public EntityProperties CurrentEntityProperties { get; set; } public EntityProperties LastEntityProperties { get; set; } - public abstract OMV.Vector3 Scale { get; set; } + public virtual OMV.Vector3 Scale { get; set; } public abstract bool IsSolid { get; } public abstract bool IsStatic { get; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 35d22c0..19c29cc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -45,7 +45,6 @@ public sealed class BSPrim : BSPhysObject private static readonly string LogHeader = "[BULLETS PRIM]"; // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. - // Often Scale is unity because the meshmerizer will apply _size when creating the mesh. private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user private bool _grabbed; @@ -93,7 +92,7 @@ public sealed class BSPrim : BSPhysObject _physicsActorType = (int)ActorTypes.Prim; _position = pos; _size = size; - Scale = size; // the scale will be set by CreateGeom depending on object type + Scale = size; // prims are the size the user wants them to be (different for BSCharactes). _orientation = rotation; _buoyancy = 1f; _velocity = OMV.Vector3.Zero; @@ -159,12 +158,10 @@ public sealed class BSPrim : BSPhysObject // We presume the scale and size are the same. If scale must be changed for // the physical shape, that is done when the geometry is built. _size = value; + Scale = _size; ForceBodyShapeRebuild(false); } } - // Scale is what we set in the physics engine. It is different than 'size' in that - // 'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>. - public override OMV.Vector3 Scale { get; set; } public override PrimitiveBaseShape Shape { set { @@ -1369,7 +1366,6 @@ public sealed class BSPrim : BSPhysObject // Create the correct physical representation for this type of object. // Updates PhysBody and PhysShape with the new information. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. - // Returns 'true' if either the body or the shape was changed. PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody) { // Called if the current prim body is about to be destroyed. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 4ab9a99..ea996ae 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -126,6 +126,11 @@ public sealed class BSShapeCollection : IDisposable return ret; } + public bool GetBodyAndShape(bool forceRebuild, BulletSim 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. @@ -460,6 +465,11 @@ public sealed class BSShapeCollection : IDisposable && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) ) { + // 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 = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr); + 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); @@ -469,7 +479,7 @@ public sealed class BSShapeCollection : IDisposable { haveShape = true; if (forceRebuild - || prim.Scale != prim.Size + || prim.Scale != scaleOfExistingShape || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE ) { @@ -483,7 +493,7 @@ public sealed class BSShapeCollection : IDisposable { haveShape = true; if (forceRebuild - || prim.Scale != prim.Size + || prim.Scale != scaleOfExistingShape || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX ) { @@ -542,7 +552,6 @@ public sealed class BSShapeCollection : IDisposable prim.LocalID, newShape, prim.Scale); // native shapes are scaled by Bullet - prim.Scale = prim.Size; prim.PhysShape = newShape; return true; } @@ -555,8 +564,8 @@ public sealed class BSShapeCollection : IDisposable ShapeData nativeShapeData = new ShapeData(); nativeShapeData.Type = shapeType; nativeShapeData.ID = prim.LocalID; - nativeShapeData.Scale = prim.Size; - nativeShapeData.Size = prim.Size; // unneeded, I think. + nativeShapeData.Scale = prim.Scale; + nativeShapeData.Size = prim.Scale; // unneeded, I think. nativeShapeData.MeshKey = (ulong)shapeKey; nativeShapeData.HullKey = (ulong)shapeKey; @@ -611,8 +620,6 @@ public sealed class BSShapeCollection : IDisposable ReferenceShape(newShape); - // meshes are already scaled by the meshmerizer - prim.Scale = new OMV.Vector3(1f, 1f, 1f); prim.PhysShape = newShape; return true; // 'true' means a new shape has been added to this prim @@ -683,8 +690,6 @@ public sealed class BSShapeCollection : IDisposable ReferenceShape(newShape); - // hulls are already scaled by the meshmerizer - prim.Scale = new OMV.Vector3(1f, 1f, 1f); prim.PhysShape = newShape; return true; // 'true' means a new shape has been added to this prim } -- cgit v1.1 From 9e0dd9952b76fdda337e518932a1ef57f8215986 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Dec 2012 12:42:09 -0800 Subject: BulletSim: remove extra linkset rebuilds. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 54 ++++++++++++++-------- 1 file changed, 36 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index d2abdb4..6cabe3a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -114,6 +114,12 @@ public sealed class BSLinksetCompound : BSLinkset { // The root is going dynamic. Make sure mass is properly set. m_mass = ComputeLinksetMass(); + if (HasAnyChildren) + { + // Schedule a rebuilding as this will construct the complete compound shape + // and set all the properties correctly. + InternalRefresh(LinksetRoot); + } } else { @@ -123,6 +129,9 @@ public sealed class BSLinksetCompound : BSLinkset BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION); // We don't want collisions from the old linkset children. BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + + child.PhysBody.collisionType = CollisionType.LinksetChild; + ret = true; } return ret; @@ -137,10 +146,21 @@ public sealed class BSLinksetCompound : BSLinkset { bool ret = false; DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); - if (!IsRoot(child)) + if (IsRoot(child)) + { + if (HasAnyChildren) + { + // Schedule a rebuilding as this will construct the complete compound shape + // and set all the properties correctly. + InternalRefresh(LinksetRoot); + } + } + else { // The non-physical children can come back to life. BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + child.PhysBody.collisionType = CollisionType.LinksetChild; + // Don't force activation so setting of DISABLE_SIMULATION can stay if used. BulletSimAPI.Activate2(child.PhysBody.ptr, false); ret = true; @@ -182,19 +202,25 @@ public sealed class BSLinksetCompound : BSLinkset // Because it is a convenient time, recompute child world position and rotation based on // its position in the linkset. RecomputeChildWorldPosition(child, true); - - // Cause the current shape to be freed and the new one to be built. - InternalRefresh(LinksetRoot); - ret = true; } + // Cannot schedule a refresh/rebuild here because this routine is called when + // the linkset is being rebuilt. + // InternalRefresh(LinksetRoot); + return ret; } - // When the linkset is built, the child shape is added - // to the compound shape relative to the root shape. The linkset then moves around but - // this does not move the actual child prim. The child prim's location must be recomputed - // based on the location of the root shape. + // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', + // this routine will restore the removed constraints. + // Called at taint-time!! + public override void RestoreBodyDependencies(BSPrim child) + { + } + + // When the linkset is built, the child shape is added to the compound shape relative to the + // root shape. The linkset then moves around but this does not move the actual child + // prim. The child prim's location must be recomputed based on the location of the root shape. private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) { BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo; @@ -227,14 +253,6 @@ public sealed class BSLinksetCompound : BSLinkset } } - // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', - // this routine will restore the removed constraints. - // Called at taint-time!! - public override void RestoreBodyDependencies(BSPrim child) - { - // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints. - } - // ================================================================ // Add a new child to the linkset. @@ -254,7 +272,7 @@ public sealed class BSLinksetCompound : BSLinkset } // Remove the specified child from the linkset. - // Safe to call even if the child is not really in my linkset. + // Safe to call even if the child is not really in the linkset. protected override void RemoveChildFromLinkset(BSPhysObject child) { if (m_children.Remove(child)) -- cgit v1.1 From 3b2b785a461eba34c26a45be246c2baef2820e39 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Dec 2012 12:42:25 -0800 Subject: BulletSim: Add 'BulletSimData' which separates structures created for the operation of BulletSim and those defintiions/structures defined so they can be used in the unmanaged world. Consolidate setting of collision flags so implementation is not scattered. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 5 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 29 +-- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 5 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 4 +- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 5 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 183 +------------ .../Region/Physics/BulletSPlugin/BulletSimData.cs | 282 +++++++++++++++++++++ 7 files changed, 308 insertions(+), 205 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index c8aad8d..0defb24 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -167,9 +167,8 @@ public sealed class BSCharacter : BSPhysObject BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); // Do this after the object has been added to the world - BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, - (uint)CollisionFilterGroups.AvatarGroup, - (uint)CollisionFilterGroups.AvatarMask); + PhysBody.collisionType = CollisionType.Avatar; + PhysBody.ApplyCollisionMask(); } public override void RequestPhysicsterseUpdate() diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 19c29cc..c9c9c2c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -661,14 +661,7 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); // Collision filter can be set only when the object is in the world - if (PhysBody.collisionGroup != 0 || PhysBody.collisionMask != 0) - { - if (!BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, (uint)PhysBody.collisionGroup, (uint)PhysBody.collisionMask)) - { - PhysicsScene.Logger.ErrorFormat("{0} Failure setting prim collision mask. localID={1}, grp={2:X}, mask={3:X}", - LogHeader, LocalID, PhysBody.collisionGroup, PhysBody.collisionMask); - } - } + PhysBody.ApplyCollisionMask(); // Recompute any linkset parameters. // When going from non-physical to physical, this re-enables the constraints that @@ -713,11 +706,11 @@ public sealed class BSPrim : BSPhysObject // Start it out sleeping and physical actions could wake it up. BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING); + // This collides like a static object + PhysBody.collisionType = CollisionType.Static; + // There can be special things needed for implementing linksets Linkset.MakeStatic(this); - - PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup; - PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask; } else { @@ -755,16 +748,15 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold); - // There might be special things needed for implementing linksets. - Linkset.MakeDynamic(this); + // This collides like an object. + PhysBody.collisionType = CollisionType.Dynamic; // Force activation of the object so Bullet will act on it. // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); - // BulletSimAPI.Activate2(BSBody.ptr, true); - PhysBody.collisionGroup = CollisionFilterGroups.ObjectGroup; - PhysBody.collisionMask = CollisionFilterGroups.ObjectMask; + // There might be special things needed for implementing linksets. + Linkset.MakeDynamic(this); } } @@ -791,8 +783,9 @@ public sealed class BSPrim : BSPhysObject m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); } CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - PhysBody.collisionGroup = CollisionFilterGroups.VolumeDetectGroup; - PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; + + // Change collision info from a static object to a ghosty collision object + PhysBody.collisionType = CollisionType.VolumeDetect; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 2d379bb..2b120d6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -121,9 +121,8 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys // redo its bounding box now that it is in the world BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - BulletSimAPI.SetCollisionGroupMask2(m_mapInfo.terrainBody.ptr, - (uint)CollisionFilterGroups.TerrainGroup, - (uint)CollisionFilterGroups.TerrainMask); + m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; + m_mapInfo.terrainBody.ApplyCollisionMask(); // Make it so the terrain will not move or be considered for movement. BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index c28d69d..5dbd8ce 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -140,8 +140,8 @@ public sealed class BSTerrainManager // Ground plane does not move BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); // Everything collides with the ground plane. - BulletSimAPI.SetCollisionGroupMask2(m_groundPlane.ptr, - (uint)CollisionFilterGroups.GroundPlaneGroup, (uint)CollisionFilterGroups.GroundPlaneMask); + m_groundPlane.collisionType = CollisionType.Groundplane; + m_groundPlane.ApplyCollisionMask(); // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 3473006..6dc0d92 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -130,9 +130,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys // Redo its bounding box now that it is in the world BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); - BulletSimAPI.SetCollisionGroupMask2(m_terrainBody.ptr, - (uint)CollisionFilterGroups.TerrainGroup, - (uint)CollisionFilterGroups.TerrainMask); + m_terrainBody.collisionType = CollisionType.Terrain; + m_terrainBody.ApplyCollisionMask(); // Make it so the terrain will not move or be considered for movement. BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 1559025..962b540 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -25,6 +25,7 @@ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ using System; +using System.Collections.Generic; using System.Runtime.InteropServices; using System.Security; using System.Text; @@ -32,110 +33,6 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -// Classes to allow some type checking for the API -// These hold pointers to allocated objects in the unmanaged space. - -// The physics engine controller class created at initialization -public struct BulletSim -{ - public BulletSim(uint worldId, BSScene bss, IntPtr xx) - { - ptr = xx; - worldID = worldId; - physicsScene = bss; - } - public IntPtr ptr; - public uint worldID; - // The scene is only in here so very low level routines have a handle to print debug/error messages - public BSScene physicsScene; -} - -// An allocated Bullet btRigidBody -public struct BulletBody -{ - public BulletBody(uint id) : this(id, IntPtr.Zero) - { - } - public BulletBody(uint id, IntPtr xx) - { - ID = id; - ptr = xx; - collisionGroup = 0; - collisionMask = 0; - } - public IntPtr ptr; - public uint ID; - public CollisionFilterGroups collisionGroup; - public CollisionFilterGroups collisionMask; - - public void Clear() - { - ptr = IntPtr.Zero; - } - public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } - - public override string ToString() - { - StringBuilder buff = new StringBuilder(); - buff.Append(""); - return buff.ToString(); - } -} - -public struct BulletShape -{ - public BulletShape(IntPtr xx) - { - ptr = xx; - type=BSPhysicsShapeType.SHAPE_UNKNOWN; - shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; - isNativeShape = false; - } - public BulletShape(IntPtr xx, BSPhysicsShapeType typ) - { - ptr = xx; - type = typ; - shapeKey = 0; - isNativeShape = false; - } - public IntPtr ptr; - public BSPhysicsShapeType type; - public System.UInt64 shapeKey; - public bool isNativeShape; - - public void Clear() - { - ptr = IntPtr.Zero; - } - public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } } - - public override string ToString() - { - StringBuilder buff = new StringBuilder(); - buff.Append(""); - return buff.ToString(); - } -} - // Constraint type values as defined by Bullet public enum ConstraintType : int { @@ -149,50 +46,6 @@ public enum ConstraintType : int MAX_CONSTRAINT_TYPE } -// An allocated Bullet btConstraint -public struct BulletConstraint -{ - public BulletConstraint(IntPtr xx) - { - ptr = xx; - } - public IntPtr ptr; - - public void Clear() - { - ptr = IntPtr.Zero; - } - public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } -} - -// An allocated HeightMapThing which holds various heightmap info. -// Made a class rather than a struct so there would be only one -// instance of this and C# will pass around pointers rather -// than making copies. -public class BulletHeightMapInfo -{ - public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) { - ID = id; - Ptr = xx; - heightMap = hm; - terrainRegionBase = Vector3.Zero; - minCoords = new Vector3(100f, 100f, 25f); - maxCoords = new Vector3(101f, 101f, 26f); - minZ = maxZ = 0f; - sizeX = sizeY = 256f; - } - public uint ID; - public IntPtr Ptr; - public float[] heightMap; - public Vector3 terrainRegionBase; - public Vector3 minCoords; - public Vector3 maxCoords; - public float sizeX, sizeY; - public float minZ, maxZ; - public BulletShape terrainShape; - public BulletBody terrainBody; -} - // =============================================================================== [StructLayout(LayoutKind.Sequential)] public struct ConvexHull @@ -385,21 +238,15 @@ public enum CollisionFlags : uint BS_FLOATS_ON_WATER = 1 << 11, BS_VEHICLE_COLLISIONS = 1 << 12, BS_NONE = 0, - BS_ALL = 0xFFFFFFFF, - - // These are the collision flags switched depending on physical state. - // The other flags are used for other things and should not be fooled with. - BS_ACTIVE = CF_STATIC_OBJECT - | CF_KINEMATIC_OBJECT - | CF_NO_CONTACT_RESPONSE + BS_ALL = 0xFFFFFFFF }; -// Values for collisions groups and masks +// Values f collisions groups and masks public enum CollisionFilterGroups : uint { // Don't use the bit definitions!! Define the use in a // filter/mask definition below. This way collision interactions - // are more easily debugged. + // are more easily found and debugged. BNoneGroup = 0, BDefaultGroup = 1 << 0, BStaticGroup = 1 << 1, @@ -413,24 +260,8 @@ public enum CollisionFilterGroups : uint BTerrainGroup = 1 << 11, BRaycastGroup = 1 << 12, BSolidGroup = 1 << 13, - BLinksetGroup = 1 << 14, - - // The collsion filters and masked are defined in one place -- don't want them scattered - AvatarGroup = BCharacterGroup, - AvatarMask = BAllGroup, - ObjectGroup = BSolidGroup, - ObjectMask = BAllGroup, - StaticObjectGroup = BStaticGroup, - StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much - LinksetGroup = BLinksetGroup, - LinksetMask = BAllGroup & ~BLinksetGroup, // linkset objects don't collide with each other - VolumeDetectGroup = BSensorTrigger, - VolumeDetectMask = ~BSensorTrigger, - TerrainGroup = BTerrainGroup, - TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide - GroundPlaneGroup = BGroundPlaneGroup, - GroundPlaneMask = BAllGroup - + // BLinksetGroup = xx // a linkset proper is either static or dynamic + BLinksetChildGroup = 1 << 14, }; // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 @@ -457,7 +288,7 @@ public enum ConstraintParamAxis : int // =============================================================================== static class BulletSimAPI { - +// =============================================================================== // Link back to the managed code for outputting log messages [UnmanagedFunctionPointer(CallingConvention.Cdecl)] public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs new file mode 100755 index 0000000..e5c4777 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -0,0 +1,282 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +// Classes to allow some type checking for the API +// These hold pointers to allocated objects in the unmanaged space. + +// The physics engine controller class created at initialization +public struct BulletSim +{ + public BulletSim(uint worldId, BSScene bss, IntPtr xx) + { + ptr = xx; + worldID = worldId; + physicsScene = bss; + } + public IntPtr ptr; + public uint worldID; + // The scene is only in here so very low level routines have a handle to print debug/error messages + public BSScene physicsScene; +} + +// An allocated Bullet btRigidBody +public struct BulletBody +{ + public BulletBody(uint id) : this(id, IntPtr.Zero) + { + } + public BulletBody(uint id, IntPtr xx) + { + ID = id; + ptr = xx; + collisionType = CollisionType.Static; + } + public IntPtr ptr; + public uint ID; + public CollisionType collisionType; + + public void Clear() + { + ptr = IntPtr.Zero; + } + public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } + + // Apply the specificed collision mask into the physical world + public void ApplyCollisionMask() + { + // Should assert the body has been added to the physical world. + // (The collision masks are stored in the collision proxy cache which only exists for + // a collision body that is in the world.) + BulletSimAPI.SetCollisionGroupMask2(ptr, + BulletSimData.CollisionTypeMasks[collisionType].group, + BulletSimData.CollisionTypeMasks[collisionType].mask); + } + + public override string ToString() + { + StringBuilder buff = new StringBuilder(); + buff.Append(""); + return buff.ToString(); + } +} + +public struct BulletShape +{ + public BulletShape(IntPtr xx) + { + ptr = xx; + type=BSPhysicsShapeType.SHAPE_UNKNOWN; + shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; + isNativeShape = false; + } + public BulletShape(IntPtr xx, BSPhysicsShapeType typ) + { + ptr = xx; + type = typ; + shapeKey = 0; + isNativeShape = false; + } + public IntPtr ptr; + public BSPhysicsShapeType type; + public System.UInt64 shapeKey; + public bool isNativeShape; + + public void Clear() + { + ptr = IntPtr.Zero; + } + public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } } + + public override string ToString() + { + StringBuilder buff = new StringBuilder(); + buff.Append(""); + return buff.ToString(); + } +} + +// An allocated Bullet btConstraint +public struct BulletConstraint +{ + public BulletConstraint(IntPtr xx) + { + ptr = xx; + } + public IntPtr ptr; + + public void Clear() + { + ptr = IntPtr.Zero; + } + public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } +} + +// An allocated HeightMapThing which holds various heightmap info. +// Made a class rather than a struct so there would be only one +// instance of this and C# will pass around pointers rather +// than making copies. +public class BulletHeightMapInfo +{ + public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) { + ID = id; + Ptr = xx; + heightMap = hm; + terrainRegionBase = OMV.Vector3.Zero; + minCoords = new OMV.Vector3(100f, 100f, 25f); + maxCoords = new OMV.Vector3(101f, 101f, 26f); + minZ = maxZ = 0f; + sizeX = sizeY = 256f; + } + public uint ID; + public IntPtr Ptr; + public float[] heightMap; + public OMV.Vector3 terrainRegionBase; + public OMV.Vector3 minCoords; + public OMV.Vector3 maxCoords; + public float sizeX, sizeY; + public float minZ, maxZ; + public BulletShape terrainShape; + public BulletBody terrainBody; +} + +// The general class of collsion object. +public enum CollisionType +{ + Avatar, + Groundplane, + Terrain, + Static, + Dynamic, + VolumeDetect, + // Linkset, // A linkset proper should be either Static or Dynamic + LinksetChild, + Unknown +}; + +// Hold specification of group and mask collision flags for a CollisionType +public struct CollisionTypeFilterGroup +{ + public CollisionTypeFilterGroup(CollisionType t, uint g, uint m) + { + type = t; + group = g; + mask = m; + } + public CollisionType type; + public uint group; + public uint mask; +}; + + /* + // The collsion filters and masked are defined in one place -- don't want them scattered + AvatarGroup = BCharacterGroup, + AvatarMask = BAllGroup, + ObjectGroup = BSolidGroup, + ObjectMask = BAllGroup, + StaticObjectGroup = BStaticGroup, + StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much + LinksetGroup = BLinksetGroup, + LinksetMask = BAllGroup, + LinksetChildGroup = BLinksetChildGroup, + LinksetChildMask = BNoneGroup, // Linkset children disappear from the world + VolumeDetectGroup = BSensorTrigger, + VolumeDetectMask = ~BSensorTrigger, + TerrainGroup = BTerrainGroup, + TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide + GroundPlaneGroup = BGroundPlaneGroup, + GroundPlaneMask = BAllGroup + */ + +public static class BulletSimData +{ + +// Map of collisionTypes to flags for collision groups and masks. +// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code +// but, instead, user references to this dictionary. This makes finding and debugging +// collision flag usage easier. +public static Dictionary CollisionTypeMasks + = new Dictionary() +{ + { CollisionType.Avatar, + new CollisionTypeFilterGroup(CollisionType.Avatar, + (uint)CollisionFilterGroups.BCharacterGroup, + (uint)CollisionFilterGroups.BAllGroup) + }, + { CollisionType.Groundplane, + new CollisionTypeFilterGroup(CollisionType.Groundplane, + (uint)CollisionFilterGroups.BGroundPlaneGroup, + (uint)CollisionFilterGroups.BAllGroup) + }, + { CollisionType.Terrain, + new CollisionTypeFilterGroup(CollisionType.Terrain, + (uint)CollisionFilterGroups.BTerrainGroup, + (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup)) + }, + { CollisionType.Static, + new CollisionTypeFilterGroup(CollisionType.Static, + (uint)CollisionFilterGroups.BStaticGroup, + (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) + }, + { CollisionType.Dynamic, + new CollisionTypeFilterGroup(CollisionType.Dynamic, + (uint)CollisionFilterGroups.BSolidGroup, + (uint)(CollisionFilterGroups.BAllGroup)) + }, + { CollisionType.VolumeDetect, + new CollisionTypeFilterGroup(CollisionType.VolumeDetect, + (uint)CollisionFilterGroups.BSensorTrigger, + (uint)(~CollisionFilterGroups.BSensorTrigger)) + }, + { CollisionType.LinksetChild, + new CollisionTypeFilterGroup(CollisionType.LinksetChild, + (uint)CollisionFilterGroups.BTerrainGroup, + (uint)(CollisionFilterGroups.BNoneGroup)) + }, +}; + +} +} -- cgit v1.1 From 60950bfab5657b09c314ffd03aceeac5973be84c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Dec 2012 16:15:21 -0800 Subject: BulletSim: correct line endings in new BulletSimData.cs file. --- .../Region/Physics/BulletSPlugin/BulletSimData.cs | 564 ++++++++++----------- 1 file changed, 282 insertions(+), 282 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index e5c4777..524a1d0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -1,282 +1,282 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; -using OMV = OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -// Classes to allow some type checking for the API -// These hold pointers to allocated objects in the unmanaged space. - -// The physics engine controller class created at initialization -public struct BulletSim -{ - public BulletSim(uint worldId, BSScene bss, IntPtr xx) - { - ptr = xx; - worldID = worldId; - physicsScene = bss; - } - public IntPtr ptr; - public uint worldID; - // The scene is only in here so very low level routines have a handle to print debug/error messages - public BSScene physicsScene; -} - -// An allocated Bullet btRigidBody -public struct BulletBody -{ - public BulletBody(uint id) : this(id, IntPtr.Zero) - { - } - public BulletBody(uint id, IntPtr xx) - { - ID = id; - ptr = xx; - collisionType = CollisionType.Static; - } - public IntPtr ptr; - public uint ID; - public CollisionType collisionType; - - public void Clear() - { - ptr = IntPtr.Zero; - } - public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } - - // Apply the specificed collision mask into the physical world - public void ApplyCollisionMask() - { - // Should assert the body has been added to the physical world. - // (The collision masks are stored in the collision proxy cache which only exists for - // a collision body that is in the world.) - BulletSimAPI.SetCollisionGroupMask2(ptr, - BulletSimData.CollisionTypeMasks[collisionType].group, - BulletSimData.CollisionTypeMasks[collisionType].mask); - } - - public override string ToString() - { - StringBuilder buff = new StringBuilder(); - buff.Append(""); - return buff.ToString(); - } -} - -public struct BulletShape -{ - public BulletShape(IntPtr xx) - { - ptr = xx; - type=BSPhysicsShapeType.SHAPE_UNKNOWN; - shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; - isNativeShape = false; - } - public BulletShape(IntPtr xx, BSPhysicsShapeType typ) - { - ptr = xx; - type = typ; - shapeKey = 0; - isNativeShape = false; - } - public IntPtr ptr; - public BSPhysicsShapeType type; - public System.UInt64 shapeKey; - public bool isNativeShape; - - public void Clear() - { - ptr = IntPtr.Zero; - } - public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } } - - public override string ToString() - { - StringBuilder buff = new StringBuilder(); - buff.Append(""); - return buff.ToString(); - } -} - -// An allocated Bullet btConstraint -public struct BulletConstraint -{ - public BulletConstraint(IntPtr xx) - { - ptr = xx; - } - public IntPtr ptr; - - public void Clear() - { - ptr = IntPtr.Zero; - } - public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } -} - -// An allocated HeightMapThing which holds various heightmap info. -// Made a class rather than a struct so there would be only one -// instance of this and C# will pass around pointers rather -// than making copies. -public class BulletHeightMapInfo -{ - public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) { - ID = id; - Ptr = xx; - heightMap = hm; - terrainRegionBase = OMV.Vector3.Zero; - minCoords = new OMV.Vector3(100f, 100f, 25f); - maxCoords = new OMV.Vector3(101f, 101f, 26f); - minZ = maxZ = 0f; - sizeX = sizeY = 256f; - } - public uint ID; - public IntPtr Ptr; - public float[] heightMap; - public OMV.Vector3 terrainRegionBase; - public OMV.Vector3 minCoords; - public OMV.Vector3 maxCoords; - public float sizeX, sizeY; - public float minZ, maxZ; - public BulletShape terrainShape; - public BulletBody terrainBody; -} - -// The general class of collsion object. -public enum CollisionType -{ - Avatar, - Groundplane, - Terrain, - Static, - Dynamic, - VolumeDetect, - // Linkset, // A linkset proper should be either Static or Dynamic - LinksetChild, - Unknown -}; - -// Hold specification of group and mask collision flags for a CollisionType -public struct CollisionTypeFilterGroup -{ - public CollisionTypeFilterGroup(CollisionType t, uint g, uint m) - { - type = t; - group = g; - mask = m; - } - public CollisionType type; - public uint group; - public uint mask; -}; - - /* - // The collsion filters and masked are defined in one place -- don't want them scattered - AvatarGroup = BCharacterGroup, - AvatarMask = BAllGroup, - ObjectGroup = BSolidGroup, - ObjectMask = BAllGroup, - StaticObjectGroup = BStaticGroup, - StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much - LinksetGroup = BLinksetGroup, - LinksetMask = BAllGroup, - LinksetChildGroup = BLinksetChildGroup, - LinksetChildMask = BNoneGroup, // Linkset children disappear from the world - VolumeDetectGroup = BSensorTrigger, - VolumeDetectMask = ~BSensorTrigger, - TerrainGroup = BTerrainGroup, - TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide - GroundPlaneGroup = BGroundPlaneGroup, - GroundPlaneMask = BAllGroup - */ - -public static class BulletSimData -{ - -// Map of collisionTypes to flags for collision groups and masks. -// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code -// but, instead, user references to this dictionary. This makes finding and debugging -// collision flag usage easier. -public static Dictionary CollisionTypeMasks - = new Dictionary() -{ - { CollisionType.Avatar, - new CollisionTypeFilterGroup(CollisionType.Avatar, - (uint)CollisionFilterGroups.BCharacterGroup, - (uint)CollisionFilterGroups.BAllGroup) - }, - { CollisionType.Groundplane, - new CollisionTypeFilterGroup(CollisionType.Groundplane, - (uint)CollisionFilterGroups.BGroundPlaneGroup, - (uint)CollisionFilterGroups.BAllGroup) - }, - { CollisionType.Terrain, - new CollisionTypeFilterGroup(CollisionType.Terrain, - (uint)CollisionFilterGroups.BTerrainGroup, - (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup)) - }, - { CollisionType.Static, - new CollisionTypeFilterGroup(CollisionType.Static, - (uint)CollisionFilterGroups.BStaticGroup, - (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) - }, - { CollisionType.Dynamic, - new CollisionTypeFilterGroup(CollisionType.Dynamic, - (uint)CollisionFilterGroups.BSolidGroup, - (uint)(CollisionFilterGroups.BAllGroup)) - }, - { CollisionType.VolumeDetect, - new CollisionTypeFilterGroup(CollisionType.VolumeDetect, - (uint)CollisionFilterGroups.BSensorTrigger, - (uint)(~CollisionFilterGroups.BSensorTrigger)) - }, - { CollisionType.LinksetChild, - new CollisionTypeFilterGroup(CollisionType.LinksetChild, - (uint)CollisionFilterGroups.BTerrainGroup, - (uint)(CollisionFilterGroups.BNoneGroup)) - }, -}; - -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +// Classes to allow some type checking for the API +// These hold pointers to allocated objects in the unmanaged space. + +// The physics engine controller class created at initialization +public struct BulletSim +{ + public BulletSim(uint worldId, BSScene bss, IntPtr xx) + { + ptr = xx; + worldID = worldId; + physicsScene = bss; + } + public IntPtr ptr; + public uint worldID; + // The scene is only in here so very low level routines have a handle to print debug/error messages + public BSScene physicsScene; +} + +// An allocated Bullet btRigidBody +public struct BulletBody +{ + public BulletBody(uint id) : this(id, IntPtr.Zero) + { + } + public BulletBody(uint id, IntPtr xx) + { + ID = id; + ptr = xx; + collisionType = CollisionType.Static; + } + public IntPtr ptr; + public uint ID; + public CollisionType collisionType; + + public void Clear() + { + ptr = IntPtr.Zero; + } + public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } + + // Apply the specificed collision mask into the physical world + public void ApplyCollisionMask() + { + // Should assert the body has been added to the physical world. + // (The collision masks are stored in the collision proxy cache which only exists for + // a collision body that is in the world.) + BulletSimAPI.SetCollisionGroupMask2(ptr, + BulletSimData.CollisionTypeMasks[collisionType].group, + BulletSimData.CollisionTypeMasks[collisionType].mask); + } + + public override string ToString() + { + StringBuilder buff = new StringBuilder(); + buff.Append(""); + return buff.ToString(); + } +} + +public struct BulletShape +{ + public BulletShape(IntPtr xx) + { + ptr = xx; + type=BSPhysicsShapeType.SHAPE_UNKNOWN; + shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; + isNativeShape = false; + } + public BulletShape(IntPtr xx, BSPhysicsShapeType typ) + { + ptr = xx; + type = typ; + shapeKey = 0; + isNativeShape = false; + } + public IntPtr ptr; + public BSPhysicsShapeType type; + public System.UInt64 shapeKey; + public bool isNativeShape; + + public void Clear() + { + ptr = IntPtr.Zero; + } + public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } } + + public override string ToString() + { + StringBuilder buff = new StringBuilder(); + buff.Append(""); + return buff.ToString(); + } +} + +// An allocated Bullet btConstraint +public struct BulletConstraint +{ + public BulletConstraint(IntPtr xx) + { + ptr = xx; + } + public IntPtr ptr; + + public void Clear() + { + ptr = IntPtr.Zero; + } + public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } +} + +// An allocated HeightMapThing which holds various heightmap info. +// Made a class rather than a struct so there would be only one +// instance of this and C# will pass around pointers rather +// than making copies. +public class BulletHeightMapInfo +{ + public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) { + ID = id; + Ptr = xx; + heightMap = hm; + terrainRegionBase = OMV.Vector3.Zero; + minCoords = new OMV.Vector3(100f, 100f, 25f); + maxCoords = new OMV.Vector3(101f, 101f, 26f); + minZ = maxZ = 0f; + sizeX = sizeY = 256f; + } + public uint ID; + public IntPtr Ptr; + public float[] heightMap; + public OMV.Vector3 terrainRegionBase; + public OMV.Vector3 minCoords; + public OMV.Vector3 maxCoords; + public float sizeX, sizeY; + public float minZ, maxZ; + public BulletShape terrainShape; + public BulletBody terrainBody; +} + +// The general class of collsion object. +public enum CollisionType +{ + Avatar, + Groundplane, + Terrain, + Static, + Dynamic, + VolumeDetect, + // Linkset, // A linkset proper should be either Static or Dynamic + LinksetChild, + Unknown +}; + +// Hold specification of group and mask collision flags for a CollisionType +public struct CollisionTypeFilterGroup +{ + public CollisionTypeFilterGroup(CollisionType t, uint g, uint m) + { + type = t; + group = g; + mask = m; + } + public CollisionType type; + public uint group; + public uint mask; +}; + + /* + // The collsion filters and masked are defined in one place -- don't want them scattered + AvatarGroup = BCharacterGroup, + AvatarMask = BAllGroup, + ObjectGroup = BSolidGroup, + ObjectMask = BAllGroup, + StaticObjectGroup = BStaticGroup, + StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much + LinksetGroup = BLinksetGroup, + LinksetMask = BAllGroup, + LinksetChildGroup = BLinksetChildGroup, + LinksetChildMask = BNoneGroup, // Linkset children disappear from the world + VolumeDetectGroup = BSensorTrigger, + VolumeDetectMask = ~BSensorTrigger, + TerrainGroup = BTerrainGroup, + TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide + GroundPlaneGroup = BGroundPlaneGroup, + GroundPlaneMask = BAllGroup + */ + +public static class BulletSimData +{ + +// Map of collisionTypes to flags for collision groups and masks. +// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code +// but, instead, use references to this dictionary. Finding and debugging +// collision flag problems will be made easier. +public static Dictionary CollisionTypeMasks + = new Dictionary() +{ + { CollisionType.Avatar, + new CollisionTypeFilterGroup(CollisionType.Avatar, + (uint)CollisionFilterGroups.BCharacterGroup, + (uint)CollisionFilterGroups.BAllGroup) + }, + { CollisionType.Groundplane, + new CollisionTypeFilterGroup(CollisionType.Groundplane, + (uint)CollisionFilterGroups.BGroundPlaneGroup, + (uint)CollisionFilterGroups.BAllGroup) + }, + { CollisionType.Terrain, + new CollisionTypeFilterGroup(CollisionType.Terrain, + (uint)CollisionFilterGroups.BTerrainGroup, + (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup)) + }, + { CollisionType.Static, + new CollisionTypeFilterGroup(CollisionType.Static, + (uint)CollisionFilterGroups.BStaticGroup, + (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) + }, + { CollisionType.Dynamic, + new CollisionTypeFilterGroup(CollisionType.Dynamic, + (uint)CollisionFilterGroups.BSolidGroup, + (uint)(CollisionFilterGroups.BAllGroup)) + }, + { CollisionType.VolumeDetect, + new CollisionTypeFilterGroup(CollisionType.VolumeDetect, + (uint)CollisionFilterGroups.BSensorTrigger, + (uint)(~CollisionFilterGroups.BSensorTrigger)) + }, + { CollisionType.LinksetChild, + new CollisionTypeFilterGroup(CollisionType.LinksetChild, + (uint)CollisionFilterGroups.BTerrainGroup, + (uint)(CollisionFilterGroups.BNoneGroup)) + }, +}; + +} +} -- cgit v1.1 From 31d3952477b96b669d8a46d0941ea6d1bc1133b5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Dec 2012 16:23:51 -0800 Subject: BulletSim: fix problem with continuious rebuilding of physical linksets. This caused movement problems and large prim vehicles to take up a LOT of simulation time. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 9 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 155 +++++++++++---------- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 3 +- 3 files changed, 88 insertions(+), 79 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 777c5cb..ce0fbe6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -124,7 +124,7 @@ public abstract class BSLinkset get { return ComputeLinksetGeometricCenter(); } } - protected void Initialize(BSScene scene, BSPhysObject parent) + protected BSLinkset(BSScene scene, BSPhysObject parent) { // A simple linkset of one (no children) LinksetID = m_nextLinksetID++; @@ -135,6 +135,7 @@ public abstract class BSLinkset LinksetRoot = parent; m_children = new HashSet(); m_mass = parent.RawMass; + Rebuilding = false; } // Link to a linkset where the child knows the parent. @@ -227,7 +228,7 @@ public abstract class BSLinkset // I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. protected abstract void AddChildToLinkset(BSPhysObject child); - + // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. protected abstract void RemoveChildFromLinkset(BSPhysObject child); @@ -237,6 +238,10 @@ public abstract class BSLinkset // May be called at runtime or taint-time. public abstract void Refresh(BSPhysObject requestor); + // Flag denoting the linkset is in the process of being rebuilt. + // Used to know not the schedule a rebuild in the middle of a rebuild. + protected bool Rebuilding { get; set; } + // The object is going dynamic (physical). Do any setup necessary // for a dynamic linkset. // Only the state of the passed object can be modified. The rest of the linkset diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 6cabe3a..2189468 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -61,9 +61,8 @@ public sealed class BSLinksetCompound : BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; - public BSLinksetCompound(BSScene scene, BSPhysObject parent) + public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent) { - base.Initialize(scene, parent); } // For compound implimented linksets, if there are children, use compound shape for the root. @@ -81,8 +80,6 @@ public sealed class BSLinksetCompound : BSLinkset // When physical properties are changed the linkset needs to recalculate // its internal properties. - // This is queued in the 'post taint' queue so the - // refresh will happen once after all the other taints are applied. public override void Refresh(BSPhysObject requestor) { // External request for Refresh (from BSPrim) doesn't need to do anything @@ -92,12 +89,18 @@ public sealed class BSLinksetCompound : BSLinkset // Schedule a refresh to happen after all the other taint processing. private void InternalRefresh(BSPhysObject requestor) { - DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID); - PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() + DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1},rebuilding={2}", + LinksetRoot.LocalID, requestor.LocalID, Rebuilding); + // When rebuilding, it is possible to set properties that would normally require a rebuild. + // If already rebuilding, don't request another rebuild. + if (!Rebuilding) { - if (IsRoot(requestor) && HasAnyChildren) - RecomputeLinksetCompound(); - }); + PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() + { + if (IsRoot(requestor) && HasAnyChildren) + RecomputeLinksetCompound(); + }); + } } // The object is going dynamic (physical). Do any setup necessary @@ -115,11 +118,7 @@ public sealed class BSLinksetCompound : BSLinkset // The root is going dynamic. Make sure mass is properly set. m_mass = ComputeLinksetMass(); if (HasAnyChildren) - { - // Schedule a rebuilding as this will construct the complete compound shape - // and set all the properties correctly. InternalRefresh(LinksetRoot); - } } else { @@ -149,16 +148,13 @@ public sealed class BSLinksetCompound : BSLinkset if (IsRoot(child)) { if (HasAnyChildren) - { - // Schedule a rebuilding as this will construct the complete compound shape - // and set all the properties correctly. InternalRefresh(LinksetRoot); - } } else { // The non-physical children can come back to life. BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + child.PhysBody.collisionType = CollisionType.LinksetChild; // Don't force activation so setting of DISABLE_SIMULATION can stay if used. @@ -307,74 +303,83 @@ public sealed class BSLinksetCompound : BSLinkset // Called at taint time!! private void RecomputeLinksetCompound() { - // Cause the root shape to be rebuilt as a compound object with just the root in it - LinksetRoot.ForceBodyShapeRebuild(true); + try + { + // Suppress rebuilding while rebuilding + Rebuilding = true; - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", - LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); + // Cause the root shape to be rebuilt as a compound object with just the root in it + LinksetRoot.ForceBodyShapeRebuild(true); - // Add a shape for each of the other children in the linkset - ForEachMember(delegate(BSPhysObject cPrim) - { - if (!IsRoot(cPrim)) + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", + LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); + + // Add a shape for each of the other children in the linkset + ForEachMember(delegate(BSPhysObject cPrim) { - // Compute the displacement of the child from the root of the linkset. - // This info is saved in the child prim so the relationship does not - // change over time and the new child position can be computed - // when the linkset is being disassembled (the linkset may have moved). - BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; - if (lci == null) + if (!IsRoot(cPrim)) { - // Each child position and rotation is given relative to the root. - OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); - OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; - OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; - - // Save relative position for recomputing child's world position after moving linkset. - lci = new BSLinksetCompoundInfo(displacementPos, displacementRot); - cPrim.LinksetInfo = lci; - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); - } + // Compute the displacement of the child from the root of the linkset. + // This info is saved in the child prim so the relationship does not + // change over time and the new child position can be computed + // when the linkset is being disassembled (the linkset may have moved). + BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; + if (lci == null) + { + // Each child position and rotation is given relative to the root. + OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); + OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; + OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; + + // Save relative position for recomputing child's world position after moving linkset. + lci = new BSLinksetCompoundInfo(displacementPos, displacementRot); + cPrim.LinksetInfo = lci; + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); + } - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", - LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", + LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); - if (cPrim.PhysShape.isNativeShape) - { - // A native shape is turning into a hull collision shape because native - // shapes are not shared so we have to hullify it so it will be tracked - // and freed at the correct time. This also solves the scaling problem - // (native shapes scaled but hull/meshes are assumed to not be). - // TODO: decide of the native shape can just be used in the compound shape. - // Use call to CreateGeomNonSpecial(). - BulletShape saveShape = cPrim.PhysShape; - cPrim.PhysShape.Clear(); // Don't let the create free the child's shape - // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null); - PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); - BulletShape newShape = cPrim.PhysShape; - cPrim.PhysShape = saveShape; - BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos , lci.OffsetRot); - } - else - { - // For the shared shapes (meshes and hulls), just use the shape in the child. - // The reference count added here will be decremented when the compound shape - // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced). - if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape)) + if (cPrim.PhysShape.isNativeShape) + { + // A native shape is turning into a hull collision shape because native + // shapes are not shared so we have to hullify it so it will be tracked + // and freed at the correct time. This also solves the scaling problem + // (native shapes scaled but hull/meshes are assumed to not be). + // TODO: decide of the native shape can just be used in the compound shape. + // Use call to CreateGeomNonSpecial(). + BulletShape saveShape = cPrim.PhysShape; + cPrim.PhysShape.Clear(); // Don't let the create free the child's shape + // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null); + PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); + BulletShape newShape = cPrim.PhysShape; + cPrim.PhysShape = saveShape; + BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot); + } + else { - PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", - LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); + // For the shared shapes (meshes and hulls), just use the shape in the child. + // The reference count added here will be decremented when the compound shape + // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced). + if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape)) + { + PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", + LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); + } + BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot); } - BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos , lci.OffsetRot); } - } - - return false; // 'false' says to move onto the next child in the list - }); + return false; // 'false' says to move onto the next child in the list + }); - // With all of the linkset packed into the root prim, it has the mass of everyone. - float linksetMass = LinksetMass; - LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + // With all of the linkset packed into the root prim, it has the mass of everyone. + float linksetMass = LinksetMass; + LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + } + finally + { + Rebuilding = false; + } BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index c855fda..732c084 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -36,9 +36,8 @@ public sealed class BSLinksetConstraints : BSLinkset { // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; - public BSLinksetConstraints(BSScene scene, BSPhysObject parent) + public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent) { - base.Initialize(scene, parent); } // When physical properties are changed the linkset needs to recalculate -- cgit v1.1 From 664dad53dded9537e75893ca9fc6a42c93a95ded Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Dec 2012 23:08:01 -0800 Subject: BulletSim: Add more to the TODO list. Clean up and improve some comments. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs | 12 ++++-------- OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 7 +++++-- 2 files changed, 9 insertions(+), 10 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 524a1d0..662177f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -98,18 +98,14 @@ public struct BulletBody public struct BulletShape { - public BulletShape(IntPtr xx) + public BulletShape(IntPtr xx) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN) { - ptr = xx; - type=BSPhysicsShapeType.SHAPE_UNKNOWN; - shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; - isNativeShape = false; } public BulletShape(IntPtr xx, BSPhysicsShapeType typ) { ptr = xx; type = typ; - shapeKey = 0; + shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; isNativeShape = false; } public IntPtr ptr; @@ -192,7 +188,7 @@ public enum CollisionType Static, Dynamic, VolumeDetect, - // Linkset, // A linkset proper should be either Static or Dynamic + // Linkset, // A linkset should be either Static or Dynamic LinksetChild, Unknown }; @@ -211,7 +207,7 @@ public struct CollisionTypeFilterGroup public uint mask; }; - /* + /* NOTE: old definitions kept for reference. Delete when things are working. // The collsion filters and masked are defined in one place -- don't want them scattered AvatarGroup = BCharacterGroup, AvatarMask = BAllGroup, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 11c1387..7d6ace8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -19,6 +19,7 @@ Some vehicles should not be able to turn if no speed or off ground. Neb car jiggling left and right Happens on terrain and any other mesh object. Flat cubes are much smoother. This has been reduced but not eliminated. +Light cycle falling over when driving For limitMotorUp, use raycast down to find if vehicle is in the air. Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. Verify that angular motion specified around Z moves in the vehicle coordinates. @@ -121,6 +122,9 @@ Remove unused fields from ShapeData (not used in API2) Breakout code for mesh/hull/compound/native into separate BSShape* classes Standardize access to building and reference code. The skeleton classes are in the sources but are not complete or linked in. +Make BSBody and BSShape real classes to centralize creation/changin/destruction + Convert state and parameter calls from BulletSimAPI direct calls to + calls on BSBody and BSShape Generalize Dynamics and PID with standardized motors. Generalize Linkset and vehicles into PropertyManagers Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies @@ -132,7 +136,7 @@ Implement linkset by setting position of children when root updated. (LinksetMan Linkset implementation using manual prim movement. LinkablePrim class? Would that simplify/centralize the linkset logic? BSScene.UpdateParameterSet() is broken. How to set params on objects? -Remove HeightmapInfo from terrain specification. +Remove HeightmapInfo from terrain specification Since C++ code does not need terrain height, this structure et al are not needed. Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will bob at the water level. BSPrim.PositionSanityCheck(). @@ -164,7 +168,6 @@ Do prim hash codes work for sculpties and meshes? (Resolution: yes) Linkset implementation using compound shapes. (Resolution: implemented LinksetCompound) Compound shapes will need the LocalID in the shapes and collision processing to get it from there. -Light cycle falling over when driving (Resolution: implemented VerticalAttractor) Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.) Package Bullet source mods for Bullet internal stats output (Resolution: move code into WorldData.h rather than relying on patches) -- cgit v1.1 From ace1f1e9314d2e5b3cf45426225ca485649bbf96 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 14 Dec 2012 17:03:59 -0800 Subject: BulletSim: rip out old code for linkset child position fetching. BulletSim doesn't need to do that bookkeeping because SOG/SOP already does it. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 8 +----- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 24 ++++++++---------- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 12 --------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 29 +++++++++++++--------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 3 +++ 5 files changed, 31 insertions(+), 45 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index ce0fbe6..2486be5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -38,6 +38,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Each type of linkset will define the information needed for its type. public abstract class BSLinksetInfo { + public virtual void Clear() { } } public abstract class BSLinkset @@ -95,13 +96,6 @@ public abstract class BSLinkset return BSPhysicsShapeType.SHAPE_UNKNOWN; } - // Linksets move around the children so the linkset might need to compute the child position - public virtual OMV.Vector3 Position(BSPhysObject member) - { return member.RawPosition; } - public virtual OMV.Quaternion Orientation(BSPhysObject member) - { return member.RawOrientation; } - // TODO: does this need to be done for Velocity and RotationalVelocityy? - // We keep the prim's mass in the linkset structure since it could be dependent on other prims protected float m_mass; public float LinksetMass diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 2189468..8359607 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -45,6 +45,11 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo OffsetPos = p; OffsetRot = r; } + public override void Clear() + { + OffsetPos = OMV.Vector3.Zero; + OffsetRot = OMV.Quaternion.Identity; + } public override string ToString() { StringBuilder buff = new StringBuilder(); @@ -82,8 +87,11 @@ public sealed class BSLinksetCompound : BSLinkset // its internal properties. public override void Refresh(BSPhysObject requestor) { - // External request for Refresh (from BSPrim) doesn't need to do anything - // InternalRefresh(requestor); + if (!IsRoot(requestor)) + { + } + // Something changed so do the rebuilding thing + InternalRefresh(requestor); } // Schedule a refresh to happen after all the other taint processing. @@ -170,18 +178,6 @@ public sealed class BSLinksetCompound : BSLinkset // Nothing to do for compound linksets on property updates } - // The children move around in relationship to the root. - // Just grab the current values of wherever it is right now. - public override OMV.Vector3 Position(BSPhysObject member) - { - return BulletSimAPI.GetPosition2(member.PhysBody.ptr); - } - - public override OMV.Quaternion Orientation(BSPhysObject member) - { - return BulletSimAPI.GetOrientation2(member.PhysBody.ptr); - } - // Routine called when rebuilding the body of some member of the linkset. // 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 diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 732c084..7076ab4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -83,18 +83,6 @@ public sealed class BSLinksetConstraints : BSLinkset // Nothing to do for constraints on property updates } - // The children of the linkset are moved around by the constraints. - // Just grab the current values of wherever it is right now. - public override OMV.Vector3 Position(BSPhysObject member) - { - return BulletSimAPI.GetPosition2(member.PhysBody.ptr); - } - - public override OMV.Quaternion Orientation(BSPhysObject member) - { - return BulletSimAPI.GetOrientation2(member.PhysBody.ptr); - } - // Routine called when rebuilding the body of some member of the linkset. // Destroy all the constraints have have been made to root and set // up to rebuild the constraints before the next simulation step. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index c9c9c2c..53be2e3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -279,9 +279,12 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Vector3 Position { get { + /* NOTE: this refetch is not necessary. The simulator knows about linkset children + * and does not fetch this position info for children. Thus this is commented out. // child prims move around based on their parent. Need to get the latest location if (!Linkset.IsRoot(this)) - _position = Linkset.Position(this); + _position = Linkset.PositionGet(this); + */ // don't do the GetObjectPosition for root elements because this function is called a zillion times. // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); @@ -289,21 +292,18 @@ public sealed class BSPrim : BSPhysObject } set { // If the position must be forced into the physics engine, use ForcePosition. + // All positions are given in world positions. if (_position == value) { + DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation); return; } _position = value; - // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? PositionSanityCheck(false); PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { - // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - if (PhysBody.HasPhysicalBody) - { - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - ActivateIfPhysical(false); - } + DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); + ForcePosition = _position; }); } } @@ -314,9 +314,11 @@ public sealed class BSPrim : BSPhysObject } set { _position = value; - // PositionSanityCheck(); // Don't do this! Causes a loop and caller should know better. - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - ActivateIfPhysical(false); + if (PhysBody.HasPhysicalBody) + { + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + ActivateIfPhysical(false); + } } } @@ -551,11 +553,14 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Quaternion Orientation { get { + /* NOTE: this refetch is not necessary. The simulator knows about linkset children + * and does not fetch this position info for children. Thus this is commented out. // Children move around because tied to parent. Get a fresh value. if (!Linkset.IsRoot(this)) { - _orientation = Linkset.Orientation(this); + _orientation = Linkset.OrientationGet(this); } + */ return _orientation; } set { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 7d6ace8..9b89f0b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -37,6 +37,7 @@ Border crossing with linked vehicle causes crash BULLETSIM TODO LIST: ================================================= +Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. Avatar height off after unsitting (floats off ground) Editting appearance then moving restores. Must not be initializing height when recreating capsule after unsit. @@ -64,6 +65,8 @@ Implement ShapeCollection.Dispose() Implement water as a plain so raycasting and collisions can happen with same. Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE Also osGetPhysicsEngineVerion() maybe. +Linkset.Position and Linkset.Orientation requre rewrite to properly return + child position. LinksetConstraint acts like it's at taint time!! LINKSETS ====================================================== -- cgit v1.1 From f3b1efd889e2e87f89c8e8da6a08089596c878f6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 15 Dec 2012 11:31:26 -0800 Subject: BulletSim: remove some errors on shutdown by moving terrain destruction until after physical object destruction. TerrainManager also made disposable and that feature used. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 9 +++++++-- OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 10 +++++++++- 2 files changed, 16 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index cf5bb57..ac99777 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -349,8 +349,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // make sure no stepping happens while we're deleting stuff m_initialized = false; - TerrainManager.ReleaseGroundPlaneAndTerrain(); - foreach (KeyValuePair kvp in PhysObjects) { kvp.Value.Destroy(); @@ -370,6 +368,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters Shapes = null; } + if (TerrainManager != null) + { + TerrainManager.ReleaseGroundPlaneAndTerrain(); + TerrainManager.Dispose(); + TerrainManager = null; + } + // Anything left in the unmanaged code should be cleaned out BulletSimAPI.Shutdown2(World.ptr); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 5dbd8ce..c68fd69 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -67,7 +67,7 @@ public abstract class BSTerrainPhys : IDisposable } // ========================================================================================== -public sealed class BSTerrainManager +public sealed class BSTerrainManager : IDisposable { static string LogHeader = "[BULLETSIM TERRAIN MANAGER]"; @@ -122,6 +122,11 @@ public sealed class BSTerrainManager MegaRegionParentPhysicsScene = null; } + public void Dispose() + { + ReleaseGroundPlaneAndTerrain(); + } + // Create the initial instance of terrain and the underlying ground plane. // This is called from the initialization routine so we presume it is // safe to call Bullet in real time. We hope no one is moving prims around yet. @@ -366,6 +371,9 @@ public sealed class BSTerrainManager { PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", LogHeader, PhysicsScene.RegionName, tX, tY); + DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,loc={1},base={2}", + BSScene.DetailLogZero, loc, terrainBaseXYZ); + Util.PrintCallStack(); // DEBUG DEBUG DEBUG } } lastHeight = ret; -- cgit v1.1 From 4cbc5082ffc5aa4818471cedf906c78038a7b0f9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 16 Dec 2012 21:14:48 -0800 Subject: BulletSim: refactor to combine common terrain height testing code. Add function to test if a position is over known terrain. --- .../Physics/BulletSPlugin/BSTerrainManager.cs | 86 ++++++++++++---------- 1 file changed, 48 insertions(+), 38 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index c68fd69..3428b9c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -332,6 +332,13 @@ public sealed class BSTerrainManager : IDisposable return newTerrainPhys; } + // Return 'true' of this position is somewhere in known physical terrain space + public bool IsWithinKnownTerrain(Vector3 pos) + { + Vector3 terrainBaseXYZ; + BSTerrainPhys physTerrain; + return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ); + } // Given an X and Y, find the height of the terrain. // Since we could be handling multiple terrains for a mega-region, @@ -342,13 +349,13 @@ public sealed class BSTerrainManager : IDisposable private float lastHeightTX = 999999f; private float lastHeightTY = 999999f; private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT; - public float GetTerrainHeightAtXYZ(Vector3 loc) + public float GetTerrainHeightAtXYZ(Vector3 pos) { - float tX = loc.X; - float tY = loc.Y; + float tX = pos.X; + float tY = pos.Y; // You'd be surprized at the number of times this routine is called // with the same parameters as last time. - if (!m_terrainModified && lastHeightTX == tX && lastHeightTY == tY) + if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY)) return lastHeight; m_terrainModified = false; @@ -356,26 +363,20 @@ public sealed class BSTerrainManager : IDisposable lastHeightTY = tY; float ret = HEIGHT_GETHEIGHT_RET; - int offsetX = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; - int offsetY = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; - Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f); - - lock (m_terrains) + Vector3 terrainBaseXYZ; + BSTerrainPhys physTerrain; + if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ)) { - BSTerrainPhys physTerrain; - if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain)) - { - ret = physTerrain.GetTerrainHeightAtXYZ(loc - terrainBaseXYZ); - } - else - { - PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", - LogHeader, PhysicsScene.RegionName, tX, tY); - DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,loc={1},base={2}", - BSScene.DetailLogZero, loc, terrainBaseXYZ); - Util.PrintCallStack(); // DEBUG DEBUG DEBUG - } + ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ); } + else + { + PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", + LogHeader, PhysicsScene.RegionName, tX, tY); + DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}", + BSScene.DetailLogZero, pos, terrainBaseXYZ); + } + lastHeight = ret; return ret; } @@ -384,27 +385,36 @@ public sealed class BSTerrainManager : IDisposable { float ret = WATER_HEIGHT_GETHEIGHT_RET; - float tX = pos.X; - float tY = pos.Y; + Vector3 terrainBaseXYZ; + BSTerrainPhys physTerrain; + if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ)) + { + ret = physTerrain.GetWaterLevelAtXYZ(pos); + } + else + { + PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}", + LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret); + } + return ret; + } - Vector3 terrainBaseXYZ = Vector3.Zero; - terrainBaseXYZ.X = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; - terrainBaseXYZ.Y = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; + // Given an address, return 'true' of there is a description of that terrain and output + // the descriptor class and the 'base' fo the addresses therein. + private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase) + { + int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; + int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; + Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f); + BSTerrainPhys physTerrain = null; lock (m_terrains) { - BSTerrainPhys physTerrain; - if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain)) - { - ret = physTerrain.GetWaterLevelAtXYZ(pos); - } - else - { - PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: region={1}, x={2}, y={3}", - LogHeader, PhysicsScene.RegionName, tX, tY); - } + m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain); } - return ret; + outTerrainBase = terrainBaseXYZ; + outPhysTerrain = physTerrain; + return (physTerrain != null); } // Although no one seems to check this, I do support combining. -- cgit v1.1 From 7ed860d3ac8307b2f404fea1c40471ee488cf70e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 16 Dec 2012 21:15:49 -0800 Subject: BulletSim: add check for border crossing in character position sanity check. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 0defb24..4dd6264 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -311,6 +311,15 @@ public sealed class BSCharacter : BSPhysObject { bool ret = false; + // TODO: check for out of bounds + if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position)) + { + // The character is out of the known/simulated area. + // Upper levels of code will handle the transition to other areas so, for + // the time, we just ignore the position. + return ret; + } + // If below the ground, move the avatar up float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); if (Position.Z < terrainHeight) @@ -329,7 +338,6 @@ public sealed class BSCharacter : BSPhysObject } } - // TODO: check for out of bounds return ret; } @@ -700,7 +708,7 @@ public sealed class BSCharacter : BSPhysObject } // Tell the linkset about value changes - Linkset.UpdateProperties(this); + Linkset.UpdateProperties(this, true); // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); -- cgit v1.1 From 3f2aaffd4d32ec7569cc2e5faae76c5faa9e9da4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 16 Dec 2012 21:16:40 -0800 Subject: BulletSim: add even more to the TODO list. --- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 31 +++++++++++++++++++--- 1 file changed, 27 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 9b89f0b..31dd790 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,3 +1,16 @@ +CURRENT PRIORITIES +================================================= +Eliminate all crashes (DONEish) + Editing/deleting physical linkset (DONE) + Border crossing of physical linkset (DONE) +Enable vehicle border crossings (at least as poorly as ODE) + Avatar created in previous region and not new region when crossing border + Vehicle recreated in new sim at small Z value (offset from root value?) +Calibrate turning radius +limitMotorUp calibration (more down?) +study PID motors (include 'efficiency' implementation + Add to avatar movement + CRASHES ================================================= 20121129.1411: editting/moving phys object across region boundries causes crash @@ -11,16 +24,18 @@ CRASHES VEHICLES TODO LIST: ================================================= +Border crossing with linked vehicle causes crash Neb vehicle taking > 25ms of physics time!! Vehicles (Move smoothly) Add vehicle collisions so IsColliding is properly reported. Needed for banking, limitMotorUp, movementLimiting, ... Some vehicles should not be able to turn if no speed or off ground. +Cannot edit/move a vehicle being ridden: it jumps back to the origional position. Neb car jiggling left and right Happens on terrain and any other mesh object. Flat cubes are much smoother. This has been reduced but not eliminated. Light cycle falling over when driving -For limitMotorUp, use raycast down to find if vehicle is in the air. +Implement referenceFrame for all the motion routines. Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. Verify that angular motion specified around Z moves in the vehicle coordinates. Verify llGetVel() is returning a smooth and good value for vehicle movement. @@ -31,9 +46,9 @@ Should vehicle angular/linear movement friction happen after all the components After getting off a vehicle, the root prim is phantom (can be walked through) Need to force a position update for the root prim after compound shape destruction Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint) -Implement referenceFrame for all the motion routines. -Cannot edit/move a vehicle being ridden: it jumps back to the origional position. -Border crossing with linked vehicle causes crash +For limitMotorUp, use raycast down to find if vehicle is in the air. +Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties(). + A kludge that isn't fixing the real problem of Bullet adding extra motion. BULLETSIM TODO LIST: ================================================= @@ -72,6 +87,9 @@ LINKSETS ====================================================== Linksets should allow collisions to individual children Add LocalID to children shapes in LinksetCompound and create events for individuals +LinksetCompound: when one of the children changes orientation (like tires + turning on a vehicle, the whole compound object is rebuilt. Optimize this + so orientation/position of individual children can change without a rebuild. Verify/think through scripts in children of linksets. What do they reference and return when getting position, velocity, ... Confirm constraint linksets still work after making all the changes for compound linksets. @@ -143,6 +161,11 @@ Remove HeightmapInfo from terrain specification Since C++ code does not need terrain height, this structure et al are not needed. Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will bob at the water level. BSPrim.PositionSanityCheck(). +Should taints check for existance or activeness of target? + When destroying linksets/etc, taints can be generated for objects that are + actually gone when the taint happens. Crashes don't happen because the taint closure + keeps the object from being freed, but that is just an accident. + Possibly have and 'active' flag that is checked by the taint processor? THREADING ================================================= -- cgit v1.1 From 2b8efa24dd816fda23fe3aed5822af1d50febf5d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 16 Dec 2012 21:18:32 -0800 Subject: BulletSim: add parameter to UpdateProperties call into the linkset so changes from the physics engine can be differentiated from changes made by the user. This eliminates a linkset rebuild loop. Also add logic to not rebuild or freak out when the object/linkset crosses a terrain boundry. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 3 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 48 +++++++++++++--------- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 2 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 9 ++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 29 +++++++++---- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 10 +++-- 6 files changed, 65 insertions(+), 36 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 2486be5..2017fa5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -252,8 +252,9 @@ public abstract class BSLinkset // Called when a parameter update comes from the physics engine for any object // of the linkset is received. + // Passed flag is update came from physics engine (true) or the user (false). // Called at taint-time!! - public abstract void UpdateProperties(BSPhysObject physObject); + public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate); // Routine used when rebuilding the body of the root of the linkset // Destroy all the constraints have have been made to root. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 8359607..4d4f712 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -28,6 +28,8 @@ using System; using System.Collections.Generic; using System.Text; +using OpenSim.Framework; + using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin @@ -87,25 +89,22 @@ public sealed class BSLinksetCompound : BSLinkset // its internal properties. public override void Refresh(BSPhysObject requestor) { - if (!IsRoot(requestor)) - { - } // Something changed so do the rebuilding thing - InternalRefresh(requestor); + // ScheduleRebuild(); } // Schedule a refresh to happen after all the other taint processing. - private void InternalRefresh(BSPhysObject requestor) + private void ScheduleRebuild() { - DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1},rebuilding={2}", - LinksetRoot.LocalID, requestor.LocalID, Rebuilding); + DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,rebuilding={1}", + LinksetRoot.LocalID, Rebuilding); // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. if (!Rebuilding) { - PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() + PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", LinksetRoot.LocalID, delegate() { - if (IsRoot(requestor) && HasAnyChildren) + if (HasAnyChildren) RecomputeLinksetCompound(); }); } @@ -125,8 +124,7 @@ public sealed class BSLinksetCompound : BSLinkset { // The root is going dynamic. Make sure mass is properly set. m_mass = ComputeLinksetMass(); - if (HasAnyChildren) - InternalRefresh(LinksetRoot); + ScheduleRebuild(); } else { @@ -155,8 +153,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); if (IsRoot(child)) { - if (HasAnyChildren) - InternalRefresh(LinksetRoot); + ScheduleRebuild(); } else { @@ -172,10 +169,21 @@ public sealed class BSLinksetCompound : BSLinkset return ret; } - // Called at taint-time!! - public override void UpdateProperties(BSPhysObject updated) + public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate) { - // Nothing to do for compound linksets on property updates + // The user moving a child around requires the rebuilding of the linkset compound shape + // One problem is this happens when a border is crossed -- the simulator implementation + // is to store the position into the group which causes the move of the object + // but it also means all the child positions get updated. + // What would cause an unnecessary rebuild so we make sure the linkset is in a + // region before bothering to do a rebuild. + if (!IsRoot(updated) + && !physicalUpdate + && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) + { + updated.LinksetInfo = null; + ScheduleRebuild(); + } } // Routine called when rebuilding the body of some member of the linkset. @@ -257,8 +265,8 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); - // Cause constraints and assorted properties to be recomputed before the next simulation step. - InternalRefresh(LinksetRoot); + // Rebuild the compound shape with the new child shape included + ScheduleRebuild(); } return; } @@ -285,8 +293,8 @@ public sealed class BSLinksetCompound : BSLinkset } else { - // Schedule a rebuild of the linkset before the next simulation tick. - InternalRefresh(LinksetRoot); + // Rebuild the compound shape with the child removed + ScheduleRebuild(); } } return; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 7076ab4..8c36c31 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -78,7 +78,7 @@ public sealed class BSLinksetConstraints : BSLinkset } // Called at taint-time!! - public override void UpdateProperties(BSPhysObject updated) + public override void UpdateProperties(BSPhysObject updated, bool inTaintTime) { // Nothing to do for constraints on property updates } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 6539b43..92a5f2f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -214,7 +214,7 @@ public abstract class BSPhysObject : PhysicsActor { bool ret = true; // If the 'no collision' call, force it to happen right now so quick collision_end - bool force = CollisionCollection.Count == 0; + bool force = (CollisionCollection.Count == 0); // throttle the collisions to the number of milliseconds specified in the subscription if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) @@ -232,8 +232,10 @@ public abstract class BSPhysObject : PhysicsActor // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); base.SendCollisionUpdate(CollisionCollection); - // The collisionCollection structure is passed around in the simulator. + // The CollisionCollection instance is passed around in the simulator. // Make sure we don't have a handle to that one and that a new one is used for next time. + // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, + // a race condition is created for the other users of this instance. CollisionCollection = new CollisionEventUpdate(); } return ret; @@ -251,7 +253,8 @@ public abstract class BSPhysObject : PhysicsActor PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() { - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + if (PhysBody.HasPhysicalBody) + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } else diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 53be2e3..758d92b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -300,6 +300,10 @@ public sealed class BSPrim : BSPhysObject } _position = value; PositionSanityCheck(false); + + // A linkset might need to know if a component information changed. + Linkset.UpdateProperties(this, false); + PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); @@ -329,6 +333,14 @@ public sealed class BSPrim : BSPhysObject { bool ret = false; + if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position)) + { + // The physical object is out of the known/simulated area. + // Upper levels of code will handle the transition to other areas so, for + // the time, we just ignore the position. + return ret; + } + float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); OMV.Vector3 upForce = OMV.Vector3.Zero; if (RawPosition.Z < terrainHeight) @@ -352,8 +364,6 @@ public sealed class BSPrim : BSPhysObject } } - // TODO: check for out of bounds - // The above code computes a force to apply to correct any out-of-bounds problems. Apply same. // TODO: This should be intergrated with a geneal physics action mechanism. // TODO: This should be moderated with PID'ness. @@ -567,7 +577,10 @@ public sealed class BSPrim : BSPhysObject if (_orientation == value) return; _orientation = value; - // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? + + // A linkset might need to know if a component information changed. + Linkset.UpdateProperties(this, false); + PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() { if (PhysBody.HasPhysicalBody) @@ -1432,14 +1445,14 @@ public sealed class BSPrim : BSPhysObject entprop.Velocity = _velocity; } - // remember the current and last set values - LastEntityProperties = CurrentEntityProperties; - CurrentEntityProperties = entprop; - OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); + // remember the current and last set values + LastEntityProperties = CurrentEntityProperties; + CurrentEntityProperties = entprop; + base.RequestPhysicsterseUpdate(); } /* @@ -1453,7 +1466,7 @@ public sealed class BSPrim : BSPhysObject */ // The linkset implimentation might want to know about this. - Linkset.UpdateProperties(this); + Linkset.UpdateProperties(this, true); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index ac99777..7b44574 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -517,8 +517,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); - DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", - DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); + DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", + DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, + updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG } catch (Exception e) @@ -573,6 +574,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Objects that are done colliding are removed from the ObjectsWithCollisions list. // Not done above because it is inside an iteration of ObjectWithCollisions. + // This complex collision processing is required to create an empty collision + // event call after all collisions have happened on an object. This enables + // the simulator to generate the 'collision end' event. if (ObjectsWithNoMoreCollisions.Count > 0) { foreach (BSPhysObject po in ObjectsWithNoMoreCollisions) @@ -597,7 +601,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters ProcessPostStepTaints(); - // This causes the unmanaged code to output ALL the values found in ALL the objects in the world. + // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. // Only enable this in a limited test world with few objects. // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG -- cgit v1.1 From 021623a17d8371147eefe9290d780048e24812c6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 16 Dec 2012 22:31:22 -0800 Subject: BulletSim: fix vehicles being shot in the air at border crossings because of mis-application of correction to postion for below groundness. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 82e829e..ef68471 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -871,8 +871,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition)) { // TODO: correct position by applying force rather than forcing position. - VehiclePosition += new Vector3(0f, 0f, GetTerrainHeight(VehiclePosition) + 2f); - VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); + Vector3 newPosition = VehiclePosition; + newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f; + VehiclePosition = newPosition; + VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", + Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); } return ret; } -- cgit v1.1 From 11532a4390ce3054f5a6798b4bf8dcf39d002e77 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 17 Dec 2012 13:22:04 -0800 Subject: BulletSim: fix vehicles going underground when unsat. Problem was that, when doing unsit, the order of operations on the prims and the vehicle is very chaotic and not in a good order so the root prim was being left physical and thus it fell for a bit. Also changed default of velocity scaling to be closer to the movement standard. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 43 ++++++++++++---------- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 14 +++---- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 2 +- 4 files changed, 32 insertions(+), 29 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index ef68471..48ba419 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -87,7 +87,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate - private Vector3 m_lastAngularCorrection = Vector3.Zero; + private Vector3 m_lastAngularVelocity = Vector3.Zero; private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body //Deflection properties @@ -128,7 +128,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Return 'true' if this vehicle is doing vehicle things public bool IsActive { - get { return Type != Vehicle.TYPE_NONE; } + get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; } } internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) @@ -664,6 +664,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // an UpdateProperties event to send the changes up to the simulator. BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); } + m_knownChanged = 0; } // Since the computation of terrain height can be a little involved, this routine @@ -993,11 +994,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin public Vector3 ComputeLinearMotorUp(float pTimestep) { Vector3 ret = Vector3.Zero; + float distanceAboveGround = 0f; if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition); - float distanceAboveGround = VehiclePosition.Z - targetHeight; + distanceAboveGround = VehiclePosition.Z - targetHeight; // Not colliding if the vehicle is off the ground if (!Prim.IsColliding) { @@ -1010,9 +1012,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin // has a decay factor. This says this force should // be computed with a motor. // TODO: add interaction with banking. - VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", - Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); } + VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", + Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); return ret; } @@ -1049,8 +1051,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== m_lastVertAttractor = verticalAttractionContribution; + // DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions. + Vector3 originalAngularMotorContrib = angularMotorContribution; + if (PhysicsScene.VehicleScaleAngularVelocityByTimestep) + angularMotorContribution *= pTimestep; + // Sum corrections - m_lastAngularCorrection = angularMotorContribution + m_lastAngularVelocity = angularMotorContribution + verticalAttractionContribution + deflectionContribution + bankingContribution; @@ -1058,19 +1065,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== // Apply the correction velocity. // TODO: Should this be applied as an angular force (torque)? - if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f)) + if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { - // DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions. - Vector3 scaledCorrection = m_lastAngularCorrection; - if (PhysicsScene.VehicleScaleAngularVelocityByTimestep) - scaledCorrection *= pTimestep; - VehicleRotationalVelocity = scaledCorrection; + VehicleRotationalVelocity = m_lastAngularVelocity; - VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}", + VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}", Prim.LocalID, angularMotorContribution, verticalAttractionContribution, bankingContribution, deflectionContribution, - m_lastAngularCorrection, scaledCorrection + m_lastAngularVelocity ); } else @@ -1124,18 +1127,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin { Vector3 ret = Vector3.Zero; - // If vertical attaction timescale is reasonable and we applied an angular force last time... + // If vertical attaction timescale is reasonable if (m_verticalAttractionTimescale < m_verticalAttractionCutoff) { // Take a vector pointing up and convert it from world to vehicle relative coords. Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; - verticalError.Normalize(); // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) - // is now leaning to one side (rotated around the X axis) and the Y value will - // go from zero (nearly straight up) to one (completely to the side) or leaning - // front-to-back (rotated around the Y axis) and the value of X will be between - // zero and one. + // is now: + // leaning to one side: rotated around the X axis with the Y value going + // from zero (nearly straight up) to one (completely to the side)) or + // leaning front-to-back: rotated around the Y axis with the value of X being between + // zero and one. // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees. // If verticalError.Z is negative, the vehicle is upside down. Add additional push. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 4d4f712..2a7b72c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -94,10 +94,10 @@ public sealed class BSLinksetCompound : BSLinkset } // Schedule a refresh to happen after all the other taint processing. - private void ScheduleRebuild() + private void ScheduleRebuild(BSPhysObject requestor) { DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,rebuilding={1}", - LinksetRoot.LocalID, Rebuilding); + requestor.LocalID, Rebuilding); // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. if (!Rebuilding) @@ -124,7 +124,7 @@ public sealed class BSLinksetCompound : BSLinkset { // The root is going dynamic. Make sure mass is properly set. m_mass = ComputeLinksetMass(); - ScheduleRebuild(); + ScheduleRebuild(LinksetRoot); } else { @@ -153,7 +153,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); if (IsRoot(child)) { - ScheduleRebuild(); + ScheduleRebuild(LinksetRoot); } else { @@ -182,7 +182,7 @@ public sealed class BSLinksetCompound : BSLinkset && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) { updated.LinksetInfo = null; - ScheduleRebuild(); + ScheduleRebuild(updated); } } @@ -266,7 +266,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Rebuild the compound shape with the new child shape included - ScheduleRebuild(); + ScheduleRebuild(child); } return; } @@ -294,7 +294,7 @@ public sealed class BSLinksetCompound : BSLinkset else { // Rebuild the compound shape with the child removed - ScheduleRebuild(); + ScheduleRebuild(child); } } return; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7b44574..ebaf97e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1240,7 +1240,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].vehicleAngularDamping; }, (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ), new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep", - ConfigurationParameters.numericFalse, + ConfigurationParameters.numericTrue, (s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); }, (s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); }, (s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 31dd790..0d9a156 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -5,7 +5,7 @@ Eliminate all crashes (DONEish) Border crossing of physical linkset (DONE) Enable vehicle border crossings (at least as poorly as ODE) Avatar created in previous region and not new region when crossing border - Vehicle recreated in new sim at small Z value (offset from root value?) + Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) Calibrate turning radius limitMotorUp calibration (more down?) study PID motors (include 'efficiency' implementation -- cgit v1.1 From 8653ea93b2669a180beaedad8765bdeec385d501 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 17 Dec 2012 13:51:39 -0800 Subject: BulletSim: apply friction to linear and angular motion before returning advanced motor value. This seems to be the problem with BulletSim vehicles turning too quickly. Also removed the configuration parameter that controlled the timestep scaling kludge for angular velocity that was added to research the question of quick turning. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 6 ------ OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 6 ------ 3 files changed, 2 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 48ba419..5887249 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1051,12 +1051,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== m_lastVertAttractor = verticalAttractionContribution; - // DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions. - Vector3 originalAngularMotorContrib = angularMotorContribution; - if (PhysicsScene.VehicleScaleAngularVelocityByTimestep) - angularMotorContribution *= pTimestep; - - // Sum corrections m_lastAngularVelocity = angularMotorContribution + verticalAttractionContribution + deflectionContribution diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index cf0a9dc..e0faf4e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -134,8 +134,6 @@ public class BSVMotor : BSMotor Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep; CurrentValue += addAmount; - returnCurrent = CurrentValue; - // The desired value reduces to zero which also reduces the difference with current. // If the decay time is infinite, don't decay at all. float decayFactor = 0f; @@ -156,6 +154,8 @@ public class BSVMotor : BSMotor CurrentValue *= (Vector3.One - frictionFactor); } + returnCurrent = CurrentValue; + MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, timeStep, TimeScale, addAmount, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index ebaf97e..069cb0d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -189,7 +189,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // 'true' of the vehicle code is to log lots of details public bool VehicleLoggingEnabled { get; private set; } public bool VehiclePhysicalLoggingEnabled { get; private set; } - public bool VehicleScaleAngularVelocityByTimestep { get; private set; } #region Construction and Initialization public BSScene(string identifier) @@ -1239,11 +1238,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].vehicleAngularDamping; }, (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ), - new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); }, - (s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); }, - (s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ), new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 0f, -- cgit v1.1 From cf89e29ac315cbac74361b8fd85e0fdbf6157f09 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 18 Dec 2012 19:19:58 -0800 Subject: BulletSim: comments and TODO list update --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 9 +++++++-- OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 3 ++- 2 files changed, 9 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 758d92b..1c6f946 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -100,10 +100,15 @@ public sealed class BSPrim : BSPhysObject BaseShape = pbs; _isPhysical = pisPhysical; _isVolumeDetect = false; - _friction = PhysicsScene.Params.defaultFriction; // TODO: compute based on object material - _density = PhysicsScene.Params.defaultDensity; // TODO: compute based on object material + + // Someday set default attributes based on the material but, for now, we don't know the prim material yet. + // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical); + _density = PhysicsScene.Params.defaultDensity; + _friction = PhysicsScene.Params.defaultFriction; _restitution = PhysicsScene.Params.defaultRestitution; + _vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness + _mass = CalculateMass(); // No body or shape yet diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 0d9a156..ad4e42b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -6,7 +6,7 @@ Eliminate all crashes (DONEish) Enable vehicle border crossings (at least as poorly as ODE) Avatar created in previous region and not new region when crossing border Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) -Calibrate turning radius +Calibrate turning radius (DONE) limitMotorUp calibration (more down?) study PID motors (include 'efficiency' implementation Add to avatar movement @@ -82,6 +82,7 @@ Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE Also osGetPhysicsEngineVerion() maybe. Linkset.Position and Linkset.Orientation requre rewrite to properly return child position. LinksetConstraint acts like it's at taint time!! +Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F) LINKSETS ====================================================== -- cgit v1.1 From 7b84bcfbb8817feca25f33db85bee6c1fc7f0b98 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 18 Dec 2012 22:59:59 -0800 Subject: BulletSim: initial implementation of a PID motor. Not hooked up yet. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 44 ++++++++++++++++++++---- 1 file changed, 38 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index e0faf4e..c718228 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -117,12 +117,12 @@ public class BSVMotor : BSMotor // A form of stepping that does not take the time quantum into account. // The caller must do the right thing later. - public Vector3 Step() + public virtual Vector3 Step() { return Step(1f); } - public Vector3 Step(float timeStep) + public virtual Vector3 Step(float timeStep) { Vector3 returnCurrent = Vector3.Zero; if (!CurrentValue.ApproxEquals(TargetValue, 0.01f)) @@ -204,17 +204,49 @@ public class BSFMotor : BSMotor public void SetTarget(float target) { } - public float Step(float timeStep) + public virtual float Step(float timeStep) { return 0f; } } -public class BSPIDMotor : BSMotor + +// Proportional, Integral, Derivitive Motor +// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors. +public class BSPIDVMotor : BSVMotor { - // TODO: write and use this one - public BSPIDMotor(string useName) + public Vector3 pFactor { get; set; } // Amount of direct correction of an error (sometimes called 'proportional gain') + public Vector3 iFactor { get; set; } // + public Vector3 dFactor { get; set; } + + Vector3 IntegralFactor { get; set; } + Vector3 LastError { get; set; } + + public BSPIDVMotor(string useName) : base(useName) { + // larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10. + pFactor = new Vector3(1.00f, 1.00f, 1.00f); + iFactor = new Vector3(1.00f, 1.00f, 1.00f); + dFactor = new Vector3(1.00f, 1.00f, 1.00f); + } + + public override Vector3 Step(float timeStep) + { + // How far are we from where we should be + Vector3 error = TargetValue - CurrentValue; + + // Add up the error so we can integrate over the accumulated errors + IntegralFactor += error * timeStep; + + // A simple derivitive is the rate of change from the last error. + Vector3 derivFactor = (error - LastError) * timeStep; + LastError = error; + + // Proportion Integral Derivitive + // Correction = proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError + Vector3 ret = error * pFactor + IntegralFactor * iFactor + derivFactor * dFactor; + + return ret; } } } -- cgit v1.1 From a9b9c0f0351a6749bf55c29b2891fa40928b4c39 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 18 Dec 2012 23:05:59 -0800 Subject: BulletSim: improve angularVerticalAttraction calculation to compute angular correction velocity rather than estimating correction (excuse to use trig functions). --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 33 ++++++++++------------ 1 file changed, 15 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 5887249..912aadd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1003,7 +1003,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Not colliding if the vehicle is off the ground if (!Prim.IsColliding) { - // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep); // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); ret = new Vector3(0, 0, -distanceAboveGround); } @@ -1135,31 +1134,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin // zero and one. // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees. + // Y error means needed rotation around X axis and visa versa. + // Since the error goes from zero to one, the asin is the corresponding angle. + ret.X = (float)Math.Asin(verticalError.Y); + ret.Y = (float)Math.Asin(verticalError.X); + // If verticalError.Z is negative, the vehicle is upside down. Add additional push. if (verticalError.Z < 0f) { - verticalError.X = 2f - verticalError.X; - verticalError.Y = 2f - verticalError.Y; + ret.X += (float)Math.PI / 4f; + ret.Y += (float)Math.PI / 4f; } - // Y error means needed rotation around X axis and visa versa. - ret.X = verticalError.Y; - ret.Y = - verticalError.X; - ret.Z = 0f; - - // Scale the correction force by how far we're off from vertical. - // Z error of one says little error. As Z gets smaller, the vehicle is leaning farther over. - float clampedSqrZError = ClampInRange(0.01f, verticalError.Z * verticalError.Z, 1f); - float vertForce = 1f / clampedSqrZError; - - ret *= vertForce; + // Put the signs back on so the rotation is in the correct direction. + ret.X *= (float)Math.Sign(verticalError.Y); + // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.) + ret.Y *= -(float)Math.Sign(verticalError.X); - // Correction happens over a number of seconds. + // 'ret' is now the necessary velocity to correct tilt in one second. + // Correction happens over a number of seconds. Vector3 unscaledContrib = ret; ret /= m_verticalAttractionTimescale; - VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},vertForce={3},eff={4},vertAttr={5}", - Prim.LocalID, verticalError, unscaledContrib, vertForce, m_verticalAttractionEfficiency, ret); + VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},vertAttr={4}", + Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, ret); } return ret; } @@ -1172,7 +1170,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin public Vector3 ComputeAngularDeflection() { Vector3 ret = Vector3.Zero; - return ret; // DEBUG DEBUG DEBUG debug one force at a time if (m_angularDeflectionEfficiency != 0) { -- cgit v1.1 From b7ad44e3a687041a5a4761f1d0739a4226a901c2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 20 Dec 2012 08:35:36 -0800 Subject: BulletSim: reorganize motor step code to separate error computation allowing subclass for PID error correction. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 142 +++++++++++++++-------- 1 file changed, 91 insertions(+), 51 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index c718228..b57d2c8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -29,13 +29,14 @@ using System; using System.Collections.Generic; using System.Text; using OpenMetaverse; +using OpenSim.Framework; namespace OpenSim.Region.Physics.BulletSPlugin { public abstract class BSMotor { // Timescales and other things can be turned off by setting them to 'infinite'. - public const float Infinite = 12345f; + public const float Infinite = 12345.6f; public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite); public BSMotor(string useName) @@ -62,12 +63,16 @@ public abstract class BSMotor } } } -// Can all the incremental stepping be replaced with motor classes? // Motor which moves CurrentValue to TargetValue over TimeScale seconds. // The TargetValue decays in TargetValueDecayTimeScale and // the CurrentValue will be held back by FrictionTimeScale. -// TimeScale and TargetDelayTimeScale may be 'infinite' which means go decay. +// This motor will "zero itself" over time in that the targetValue will +// decay to zero and the currentValue will follow it to that zero. +// The overall effect is for the returned correction value to go from large +// values (the total difference between current and target minus friction) +// to small and eventually zero values. +// TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay. // For instance, if something is moving at speed X and the desired speed is Y, // CurrentValue is X and TargetValue is Y. As the motor is stepped, new @@ -81,13 +86,15 @@ public class BSVMotor : BSMotor // public Vector3 FrameOfReference { get; set; } // public Vector3 Offset { get; set; } - public float TimeScale { get; set; } - public float TargetValueDecayTimeScale { get; set; } - public Vector3 FrictionTimescale { get; set; } - public float Efficiency { get; set; } + public virtual float TimeScale { get; set; } + public virtual float TargetValueDecayTimeScale { get; set; } + public virtual Vector3 FrictionTimescale { get; set; } + public virtual float Efficiency { get; set; } + + public virtual float ErrorZeroThreshold { get; set; } - public Vector3 TargetValue { get; private set; } - public Vector3 CurrentValue { get; private set; } + public virtual Vector3 TargetValue { get; private set; } + public virtual Vector3 CurrentValue { get; private set; } public BSVMotor(string useName) : base(useName) @@ -96,6 +103,7 @@ public class BSVMotor : BSMotor Efficiency = 1f; FrictionTimescale = BSMotor.InfiniteVector; CurrentValue = TargetValue = Vector3.Zero; + ErrorZeroThreshold = 0.01f; } public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) : this(useName) @@ -115,24 +123,19 @@ public class BSVMotor : BSMotor TargetValue = target; } - // A form of stepping that does not take the time quantum into account. - // The caller must do the right thing later. - public virtual Vector3 Step() - { - return Step(1f); - } - + // Compute the next step and return the new current value public virtual Vector3 Step(float timeStep) { - Vector3 returnCurrent = Vector3.Zero; - if (!CurrentValue.ApproxEquals(TargetValue, 0.01f)) + Vector3 origTarget = TargetValue; // DEBUG + Vector3 origCurrVal = CurrentValue; // DEBUG + + Vector3 correction = Vector3.Zero; + Vector3 error = TargetValue - CurrentValue; + if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) { - Vector3 origTarget = TargetValue; // DEBUG - Vector3 origCurrVal = CurrentValue; // DEBUG + correction = Step(timeStep, error); - // Addition = (desiredVector - currentAppliedVector) / secondsItShouldTakeToComplete - Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep; - CurrentValue += addAmount; + CurrentValue += correction; // The desired value reduces to zero which also reduces the difference with current. // If the decay time is infinite, don't decay at all. @@ -143,39 +146,50 @@ public class BSVMotor : BSMotor TargetValue *= (1f - decayFactor); } + // The amount we can correct the error is reduced by the friction Vector3 frictionFactor = Vector3.Zero; if (FrictionTimescale != BSMotor.InfiniteVector) { // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; // Individual friction components can be 'infinite' so compute each separately. - frictionFactor.X = FrictionTimescale.X == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.X) * timeStep; - frictionFactor.Y = FrictionTimescale.Y == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Y) * timeStep; - frictionFactor.Z = FrictionTimescale.Z == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Z) * timeStep; + frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X); + frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y); + frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z); + frictionFactor *= timeStep; CurrentValue *= (Vector3.One - frictionFactor); } - returnCurrent = CurrentValue; - - MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}", + MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},error={5},corr={6},targetDecay={6},decayFact={7},frictFac{8},curr={9},target={10},ret={11}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, - timeStep, TimeScale, addAmount, - TargetValueDecayTimeScale, decayFactor, - FrictionTimescale, frictionFactor); - MDetailLog("{0}, BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}", - BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, - addAmount, decayFactor, frictionFactor, returnCurrent); + timeStep, error, correction, + TargetValueDecayTimeScale, decayFactor, frictionFactor, + CurrentValue, TargetValue, CurrentValue); } else { // Difference between what we have and target is small. Motor is done. CurrentValue = Vector3.Zero; TargetValue = Vector3.Zero; + MDetailLog("{0}, BSVMotor.Step,zero,{1},ret={2}", + BSScene.DetailLogZero, UseName, CurrentValue); + } - MDetailLog("{0}, BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}", - BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, returnCurrent); + return CurrentValue; + } + public virtual Vector3 Step(float timeStep, Vector3 error) + { + Vector3 returnCorrection = Vector3.Zero; + if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) + { + // correction = error / secondsItShouldTakeToCorrect + Vector3 correctionAmount = error / TimeScale * timeStep; + returnCorrection = correctionAmount; + MDetailLog("{0}, BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5},frictTS={6},ret={7}", + BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, + correctionAmount, FrictionTimescale, returnCorrection); } - return returnCurrent; + return returnCorrection; } public override string ToString() { @@ -214,9 +228,14 @@ public class BSFMotor : BSMotor // Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors. public class BSPIDVMotor : BSVMotor { - public Vector3 pFactor { get; set; } // Amount of direct correction of an error (sometimes called 'proportional gain') - public Vector3 iFactor { get; set; } // - public Vector3 dFactor { get; set; } + // Larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10. + public Vector3 proportionFactor { get; set; } + public Vector3 integralFactor { get; set; } + public Vector3 derivFactor { get; set; } + // Arbritrary factor range. + // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct. + public float EfficiencyHigh = 0.4f; + public float EfficiencyLow = 4.0f; Vector3 IntegralFactor { get; set; } Vector3 LastError { get; set; } @@ -224,17 +243,39 @@ public class BSPIDVMotor : BSVMotor public BSPIDVMotor(string useName) : base(useName) { - // larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10. - pFactor = new Vector3(1.00f, 1.00f, 1.00f); - iFactor = new Vector3(1.00f, 1.00f, 1.00f); - dFactor = new Vector3(1.00f, 1.00f, 1.00f); + proportionFactor = new Vector3(1.00f, 1.00f, 1.00f); + integralFactor = new Vector3(1.00f, 1.00f, 1.00f); + derivFactor = new Vector3(1.00f, 1.00f, 1.00f); + IntegralFactor = Vector3.Zero; + LastError = Vector3.Zero; } - public override Vector3 Step(float timeStep) + public override void Zero() { - // How far are we from where we should be - Vector3 error = TargetValue - CurrentValue; + base.Zero(); + } + + public override float Efficiency + { + get { return base.Efficiency; } + set + { + base.Efficiency = Util.Clamp(value, 0f, 1f); + // Compute factors based on efficiency. + // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot. + // If efficiency is low (0f), use a factor value that overcorrects. + // TODO: might want to vary contribution of different factor depending on efficiency. + float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f; + // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow; + proportionFactor = new Vector3(factor, factor, factor); + integralFactor = new Vector3(factor, factor, factor); + derivFactor = new Vector3(factor, factor, factor); + } + } + // Ignore Current and Target Values and just advance the PID computation on this error. + public Vector3 Step(float timeStep, Vector3 error) + { // Add up the error so we can integrate over the accumulated errors IntegralFactor += error * timeStep; @@ -242,9 +283,8 @@ public class BSPIDVMotor : BSVMotor Vector3 derivFactor = (error - LastError) * timeStep; LastError = error; - // Proportion Integral Derivitive - // Correction = proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError - Vector3 ret = error * pFactor + IntegralFactor * iFactor + derivFactor * dFactor; + // Correction = -(proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError) + Vector3 ret = -(error * proportionFactor + IntegralFactor * integralFactor + derivFactor * derivFactor); return ret; } -- cgit v1.1 From e73dac4debcf79cba83b94255d62fce0815871cb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 20 Dec 2012 10:19:16 -0800 Subject: BulletSim: angularMotorUp working again (seems a little slow as it takes longer than timescale to correct, but getting better). Disabled angularDeflection (need to resolve interactions between angular corrections). Update TODO list. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 65 +++++++++++++++------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 33 +++++++---- 2 files changed, 66 insertions(+), 32 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 912aadd..77ec76d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -91,6 +91,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body //Deflection properties + private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection"); private float m_angularDeflectionEfficiency = 0; private float m_angularDeflectionTimescale = 0; private float m_linearDeflectionEfficiency = 0; @@ -102,6 +103,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_bankingTimescale = 0; //Hover and Buoyancy properties + private BSVMotor m_hoverMotor = new BSVMotor("Hover"); private float m_VhoverHeight = 0f; private float m_VhoverEfficiency = 0f; private float m_VhoverTimescale = 0f; @@ -118,6 +120,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Timescale > cutoff means no vert attractor. private float m_verticalAttractionTimescale = 510f; + // Just some recomputed constants: + static readonly float PIOverFour = ((float)Math.PI) / 4f; + static readonly float PIOverTwo = ((float)Math.PI) / 2f; + public BSDynamics(BSScene myScene, BSPrim myPrim) { PhysicsScene = myScene; @@ -563,9 +569,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Vehicles report collision events so we know when it's on the ground BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); - // DEBUG DEBUG DEBUG: use uniform inertia to smooth movement added by Bullet - // Vector3 localInertia = new Vector3(1f, 1f, 1f); - // Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass); Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass); BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); @@ -613,7 +616,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Quaternion? m_knownOrientation; private Vector3? m_knownRotationalVelocity; private Vector3 m_knownRotationalForce; - private float? m_knownForwardSpeed; + private Vector3? m_knownForwardVelocity; // vehicle relative forward speed private const int m_knownChangedPosition = 1 << 0; private const int m_knownChangedVelocity = 1 << 1; @@ -632,7 +635,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownOrientation = null; m_knownRotationalVelocity = null; m_knownRotationalForce = Vector3.Zero; - m_knownForwardSpeed = null; + m_knownForwardVelocity = null; m_knownChanged = 0; } private void PushKnownChanged() @@ -755,13 +758,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownRotationalForce += aForce; m_knownChanged |= m_knownChangedRotationalForce; } + // Vehicle relative forward velocity + private Vector3 VehicleForwardVelocity + { + get + { + if (m_knownForwardVelocity == null) + m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation)); + return (Vector3)m_knownForwardVelocity; + } + } private float VehicleForwardSpeed { get { - if (m_knownForwardSpeed == null) - m_knownForwardSpeed = (VehicleVelocity * Quaternion.Inverse(VehicleOrientation)).X; - return (float)m_knownForwardSpeed; + return VehicleForwardVelocity.X; } } @@ -1025,7 +1036,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // set directly on the vehicle. private void MoveAngular(float pTimestep) { - // The user wants how many radians per second angular change? + // The user wants this many radians per second angular change? Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); // ================================================================== @@ -1137,27 +1148,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Y error means needed rotation around X axis and visa versa. // Since the error goes from zero to one, the asin is the corresponding angle. ret.X = (float)Math.Asin(verticalError.Y); - ret.Y = (float)Math.Asin(verticalError.X); + // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.) + ret.Y = -(float)Math.Asin(verticalError.X); // If verticalError.Z is negative, the vehicle is upside down. Add additional push. if (verticalError.Z < 0f) { - ret.X += (float)Math.PI / 4f; - ret.Y += (float)Math.PI / 4f; + ret.X += PIOverFour; + ret.Y += PIOverFour; } - // Put the signs back on so the rotation is in the correct direction. - ret.X *= (float)Math.Sign(verticalError.Y); - // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.) - ret.Y *= -(float)Math.Sign(verticalError.X); - // 'ret' is now the necessary velocity to correct tilt in one second. // Correction happens over a number of seconds. Vector3 unscaledContrib = ret; ret /= m_verticalAttractionTimescale; - VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},vertAttr={4}", - Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, ret); + VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", + Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret); } return ret; } @@ -1170,6 +1177,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin public Vector3 ComputeAngularDeflection() { Vector3 ret = Vector3.Zero; + return ret; // DEBUG DEBUG DEBUG + // Disable angular deflection for the moment. + // Since angularMotorUp and angularDeflection are computed independently, they will calculate + // approximately the same X or Y correction. When added together (when contributions are combined) + // this creates an over-correction and then wabbling as the target is overshot. + // TODO: rethink how the different correction computations inter-relate. if (m_angularDeflectionEfficiency != 0) { @@ -1181,15 +1194,24 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; pointingDirection.Normalize(); - // The difference between what is and what should be + // The difference between what is and what should be. Vector3 deflectionError = movingDirection - pointingDirection; + // Don't try to correct very large errors (not our job) + if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f; + if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f; + if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f; + + // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError); + // Scale the correction by recovery timescale and efficiency - ret = (-deflectionError * VehicleForwardSpeed) * m_angularDeflectionEfficiency; + ret = (-deflectionError) * m_angularDeflectionEfficiency; ret /= m_angularDeflectionTimescale; VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret); + VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", + Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); } return ret; } @@ -1305,6 +1327,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float ClampInRange(float low, float val, float high) { return Math.Max(low, Math.Min(val, high)); + // return Utils.Clamp(val, low, high); } // Invoke the detailed logger and output something if it's enabled. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index ad4e42b..8a9aec9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -8,9 +8,10 @@ Enable vehicle border crossings (at least as poorly as ODE) Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) Calibrate turning radius (DONE) limitMotorUp calibration (more down?) -study PID motors (include 'efficiency' implementation +study PID motors (include 'efficiency' implementation (DONE) Add to avatar movement + CRASHES ================================================= 20121129.1411: editting/moving phys object across region boundries causes crash @@ -25,7 +26,6 @@ CRASHES VEHICLES TODO LIST: ================================================= Border crossing with linked vehicle causes crash -Neb vehicle taking > 25ms of physics time!! Vehicles (Move smoothly) Add vehicle collisions so IsColliding is properly reported. Needed for banking, limitMotorUp, movementLimiting, ... @@ -34,28 +34,25 @@ Cannot edit/move a vehicle being ridden: it jumps back to the origional position Neb car jiggling left and right Happens on terrain and any other mesh object. Flat cubes are much smoother. This has been reduced but not eliminated. -Light cycle falling over when driving Implement referenceFrame for all the motion routines. Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. Verify that angular motion specified around Z moves in the vehicle coordinates. Verify llGetVel() is returning a smooth and good value for vehicle movement. llGetVel() should return the root's velocity if requested in a child prim. Implement function efficiency for lineaar and angular motion. -Should vehicle angular/linear movement friction happen after all the components - or does it only apply to the basic movement? After getting off a vehicle, the root prim is phantom (can be walked through) Need to force a position update for the root prim after compound shape destruction Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint) For limitMotorUp, use raycast down to find if vehicle is in the air. Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties(). A kludge that isn't fixing the real problem of Bullet adding extra motion. +Incorporate inter-relationship of angular corrections. For instance, angularDeflection + and angularMotorUp will compute same X or Y correction. When added together + creates over-correction and over-shoot and wabbling. BULLETSIM TODO LIST: ================================================= Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. -Avatar height off after unsitting (floats off ground) - Editting appearance then moving restores. - Must not be initializing height when recreating capsule after unsit. Duplicating a physical prim causes old prim to jump away Dup a phys prim and the original become unselected and thus interacts w/ selected prim. Scenes with hundred of thousands of static objects take a lot of physics CPU time. @@ -83,6 +80,8 @@ Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE Linkset.Position and Linkset.Orientation requre rewrite to properly return child position. LinksetConstraint acts like it's at taint time!! Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F) +Should the different PID factors have non-equal contributions for different + values of Efficiency? LINKSETS ====================================================== @@ -100,17 +99,16 @@ Disable activity of passive linkset children. Since the linkset is a compound object, the old prims are left lying around and need to be phantomized so they don't collide, ... Speed up creation of large physical linksets - For instance, sitting in Neb's car (130 prims) takes several seconds to become physical + For instance, sitting in Neb's car (130 prims) takes several seconds to become physical. + REALLY bad for very large physical linksets (freezes the sim for many seconds). Eliminate collisions between objects in a linkset. (LinksetConstraint) Have UserPointer point to struct with localID and linksetID? Objects in original linkset still collide with each other? MORE ====================================================== -Find/remove avatar collision with ID=0. Test avatar walking up stairs. How does compare with SL. Radius of the capsule affects ability to climb edges. -Tune terrain/object friction to be closer to SL. Debounce avatar contact so legs don't keep folding up when standing. Implement LSL physics controls. Like STATUS_ROTATE_X. Add border extensions to terrain to help region crossings and objects leaving region. @@ -203,3 +201,16 @@ Single prim vehicles don't seem to properly vehiclize. Add material type linkage and input all the material property definitions. Skeleton classes and table are in the sources but are not filled or used. (Resolution: +Neb vehicle taking > 25ms of physics time!! + (Resolution: compound linksets were being rebuild WAY too often) +Avatar height off after unsitting (floats off ground) + Editting appearance then moving restores. + Must not be initializing height when recreating capsule after unsit. + (Resolution: confusion of scale vs size for native objects removed) +Light cycle falling over when driving (Resolution: implemented angularMotorUp) +Should vehicle angular/linear movement friction happen after all the components + or does it only apply to the basic movement? + (Resolution: friction added before returning newly computed motor value. + What is expected by some vehicles (turning up friction to moderate speed)) +Tune terrain/object friction to be closer to SL. + (Resolution: added material type with friction and resolution) -- cgit v1.1 From a5b2539cf92aac65c11a36d4eb41d04f1c55b042 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 20 Dec 2012 10:32:33 -0800 Subject: BulletSim: replace use of funky nullable values for vehicle property update control (m_known* stuff). Bitmaps will be quicker to test and to clear. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 69 ++++++++++++++-------- 1 file changed, 43 insertions(+), 26 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 77ec76d..c3d75ea 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -602,21 +602,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin #region Known vehicle value functions // Vehicle physical parameters that we buffer from constant getting and setting. - // The "m_known*" variables are initialized to 'null', fetched only if referenced - // and stored back into the physics engine only if updated. + // The "m_known*" values are unknown until they are fetched and the m_knownHas flag is set. + // Changing is remembered and the parameter is stored back into the physics engine only if updated. // This does two things: 1) saves continuious calls into unmanaged code, and // 2) signals when a physics property update must happen back to the simulator // to update values modified for the vehicle. private int m_knownChanged; - private float? m_knownTerrainHeight; - private float? m_knownWaterLevel; - private Vector3? m_knownPosition; - private Vector3? m_knownVelocity; + private int m_knownHas; + private float m_knownTerrainHeight; + private float m_knownWaterLevel; + private Vector3 m_knownPosition; + private Vector3 m_knownVelocity; private Vector3 m_knownForce; - private Quaternion? m_knownOrientation; - private Vector3? m_knownRotationalVelocity; + private Quaternion m_knownOrientation; + private Vector3 m_knownRotationalVelocity; private Vector3 m_knownRotationalForce; - private Vector3? m_knownForwardVelocity; // vehicle relative forward speed + private Vector3 m_knownForwardVelocity; // vehicle relative forward speed private const int m_knownChangedPosition = 1 << 0; private const int m_knownChangedVelocity = 1 << 1; @@ -624,18 +625,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin private const int m_knownChangedOrientation = 1 << 3; private const int m_knownChangedRotationalVelocity = 1 << 4; private const int m_knownChangedRotationalForce = 1 << 5; + private const int m_knownChangedTerrainHeight = 1 << 6; + private const int m_knownChangedWaterLevel = 1 << 7; + private const int m_knownChangedForwardVelocity = 1 << 7; private void ForgetKnownVehicleProperties() { - m_knownTerrainHeight = null; - m_knownWaterLevel = null; - m_knownPosition = null; - m_knownVelocity = null; - m_knownForce = Vector3.Zero; - m_knownOrientation = null; - m_knownRotationalVelocity = null; - m_knownRotationalForce = Vector3.Zero; - m_knownForwardVelocity = null; + m_knownHas = 0; m_knownChanged = 0; } private void PushKnownChanged() @@ -674,17 +670,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin // is used ot fetch the height only once for each vehicle simulation step. private float GetTerrainHeight(Vector3 pos) { - if (m_knownTerrainHeight == null) + if ((m_knownHas & m_knownChangedTerrainHeight) == 0) + { m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); - return (float)m_knownTerrainHeight; + m_knownHas |= m_knownChangedTerrainHeight; + } + return m_knownTerrainHeight; } // Since the computation of water level can be a little involved, this routine // is used ot fetch the level only once for each vehicle simulation step. private float GetWaterLevel(Vector3 pos) { - if (m_knownWaterLevel == null) + if ((m_knownHas & m_knownChangedWaterLevel) == 0) + { m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); + m_knownHas |= m_knownChangedWaterLevel; + } return (float)m_knownWaterLevel; } @@ -692,8 +694,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin { get { - if (m_knownPosition == null) + if ((m_knownHas & m_knownChangedPosition) == 0) + { m_knownPosition = Prim.ForcePosition; + m_knownHas |= m_knownChangedPosition; + } return (Vector3)m_knownPosition; } set @@ -707,8 +712,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin { get { - if (m_knownOrientation == null) + if ((m_knownHas & m_knownChangedOrientation) == 0) + { m_knownOrientation = Prim.ForceOrientation; + m_knownHas |= m_knownChangedOrientation; + } return (Quaternion)m_knownOrientation; } set @@ -722,8 +730,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin { get { - if (m_knownVelocity == null) + if ((m_knownHas & m_knownChangedVelocity) == 0) + { m_knownVelocity = Prim.ForceVelocity; + m_knownHas |= m_knownChangedVelocity; + } return (Vector3)m_knownVelocity; } set @@ -743,8 +754,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin { get { - if (m_knownRotationalVelocity == null) + if ((m_knownHas & m_knownChangedRotationalVelocity) == 0) + { m_knownRotationalVelocity = Prim.ForceRotationalVelocity; + m_knownHas |= m_knownChangedRotationalVelocity; + } return (Vector3)m_knownRotationalVelocity; } set @@ -763,8 +777,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin { get { - if (m_knownForwardVelocity == null) + if ((m_knownHas & m_knownChangedForwardVelocity) == 0) + { m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation)); + m_knownHas |= m_knownChangedForwardVelocity; + } return (Vector3)m_knownForwardVelocity; } } -- cgit v1.1 From e522bdb96a86ed1789e1438e4aac1ed522db70b8 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 20 Dec 2012 16:05:33 -0800 Subject: BulletSim: Check for unspecified TimeScale in BSVMotor and don't scale if not specified. Add test dump routine. Don'e zero current and target values when error goes to zero as the values could be used externally to store the actual target values, etc. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 52 ++++++++++++++++++++---- 1 file changed, 43 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index b57d2c8..a6af40d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -46,6 +46,7 @@ public abstract class BSMotor } public virtual void Reset() { } public virtual void Zero() { } + public virtual void GenerateTestOutput(float timeStep) { } // A name passed at motor creation for easily identifyable debugging messages. public string UseName { get; private set; } @@ -93,8 +94,9 @@ public class BSVMotor : BSMotor public virtual float ErrorZeroThreshold { get; set; } - public virtual Vector3 TargetValue { get; private set; } - public virtual Vector3 CurrentValue { get; private set; } + public virtual Vector3 TargetValue { get; protected set; } + public virtual Vector3 CurrentValue { get; protected set; } + public virtual Vector3 LastError { get; protected set; } public BSVMotor(string useName) : base(useName) @@ -122,6 +124,11 @@ public class BSVMotor : BSMotor { TargetValue = target; } + public override void Zero() + { + base.Zero(); + CurrentValue = TargetValue = Vector3.Zero; + } // Compute the next step and return the new current value public virtual Vector3 Step(float timeStep) @@ -168,21 +175,25 @@ public class BSVMotor : BSMotor else { // Difference between what we have and target is small. Motor is done. - CurrentValue = Vector3.Zero; - TargetValue = Vector3.Zero; - MDetailLog("{0}, BSVMotor.Step,zero,{1},ret={2}", - BSScene.DetailLogZero, UseName, CurrentValue); + CurrentValue = TargetValue; + MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={2}", + BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); } return CurrentValue; } public virtual Vector3 Step(float timeStep, Vector3 error) { + LastError = error; Vector3 returnCorrection = Vector3.Zero; if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) { // correction = error / secondsItShouldTakeToCorrect - Vector3 correctionAmount = error / TimeScale * timeStep; + Vector3 correctionAmount; + if (TimeScale == 0f || TimeScale == BSMotor.Infinite) + correctionAmount = error * timeStep; + else + correctionAmount = error / TimeScale * timeStep; returnCorrection = correctionAmount; MDetailLog("{0}, BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5},frictTS={6},ret={7}", @@ -191,6 +202,30 @@ public class BSVMotor : BSMotor } return returnCorrection; } + + // The user sets all the parameters and calls this which outputs values until error is zero. + public override void GenerateTestOutput(float timeStep) + { + // maximum number of outputs to generate. + int maxOutput = 50; + MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName); + MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}", + BSScene.DetailLogZero, UseName, + TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, + CurrentValue, TargetValue); + + LastError = BSMotor.InfiniteVector; + while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) + { + Vector3 lastStep = Step(timeStep); + MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}", + BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep); + } + MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName); + + + } + public override string ToString() { return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>", @@ -238,7 +273,6 @@ public class BSPIDVMotor : BSVMotor public float EfficiencyLow = 4.0f; Vector3 IntegralFactor { get; set; } - Vector3 LastError { get; set; } public BSPIDVMotor(string useName) : base(useName) @@ -274,7 +308,7 @@ public class BSPIDVMotor : BSVMotor } // Ignore Current and Target Values and just advance the PID computation on this error. - public Vector3 Step(float timeStep, Vector3 error) + public override Vector3 Step(float timeStep, Vector3 error) { // Add up the error so we can integrate over the accumulated errors IntegralFactor += error * timeStep; -- cgit v1.1 From 9d2f569d600cad688ac7e06fcac7e94023b3600a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 20 Dec 2012 16:06:52 -0800 Subject: BulletSim: fix incorrectly defined property changed flag. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index c3d75ea..a5acd86 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -627,7 +627,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private const int m_knownChangedRotationalForce = 1 << 5; private const int m_knownChangedTerrainHeight = 1 << 6; private const int m_knownChangedWaterLevel = 1 << 7; - private const int m_knownChangedForwardVelocity = 1 << 7; + private const int m_knownChangedForwardVelocity = 1 << 8; private void ForgetKnownVehicleProperties() { @@ -860,13 +860,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== // Clamp high or low velocities float newVelocityLengthSq = newVelocity.LengthSquared(); - // if (newVelocityLengthSq > 1e6f) if (newVelocityLengthSq > 1000f) { newVelocity /= newVelocity.Length(); newVelocity *= 1000f; } - // else if (newVelocityLengthSq < 1e-6f) else if (newVelocityLengthSq < 0.001f) newVelocity = Vector3.Zero; -- cgit v1.1 From 750492796d3f19028ddd7fdf5f696933f083fd33 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 21 Dec 2012 09:55:20 -0800 Subject: BulletSim: begin movement of parameters from pinned memory block to variables all in managed code. Add note to TODO list to remember to do the rest. Other updates to TODO list. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 10 ++++++++++ OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 16 +++++++++------- 2 files changed, 19 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 069cb0d..2ca4912 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -96,6 +96,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public long SimulationStep { get { return m_simulationStep; } } private int m_taintsToProcessPerStep; + // Avatar parameters + public float ParamAvatarFriction { get; private set; } + public float ParamAvatarStandingFriction { get; private set; } + public float ParamAvatarDensity { get; private set; } + public float ParamAvatarRestitution { get; private set; } + public float ParamAvatarCapsuleWidth { get; private set; } + public float ParamAvatarCapsuleDepth { get; private set; } + public float ParamAvatarCapsuleHeight { get; private set; } + public float ParamAvatarContactProcessingThreshold { get; private set; } + public delegate void PreStepAction(float timeStep); public event PreStepAction BeforeStep; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 8a9aec9..c084ab4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,16 +1,16 @@ CURRENT PRIORITIES ================================================= -Eliminate all crashes (DONEish) - Editing/deleting physical linkset (DONE) - Border crossing of physical linkset (DONE) +Smooth avatar movement with motor + Should motor update be all at taint-time? Enable vehicle border crossings (at least as poorly as ODE) + Terrain skirts Avatar created in previous region and not new region when crossing border Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) -Calibrate turning radius (DONE) +Vehicle movement on terrain smoothness +Vehicle script tuning/debugging + Avanti speed script + Weapon shooter script limitMotorUp calibration (more down?) -study PID motors (include 'efficiency' implementation (DONE) - Add to avatar movement - CRASHES ================================================= @@ -139,6 +139,8 @@ Consider moving prim/character body and shape destruction in destroy() to postTimeTime rather than protecting all the potential sets that might have been queued up. Remove unused fields from ShapeData (not used in API2) +Remove unused fields from pinned memory shared parameter block + Create parameter variables in BSScene to replace same. Breakout code for mesh/hull/compound/native into separate BSShape* classes Standardize access to building and reference code. The skeleton classes are in the sources but are not complete or linked in. -- cgit v1.1 From b4f8a05e9a30373942c3a0511e43dcce3df11184 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 21 Dec 2012 09:56:31 -0800 Subject: BulletSim: Better detail logging of VMotor actions. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index a6af40d..34a87c6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -166,11 +166,13 @@ public class BSVMotor : BSMotor CurrentValue *= (Vector3.One - frictionFactor); } - MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},error={5},corr={6},targetDecay={6},decayFact={7},frictFac{8},curr={9},target={10},ret={11}", + MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, - timeStep, error, correction, - TargetValueDecayTimeScale, decayFactor, frictionFactor, - CurrentValue, TargetValue, CurrentValue); + timeStep, error, correction); + MDetailLog("{0}, BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}", + BSScene.DetailLogZero, UseName, + TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor, + TargetValue, CurrentValue); } else { @@ -196,9 +198,8 @@ public class BSVMotor : BSMotor correctionAmount = error / TimeScale * timeStep; returnCorrection = correctionAmount; - MDetailLog("{0}, BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5},frictTS={6},ret={7}", - BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, - correctionAmount, FrictionTimescale, returnCorrection); + MDetailLog("{0}, BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}", + BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount); } return returnCorrection; } -- cgit v1.1 From 8c99f63239702bcdb8f1e0efa57efc91c98fc3d7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 21 Dec 2012 10:00:03 -0800 Subject: BulletSim: avatar movement smoothed with motor that modifies avatar velocity to target velocity. Fails in incorporating physical world effects (gravity) so avatar doesn't fly correctly. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 77 +++++++++++++++++++++- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 ++- 2 files changed, 81 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 4dd6264..695896e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -69,6 +69,8 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 _appliedVelocity; // the last velocity applied to the avatar private float _currentFriction; // the friction currently being used (changed by setVelocity). + private BSVMotor _velocityMotor; + private OMV.Vector3 _PIDTarget; private bool _usePID; private float _PIDTau; @@ -89,6 +91,18 @@ public sealed class BSCharacter : BSPhysObject if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth; if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth; + // A motor to control the acceleration and deceleration of the avatar movement. + // _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f); + // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f); + // Infinite decay and timescale values so motor only changes current to target values. + _velocityMotor = new BSVMotor("BSCharacter.Velocity", + 0.2f, // time scale + BSMotor.Infinite, // decay time scale + BSMotor.InfiniteVector, // friction timescale + 1f // efficiency + ); + _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. + _flying = isFlying; _orientation = OMV.Quaternion.Identity; _velocity = OMV.Vector3.Zero; @@ -138,6 +152,10 @@ public sealed class BSCharacter : BSPhysObject ForcePosition = _position; // Set the velocity and compute the proper friction ForceVelocity = _velocity; + // Setting the current and target in the motor will cause it to start computing any deceleration. + _velocityMotor.Reset(); + _velocityMotor.SetCurrent(_velocity); + _velocityMotor.SetTarget(_velocity); // This will enable or disable the flying buoyancy of the avatar. // Needs to be reset especially when an avatar is recreated after crossing a region boundry. @@ -239,6 +257,7 @@ public sealed class BSCharacter : BSPhysObject public override void ZeroMotion(bool inTaintTime) { _velocity = OMV.Vector3.Zero; + _velocityMotor.Zero(); _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; @@ -400,10 +419,38 @@ public sealed class BSCharacter : BSPhysObject public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } + + // Sets the target in the motor. This starts the changing of the avatar's velocity. + public override OMV.Vector3 TargetVelocity + { + get + { + return _velocityMotor.TargetValue; + } + set + { + DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value); + OMV.Vector3 targetVel = value; + PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate() + { + float timeStep = 0.089f; // DEBUG DEBUG FIX FIX FIX + _velocityMotor.Reset(); + _velocityMotor.SetTarget(targetVel); + _velocityMotor.SetCurrent(_velocity); + // Compute a velocity value and make sure it gets pushed into the avatar. + // This makes sure the avatar will start from a stop. + ForceVelocity = _velocityMotor.Step(timeStep); + }); + } + } + // Directly setting velocity means this is what the user really wants now. public override OMV.Vector3 Velocity { get { return _velocity; } set { _velocity = value; + _velocityMotor.Reset(); + _velocityMotor.SetCurrent(_velocity); + _velocityMotor.SetTarget(_velocity); // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() { @@ -415,6 +462,8 @@ public sealed class BSCharacter : BSPhysObject public override OMV.Vector3 ForceVelocity { get { return _velocity; } set { + PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); + // Depending on whether the avatar is moving or not, change the friction // to keep the avatar from slipping around if (_velocity.Length() == 0) @@ -511,6 +560,13 @@ public sealed class BSCharacter : BSPhysObject get { return _flying; } set { _flying = value; + + // Velocity movement is different when flying: flying velocity degrades over time. + if (_flying) + _velocityMotor.TargetValueDecayTimeScale = 1f; + else + _velocityMotor.TargetValueDecayTimeScale = BSMotor.Infinite; + // simulate flying by changing the effect of gravity Buoyancy = ComputeBuoyancyFromFlying(_flying); } @@ -581,7 +637,10 @@ public sealed class BSCharacter : BSPhysObject } public override float ForceBuoyancy { get { return _buoyancy; } - set { _buoyancy = value; + set { + PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy"); + + _buoyancy = value; DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); @@ -698,6 +757,21 @@ public sealed class BSCharacter : BSPhysObject LastEntityProperties = CurrentEntityProperties; CurrentEntityProperties = entprop; + // Avatars don't respond to world friction, etc. They only go the speed I tell them too. + // Special kludge here for falling. Even though the target velocity might not have a + // Z component, the avatar could be falling (walked off a ledge, stopped flying, ...) + // and that velocity component must be retained. + float timeStep = 0.089f; // DEBUG DEBUG FIX FIX FIX + OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep); + stepVelocity.Z += entprop.Velocity.Z; + _velocity = stepVelocity; + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); + /* + OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep); + OMV.Vector3 avVel = new OMV.Vector3(stepVelocity.X, stepVelocity.Y, entprop.Velocity.Z); + _velocity = avVel; + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel); + if (entprop.Velocity != LastEntityProperties.Velocity) { // Changes in the velocity are suppressed in avatars. @@ -706,6 +780,7 @@ public sealed class BSCharacter : BSPhysObject _velocity = avVel; BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel); } + */ // Tell the linkset about value changes Linkset.UpdateProperties(this, true); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 1c6f946..68a0db6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -532,16 +532,18 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() { // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); - if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); + ForceVelocity = _velocity; }); } } public override OMV.Vector3 ForceVelocity { get { return _velocity; } set { + PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity"); + _velocity = value; - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); } } public override OMV.Vector3 Torque { -- cgit v1.1 From 2e3e95e84634853366d61fa483b44597f8c53797 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 21 Dec 2012 10:04:12 -0800 Subject: BulletSim: small fix to avatar movement motor use which keeps avatar from flying up forever. This doesn't fix the overall problem but keeps avatar flying from being totally unusable. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 695896e..57c5898 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -763,7 +763,8 @@ public sealed class BSCharacter : BSPhysObject // and that velocity component must be retained. float timeStep = 0.089f; // DEBUG DEBUG FIX FIX FIX OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep); - stepVelocity.Z += entprop.Velocity.Z; + // Remove next line so avatars don't fly up forever. DEBUG DEBUG this is only temporary. + // stepVelocity.Z += entprop.Velocity.Z; _velocity = stepVelocity; BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); /* -- cgit v1.1 From ae4d932e7f00e781db9c9cdd5c29efc51e2425fb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 21 Dec 2012 13:35:44 -0800 Subject: BulletSim: Move all the parameter variables, tables and get and fetch logic to a separate, static class for easier addition and to remove all that bulk from the BSScene class. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 30 +- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 +- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 14 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 558 +++++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 26 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 549 ++------------------ .../Physics/BulletSPlugin/BSShapeCollection.cs | 12 +- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 8 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 10 +- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 6 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 68 +-- 13 files changed, 681 insertions(+), 606 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSParam.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 57c5898..7bde1c1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -88,8 +88,8 @@ public sealed class BSCharacter : BSPhysObject // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. _size = size; - if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth; - if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth; + if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; + if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; // A motor to control the acceleration and deceleration of the avatar movement. // _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f); @@ -108,8 +108,8 @@ public sealed class BSCharacter : BSPhysObject _velocity = OMV.Vector3.Zero; _appliedVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); - _currentFriction = PhysicsScene.Params.avatarStandingFriction; - _avatarDensity = PhysicsScene.Params.avatarDensity; + _currentFriction = BSParam.AvatarStandingFriction; + _avatarDensity = BSParam.AvatarDensity; // The dimensions of the avatar capsule are kept in the scale. // Physics creates a unit capsule which is scaled by the physics engine. @@ -161,14 +161,14 @@ public sealed class BSCharacter : BSPhysObject // Needs to be reset especially when an avatar is recreated after crossing a region boundry. Flying = _flying; - BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution); + BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution); BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); - BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold); - if (PhysicsScene.Params.ccdMotionThreshold > 0f) + BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold); + if (BSParam.CcdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); + BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); } UpdatePhysicalMassProperties(RawMass); @@ -208,8 +208,8 @@ public sealed class BSCharacter : BSPhysObject _size = value; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. - if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth; - if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth; + if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; + if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; ComputeAvatarScale(_size); ComputeAvatarVolumeAndMass(); @@ -468,18 +468,18 @@ public sealed class BSCharacter : BSPhysObject // to keep the avatar from slipping around if (_velocity.Length() == 0) { - if (_currentFriction != PhysicsScene.Params.avatarStandingFriction) + if (_currentFriction != BSParam.AvatarStandingFriction) { - _currentFriction = PhysicsScene.Params.avatarStandingFriction; + _currentFriction = BSParam.AvatarStandingFriction; if (PhysBody.HasPhysicalBody) BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); } } else { - if (_currentFriction != PhysicsScene.Params.avatarFriction) + if (_currentFriction != BSParam.AvatarFriction) { - _currentFriction = PhysicsScene.Params.avatarFriction; + _currentFriction = BSParam.AvatarFriction; if (PhysBody.HasPhysicalBody) BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 6b1e304..e77fb50 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -122,7 +122,7 @@ public abstract class BSConstraint : IDisposable // Setting an object's mass to zero (making it static like when it's selected) // automatically disables the constraints. // If the link is enabled, be sure to set the constraint itself to enabled. - BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, m_world.physicsScene.NumericBool(true)); + BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true)); } else { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index a5acd86..e59ed8d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -563,7 +563,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Moderate angular movement introduced by Bullet. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. // Maybe compute linear and angular factor and damping from params. - float angularDamping = PhysicsScene.Params.vehicleAngularDamping; + float angularDamping = BSParam.VehicleAngularDamping; BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); // Vehicles report collision events so we know when it's on the ground diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 2017fa5..8580928 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -56,7 +56,7 @@ public abstract class BSLinkset { BSLinkset ret = null; - switch ((int)physScene.Params.linksetImplementation) + switch ((int)BSParam.LinksetImplementation) { case (int)LinksetImplementation.Constraint: ret = new BSLinksetConstraints(physScene, parent); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 8c36c31..d95f223 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -226,14 +226,14 @@ public sealed class BSLinksetConstraints : BSLinkset constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); // tweek the constraint to increase stability - constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset)); - constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor), - PhysicsScene.Params.linkConstraintTransMotorMaxVel, - PhysicsScene.Params.linkConstraintTransMotorMaxForce); - constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); - if (PhysicsScene.Params.linkConstraintSolverIterations != 0f) + constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset)); + constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor), + BSParam.LinkConstraintTransMotorMaxVel, + BSParam.LinkConstraintTransMotorMaxForce); + constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP); + if (BSParam.LinkConstraintSolverIterations != 0f) { - constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations); + constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations); } return constrain; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs new file mode 100755 index 0000000..1fb4c31 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -0,0 +1,558 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OpenSim.Region.Physics.Manager; + +using OpenMetaverse; +using Nini.Config; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public static class BSParam +{ + // Level of Detail values kept as float because that's what the Meshmerizer wants + public static float MeshLOD { get; private set; } + public static float MeshMegaPrimLOD { get; private set; } + public static float MeshMegaPrimThreshold { get; private set; } + public static float SculptLOD { get; private set; } + + public static float MinimumObjectMass { get; private set; } + public static float MaximumObjectMass { get; private set; } + + public static float LinearDamping { get; private set; } + public static float AngularDamping { get; private set; } + public static float DeactivationTime { get; private set; } + public static float LinearSleepingThreshold { get; private set; } + public static float AngularSleepingThreshold { get; private set; } + public static float CcdMotionThreshold { get; private set; } + public static float CcdSweptSphereRadius { get; private set; } + public static float ContactProcessingThreshold { get; private set; } + + public static bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed + public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes + public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects + + public static float TerrainImplementation { get; private set; } + public static float TerrainFriction { get; private set; } + public static float TerrainHitFraction { get; private set; } + public static float TerrainRestitution { get; private set; } + public static float TerrainCollisionMargin { get; private set; } + + // Avatar parameters + public static float AvatarFriction { get; private set; } + public static float AvatarStandingFriction { get; private set; } + public static float AvatarDensity { get; private set; } + public static float AvatarRestitution { get; private set; } + public static float AvatarCapsuleWidth { get; private set; } + public static float AvatarCapsuleDepth { get; private set; } + public static float AvatarCapsuleHeight { get; private set; } + public static float AvatarContactProcessingThreshold { get; private set; } + + public static float VehicleAngularDamping { get; private set; } + + public static float LinksetImplementation { get; private set; } + public static float LinkConstraintUseFrameOffset { get; private set; } + public static float LinkConstraintEnableTransMotor { get; private set; } + public static float LinkConstraintTransMotorMaxVel { get; private set; } + public static float LinkConstraintTransMotorMaxForce { get; private set; } + public static float LinkConstraintERP { get; private set; } + public static float LinkConstraintCFM { get; private set; } + public static float LinkConstraintSolverIterations { get; private set; } + + public static float PID_D { get; private set; } // derivative + public static float PID_P { get; private set; } // proportional + + public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); + public delegate float ParamGet(BSScene scene); + public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); + public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val); + + public struct ParameterDefn + { + public string name; // string name of the parameter + public string desc; // a short description of what the parameter means + public float defaultValue; // default value if not specified anywhere else + public ParamUser userParam; // get the value from the configuration file + public ParamGet getter; // return the current value stored for this parameter + public ParamSet setter; // set the current value for this parameter + public SetOnObject onObject; // set the value on an object in the physical domain + public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) + { + name = n; + desc = d; + defaultValue = v; + userParam = u; + getter = g; + setter = s; + onObject = null; + } + public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o) + { + name = n; + desc = d; + defaultValue = v; + userParam = u; + getter = g; + setter = s; + onObject = o; + } + } + + // List of all of the externally visible parameters. + // For each parameter, this table maps a text name to getter and setters. + // To add a new externally referencable/settable parameter, add the paramter storage + // location somewhere in the program and make an entry in this table with the + // getters and setters. + // It is easiest to find an existing definition and copy it. + // Parameter values are floats. Booleans are converted to a floating value. + // + // A ParameterDefn() takes the following parameters: + // -- the text name of the parameter. This is used for console input and ini file. + // -- a short text description of the parameter. This shows up in the console listing. + // -- a delegate for fetching the parameter from the ini file. + // Should handle fetching the right type from the ini file and converting it. + // -- a delegate for getting the value as a float + // -- a delegate for setting the value from a float + // -- an optional delegate to update the value in the world. Most often used to + // push the new value to an in-world object. + // + // The single letter parameters for the delegates are: + // s = BSScene + // o = BSPhysObject + // p = string parameter name + // l = localID of referenced object + // v = float value + // cf = parameter configuration class (for fetching values from ini file) + private static ParameterDefn[] ParameterDefinitions = + { + new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, + (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); }, + (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ), + new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, + (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); }, + (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ), + new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, + (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); }, + (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ), + + new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", + 8f, + (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); }, + (s) => { return MeshLOD; }, + (s,p,l,v) => { MeshLOD = v; } ), + new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", + 16f, + (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); }, + (s) => { return MeshMegaPrimLOD; }, + (s,p,l,v) => { MeshMegaPrimLOD = v; } ), + new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD", + 10f, + (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); }, + (s) => { return MeshMegaPrimThreshold; }, + (s,p,l,v) => { MeshMegaPrimThreshold = v; } ), + new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", + 32f, + (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); }, + (s) => { return SculptLOD; }, + (s,p,l,v) => { SculptLOD = v; } ), + + new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", + 10f, + (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_maxSubSteps; }, + (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ), + new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)", + 1f / 60f, + (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); }, + (s) => { return (float)s.m_fixedTimeStep; }, + (s,p,l,v) => { s.m_fixedTimeStep = v; } ), + new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", + 2048f, + (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_maxCollisionsPerFrame; }, + (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ), + new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame", + 8000f, + (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_maxUpdatesPerFrame; }, + (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), + new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step", + 500f, + (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_taintsToProcessPerStep; }, + (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ), + new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)", + 0.0001f, + (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); }, + (s) => { return (float)MinimumObjectMass; }, + (s,p,l,v) => { MinimumObjectMass = v; } ), + new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", + 10000.01f, + (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); }, + (s) => { return (float)MaximumObjectMass; }, + (s,p,l,v) => { MaximumObjectMass = v; } ), + + new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", + 2200f, + (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); }, + (s) => { return (float)PID_D; }, + (s,p,l,v) => { PID_D = v; } ), + new ParameterDefn("PID_P", "Parameteric factor for motion smoothing", + 900f, + (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); }, + (s) => { return (float)PID_P; }, + (s,p,l,v) => { PID_P = v; } ), + + new ParameterDefn("DefaultFriction", "Friction factor used on new objects", + 0.2f, + (s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].defaultFriction; }, + (s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ), + new ParameterDefn("DefaultDensity", "Density for new objects" , + 10.000006836f, // Aluminum g/cm3 + (s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].defaultDensity; }, + (s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ), + new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , + 0f, + (s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].defaultRestitution; }, + (s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ), + new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", + 0.04f, + (s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].collisionMargin; }, + (s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ), + new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", + -9.80665f, + (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].gravity; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); }, + (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ), + + + new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", + 0f, + (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); }, + (s) => { return LinearDamping; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ), + new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", + 0f, + (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); }, + (s) => { return AngularDamping; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ), + new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", + 0.2f, + (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, + (s) => { return DeactivationTime; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ), + new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", + 0.8f, + (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, + (s) => { return LinearSleepingThreshold; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), + new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", + 1.0f, + (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); }, + (s) => { return AngularSleepingThreshold; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), + new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , + 0f, // set to zero to disable + (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, + (s) => { return CcdMotionThreshold; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ), + new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , + 0f, + (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); }, + (s) => { return CcdSweptSphereRadius; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ), + new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , + 0.1f, + (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); }, + (s) => { return ContactProcessingThreshold; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), + + new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", + (float)BSTerrainPhys.TerrainImplementation.Mesh, + (s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); }, + (s) => { return TerrainImplementation; }, + (s,p,l,v) => { TerrainImplementation = v; } ), + new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , + 0.3f, + (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); }, + (s) => { return TerrainFriction; }, + (s,p,l,v) => { TerrainFriction = v; /* TODO: set on real terrain */} ), + new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , + 0.8f, + (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); }, + (s) => { return TerrainHitFraction; }, + (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ), + new ParameterDefn("TerrainRestitution", "Bouncyness" , + 0f, + (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); }, + (s) => { return TerrainRestitution; }, + (s,p,l,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ), + new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , + 0.04f, + (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); }, + (s) => { return TerrainCollisionMargin; }, + (s,p,l,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ), + + new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", + 0.2f, + (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); }, + (s) => { return AvatarFriction; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ), + new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", + 10.0f, + (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); }, + (s) => { return AvatarStandingFriction; }, + (s,p,l,v) => { AvatarStandingFriction = v; } ), + new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", + 60f, + (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); }, + (s) => { return AvatarDensity; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ), + new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", + 0f, + (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); }, + (s) => { return AvatarRestitution; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ), + new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", + 0.6f, + (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); }, + (s) => { return AvatarCapsuleWidth; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ), + new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", + 0.45f, + (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); }, + (s) => { return AvatarCapsuleDepth; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ), + new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", + 1.5f, + (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); }, + (s) => { return AvatarCapsuleHeight; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ), + new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", + 0.1f, + (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); }, + (s) => { return AvatarContactProcessingThreshold; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ), + + new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", + 0.95f, + (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, + (s) => { return VehicleAngularDamping; }, + (s,p,l,v) => { VehicleAngularDamping = v; } ), + + new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", + 0f, + (s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; }, + (s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ), + new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", + 0f, + (s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; }, + (s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ), + new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; }, + (s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ), + new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; }, + (s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ), + new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; }, + (s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ), + new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; }, + (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ), + new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; }, + (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ), + new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", + 0f, // zero says use Bullet default + (s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].numberOfSolverIterations; }, + (s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ), + + new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", + (float)BSLinkset.LinksetImplementation.Compound, + (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); }, + (s) => { return LinksetImplementation; }, + (s,p,l,v) => { LinksetImplementation = v; } ), + new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return LinkConstraintUseFrameOffset; }, + (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ), + new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return LinkConstraintEnableTransMotor; }, + (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ), + new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints", + 5.0f, + (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); }, + (s) => { return LinkConstraintTransMotorMaxVel; }, + (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ), + new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints", + 0.1f, + (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, + (s) => { return LinkConstraintTransMotorMaxForce; }, + (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ), + new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", + 0.1f, + (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); }, + (s) => { return LinkConstraintCFM; }, + (s,p,l,v) => { LinkConstraintCFM = v; } ), + new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", + 0.1f, + (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); }, + (s) => { return LinkConstraintERP; }, + (s,p,l,v) => { LinkConstraintERP = v; } ), + new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", + 40, + (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); }, + (s) => { return LinkConstraintSolverIterations; }, + (s,p,l,v) => { LinkConstraintSolverIterations = v; } ), + + new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)", + 0f, + (s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; }, + (s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ), + }; + + // Convert a boolean to our numeric true and false values + public static float NumericBool(bool b) + { + return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse); + } + + // Convert numeric true and false values to a boolean + public static bool BoolNumeric(float b) + { + return (b == ConfigurationParameters.numericTrue ? true : false); + } + + // Search through the parameter definitions and return the matching + // ParameterDefn structure. + // Case does not matter as names are compared after converting to lower case. + // Returns 'false' if the parameter is not found. + internal static bool TryGetParameter(string paramName, out ParameterDefn defn) + { + bool ret = false; + ParameterDefn foundDefn = new ParameterDefn(); + string pName = paramName.ToLower(); + + foreach (ParameterDefn parm in ParameterDefinitions) + { + if (pName == parm.name.ToLower()) + { + foundDefn = parm; + ret = true; + break; + } + } + defn = foundDefn; + return ret; + } + + // Pass through the settable parameters and set the default values + internal static void SetParameterDefaultValues(BSScene physicsScene) + { + foreach (ParameterDefn parm in ParameterDefinitions) + { + parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue); + } + } + + // Get user set values out of the ini file. + internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg) + { + foreach (ParameterDefn parm in ParameterDefinitions) + { + parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue); + } + } + + internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1]; + + // This creates an array in the correct format for returning the list of + // parameters. This is used by the 'list' option of the 'physics' command. + internal static void BuildParameterTable() + { + if (SettableParameters.Length < ParameterDefinitions.Length) + { + List entries = new List(); + for (int ii = 0; ii < ParameterDefinitions.Length; ii++) + { + ParameterDefn pd = ParameterDefinitions[ii]; + entries.Add(new PhysParameterEntry(pd.name, pd.desc)); + } + + // make the list in alphabetical order for estetic reasons + entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2) + { + return ppe1.name.CompareTo(ppe2.name); + }); + + SettableParameters = entries.ToArray(); + } + } + + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 68a0db6..e43bf8e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -720,10 +720,10 @@ public sealed class BSPrim : BSPhysObject // Mass is zero which disables a bunch of physics stuff in Bullet UpdatePhysicalMassProperties(0f); // Set collision detection parameters - if (PhysicsScene.Params.ccdMotionThreshold > 0f) + if (BSParam.CcdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); + BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); } // The activation state is 'disabled' so Bullet will not try to act on it. @@ -761,17 +761,17 @@ public sealed class BSPrim : BSPhysObject UpdatePhysicalMassProperties(RawMass); // Set collision detection parameters - if (PhysicsScene.Params.ccdMotionThreshold > 0f) + if (BSParam.CcdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); + BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); } // Various values for simulation limits - BulletSimAPI.SetDamping2(PhysBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping); - BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, PhysicsScene.Params.deactivationTime); - BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); - BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold); + BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping); + BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime); + BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); + BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold); // This collides like an object. PhysBody.collisionType = CollisionType.Dynamic; @@ -1361,11 +1361,7 @@ public sealed class BSPrim : BSPhysObject } */ - if (returnMass <= 0) - returnMass = 0.0001f; - - if (returnMass > PhysicsScene.MaximumObjectMass) - returnMass = PhysicsScene.MaximumObjectMass; + returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); return returnMass; }// end CalculateMass diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 2ca4912..492a255 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -77,12 +77,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public ILog Logger { get { return m_log; } } public IMesher mesher; - // Level of Detail values kept as float because that's what the Meshmerizer wants - public float MeshLOD { get; private set; } - public float MeshMegaPrimLOD { get; private set; } - public float MeshMegaPrimThreshold { get; private set; } - public float SculptLOD { get; private set; } - public uint WorldID { get; private set; } public BulletSim World { get; private set; } @@ -90,21 +84,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public BSConstraintCollection Constraints { get; private set; } // Simulation parameters - private int m_maxSubSteps; - private float m_fixedTimeStep; - private long m_simulationStep = 0; + internal int m_maxSubSteps; + internal float m_fixedTimeStep; + internal long m_simulationStep = 0; public long SimulationStep { get { return m_simulationStep; } } - private int m_taintsToProcessPerStep; - - // Avatar parameters - public float ParamAvatarFriction { get; private set; } - public float ParamAvatarStandingFriction { get; private set; } - public float ParamAvatarDensity { get; private set; } - public float ParamAvatarRestitution { get; private set; } - public float ParamAvatarCapsuleWidth { get; private set; } - public float ParamAvatarCapsuleDepth { get; private set; } - public float ParamAvatarCapsuleHeight { get; private set; } - public float ParamAvatarContactProcessingThreshold { get; private set; } + internal int m_taintsToProcessPerStep; public delegate void PreStepAction(float timeStep); public event PreStepAction BeforeStep; @@ -121,20 +105,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public bool InTaintTime { get; private set; } // Pinned memory used to pass step information between managed and unmanaged - private int m_maxCollisionsPerFrame; - private CollisionDesc[] m_collisionArray; - private GCHandle m_collisionArrayPinnedHandle; - - private int m_maxUpdatesPerFrame; - private EntityProperties[] m_updateArray; - private GCHandle m_updateArrayPinnedHandle; + internal int m_maxCollisionsPerFrame; + internal CollisionDesc[] m_collisionArray; + internal GCHandle m_collisionArrayPinnedHandle; - public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed - public bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes - public bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects - - public float PID_D { get; private set; } // derivative - public float PID_P { get; private set; } // proportional + internal int m_maxUpdatesPerFrame; + internal EntityProperties[] m_updateArray; + internal GCHandle m_updateArrayPinnedHandle; public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero public const uint GROUNDPLANE_ID = 1; @@ -145,7 +122,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public ConfigurationParameters Params { - get { return m_params[0]; } + get { return UnmanagedParams[0]; } } public Vector3 DefaultGravity { @@ -157,8 +134,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters get { return Params.gravity; } } - public float MaximumObjectMass { get; private set; } - // When functions in the unmanaged code must be called, it is only // done at a known time just before the simulation step. The taint // system saves all these function calls and executes them in @@ -181,7 +156,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // A pointer to an instance if this structure is passed to the C++ code // Used to pass basic configuration values to the unmanaged code. - ConfigurationParameters[] m_params; + internal ConfigurationParameters[] UnmanagedParams; GCHandle m_paramsHandle; // Handle to the callback used by the unmanaged code to call into the managed code. @@ -218,8 +193,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters Shapes = new BSShapeCollection(this); // Allocate pinned memory to pass parameters. - m_params = new ConfigurationParameters[1]; - m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned); + UnmanagedParams = new ConfigurationParameters[1]; + m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned); // Set default values for physics parameters plus any overrides from the ini file GetInitialParameterValues(config); @@ -277,7 +252,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters TerrainManager = new BSTerrainManager(this); TerrainManager.CreateInitialGroundPlaneAndTerrain(); - m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)Params.linksetImplementation); + m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation); InTaintTime = false; m_initialized = true; @@ -288,9 +263,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters private void GetInitialParameterValues(IConfigSource config) { ConfigurationParameters parms = new ConfigurationParameters(); - m_params[0] = parms; + UnmanagedParams[0] = parms; - SetParameterDefaultValues(); + BSParam.SetParameterDefaultValues(this); if (config != null) { @@ -298,7 +273,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters IConfig pConfig = config.Configs["BulletSim"]; if (pConfig != null) { - SetParameterConfigurationValues(pConfig); + BSParam.SetParameterConfigurationValues(this, pConfig); // Very detailed logging for physics debugging m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); @@ -889,7 +864,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); - Util.PrintCallStack(); // Prints the stack into the DEBUG log file. + Util.PrintCallStack(DetailLog); // Prints the stack into the DEBUG log file. } return InTaintTime; } @@ -936,12 +911,15 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters private void DoPreStepActions(float timeStep) { + InTaintTime = true; // Only used for debugging so locking is not necessary. ProcessVehicles(timeStep); PreStepAction actions = BeforeStep; if (actions != null) actions(timeStep); + InTaintTime = false; + } // Some prims have extra vehicle actions @@ -957,472 +935,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #region INI and command line parameter processing - delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); - delegate float ParamGet(BSScene scene); - delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); - delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val); - - private struct ParameterDefn - { - public string name; // string name of the parameter - public string desc; // a short description of what the parameter means - public float defaultValue; // default value if not specified anywhere else - public ParamUser userParam; // get the value from the configuration file - public ParamGet getter; // return the current value stored for this parameter - public ParamSet setter; // set the current value for this parameter - public SetOnObject onObject; // set the value on an object in the physical domain - public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) - { - name = n; - desc = d; - defaultValue = v; - userParam = u; - getter = g; - setter = s; - onObject = null; - } - public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o) - { - name = n; - desc = d; - defaultValue = v; - userParam = u; - getter = g; - setter = s; - onObject = o; - } - } - - // List of all of the externally visible parameters. - // For each parameter, this table maps a text name to getter and setters. - // To add a new externally referencable/settable parameter, add the paramter storage - // location somewhere in the program and make an entry in this table with the - // getters and setters. - // It is easiest to find an existing definition and copy it. - // Parameter values are floats. Booleans are converted to a floating value. - // - // A ParameterDefn() takes the following parameters: - // -- the text name of the parameter. This is used for console input and ini file. - // -- a short text description of the parameter. This shows up in the console listing. - // -- a delegate for fetching the parameter from the ini file. - // Should handle fetching the right type from the ini file and converting it. - // -- a delegate for getting the value as a float - // -- a delegate for setting the value from a float - // -- an optional delegate to update the value in the world. Most often used to - // push the new value to an in-world object. - // - // The single letter parameters for the delegates are: - // s = BSScene - // o = BSPhysObject - // p = string parameter name - // l = localID of referenced object - // v = float value - // cf = parameter configuration class (for fetching values from ini file) - private ParameterDefn[] ParameterDefinitions = - { - new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.ShouldMeshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); }, - (s) => { return s.NumericBool(s.ShouldMeshSculptedPrim); }, - (s,p,l,v) => { s.ShouldMeshSculptedPrim = s.BoolNumeric(v); } ), - new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, - (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); }, - (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ), - new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); }, - (s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); }, - (s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ), - - new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", - 8f, - (s,cf,p,v) => { s.MeshLOD = (float)cf.GetInt(p, (int)v); }, - (s) => { return s.MeshLOD; }, - (s,p,l,v) => { s.MeshLOD = v; } ), - new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", - 16f, - (s,cf,p,v) => { s.MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); }, - (s) => { return s.MeshMegaPrimLOD; }, - (s,p,l,v) => { s.MeshMegaPrimLOD = v; } ), - new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD", - 10f, - (s,cf,p,v) => { s.MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); }, - (s) => { return s.MeshMegaPrimThreshold; }, - (s,p,l,v) => { s.MeshMegaPrimThreshold = v; } ), - new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", - 32f, - (s,cf,p,v) => { s.SculptLOD = (float)cf.GetInt(p, (int)v); }, - (s) => { return s.SculptLOD; }, - (s,p,l,v) => { s.SculptLOD = v; } ), - - new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", - 10f, - (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxSubSteps; }, - (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ), - new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)", - 1f / 60f, - (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); }, - (s) => { return (float)s.m_fixedTimeStep; }, - (s,p,l,v) => { s.m_fixedTimeStep = v; } ), - new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", - 2048f, - (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxCollisionsPerFrame; }, - (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ), - new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame", - 8000f, - (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxUpdatesPerFrame; }, - (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), - new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step", - 500f, - (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_taintsToProcessPerStep; }, - (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ), - new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", - 10000.01f, - (s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); }, - (s) => { return (float)s.MaximumObjectMass; }, - (s,p,l,v) => { s.MaximumObjectMass = v; } ), - - new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", - 2200f, - (s,cf,p,v) => { s.PID_D = cf.GetFloat(p, v); }, - (s) => { return (float)s.PID_D; }, - (s,p,l,v) => { s.PID_D = v; } ), - new ParameterDefn("PID_P", "Parameteric factor for motion smoothing", - 900f, - (s,cf,p,v) => { s.PID_P = cf.GetFloat(p, v); }, - (s) => { return (float)s.PID_P; }, - (s,p,l,v) => { s.PID_P = v; } ), - - new ParameterDefn("DefaultFriction", "Friction factor used on new objects", - 0.2f, - (s,cf,p,v) => { s.m_params[0].defaultFriction = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].defaultFriction; }, - (s,p,l,v) => { s.m_params[0].defaultFriction = v; } ), - new ParameterDefn("DefaultDensity", "Density for new objects" , - 10.000006836f, // Aluminum g/cm3 - (s,cf,p,v) => { s.m_params[0].defaultDensity = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].defaultDensity; }, - (s,p,l,v) => { s.m_params[0].defaultDensity = v; } ), - new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , - 0f, - (s,cf,p,v) => { s.m_params[0].defaultRestitution = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].defaultRestitution; }, - (s,p,l,v) => { s.m_params[0].defaultRestitution = v; } ), - new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", - 0.04f, - (s,cf,p,v) => { s.m_params[0].collisionMargin = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].collisionMargin; }, - (s,p,l,v) => { s.m_params[0].collisionMargin = v; } ), - new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", - -9.80665f, - (s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].gravity; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].gravity, p, PhysParameterEntry.APPLY_TO_NONE, v); }, - (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ), - - - new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", - 0f, - (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linearDamping; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, s.m_params[0].angularDamping); } ), - new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", - 0f, - (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].angularDamping; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, s.m_params[0].linearDamping, v); } ), - new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", - 0.2f, - (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].deactivationTime; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ), - new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", - 0.8f, - (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linearSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), - new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", - 1.0f, - (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].angularSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), - new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , - 0f, // set to zero to disable - (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].ccdMotionThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ), - new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , - 0f, - (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].ccdSweptSphereRadius; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ), - new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , - 0.1f, - (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].contactProcessingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), - - new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", - (float)BSTerrainPhys.TerrainImplementation.Mesh, - (s,cf,p,v) => { s.m_params[0].terrainImplementation = cf.GetFloat(p,v); }, - (s) => { return s.m_params[0].terrainImplementation; }, - (s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ), - new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , - 0.3f, - (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].terrainFriction; }, - (s,p,l,v) => { s.m_params[0].terrainFriction = v; /* TODO: set on real terrain */} ), - new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , - 0.8f, - (s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].terrainHitFraction; }, - (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; /* TODO: set on real terrain */ } ), - new ParameterDefn("TerrainRestitution", "Bouncyness" , - 0f, - (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].terrainRestitution; }, - (s,p,l,v) => { s.m_params[0].terrainRestitution = v; /* TODO: set on real terrain */ } ), - new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , - 0.04f, - (s,cf,p,v) => { s.m_params[0].terrainCollisionMargin = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].terrainCollisionMargin; }, - (s,p,l,v) => { s.m_params[0].terrainCollisionMargin = v; /* TODO: set on real terrain */ } ), - - new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", - 0.2f, - (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarFriction; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ), - new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", - 10.0f, - (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarStandingFriction; }, - (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ), - new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", - 60f, - (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarDensity; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarDensity, p, l, v); } ), - new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", - 0f, - (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarRestitution; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ), - new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", - 0.6f, - (s,cf,p,v) => { s.m_params[0].avatarCapsuleWidth = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarCapsuleWidth; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleWidth, p, l, v); } ), - new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", - 0.45f, - (s,cf,p,v) => { s.m_params[0].avatarCapsuleDepth = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarCapsuleDepth; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleDepth, p, l, v); } ), - new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", - 1.5f, - (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarCapsuleHeight; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ), - new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", - 0.1f, - (s,cf,p,v) => { s.m_params[0].avatarContactProcessingThreshold = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].avatarContactProcessingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ), - - new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", - 0.95f, - (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].vehicleAngularDamping; }, - (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ), - - new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", - 0f, - (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; }, - (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ), - new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", - 0f, - (s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; }, - (s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ), - new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].shouldDisableContactPoolDynamicAllocation; }, - (s,p,l,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = v; } ), - new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.m_params[0].shouldForceUpdateAllAabbs = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].shouldForceUpdateAllAabbs; }, - (s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ), - new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].shouldRandomizeSolverOrder; }, - (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ), - new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].shouldSplitSimulationIslands; }, - (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ), - new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.m_params[0].shouldEnableFrictionCaching = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].shouldEnableFrictionCaching; }, - (s,p,l,v) => { s.m_params[0].shouldEnableFrictionCaching = v; } ), - new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", - 0f, // zero says use Bullet default - (s,cf,p,v) => { s.m_params[0].numberOfSolverIterations = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].numberOfSolverIterations; }, - (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ), - - new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", - (float)BSLinkset.LinksetImplementation.Compound, - (s,cf,p,v) => { s.m_params[0].linksetImplementation = cf.GetFloat(p,v); }, - (s) => { return s.m_params[0].linksetImplementation; }, - (s,p,l,v) => { s.m_params[0].linksetImplementation = v; } ), - new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].linkConstraintUseFrameOffset; }, - (s,p,l,v) => { s.m_params[0].linkConstraintUseFrameOffset = v; } ), - new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.m_params[0].linkConstraintEnableTransMotor = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, - (s) => { return s.m_params[0].linkConstraintEnableTransMotor; }, - (s,p,l,v) => { s.m_params[0].linkConstraintEnableTransMotor = v; } ), - new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints", - 5.0f, - (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linkConstraintTransMotorMaxVel; }, - (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = v; } ), - new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints", - 0.1f, - (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, - (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), - new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", - 0.1f, - (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linkConstraintCFM; }, - (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), - new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", - 0.1f, - (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linkConstraintERP; }, - (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), - new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", - 40, - (s,cf,p,v) => { s.m_params[0].linkConstraintSolverIterations = cf.GetFloat(p, v); }, - (s) => { return s.m_params[0].linkConstraintSolverIterations; }, - (s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ), - - new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)", - 0f, - (s,cf,p,v) => { s.m_params[0].physicsLoggingFrames = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_params[0].physicsLoggingFrames; }, - (s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (int)v; } ), - }; - - // Convert a boolean to our numeric true and false values - public float NumericBool(bool b) - { - return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse); - } - - // Convert numeric true and false values to a boolean - public bool BoolNumeric(float b) - { - return (b == ConfigurationParameters.numericTrue ? true : false); - } - - // Search through the parameter definitions and return the matching - // ParameterDefn structure. - // Case does not matter as names are compared after converting to lower case. - // Returns 'false' if the parameter is not found. - private bool TryGetParameter(string paramName, out ParameterDefn defn) - { - bool ret = false; - ParameterDefn foundDefn = new ParameterDefn(); - string pName = paramName.ToLower(); - - foreach (ParameterDefn parm in ParameterDefinitions) - { - if (pName == parm.name.ToLower()) - { - foundDefn = parm; - ret = true; - break; - } - } - defn = foundDefn; - return ret; - } - - // Pass through the settable parameters and set the default values - private void SetParameterDefaultValues() - { - foreach (ParameterDefn parm in ParameterDefinitions) - { - parm.setter(this, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue); - } - } - - // Get user set values out of the ini file. - private void SetParameterConfigurationValues(IConfig cfg) - { - foreach (ParameterDefn parm in ParameterDefinitions) - { - parm.userParam(this, cfg, parm.name, parm.defaultValue); - } - } - - private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1]; - - // This creates an array in the correct format for returning the list of - // parameters. This is used by the 'list' option of the 'physics' command. - private void BuildParameterTable() - { - if (SettableParameters.Length < ParameterDefinitions.Length) - { - List entries = new List(); - for (int ii = 0; ii < ParameterDefinitions.Length; ii++) - { - ParameterDefn pd = ParameterDefinitions[ii]; - entries.Add(new PhysParameterEntry(pd.name, pd.desc)); - } - - // make the list in alphabetical order for estetic reasons - entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2) - { - return ppe1.name.CompareTo(ppe2.name); - }); - - SettableParameters = entries.ToArray(); - } - } - - #region IPhysicsParameters // Get the list of parameters this physics engine supports public PhysParameterEntry[] GetParameterList() { - BuildParameterTable(); - return SettableParameters; + BSParam.BuildParameterTable(); + return BSParam.SettableParameters; } // Set parameter on a specific or all instances. @@ -1434,8 +952,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public bool SetPhysicsParameter(string parm, float val, uint localID) { bool ret = false; - ParameterDefn theParam; - if (TryGetParameter(parm, out theParam)) + BSParam.ParameterDefn theParam; + if (BSParam.TryGetParameter(parm, out theParam)) { theParam.setter(this, parm, localID, val); ret = true; @@ -1447,19 +965,20 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // If the local ID is APPLY_TO_NONE, just change the default value // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs // If the localID is a specific object, apply the parameter change to only that object - private void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val) + internal delegate void AssignVal(float x); + internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val) { List objectIDs = new List(); switch (localID) { case PhysParameterEntry.APPLY_TO_NONE: - defaultLoc = val; // setting only the default value + setDefault(val); // setting only the default value // This will cause a call into the physical world if some operation is specified (SetOnObject). objectIDs.Add(TERRAIN_ID); TaintedUpdateParameter(parm, objectIDs, val); break; case PhysParameterEntry.APPLY_TO_ALL: - defaultLoc = val; // setting ALL also sets the default value + setDefault(val); // setting ALL also sets the default value lock (PhysObjects) objectIDs = new List(PhysObjects.Keys); TaintedUpdateParameter(parm, objectIDs, val); break; @@ -1478,8 +997,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters List xlIDs = lIDs; string xparm = parm; TaintedObject("BSScene.UpdateParameterSet", delegate() { - ParameterDefn thisParam; - if (TryGetParameter(xparm, out thisParam)) + BSParam.ParameterDefn thisParam; + if (BSParam.TryGetParameter(xparm, out thisParam)) { if (thisParam.onObject != null) { @@ -1500,8 +1019,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { float val = 0f; bool ret = false; - ParameterDefn theParam; - if (TryGetParameter(parm, out theParam)) + BSParam.ParameterDefn theParam; + if (BSParam.TryGetParameter(parm, out theParam)) { val = theParam.getter(this); ret = true; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index ea996ae..939d5e9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -456,7 +456,7 @@ public sealed class BSShapeCollection : IDisposable if (!haveShape && pbs != null && nativeShapePossible - && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) + && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 && pbs.ProfileHollow == 0 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 @@ -520,7 +520,7 @@ public sealed class BSShapeCollection : IDisposable bool ret = false; // Note that if it's a native shape, the check for physical/non-physical is not // made. Native shapes work in either case. - if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects) + if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects) { // Update prim.BSShape to reference a hull of this shape. ret = GetReferenceToHull(prim,shapeCallback); @@ -836,14 +836,14 @@ public sealed class BSShapeCollection : IDisposable private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod) { // level of detail based on size and type of the object - float lod = PhysicsScene.MeshLOD; + float lod = BSParam.MeshLOD; if (pbs.SculptEntry) - lod = PhysicsScene.SculptLOD; + 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 > PhysicsScene.MeshMegaPrimThreshold) - lod = PhysicsScene.MeshMegaPrimLOD; + if (maxAxis > BSParam.MeshMegaPrimThreshold) + lod = BSParam.MeshMegaPrimLOD; retLod = lod; return pbs.GetMeshKey(size, lod); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 2b120d6..07a9fd8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -93,7 +93,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, - m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin); + m_mapInfo.heightMap, BSParam.TerrainCollisionMargin); // Create the terrain shape from the mapInfo m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), @@ -110,9 +110,9 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys m_mapInfo.ID, centerPos, Quaternion.Identity)); // Set current terrain attributes - BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); - BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); + BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction); + BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction); + BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution); BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); // Return the new terrain to the world of physical objects diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 3428b9c..86ccfbb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -135,7 +135,7 @@ public sealed class BSTerrainManager : IDisposable // The ground plane is here to catch things that are trying to drop to negative infinity BulletShape groundPlaneShape = new BulletShape( BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, - PhysicsScene.Params.terrainCollisionMargin), + BSParam.TerrainCollisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, @@ -309,9 +309,9 @@ public sealed class BSTerrainManager : IDisposable { PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", LogHeader, PhysicsScene.RegionName, terrainRegionBase, - (BSTerrainPhys.TerrainImplementation)PhysicsScene.Params.terrainImplementation); + (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation); BSTerrainPhys newTerrainPhys = null; - switch ((int)PhysicsScene.Params.terrainImplementation) + switch ((int)BSParam.TerrainImplementation) { case (int)BSTerrainPhys.TerrainImplementation.Heightmap: newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, @@ -324,8 +324,8 @@ public sealed class BSTerrainManager : IDisposable default: PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", LogHeader, - (int)PhysicsScene.Params.terrainImplementation, - PhysicsScene.Params.terrainImplementation, + (int)BSParam.TerrainImplementation, + BSParam.TerrainImplementation, PhysicsScene.RegionName, terrainRegionBase); break; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 6dc0d92..061e232 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -116,9 +116,9 @@ public sealed class BSTerrainMesh : BSTerrainPhys } // Set current terrain attributes - BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction); - BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution); + BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction); + BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction); + BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution); BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); // Static objects are not very massive. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 962b540..7857eaa 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -141,6 +141,8 @@ public struct EntityProperties } // Format of this structure must match the definition in the C++ code +// NOTE: adding the X causes compile breaks if used. These are unused symbols +// that can be removed from both here and the unmanaged definition of this structure. [StructLayout(LayoutKind.Sequential)] public struct ConfigurationParameters { @@ -150,31 +152,31 @@ public struct ConfigurationParameters public float collisionMargin; public float gravity; - public float linearDamping; - public float angularDamping; - public float deactivationTime; - public float linearSleepingThreshold; - public float angularSleepingThreshold; - public float ccdMotionThreshold; - public float ccdSweptSphereRadius; - public float contactProcessingThreshold; - - public float terrainImplementation; - public float terrainFriction; - public float terrainHitFraction; - public float terrainRestitution; - public float terrainCollisionMargin; - - public float avatarFriction; - public float avatarStandingFriction; - public float avatarDensity; - public float avatarRestitution; - public float avatarCapsuleWidth; - public float avatarCapsuleDepth; - public float avatarCapsuleHeight; - public float avatarContactProcessingThreshold; - - public float vehicleAngularDamping; + public float XlinearDamping; + public float XangularDamping; + public float XdeactivationTime; + public float XlinearSleepingThreshold; + public float XangularSleepingThreshold; + public float XccdMotionThreshold; + public float XccdSweptSphereRadius; + public float XcontactProcessingThreshold; + + public float XterrainImplementation; + public float XterrainFriction; + public float XterrainHitFraction; + public float XterrainRestitution; + public float XterrainCollisionMargin; + + public float XavatarFriction; + public float XavatarStandingFriction; + public float XavatarDensity; + public float XavatarRestitution; + public float XavatarCapsuleWidth; + public float XavatarCapsuleDepth; + public float XavatarCapsuleHeight; + public float XavatarContactProcessingThreshold; + + public float XvehicleAngularDamping; public float maxPersistantManifoldPoolSize; public float maxCollisionAlgorithmPoolSize; @@ -185,14 +187,14 @@ public struct ConfigurationParameters public float shouldEnableFrictionCaching; public float numberOfSolverIterations; - public float linksetImplementation; - public float linkConstraintUseFrameOffset; - public float linkConstraintEnableTransMotor; - public float linkConstraintTransMotorMaxVel; - public float linkConstraintTransMotorMaxForce; - public float linkConstraintERP; - public float linkConstraintCFM; - public float linkConstraintSolverIterations; + public float XlinksetImplementation; + public float XlinkConstraintUseFrameOffset; + public float XlinkConstraintEnableTransMotor; + public float XlinkConstraintTransMotorMaxVel; + public float XlinkConstraintTransMotorMaxForce; + public float XlinkConstraintERP; + public float XlinkConstraintCFM; + public float XlinkConstraintSolverIterations; public float physicsLoggingFrames; -- cgit v1.1 From 6dbf9c8ed4ca5646f47043f9937da5acbe124d0e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 21 Dec 2012 15:21:32 -0800 Subject: BulletSim: repair vehicle problems introduced in previous 'improvements'. Fix line endings in BSParams. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 37 +- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 14 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 1117 ++++++++++---------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- 4 files changed, 598 insertions(+), 572 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index e59ed8d..3fde57b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -634,28 +634,33 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownHas = 0; m_knownChanged = 0; } + // Push all the changed values back into the physics engine private void PushKnownChanged() { if (m_knownChanged != 0) { if ((m_knownChanged & m_knownChangedPosition) != 0) - Prim.ForcePosition = VehiclePosition; + Prim.ForcePosition = m_knownPosition; + if ((m_knownChanged & m_knownChangedOrientation) != 0) - Prim.ForceOrientation = VehicleOrientation; + Prim.ForceOrientation = m_knownOrientation; + if ((m_knownChanged & m_knownChangedVelocity) != 0) { - Prim.ForceVelocity = VehicleVelocity; + Prim.ForceVelocity = m_knownVelocity; BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity); } + if ((m_knownChanged & m_knownChangedForce) != 0) Prim.AddForce((Vector3)m_knownForce, false, true); if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) { - Prim.ForceRotationalVelocity = VehicleRotationalVelocity; + Prim.ForceRotationalVelocity = m_knownRotationalVelocity; // Fake out Bullet by making it think the velocity is the same as last time. - BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, VehicleRotationalVelocity); + BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity); } + if ((m_knownChanged & m_knownChangedRotationalForce) != 0) Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true); @@ -667,7 +672,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // Since the computation of terrain height can be a little involved, this routine - // is used ot fetch the height only once for each vehicle simulation step. + // is used to fetch the height only once for each vehicle simulation step. private float GetTerrainHeight(Vector3 pos) { if ((m_knownHas & m_knownChangedTerrainHeight) == 0) @@ -699,12 +704,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownPosition = Prim.ForcePosition; m_knownHas |= m_knownChangedPosition; } - return (Vector3)m_knownPosition; + return m_knownPosition; } set { m_knownPosition = value; m_knownChanged |= m_knownChangedPosition; + m_knownHas |= m_knownChangedPosition; } } @@ -717,12 +723,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownOrientation = Prim.ForceOrientation; m_knownHas |= m_knownChangedOrientation; } - return (Quaternion)m_knownOrientation; + return m_knownOrientation; } set { m_knownOrientation = value; m_knownChanged |= m_knownChangedOrientation; + m_knownHas |= m_knownChangedOrientation; } } @@ -741,13 +748,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin { m_knownVelocity = value; m_knownChanged |= m_knownChangedVelocity; + m_knownHas |= m_knownChangedVelocity; } } private void VehicleAddForce(Vector3 aForce) { + if ((m_knownHas & m_knownChangedForce) == 0) + { + m_knownForce = Vector3.Zero; + } m_knownForce += aForce; m_knownChanged |= m_knownChangedForce; + m_knownHas |= m_knownChangedForce; } private Vector3 VehicleRotationalVelocity @@ -765,12 +778,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin { m_knownRotationalVelocity = value; m_knownChanged |= m_knownChangedRotationalVelocity; + m_knownHas |= m_knownChangedRotationalVelocity; } } private void VehicleAddAngularForce(Vector3 aForce) { + if ((m_knownHas & m_knownChangedRotationalForce) == 0) + { + m_knownRotationalForce = Vector3.Zero; + } m_knownRotationalForce += aForce; m_knownChanged |= m_knownChangedRotationalForce; + m_knownHas |= m_knownChangedRotationalForce; } // Vehicle relative forward velocity private Vector3 VehicleForwardVelocity @@ -782,7 +801,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation)); m_knownHas |= m_knownChangedForwardVelocity; } - return (Vector3)m_knownForwardVelocity; + return m_knownForwardVelocity; } } private float VehicleForwardSpeed diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 34a87c6..8781fe9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -268,12 +268,14 @@ public class BSPIDVMotor : BSVMotor public Vector3 proportionFactor { get; set; } public Vector3 integralFactor { get; set; } public Vector3 derivFactor { get; set; } + // Arbritrary factor range. // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct. public float EfficiencyHigh = 0.4f; public float EfficiencyLow = 4.0f; - Vector3 IntegralFactor { get; set; } + // Running integration of the error + Vector3 RunningIntegration { get; set; } public BSPIDVMotor(string useName) : base(useName) @@ -281,7 +283,7 @@ public class BSPIDVMotor : BSVMotor proportionFactor = new Vector3(1.00f, 1.00f, 1.00f); integralFactor = new Vector3(1.00f, 1.00f, 1.00f); derivFactor = new Vector3(1.00f, 1.00f, 1.00f); - IntegralFactor = Vector3.Zero; + RunningIntegration = Vector3.Zero; LastError = Vector3.Zero; } @@ -312,14 +314,18 @@ public class BSPIDVMotor : BSVMotor public override Vector3 Step(float timeStep, Vector3 error) { // Add up the error so we can integrate over the accumulated errors - IntegralFactor += error * timeStep; + RunningIntegration += error * timeStep; // A simple derivitive is the rate of change from the last error. Vector3 derivFactor = (error - LastError) * timeStep; LastError = error; // Correction = -(proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError) - Vector3 ret = -(error * proportionFactor + IntegralFactor * integralFactor + derivFactor * derivFactor); + Vector3 ret = -( + error * proportionFactor + + RunningIntegration * integralFactor + + derivFactor * derivFactor + ); return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 1fb4c31..5558ad5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -1,558 +1,559 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; - -using OpenSim.Region.Physics.Manager; - -using OpenMetaverse; -using Nini.Config; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public static class BSParam -{ - // Level of Detail values kept as float because that's what the Meshmerizer wants - public static float MeshLOD { get; private set; } - public static float MeshMegaPrimLOD { get; private set; } - public static float MeshMegaPrimThreshold { get; private set; } - public static float SculptLOD { get; private set; } - - public static float MinimumObjectMass { get; private set; } - public static float MaximumObjectMass { get; private set; } - - public static float LinearDamping { get; private set; } - public static float AngularDamping { get; private set; } - public static float DeactivationTime { get; private set; } - public static float LinearSleepingThreshold { get; private set; } - public static float AngularSleepingThreshold { get; private set; } - public static float CcdMotionThreshold { get; private set; } - public static float CcdSweptSphereRadius { get; private set; } - public static float ContactProcessingThreshold { get; private set; } - - public static bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed - public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes - public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects - - public static float TerrainImplementation { get; private set; } - public static float TerrainFriction { get; private set; } - public static float TerrainHitFraction { get; private set; } - public static float TerrainRestitution { get; private set; } - public static float TerrainCollisionMargin { get; private set; } - - // Avatar parameters - public static float AvatarFriction { get; private set; } - public static float AvatarStandingFriction { get; private set; } - public static float AvatarDensity { get; private set; } - public static float AvatarRestitution { get; private set; } - public static float AvatarCapsuleWidth { get; private set; } - public static float AvatarCapsuleDepth { get; private set; } - public static float AvatarCapsuleHeight { get; private set; } - public static float AvatarContactProcessingThreshold { get; private set; } - - public static float VehicleAngularDamping { get; private set; } - - public static float LinksetImplementation { get; private set; } - public static float LinkConstraintUseFrameOffset { get; private set; } - public static float LinkConstraintEnableTransMotor { get; private set; } - public static float LinkConstraintTransMotorMaxVel { get; private set; } - public static float LinkConstraintTransMotorMaxForce { get; private set; } - public static float LinkConstraintERP { get; private set; } - public static float LinkConstraintCFM { get; private set; } - public static float LinkConstraintSolverIterations { get; private set; } - - public static float PID_D { get; private set; } // derivative - public static float PID_P { get; private set; } // proportional - - public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); - public delegate float ParamGet(BSScene scene); - public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); - public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val); - - public struct ParameterDefn - { - public string name; // string name of the parameter - public string desc; // a short description of what the parameter means - public float defaultValue; // default value if not specified anywhere else - public ParamUser userParam; // get the value from the configuration file - public ParamGet getter; // return the current value stored for this parameter - public ParamSet setter; // set the current value for this parameter - public SetOnObject onObject; // set the value on an object in the physical domain - public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) - { - name = n; - desc = d; - defaultValue = v; - userParam = u; - getter = g; - setter = s; - onObject = null; - } - public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o) - { - name = n; - desc = d; - defaultValue = v; - userParam = u; - getter = g; - setter = s; - onObject = o; - } - } - - // List of all of the externally visible parameters. - // For each parameter, this table maps a text name to getter and setters. - // To add a new externally referencable/settable parameter, add the paramter storage - // location somewhere in the program and make an entry in this table with the - // getters and setters. - // It is easiest to find an existing definition and copy it. - // Parameter values are floats. Booleans are converted to a floating value. - // - // A ParameterDefn() takes the following parameters: - // -- the text name of the parameter. This is used for console input and ini file. - // -- a short text description of the parameter. This shows up in the console listing. - // -- a delegate for fetching the parameter from the ini file. - // Should handle fetching the right type from the ini file and converting it. - // -- a delegate for getting the value as a float - // -- a delegate for setting the value from a float - // -- an optional delegate to update the value in the world. Most often used to - // push the new value to an in-world object. - // - // The single letter parameters for the delegates are: - // s = BSScene - // o = BSPhysObject - // p = string parameter name - // l = localID of referenced object - // v = float value - // cf = parameter configuration class (for fetching values from ini file) - private static ParameterDefn[] ParameterDefinitions = - { - new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, - (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); }, - (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ), - new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, - (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); }, - (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ), - new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, - (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); }, - (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ), - - new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", - 8f, - (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); }, - (s) => { return MeshLOD; }, - (s,p,l,v) => { MeshLOD = v; } ), - new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", - 16f, - (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); }, - (s) => { return MeshMegaPrimLOD; }, - (s,p,l,v) => { MeshMegaPrimLOD = v; } ), - new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD", - 10f, - (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); }, - (s) => { return MeshMegaPrimThreshold; }, - (s,p,l,v) => { MeshMegaPrimThreshold = v; } ), - new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", - 32f, - (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); }, - (s) => { return SculptLOD; }, - (s,p,l,v) => { SculptLOD = v; } ), - - new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", - 10f, - (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxSubSteps; }, - (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ), - new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)", - 1f / 60f, - (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); }, - (s) => { return (float)s.m_fixedTimeStep; }, - (s,p,l,v) => { s.m_fixedTimeStep = v; } ), - new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", - 2048f, - (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxCollisionsPerFrame; }, - (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ), - new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame", - 8000f, - (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxUpdatesPerFrame; }, - (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), - new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step", - 500f, - (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_taintsToProcessPerStep; }, - (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ), - new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)", - 0.0001f, - (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); }, - (s) => { return (float)MinimumObjectMass; }, - (s,p,l,v) => { MinimumObjectMass = v; } ), - new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", - 10000.01f, - (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); }, - (s) => { return (float)MaximumObjectMass; }, - (s,p,l,v) => { MaximumObjectMass = v; } ), - - new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", - 2200f, - (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); }, - (s) => { return (float)PID_D; }, - (s,p,l,v) => { PID_D = v; } ), - new ParameterDefn("PID_P", "Parameteric factor for motion smoothing", - 900f, - (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); }, - (s) => { return (float)PID_P; }, - (s,p,l,v) => { PID_P = v; } ), - - new ParameterDefn("DefaultFriction", "Friction factor used on new objects", - 0.2f, - (s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].defaultFriction; }, - (s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ), - new ParameterDefn("DefaultDensity", "Density for new objects" , - 10.000006836f, // Aluminum g/cm3 - (s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].defaultDensity; }, - (s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ), - new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , - 0f, - (s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].defaultRestitution; }, - (s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ), - new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", - 0.04f, - (s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].collisionMargin; }, - (s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ), - new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", - -9.80665f, - (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].gravity; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); }, - (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ), - - - new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", - 0f, - (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); }, - (s) => { return LinearDamping; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ), - new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", - 0f, - (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); }, - (s) => { return AngularDamping; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ), - new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", - 0.2f, - (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, - (s) => { return DeactivationTime; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ), - new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", - 0.8f, - (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, - (s) => { return LinearSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), - new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", - 1.0f, - (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); }, - (s) => { return AngularSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), - new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , - 0f, // set to zero to disable - (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, - (s) => { return CcdMotionThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ), - new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , - 0f, - (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); }, - (s) => { return CcdSweptSphereRadius; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ), - new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , - 0.1f, - (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); }, - (s) => { return ContactProcessingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), - - new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", - (float)BSTerrainPhys.TerrainImplementation.Mesh, - (s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); }, - (s) => { return TerrainImplementation; }, - (s,p,l,v) => { TerrainImplementation = v; } ), - new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , - 0.3f, - (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); }, - (s) => { return TerrainFriction; }, - (s,p,l,v) => { TerrainFriction = v; /* TODO: set on real terrain */} ), - new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , - 0.8f, - (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); }, - (s) => { return TerrainHitFraction; }, - (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ), - new ParameterDefn("TerrainRestitution", "Bouncyness" , - 0f, - (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); }, - (s) => { return TerrainRestitution; }, - (s,p,l,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ), - new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , - 0.04f, - (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); }, - (s) => { return TerrainCollisionMargin; }, - (s,p,l,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ), - - new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", - 0.2f, - (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); }, - (s) => { return AvatarFriction; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ), - new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", - 10.0f, - (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); }, - (s) => { return AvatarStandingFriction; }, - (s,p,l,v) => { AvatarStandingFriction = v; } ), - new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", - 60f, - (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); }, - (s) => { return AvatarDensity; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ), - new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", - 0f, - (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); }, - (s) => { return AvatarRestitution; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ), - new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", - 0.6f, - (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); }, - (s) => { return AvatarCapsuleWidth; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ), - new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", - 0.45f, - (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); }, - (s) => { return AvatarCapsuleDepth; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ), - new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", - 1.5f, - (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); }, - (s) => { return AvatarCapsuleHeight; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ), - new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", - 0.1f, - (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); }, - (s) => { return AvatarContactProcessingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ), - - new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", - 0.95f, - (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, - (s) => { return VehicleAngularDamping; }, - (s,p,l,v) => { VehicleAngularDamping = v; } ), - - new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", - 0f, - (s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; }, - (s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ), - new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", - 0f, - (s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; }, - (s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ), - new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ), - new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ), - new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ), - new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ), - new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ), - new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", - 0f, // zero says use Bullet default - (s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].numberOfSolverIterations; }, - (s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ), - - new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", - (float)BSLinkset.LinksetImplementation.Compound, - (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); }, - (s) => { return LinksetImplementation; }, - (s,p,l,v) => { LinksetImplementation = v; } ), - new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return LinkConstraintUseFrameOffset; }, - (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ), - new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return LinkConstraintEnableTransMotor; }, - (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ), - new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints", - 5.0f, - (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); }, - (s) => { return LinkConstraintTransMotorMaxVel; }, - (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ), - new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints", - 0.1f, - (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, - (s) => { return LinkConstraintTransMotorMaxForce; }, - (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ), - new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", - 0.1f, - (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); }, - (s) => { return LinkConstraintCFM; }, - (s,p,l,v) => { LinkConstraintCFM = v; } ), - new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", - 0.1f, - (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); }, - (s) => { return LinkConstraintERP; }, - (s,p,l,v) => { LinkConstraintERP = v; } ), - new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", - 40, - (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); }, - (s) => { return LinkConstraintSolverIterations; }, - (s,p,l,v) => { LinkConstraintSolverIterations = v; } ), - - new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)", - 0f, - (s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; }, - (s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ), - }; - - // Convert a boolean to our numeric true and false values - public static float NumericBool(bool b) - { - return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse); - } - - // Convert numeric true and false values to a boolean - public static bool BoolNumeric(float b) - { - return (b == ConfigurationParameters.numericTrue ? true : false); - } - - // Search through the parameter definitions and return the matching - // ParameterDefn structure. - // Case does not matter as names are compared after converting to lower case. - // Returns 'false' if the parameter is not found. - internal static bool TryGetParameter(string paramName, out ParameterDefn defn) - { - bool ret = false; - ParameterDefn foundDefn = new ParameterDefn(); - string pName = paramName.ToLower(); - - foreach (ParameterDefn parm in ParameterDefinitions) - { - if (pName == parm.name.ToLower()) - { - foundDefn = parm; - ret = true; - break; - } - } - defn = foundDefn; - return ret; - } - - // Pass through the settable parameters and set the default values - internal static void SetParameterDefaultValues(BSScene physicsScene) - { - foreach (ParameterDefn parm in ParameterDefinitions) - { - parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue); - } - } - - // Get user set values out of the ini file. - internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg) - { - foreach (ParameterDefn parm in ParameterDefinitions) - { - parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue); - } - } - - internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1]; - - // This creates an array in the correct format for returning the list of - // parameters. This is used by the 'list' option of the 'physics' command. - internal static void BuildParameterTable() - { - if (SettableParameters.Length < ParameterDefinitions.Length) - { - List entries = new List(); - for (int ii = 0; ii < ParameterDefinitions.Length; ii++) - { - ParameterDefn pd = ParameterDefinitions[ii]; - entries.Add(new PhysParameterEntry(pd.name, pd.desc)); - } - - // make the list in alphabetical order for estetic reasons - entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2) - { - return ppe1.name.CompareTo(ppe2.name); - }); - - SettableParameters = entries.ToArray(); - } - } - - -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OpenSim.Region.Physics.Manager; + +using OpenMetaverse; +using Nini.Config; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public static class BSParam +{ + // Level of Detail values kept as float because that's what the Meshmerizer wants + public static float MeshLOD { get; private set; } + public static float MeshMegaPrimLOD { get; private set; } + public static float MeshMegaPrimThreshold { get; private set; } + public static float SculptLOD { get; private set; } + + public static float MinimumObjectMass { get; private set; } + public static float MaximumObjectMass { get; private set; } + + public static float LinearDamping { get; private set; } + public static float AngularDamping { get; private set; } + public static float DeactivationTime { get; private set; } + public static float LinearSleepingThreshold { get; private set; } + public static float AngularSleepingThreshold { get; private set; } + public static float CcdMotionThreshold { get; private set; } + public static float CcdSweptSphereRadius { get; private set; } + public static float ContactProcessingThreshold { get; private set; } + + public static bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed + public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes + public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects + + public static float TerrainImplementation { get; private set; } + public static float TerrainFriction { get; private set; } + public static float TerrainHitFraction { get; private set; } + public static float TerrainRestitution { get; private set; } + public static float TerrainCollisionMargin { get; private set; } + + // Avatar parameters + public static float AvatarFriction { get; private set; } + public static float AvatarStandingFriction { get; private set; } + public static float AvatarDensity { get; private set; } + public static float AvatarRestitution { get; private set; } + public static float AvatarCapsuleWidth { get; private set; } + public static float AvatarCapsuleDepth { get; private set; } + public static float AvatarCapsuleHeight { get; private set; } + public static float AvatarContactProcessingThreshold { get; private set; } + + public static float VehicleAngularDamping { get; private set; } + + public static float LinksetImplementation { get; private set; } + public static float LinkConstraintUseFrameOffset { get; private set; } + public static float LinkConstraintEnableTransMotor { get; private set; } + public static float LinkConstraintTransMotorMaxVel { get; private set; } + public static float LinkConstraintTransMotorMaxForce { get; private set; } + public static float LinkConstraintERP { get; private set; } + public static float LinkConstraintCFM { get; private set; } + public static float LinkConstraintSolverIterations { get; private set; } + + public static float PID_D { get; private set; } // derivative + public static float PID_P { get; private set; } // proportional + + public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); + public delegate float ParamGet(BSScene scene); + public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); + public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val); + + public struct ParameterDefn + { + public string name; // string name of the parameter + public string desc; // a short description of what the parameter means + public float defaultValue; // default value if not specified anywhere else + public ParamUser userParam; // get the value from the configuration file + public ParamGet getter; // return the current value stored for this parameter + public ParamSet setter; // set the current value for this parameter + public SetOnObject onObject; // set the value on an object in the physical domain + public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) + { + name = n; + desc = d; + defaultValue = v; + userParam = u; + getter = g; + setter = s; + onObject = null; + } + public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o) + { + name = n; + desc = d; + defaultValue = v; + userParam = u; + getter = g; + setter = s; + onObject = o; + } + } + + // List of all of the externally visible parameters. + // For each parameter, this table maps a text name to getter and setters. + // To add a new externally referencable/settable parameter, add the paramter storage + // location somewhere in the program and make an entry in this table with the + // getters and setters. + // It is easiest to find an existing definition and copy it. + // Parameter values are floats. Booleans are converted to a floating value. + // + // A ParameterDefn() takes the following parameters: + // -- the text name of the parameter. This is used for console input and ini file. + // -- a short text description of the parameter. This shows up in the console listing. + // -- a default value (float) + // -- a delegate for fetching the parameter from the ini file. + // Should handle fetching the right type from the ini file and converting it. + // -- a delegate for getting the value as a float + // -- a delegate for setting the value from a float + // -- an optional delegate to update the value in the world. Most often used to + // push the new value to an in-world object. + // + // The single letter parameters for the delegates are: + // s = BSScene + // o = BSPhysObject + // p = string parameter name + // l = localID of referenced object + // v = value (float) + // cf = parameter configuration class (for fetching values from ini file) + private static ParameterDefn[] ParameterDefinitions = + { + new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, + (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); }, + (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ), + new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, + (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); }, + (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ), + new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, + (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); }, + (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ), + + new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", + 8f, + (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); }, + (s) => { return MeshLOD; }, + (s,p,l,v) => { MeshLOD = v; } ), + new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", + 16f, + (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); }, + (s) => { return MeshMegaPrimLOD; }, + (s,p,l,v) => { MeshMegaPrimLOD = v; } ), + new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD", + 10f, + (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); }, + (s) => { return MeshMegaPrimThreshold; }, + (s,p,l,v) => { MeshMegaPrimThreshold = v; } ), + new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", + 32f, + (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); }, + (s) => { return SculptLOD; }, + (s,p,l,v) => { SculptLOD = v; } ), + + new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", + 10f, + (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_maxSubSteps; }, + (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ), + new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)", + 1f / 60f, + (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); }, + (s) => { return (float)s.m_fixedTimeStep; }, + (s,p,l,v) => { s.m_fixedTimeStep = v; } ), + new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", + 2048f, + (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_maxCollisionsPerFrame; }, + (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ), + new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame", + 8000f, + (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_maxUpdatesPerFrame; }, + (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), + new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step", + 500f, + (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_taintsToProcessPerStep; }, + (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ), + new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)", + 0.0001f, + (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); }, + (s) => { return (float)MinimumObjectMass; }, + (s,p,l,v) => { MinimumObjectMass = v; } ), + new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", + 10000.01f, + (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); }, + (s) => { return (float)MaximumObjectMass; }, + (s,p,l,v) => { MaximumObjectMass = v; } ), + + new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", + 2200f, + (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); }, + (s) => { return (float)PID_D; }, + (s,p,l,v) => { PID_D = v; } ), + new ParameterDefn("PID_P", "Parameteric factor for motion smoothing", + 900f, + (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); }, + (s) => { return (float)PID_P; }, + (s,p,l,v) => { PID_P = v; } ), + + new ParameterDefn("DefaultFriction", "Friction factor used on new objects", + 0.2f, + (s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].defaultFriction; }, + (s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ), + new ParameterDefn("DefaultDensity", "Density for new objects" , + 10.000006836f, // Aluminum g/cm3 + (s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].defaultDensity; }, + (s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ), + new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , + 0f, + (s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].defaultRestitution; }, + (s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ), + new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", + 0.04f, + (s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].collisionMargin; }, + (s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ), + new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", + -9.80665f, + (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].gravity; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); }, + (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ), + + + new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", + 0f, + (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); }, + (s) => { return LinearDamping; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ), + new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", + 0f, + (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); }, + (s) => { return AngularDamping; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ), + new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", + 0.2f, + (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, + (s) => { return DeactivationTime; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ), + new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", + 0.8f, + (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, + (s) => { return LinearSleepingThreshold; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), + new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", + 1.0f, + (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); }, + (s) => { return AngularSleepingThreshold; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), + new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , + 0f, // set to zero to disable + (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, + (s) => { return CcdMotionThreshold; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ), + new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , + 0f, + (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); }, + (s) => { return CcdSweptSphereRadius; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ), + new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , + 0.1f, + (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); }, + (s) => { return ContactProcessingThreshold; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); }, + (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), + + new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", + (float)BSTerrainPhys.TerrainImplementation.Mesh, + (s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); }, + (s) => { return TerrainImplementation; }, + (s,p,l,v) => { TerrainImplementation = v; } ), + new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , + 0.3f, + (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); }, + (s) => { return TerrainFriction; }, + (s,p,l,v) => { TerrainFriction = v; /* TODO: set on real terrain */} ), + new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , + 0.8f, + (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); }, + (s) => { return TerrainHitFraction; }, + (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ), + new ParameterDefn("TerrainRestitution", "Bouncyness" , + 0f, + (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); }, + (s) => { return TerrainRestitution; }, + (s,p,l,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ), + new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , + 0.04f, + (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); }, + (s) => { return TerrainCollisionMargin; }, + (s,p,l,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ), + + new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", + 0.2f, + (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); }, + (s) => { return AvatarFriction; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ), + new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", + 10.0f, + (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); }, + (s) => { return AvatarStandingFriction; }, + (s,p,l,v) => { AvatarStandingFriction = v; } ), + new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", + 60f, + (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); }, + (s) => { return AvatarDensity; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ), + new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", + 0f, + (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); }, + (s) => { return AvatarRestitution; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ), + new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", + 0.6f, + (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); }, + (s) => { return AvatarCapsuleWidth; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ), + new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", + 0.45f, + (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); }, + (s) => { return AvatarCapsuleDepth; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ), + new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", + 1.5f, + (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); }, + (s) => { return AvatarCapsuleHeight; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ), + new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", + 0.1f, + (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); }, + (s) => { return AvatarContactProcessingThreshold; }, + (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ), + + new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", + 0.95f, + (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, + (s) => { return VehicleAngularDamping; }, + (s,p,l,v) => { VehicleAngularDamping = v; } ), + + new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", + 0f, + (s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; }, + (s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ), + new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", + 0f, + (s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; }, + (s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ), + new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; }, + (s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ), + new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; }, + (s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ), + new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; }, + (s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ), + new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; }, + (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ), + new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; }, + (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ), + new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", + 0f, // zero says use Bullet default + (s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); }, + (s) => { return s.UnmanagedParams[0].numberOfSolverIterations; }, + (s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ), + + new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", + (float)BSLinkset.LinksetImplementation.Compound, + (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); }, + (s) => { return LinksetImplementation; }, + (s,p,l,v) => { LinksetImplementation = v; } ), + new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return LinkConstraintUseFrameOffset; }, + (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ), + new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return LinkConstraintEnableTransMotor; }, + (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ), + new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints", + 5.0f, + (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); }, + (s) => { return LinkConstraintTransMotorMaxVel; }, + (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ), + new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints", + 0.1f, + (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, + (s) => { return LinkConstraintTransMotorMaxForce; }, + (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ), + new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", + 0.1f, + (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); }, + (s) => { return LinkConstraintCFM; }, + (s,p,l,v) => { LinkConstraintCFM = v; } ), + new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", + 0.1f, + (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); }, + (s) => { return LinkConstraintERP; }, + (s,p,l,v) => { LinkConstraintERP = v; } ), + new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", + 40, + (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); }, + (s) => { return LinkConstraintSolverIterations; }, + (s,p,l,v) => { LinkConstraintSolverIterations = v; } ), + + new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)", + 0f, + (s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; }, + (s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ), + }; + + // Convert a boolean to our numeric true and false values + public static float NumericBool(bool b) + { + return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse); + } + + // Convert numeric true and false values to a boolean + public static bool BoolNumeric(float b) + { + return (b == ConfigurationParameters.numericTrue ? true : false); + } + + // Search through the parameter definitions and return the matching + // ParameterDefn structure. + // Case does not matter as names are compared after converting to lower case. + // Returns 'false' if the parameter is not found. + internal static bool TryGetParameter(string paramName, out ParameterDefn defn) + { + bool ret = false; + ParameterDefn foundDefn = new ParameterDefn(); + string pName = paramName.ToLower(); + + foreach (ParameterDefn parm in ParameterDefinitions) + { + if (pName == parm.name.ToLower()) + { + foundDefn = parm; + ret = true; + break; + } + } + defn = foundDefn; + return ret; + } + + // Pass through the settable parameters and set the default values + internal static void SetParameterDefaultValues(BSScene physicsScene) + { + foreach (ParameterDefn parm in ParameterDefinitions) + { + parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue); + } + } + + // Get user set values out of the ini file. + internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg) + { + foreach (ParameterDefn parm in ParameterDefinitions) + { + parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue); + } + } + + internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1]; + + // This creates an array in the correct format for returning the list of + // parameters. This is used by the 'list' option of the 'physics' command. + internal static void BuildParameterTable() + { + if (SettableParameters.Length < ParameterDefinitions.Length) + { + List entries = new List(); + for (int ii = 0; ii < ParameterDefinitions.Length; ii++) + { + ParameterDefn pd = ParameterDefinitions[ii]; + entries.Add(new PhysParameterEntry(pd.name, pd.desc)); + } + + // make the list in alphabetical order for estetic reasons + entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2) + { + return ppe1.name.CompareTo(ppe2.name); + }); + + SettableParameters = entries.ToArray(); + } + } + + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 492a255..eb47178 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -864,7 +864,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); - Util.PrintCallStack(DetailLog); // Prints the stack into the DEBUG log file. + Util.PrintCallStack(DetailLog); } return InTaintTime; } -- cgit v1.1 From 3d659fe97d79c04983dcfa8c78e9dde1623f54f2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 21 Dec 2012 17:27:53 -0800 Subject: BulletSim: add BSPhysObject code to manage registrations of preStep events. Use same to implement setForce and setTorque so the values are restored at the beginning of each step (since Bullet zeros forces applied last step). Simplify implementation of AddForce and AddTorque by relying on the addition of forces in Bullet. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 + .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 56 ++++++++++- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 112 +++++++++------------ 3 files changed, 104 insertions(+), 66 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 7bde1c1..b392d75 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -134,6 +134,8 @@ public sealed class BSCharacter : BSPhysObject // called when this character is being destroyed and the resources should be released public override void Destroy() { + base.Destroy(); + DetailLog("{0},BSCharacter.Destroy", LocalID); PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 92a5f2f..9525a11 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -45,6 +45,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin * ForceVariableName: direct reference (store and fetch) to the value in the physics engine. * The last two (and certainly the last one) should be referenced only in taint-time. */ + +/* + * As of 20121221, the following are the call sequences (going down) for different script physical functions: + * llApplyImpulse llApplyRotImpulse llSetTorque llSetForce + * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce + * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse + * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v + * BS.ApplyCentralForce BS.ApplyTorque + */ + public abstract class BSPhysObject : PhysicsActor { protected BSPhysObject() @@ -69,6 +79,12 @@ public abstract class BSPhysObject : PhysicsActor CollidingGroundStep = 0; } + // Tell the object to clean up. + public virtual void Destroy() + { + UnRegisterAllPreStepActions(); + } + public BSScene PhysicsScene { get; protected set; } // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor public string PhysObjectName { get; protected set; } @@ -130,9 +146,6 @@ public abstract class BSPhysObject : PhysicsActor // Update the physical location and motion of the object. Called with data from Bullet. public abstract void UpdateProperties(EntityProperties entprop); - // Tell the object to clean up. - public abstract void Destroy(); - public abstract OMV.Vector3 RawPosition { get; set; } public abstract OMV.Vector3 ForcePosition { get; set; } @@ -280,11 +293,48 @@ public abstract class BSPhysObject : PhysicsActor #endregion // Collisions + #region Per Simulation Step actions + // There are some actions that must be performed for a physical object before each simulation step. + // These actions are optional so, rather than scanning all the physical objects and asking them + // if they have anything to do, a physical object registers for an event call before the step is performed. + // This bookkeeping makes it easy to add, remove and clean up after all these registrations. + private Dictionary RegisteredActions = new Dictionary(); + protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn) + { + string identifier = op + "-" + id.ToString(); + RegisteredActions[identifier] = actn; + PhysicsScene.BeforeStep += actn; + } + + // Unregister a pre step action. Safe to call if the action has not been registered. + protected void UnRegisterPreStepAction(string op, uint id) + { + string identifier = op + "-" + id.ToString(); + if (RegisteredActions.ContainsKey(identifier)) + { + PhysicsScene.BeforeStep -= RegisteredActions[identifier]; + RegisteredActions.Remove(identifier); + } + } + + protected void UnRegisterAllPreStepActions() + { + foreach (KeyValuePair kvp in RegisteredActions) + { + PhysicsScene.BeforeStep -= kvp.Value; + } + RegisteredActions.Clear(); + } + + + #endregion // Per Simulation Step actions + // High performance detailed logging routine used by the physical objects. protected void DetailLog(string msg, params Object[] args) { if (PhysicsScene.PhysicsLogging.Enabled) PhysicsScene.DetailLog(msg, args); } + } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e43bf8e..e6aeebb 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -129,6 +129,7 @@ public sealed class BSPrim : BSPhysObject public override void Destroy() { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); + base.Destroy(); // Undo any links between me and any other object BSPhysObject parentBefore = Linkset.LinksetRoot; @@ -434,12 +435,22 @@ public sealed class BSPrim : BSPhysObject get { return _force; } set { _force = value; - PhysicsScene.TaintedObject("BSPrim.setForce", delegate() + if (_force != OMV.Vector3.Zero) { - // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); - if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); - }); + // If the force is non-zero, it must be reapplied each tick because + // Bullet clears the forces applied last frame. + RegisterPreStepAction("BSPrim.setForce", LocalID, + delegate(float timeStep) + { + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force); + } + ); + } + else + { + UnRegisterPreStepAction("BSPrim.setForce", LocalID); + } } } @@ -550,7 +561,22 @@ public sealed class BSPrim : BSPhysObject get { return _torque; } set { _torque = value; - AddAngularForce(_torque, false, false); + if (_torque != OMV.Vector3.Zero) + { + // If the torque is non-zero, it must be reapplied each tick because + // Bullet clears the forces applied last frame. + RegisterPreStepAction("BSPrim.setTorque", LocalID, + delegate(float timeStep) + { + if (PhysBody.HasPhysicalBody) + AddAngularForce(_torque, false, true); + } + ); + } + else + { + UnRegisterPreStepAction("BSPrim.setTorque", LocalID); + } // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); } } @@ -969,56 +995,32 @@ public sealed class BSPrim : BSPhysObject public override float APIDStrength { set { return; } } public override float APIDDamping { set { return; } } - private List m_accumulatedForces = new List(); public override void AddForce(OMV.Vector3 force, bool pushforce) { AddForce(force, pushforce, false); } // Applying a force just adds this to the total force on the object. + // This added force will only last the next simulation tick. public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { // for an object, doesn't matter if force is a pushforce or not if (force.IsFinite()) { - // _force += force; - lock (m_accumulatedForces) - m_accumulatedForces.Add(new OMV.Vector3(force)); + OMV.Vector3 addForce = force; + DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() + { + // Bullet adds this central force to the total force for this tick + DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); + }); } else { m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); return; } - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() - { - OMV.Vector3 fSum = OMV.Vector3.Zero; - lock (m_accumulatedForces) - { - // Sum the accumulated additional forces for one big force to apply once. - foreach (OMV.Vector3 v in m_accumulatedForces) - { - fSum += v; - } - m_accumulatedForces.Clear(); - } - DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum); - if (fSum != OMV.Vector3.Zero) - if (PhysBody.HasPhysicalBody) - BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); - }); } - // An impulse force is scaled by the mass of the object. - public void ApplyForceImpulse(OMV.Vector3 impulse, bool inTaintTime) - { - OMV.Vector3 applyImpulse = impulse; - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate() - { - DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse); - if (PhysBody.HasPhysicalBody) - BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse); - }); - } - - private List m_accumulatedAngularForces = new List(); public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { AddAngularForce(force, pushforce, false); } @@ -1026,36 +1028,20 @@ public sealed class BSPrim : BSPhysObject { if (force.IsFinite()) { - // _force += force; - lock (m_accumulatedAngularForces) - m_accumulatedAngularForces.Add(new OMV.Vector3(force)); + OMV.Vector3 angForce = force; + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() + { + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce); + }); } else { m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); return; } - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() - { - OMV.Vector3 fSum = OMV.Vector3.Zero; - lock (m_accumulatedAngularForces) - { - // Sum the accumulated additional forces for one big force to apply once. - foreach (OMV.Vector3 v in m_accumulatedAngularForces) - { - fSum += v; - } - m_accumulatedAngularForces.Clear(); - } - DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum); - if (fSum != OMV.Vector3.Zero) - { - if (PhysBody.HasPhysicalBody) - BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum); - _torque = fSum; - } - }); } + // A torque impulse. // ApplyTorqueImpulse adds torque directly to the angularVelocity. // AddAngularForce accumulates the force and applied it to the angular velocity all at once. -- cgit v1.1 From 37fb691ba56a72b95eeeacc13fb16c1f03af6006 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 21 Dec 2012 23:03:27 -0800 Subject: BulletSim: Fix llApplyImpulse so it works after the first impulse. The problem was Bullet deactivating the object between the pushes (when, as far as the physics engine is concerned, it isn't moving). --- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 5 ++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 28 ++++++++++++++++++---- 2 files changed, 29 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 9525a11..19de1e5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -304,17 +304,21 @@ public abstract class BSPhysObject : PhysicsActor string identifier = op + "-" + id.ToString(); RegisteredActions[identifier] = actn; PhysicsScene.BeforeStep += actn; + DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); } // Unregister a pre step action. Safe to call if the action has not been registered. protected void UnRegisterPreStepAction(string op, uint id) { string identifier = op + "-" + id.ToString(); + bool removed = false; if (RegisteredActions.ContainsKey(identifier)) { PhysicsScene.BeforeStep -= RegisteredActions[identifier]; RegisteredActions.Remove(identifier); + removed = true; } + DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed); } protected void UnRegisterAllPreStepActions() @@ -324,6 +328,7 @@ public abstract class BSPhysObject : PhysicsActor PhysicsScene.BeforeStep -= kvp.Value; } RegisteredActions.Clear(); + DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e6aeebb..d137b2a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -442,8 +442,12 @@ public sealed class BSPrim : BSPhysObject RegisterPreStepAction("BSPrim.setForce", LocalID, delegate(float timeStep) { + DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force); if (PhysBody.HasPhysicalBody) + { BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force); + ActivateIfPhysical(false); + } } ); } @@ -554,7 +558,10 @@ public sealed class BSPrim : BSPhysObject _velocity = value; if (PhysBody.HasPhysicalBody) + { BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); + ActivateIfPhysical(false); + } } } public override OMV.Vector3 Torque { @@ -845,7 +852,7 @@ public sealed class BSPrim : BSPhysObject // Called in taint-time!! private void ActivateIfPhysical(bool forceIt) { - if (IsPhysical) + if (IsPhysical && PhysBody.HasPhysicalBody) BulletSimAPI.Activate2(PhysBody.ptr, forceIt); } @@ -919,8 +926,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); - if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + ForceRotationalVelocity = _rotationalVelocity; }); } } @@ -930,7 +936,11 @@ public sealed class BSPrim : BSPhysObject } set { _rotationalVelocity = value; - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + if (PhysBody.HasPhysicalBody) + { + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + ActivateIfPhysical(false); + } } } public override bool Kinematic { @@ -959,6 +969,7 @@ public sealed class BSPrim : BSPhysObject { float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); + ActivateIfPhysical(false); } } } @@ -1011,7 +1022,10 @@ public sealed class BSPrim : BSPhysObject // Bullet adds this central force to the total force for this tick DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) + { BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); + ActivateIfPhysical(false); + } }); } else @@ -1032,7 +1046,10 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() { if (PhysBody.HasPhysicalBody) + { BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce); + ActivateIfPhysical(false); + } }); } else @@ -1052,7 +1069,10 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() { if (PhysBody.HasPhysicalBody) + { BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); + ActivateIfPhysical(false); + } }); } -- cgit v1.1 From a54392d7cc0c81d70d241393da8f50c409e9b895 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 21 Dec 2012 23:05:05 -0800 Subject: BulletSim: remove the movement decay while flying. Made flying slow down over time. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 6 ------ 1 file changed, 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index b392d75..01cd279 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -563,12 +563,6 @@ public sealed class BSCharacter : BSPhysObject set { _flying = value; - // Velocity movement is different when flying: flying velocity degrades over time. - if (_flying) - _velocityMotor.TargetValueDecayTimeScale = 1f; - else - _velocityMotor.TargetValueDecayTimeScale = BSMotor.Infinite; - // simulate flying by changing the effect of gravity Buoyancy = ComputeBuoyancyFromFlying(_flying); } -- cgit v1.1 From 5b2cbc0ae69c041abb34d70fd03e4e1a4b7f4ea4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 21 Dec 2012 23:24:31 -0800 Subject: BulletSim: remove all special vehicle code from BSScene. Replace per-frame updates for vehicles with per-frame action registration. One fewer special case. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 26 ++----- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 95 ++++--------------------- 2 files changed, 20 insertions(+), 101 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d137b2a..26b8df5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -465,15 +465,18 @@ public sealed class BSPrim : BSPhysObject set { Vehicle type = (Vehicle)value; - // Tell the scene about the vehicle so it will get processing each frame. - PhysicsScene.VehicleInSceneTypeChanged(this, type); - PhysicsScene.TaintedObject("setVehicleType", delegate() { // Done at taint time so we're sure the physics engine is not using the variables // Vehicle code changes the parameters for this vehicle type. _vehicle.ProcessTypeChange(type); ActivateIfPhysical(false); + + // If an active vehicle, register the vehicle code to be called before each step + if (_vehicle.Type == Vehicle.TYPE_NONE) + UnRegisterPreStepAction("BSPrim.Vehicle", LocalID); + else + RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step); }); } } @@ -509,23 +512,6 @@ public sealed class BSPrim : BSPhysObject }); } - // Called each simulation step to advance vehicle characteristics. - // Called from Scene when doing simulation step so we're in taint processing time. - public override void StepVehicle(float timeStep) - { - if (IsPhysical && _vehicle.IsActive) - { - _vehicle.Step(timeStep); - /* // TEST TEST DEBUG DEBUG -- trying to reduce the extra action of Bullet simulation step - PhysicsScene.PostTaintObject("BSPrim.StepVehicles", LocalID, delegate() - { - // This resets the interpolation values and recomputes the tensor variables - BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation); - }); - */ - } - } - // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more public override void SetVolumeDetect(int param) { bool newValue = (param != 0); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index eb47178..3a129a4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -69,10 +69,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // every tick so OpenSim will update its animation. private HashSet m_avatars = new HashSet(); - // List of all the objects that have vehicle properties and should be called - // to update each physics step. - private List m_vehicles = new List(); - // let my minuions use my logger public ILog Logger { get { return m_log; } } @@ -480,21 +476,25 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // update the prim states while we know the physics engine is not busy int numTaints = _taintOperations.Count; + + InTaintTime = true; // Only used for debugging so locking is not necessary. + ProcessTaints(); - // Some of the prims operate with special vehicle properties + // Some of the physical objects requre individual, pre-step calls DoPreStepActions(timeStep); // the prestep actions might have added taints ProcessTaints(); + InTaintTime = false; // Only used for debugging so locking is not necessary. + // step the physical world one interval m_simulationStep++; int numSubSteps = 0; try { - if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, @@ -504,7 +504,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); - if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG } catch (Exception e) { @@ -701,15 +700,21 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters TaintedObject(ident, callback); } + private void DoPreStepActions(float timeStep) + { + PreStepAction actions = BeforeStep; + if (actions != null) + actions(timeStep); + + } + // When someone tries to change a property on a BSPrim or BSCharacter, the object queues // a callback into itself to do the actual property change. That callback is called // here just before the physics engine is called to step the simulation. public void ProcessTaints() { - InTaintTime = true; // Only used for debugging so locking is not necessary. ProcessRegularTaints(); ProcessPostTaintTaints(); - InTaintTime = false; } private void ProcessRegularTaints() @@ -871,68 +876,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #endregion // Taints - #region Vehicles - - public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType) - { - RemoveVehiclePrim(vehic); - if (newType != Vehicle.TYPE_NONE) - { - // make it so the scene will call us each tick to do vehicle things - AddVehiclePrim(vehic); - } - } - - // Make so the scene will call this prim for vehicle actions each tick. - // Safe to call if prim is already in the vehicle list. - public void AddVehiclePrim(BSPrim vehicle) - { - lock (m_vehicles) - { - if (!m_vehicles.Contains(vehicle)) - { - m_vehicles.Add(vehicle); - } - } - } - - // Remove a prim from our list of vehicles. - // Safe to call if the prim is not in the vehicle list. - public void RemoveVehiclePrim(BSPrim vehicle) - { - lock (m_vehicles) - { - if (m_vehicles.Contains(vehicle)) - { - m_vehicles.Remove(vehicle); - } - } - } - - private void DoPreStepActions(float timeStep) - { - InTaintTime = true; // Only used for debugging so locking is not necessary. - ProcessVehicles(timeStep); - - PreStepAction actions = BeforeStep; - if (actions != null) - actions(timeStep); - - InTaintTime = false; - - } - - // Some prims have extra vehicle actions - // Called at taint time! - private void ProcessVehicles(float timeStep) - { - foreach (BSPhysObject pobj in m_vehicles) - { - pobj.StepVehicle(timeStep); - } - } - #endregion Vehicles - #region INI and command line parameter processing #region IPhysicsParameters @@ -1033,16 +976,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #endregion Runtime settable parameters - // Debugging routine for dumping detailed physical information for vehicle prims - private void DumpVehicles() - { - foreach (BSPrim prim in m_vehicles) - { - BulletSimAPI.DumpRigidBody2(World.ptr, prim.PhysBody.ptr); - BulletSimAPI.DumpCollisionShape2(World.ptr, prim.PhysShape.ptr); - } - } - // Invoke the detailed logger and output something if it's enabled. public void DetailLog(string msg, params Object[] args) { -- cgit v1.1 From 16e49035f7420979aa7f77ac63b951a32aa0bd6b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 22 Dec 2012 17:06:13 -0800 Subject: BulletSim: add Enabled parameter and operation to motors. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 8781fe9..9e1a9ba 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -43,7 +43,9 @@ public abstract class BSMotor { UseName = useName; PhysicsScene = null; + Enabled = true; } + public virtual bool Enabled { get; set; } public virtual void Reset() { } public virtual void Zero() { } public virtual void GenerateTestOutput(float timeStep) { } @@ -98,6 +100,12 @@ public class BSVMotor : BSMotor public virtual Vector3 CurrentValue { get; protected set; } public virtual Vector3 LastError { get; protected set; } + public virtual bool ErrorIsZero + { get { + return (LastError == Vector3.Zero || LastError.LengthSquared() <= ErrorZeroThreshold); + } + } + public BSVMotor(string useName) : base(useName) { @@ -105,7 +113,7 @@ public class BSVMotor : BSMotor Efficiency = 1f; FrictionTimescale = BSMotor.InfiniteVector; CurrentValue = TargetValue = Vector3.Zero; - ErrorZeroThreshold = 0.01f; + ErrorZeroThreshold = 0.001f; } public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) : this(useName) @@ -133,6 +141,8 @@ public class BSVMotor : BSMotor // Compute the next step and return the new current value public virtual Vector3 Step(float timeStep) { + if (!Enabled) return TargetValue; + Vector3 origTarget = TargetValue; // DEBUG Vector3 origCurrVal = CurrentValue; // DEBUG @@ -178,7 +188,7 @@ public class BSVMotor : BSMotor { // Difference between what we have and target is small. Motor is done. CurrentValue = TargetValue; - MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={2}", + MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); } @@ -186,6 +196,8 @@ public class BSVMotor : BSMotor } public virtual Vector3 Step(float timeStep, Vector3 error) { + if (!Enabled) return Vector3.Zero; + LastError = error; Vector3 returnCorrection = Vector3.Zero; if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) @@ -313,6 +325,8 @@ public class BSPIDVMotor : BSVMotor // Ignore Current and Target Values and just advance the PID computation on this error. public override Vector3 Step(float timeStep, Vector3 error) { + if (!Enabled) return Vector3.Zero; + // Add up the error so we can integrate over the accumulated errors RunningIntegration += error * timeStep; -- cgit v1.1 From 144322a7c9e78a8df91c2e0026ade499b521e302 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 22 Dec 2012 17:07:52 -0800 Subject: BulletSim: remove post step one-time taints (doesn't make any sense). Rename pre and post step event invocation routines to Trigger* to be consistant. Remove old, unused code. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 112 +++++++----------------- 1 file changed, 30 insertions(+), 82 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 3a129a4..e8e0d50 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -85,9 +85,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters internal long m_simulationStep = 0; public long SimulationStep { get { return m_simulationStep; } } internal int m_taintsToProcessPerStep; + internal float LastTimeStep { get; private set; } + // Physical objects can register for prestep or poststep events public delegate void PreStepAction(float timeStep); + public delegate void PostStepAction(float timeStep); public event PreStepAction BeforeStep; + public event PreStepAction AfterStep; // A value of the time now so all the collision and update routines do not have to get their own // Set to 'now' just before all the prims and actors are called for collisions and updates @@ -463,6 +467,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Simulate one timestep public override float Simulate(float timeStep) { + // prevent simulation until we've been initialized + if (!m_initialized) return 5.0f; + + LastTimeStep = timeStep; + int updatedEntityCount = 0; IntPtr updatedEntitiesPtr; int collidersCount = 0; @@ -471,9 +480,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters int beforeTime = 0; int simTime = 0; - // prevent simulation until we've been initialized - if (!m_initialized) return 5.0f; - // update the prim states while we know the physics engine is not busy int numTaints = _taintOperations.Count; @@ -482,7 +488,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters ProcessTaints(); // Some of the physical objects requre individual, pre-step calls - DoPreStepActions(timeStep); + TriggerPreStepEvent(timeStep); // the prestep actions might have added taints ProcessTaints(); @@ -582,7 +588,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } } - ProcessPostStepTaints(); + TriggerPostStepEvent(timeStep); // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. // Only enable this in a limited test world with few objects. @@ -674,6 +680,15 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public override bool IsThreaded { get { return false; } } #region Taints + // The simulation execution order is: + // Simulate() + // DoOneTimeTaints + // TriggerPreStepEvent + // DoOneTimeTaints + // Step() + // ProcessAndForwardCollisions + // ProcessAndForwardPropertyUpdates + // TriggerPostStepEvent // Calls to the PhysicsActors can't directly call into the physics engine // because it might be busy. We delay changes to a known time. @@ -700,7 +715,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters TaintedObject(ident, callback); } - private void DoPreStepActions(float timeStep) + private void TriggerPreStepEvent(float timeStep) { PreStepAction actions = BeforeStep; if (actions != null) @@ -708,6 +723,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } + private void TriggerPostStepEvent(float timeStep) + { + PreStepAction actions = AfterStep; + if (actions != null) + actions(timeStep); + + } + // When someone tries to change a property on a BSPrim or BSCharacter, the object queues // a callback into itself to do the actual property change. That callback is called // here just before the physics engine is called to step the simulation. @@ -721,43 +744,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { if (_taintOperations.Count > 0) // save allocating new list if there is nothing to process { - /* - // Code to limit the number of taints processed per step. Meant to limit step time. - // Unsure if a good idea as code assumes that taints are done before the step. - int taintCount = m_taintsToProcessPerStep; - TaintCallbackEntry oneCallback = new TaintCallbackEntry(); - while (_taintOperations.Count > 0 && taintCount-- > 0) - { - bool gotOne = false; - lock (_taintLock) - { - if (_taintOperations.Count > 0) - { - oneCallback = _taintOperations[0]; - _taintOperations.RemoveAt(0); - gotOne = true; - } - } - if (gotOne) - { - try - { - DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); - oneCallback.callback(); - } - catch (Exception e) - { - DetailLog("{0},BSScene.ProcessTaints,doTaintException,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG - m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e); - } - } - } - if (_taintOperations.Count > 0) - { - DetailLog("{0},BSScene.ProcessTaints,leftTaintsOnList,numNotProcessed={1}", DetailLogZero, _taintOperations.Count); - } - */ - // swizzle a new list into the list location so we can process what's there List oldList; lock (_taintLock) @@ -796,6 +782,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters return; } + // Taints that happen after the normal taint processing but before the simulation step. private void ProcessPostTaintTaints() { if (_postTaintOperations.Count > 0) @@ -823,45 +810,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } } - public void PostStepTaintObject(String ident, TaintCallback callback) - { - if (!m_initialized) return; - - lock (_taintLock) - { - _postStepOperations.Add(new TaintCallbackEntry(ident, callback)); - } - - return; - } - - private void ProcessPostStepTaints() - { - if (_postStepOperations.Count > 0) - { - List oldList; - lock (_taintLock) - { - oldList = _postStepOperations; - _postStepOperations = new List(); - } - - foreach (TaintCallbackEntry tcbe in oldList) - { - try - { - DetailLog("{0},BSScene.ProcessPostStepTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG - tcbe.callback(); - } - catch (Exception e) - { - m_log.ErrorFormat("{0}: ProcessPostStepTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e); - } - } - oldList.Clear(); - } - } - // Only used for debugging. Does not change state of anything so locking is not necessary. public bool AssertInTaintTime(string whereFrom) { -- cgit v1.1 From 30807b81cc9f91917fd3b4bf8dc24a1622013afa Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 22 Dec 2012 17:09:40 -0800 Subject: BulletSim: modify avatar motor code to make falling movement better. Clean up some usages. Disable motor when done. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 75 ++++++++++++---------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 3 + 3 files changed, 45 insertions(+), 35 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 01cd279..8e059ee 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -158,6 +158,7 @@ public sealed class BSCharacter : BSPhysObject _velocityMotor.Reset(); _velocityMotor.SetCurrent(_velocity); _velocityMotor.SetTarget(_velocity); + _velocityMotor.Enabled = false; // This will enable or disable the flying buoyancy of the avatar. // Needs to be reset especially when an avatar is recreated after crossing a region boundry. @@ -435,13 +436,13 @@ public sealed class BSCharacter : BSPhysObject OMV.Vector3 targetVel = value; PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate() { - float timeStep = 0.089f; // DEBUG DEBUG FIX FIX FIX _velocityMotor.Reset(); _velocityMotor.SetTarget(targetVel); _velocityMotor.SetCurrent(_velocity); - // Compute a velocity value and make sure it gets pushed into the avatar. - // This makes sure the avatar will start from a stop. - ForceVelocity = _velocityMotor.Step(timeStep); + _velocityMotor.Enabled = true; + + // Make sure a property update happens next step so the motor gets incorporated. + BulletSimAPI.PushUpdate2(PhysBody.ptr); }); } } @@ -450,12 +451,15 @@ public sealed class BSCharacter : BSPhysObject get { return _velocity; } set { _velocity = value; - _velocityMotor.Reset(); - _velocityMotor.SetCurrent(_velocity); - _velocityMotor.SetTarget(_velocity); // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() { + _velocityMotor.Reset(); + _velocityMotor.SetCurrent(_velocity); + _velocityMotor.SetTarget(_velocity); + // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar. + _velocityMotor.Enabled = false; + DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); ForceVelocity = _velocity; }); @@ -466,6 +470,7 @@ public sealed class BSCharacter : BSPhysObject set { PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); + _velocity = value; // Depending on whether the avatar is moving or not, change the friction // to keep the avatar from slipping around if (_velocity.Length() == 0) @@ -486,7 +491,6 @@ public sealed class BSCharacter : BSPhysObject BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); } } - _velocity = value; // Remember the set velocity so we can suppress the reduction by friction, ... _appliedVelocity = value; @@ -746,39 +750,42 @@ public sealed class BSCharacter : BSPhysObject _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; + // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. PositionSanityCheck(true); + if (_velocityMotor.Enabled) + { + // TODO: Decide if the step parameters should be changed depending on the avatar's + // state (flying, colliding, ...). + + OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep); + + // If falling, we keep the world's downward vector no matter what the other axis specify. + if (!Flying && !IsColliding) + { + stepVelocity.Z = entprop.Velocity.Z; + DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); + } + + // If the user has said stop and we've stopped applying velocity correction, + // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer. + if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) + { + stepVelocity = OMV.Vector3.Zero; + _velocityMotor.Enabled = false; + DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor); + } + + _velocity = stepVelocity; + entprop.Velocity = _velocity; + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); + } + // remember the current and last set values LastEntityProperties = CurrentEntityProperties; CurrentEntityProperties = entprop; - // Avatars don't respond to world friction, etc. They only go the speed I tell them too. - // Special kludge here for falling. Even though the target velocity might not have a - // Z component, the avatar could be falling (walked off a ledge, stopped flying, ...) - // and that velocity component must be retained. - float timeStep = 0.089f; // DEBUG DEBUG FIX FIX FIX - OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep); - // Remove next line so avatars don't fly up forever. DEBUG DEBUG this is only temporary. - // stepVelocity.Z += entprop.Velocity.Z; - _velocity = stepVelocity; - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); - /* - OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep); - OMV.Vector3 avVel = new OMV.Vector3(stepVelocity.X, stepVelocity.Y, entprop.Velocity.Z); - _velocity = avVel; - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel); - - if (entprop.Velocity != LastEntityProperties.Velocity) - { - // Changes in the velocity are suppressed in avatars. - // That's just the way they are defined. - OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z); - _velocity = avVel; - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel); - } - */ - // Tell the linkset about value changes Linkset.UpdateProperties(this, true); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 19de1e5..c76f869 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -153,7 +153,7 @@ public abstract class BSPhysObject : PhysicsActor public abstract OMV.Quaternion ForceOrientation { get; set; } // The system is telling us the velocity it wants to move at. - protected OMV.Vector3 m_targetVelocity; + // protected OMV.Vector3 m_targetVelocity; // use the definition in PhysicsActor public override OMV.Vector3 TargetVelocity { get { return m_targetVelocity; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index c084ab4..9a7e965 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -112,6 +112,9 @@ Test avatar walking up stairs. How does compare with SL. Debounce avatar contact so legs don't keep folding up when standing. Implement LSL physics controls. Like STATUS_ROTATE_X. Add border extensions to terrain to help region crossings and objects leaving region. +Use a different capsule shape for avatar when sitting + LL uses a pyrimidal shape scaled by the avatar's bounding box + http://wiki.secondlife.com/wiki/File:Avmeshforms.png Performance test with lots of avatars. Can BulletSim support a thousand? Optimize collisions in C++: only send up to the object subscribed to collisions. -- cgit v1.1 From 80cee1b85a646045c02e2bb675056d532ce2fe27 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 24 Dec 2012 08:56:02 -0800 Subject: BulletSim: Fix single physical prim reporting its mass as zero. Properly return root mass as mass of just the root prim rather than the mass of the linkset. SOG has the logic to add the masses together to get the linkset mass. Update TODO list. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 9 +-- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 20 +++--- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 13 ++-- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 6 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 3 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 71 ++++++++++++++-------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 15 ++++- 7 files changed, 83 insertions(+), 54 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 8e059ee..bf0545a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -174,7 +174,7 @@ public sealed class BSCharacter : BSPhysObject BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); } - UpdatePhysicalMassProperties(RawMass); + UpdatePhysicalMassProperties(RawMass, false); // Make so capsule does not fall over BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); @@ -224,7 +224,7 @@ public sealed class BSCharacter : BSPhysObject if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) { BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); - UpdatePhysicalMassProperties(RawMass); + UpdatePhysicalMassProperties(RawMass, true); // Make sure this change appears as a property update event BulletSimAPI.PushUpdate2(PhysBody.ptr); } @@ -390,7 +390,7 @@ public sealed class BSCharacter : BSPhysObject public override float RawMass { get {return _mass; } } - public override void UpdatePhysicalMassProperties(float physMass) + public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) { OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); @@ -772,8 +772,9 @@ public sealed class BSCharacter : BSPhysObject // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer. if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) { - stepVelocity = OMV.Vector3.Zero; _velocityMotor.Enabled = false; + stepVelocity = OMV.Vector3.Zero; + ZeroMotion(true); DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 8580928..756faed 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -97,14 +97,7 @@ public abstract class BSLinkset } // We keep the prim's mass in the linkset structure since it could be dependent on other prims - protected float m_mass; - public float LinksetMass - { - get - { - return m_mass; - } - } + public float LinksetMass { get; protected set; } public virtual bool LinksetIsColliding { get { return false; } } @@ -128,7 +121,7 @@ public abstract class BSLinkset PhysicsScene = scene; LinksetRoot = parent; m_children = new HashSet(); - m_mass = parent.RawMass; + LinksetMass = parent.RawMass; Rebuilding = false; } @@ -143,7 +136,7 @@ public abstract class BSLinkset // Don't add the root to its own linkset if (!IsRoot(child)) AddChildToLinkset(child); - m_mass = ComputeLinksetMass(); + LinksetMass = ComputeLinksetMass(); } return this; } @@ -162,7 +155,7 @@ public abstract class BSLinkset return this; } RemoveChildFromLinkset(child); - m_mass = ComputeLinksetMass(); + LinksetMass = ComputeLinksetMass(); } // The child is down to a linkset of just itself @@ -230,7 +223,10 @@ public abstract class BSLinkset // When physical properties are changed the linkset needs to recalculate // its internal properties. // May be called at runtime or taint-time. - public abstract void Refresh(BSPhysObject requestor); + public virtual void Refresh(BSPhysObject requestor) + { + LinksetMass = ComputeLinksetMass(); + } // Flag denoting the linkset is in the process of being rebuilt. // Used to know not the schedule a rebuild in the middle of a rebuild. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 2a7b72c..d5cbf5f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -5,7 +5,7 @@ * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. + * notice, this list of conditions and the following disclat simer. * * Redistributions in binary form must reproduce the above copyrightD * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. @@ -89,6 +89,8 @@ public sealed class BSLinksetCompound : BSLinkset // its internal properties. public override void Refresh(BSPhysObject requestor) { + base.Refresh(requestor); + // Something changed so do the rebuilding thing // ScheduleRebuild(); } @@ -96,13 +98,13 @@ public sealed class BSLinksetCompound : BSLinkset // Schedule a refresh to happen after all the other taint processing. private void ScheduleRebuild(BSPhysObject requestor) { - DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,rebuilding={1}", + DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}", requestor.LocalID, Rebuilding); // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. if (!Rebuilding) { - PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", LinksetRoot.LocalID, delegate() + PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() { if (HasAnyChildren) RecomputeLinksetCompound(); @@ -123,7 +125,6 @@ public sealed class BSLinksetCompound : BSLinkset if (IsRoot(child)) { // The root is going dynamic. Make sure mass is properly set. - m_mass = ComputeLinksetMass(); ScheduleRebuild(LinksetRoot); } else @@ -377,8 +378,8 @@ public sealed class BSLinksetCompound : BSLinkset }); // With all of the linkset packed into the root prim, it has the mass of everyone. - float linksetMass = LinksetMass; - LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + LinksetMass = LinksetMass; + LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); } finally { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index d95f223..6b592e7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -46,6 +46,8 @@ public sealed class BSLinksetConstraints : BSLinkset // refresh will happen once after all the other taints are applied. public override void Refresh(BSPhysObject requestor) { + base.Refresh(requestor); + // Queue to happen after all the other taint processing PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() { @@ -279,7 +281,7 @@ public sealed class BSLinksetConstraints : BSLinkset private void RecomputeLinksetConstraints() { float linksetMass = LinksetMass; - LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true); // DEBUG: see of inter-linkset collisions are causing problems // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, @@ -292,7 +294,7 @@ public sealed class BSLinksetConstraints : BSLinkset // A child in the linkset physically shows the mass of the whole linkset. // This allows Bullet to apply enough force on the child to move the whole linkset. // (Also do the mass stuff before recomputing the constraint so mass is not zero.) - child.UpdatePhysicalMassProperties(linksetMass); + child.UpdatePhysicalMassProperties(linksetMass, true); BSConstraint constrain; if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index c76f869..4bed535 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -96,7 +96,8 @@ public abstract class BSPhysObject : PhysicsActor // Return the object mass without calculating it or having side effects public abstract float RawMass { get; } // Set the raw mass but also update physical mass properties (inertia, ...) - public abstract void UpdatePhysicalMassProperties(float mass); + // 'inWorld' true if the object has already been added to the dynamic world. + public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld); // The last value calculated for the prim's inertia public OMV.Vector3 Inertia { get; set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 26b8df5..159f79f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -115,6 +115,8 @@ public sealed class BSPrim : BSPhysObject PhysBody = new BulletBody(LocalID); PhysShape = new BulletShape(); + Linkset.Refresh(this); + DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time PhysicsScene.TaintedObject("BSPrim.create", delegate() @@ -384,13 +386,13 @@ public sealed class BSPrim : BSPhysObject } // Return the effective mass of the object. - // If there are multiple items in the linkset, add them together for the root + // The definition of this call is to return the mass of the prim. + // If the simulator cares about the mass of the linkset, it will sum it itself. public override float Mass { get { - return Linkset.LinksetMass; - // return _mass; + return _mass; } } @@ -400,22 +402,41 @@ public sealed class BSPrim : BSPhysObject } // Set the physical mass to the passed mass. // Note that this does not change _mass! - public override void UpdatePhysicalMassProperties(float physMass) + public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) { - if (IsStatic) + if (PhysBody.HasPhysicalBody) { - Inertia = OMV.Vector3.Zero; - BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); - BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); - } - else - { - Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); - BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); - BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); - // center of mass is at the zero of the object - // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); - DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia); + if (IsStatic) + { + Inertia = OMV.Vector3.Zero; + BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); + BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); + } + else + { + if (inWorld) + { + // Changing interesting properties doesn't change proxy and collision cache + // information. The Bullet solution is to re-add the object to the world + // after parameters are changed. + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + } + + float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); + BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); + + Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); + BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); + BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); + // center of mass is at the zero of the object + // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); + DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia); + + if (inWorld) + { + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + } + } } } @@ -714,7 +735,7 @@ public sealed class BSPrim : BSPhysObject Linkset.Refresh(this); DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", - LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape); + LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape); } // "Making dynamic" means changing to and from static. @@ -737,7 +758,7 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); // Mass is zero which disables a bunch of physics stuff in Bullet - UpdatePhysicalMassProperties(0f); + UpdatePhysicalMassProperties(0f, false); // Set collision detection parameters if (BSParam.CcdMotionThreshold > 0f) { @@ -777,7 +798,7 @@ public sealed class BSPrim : BSPhysObject // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); // A dynamic object has mass - UpdatePhysicalMassProperties(RawMass); + UpdatePhysicalMassProperties(RawMass, false); // Set collision detection parameters if (BSParam.CcdMotionThreshold > 0f) @@ -950,13 +971,9 @@ public sealed class BSPrim : BSPhysObject set { _buoyancy = value; // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); - // Buoyancy is faked by changing the gravity applied to the object - if (PhysBody.HasPhysicalBody) - { - float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); - ActivateIfPhysical(false); - } + // Force the recalculation of the various inertia,etc variables in the object + UpdatePhysicalMassProperties(_mass, true); + ActivateIfPhysical(false); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 9a7e965..0f27d67 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,11 +1,17 @@ CURRENT PRIORITIES ================================================= -Smooth avatar movement with motor - Should motor update be all at taint-time? +Smooth avatar movement with motor (DONE) + Should motor update be all at taint-time? (Yes, DONE) + Fix avatar slowly sliding when standing (zero motion when stopped) +llApplyImpulse() + Compare mass/movement in OS and SL. Calibrate actions. +llSetBuoyancy() +Boats float low in the water Enable vehicle border crossings (at least as poorly as ODE) Terrain skirts Avatar created in previous region and not new region when crossing border Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) +Add material densities to the material types. Vehicle movement on terrain smoothness Vehicle script tuning/debugging Avanti speed script @@ -52,6 +58,8 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl BULLETSIM TODO LIST: ================================================= +In SL, perfect spheres don't seem to have rolling friction. Add special case. +Avatar density is WAY off. Compare and calibrate with what's in SL. Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. Duplicating a physical prim causes old prim to jump away Dup a phys prim and the original become unselected and thus interacts w/ selected prim. @@ -82,6 +90,9 @@ Linkset.Position and Linkset.Orientation requre rewrite to properly return Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F) Should the different PID factors have non-equal contributions for different values of Efficiency? +Selecting and deselecting physical objects causes CPU processing time to jump + http://www.youtube.com/watch?v=Hjg57fWg8yI&hd=1 + put thousand physical objects, select and deselect same. CPU time will be large. LINKSETS ====================================================== -- cgit v1.1 From 4759a8acee97fa175c078ec72d9b8cf0db96121b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 24 Dec 2012 20:16:10 -0800 Subject: BulletSim: Default avatar density changed to 3.5 which is WAY closer to the SL value. Fixed frictin values for physical materials which were just wrong which caused things that should have slipped to not. --- OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs | 16 ++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- 2 files changed, 9 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs index c113a43..92d62ff 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs @@ -119,26 +119,26 @@ public static class BSMaterials Attributes[(int)MaterialAttributes.Material.Light] = new MaterialAttributes("light",dDensity, dFriction, dRestitution); Attributes[(int)MaterialAttributes.Material.Avatar] = - new MaterialAttributes("avatar",60f, 0.2f, 0f); + new MaterialAttributes("avatar",3.5f, 0.2f, 0f); Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] = new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f); Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("metalPhysical",dDensity, 0.8f, 0.4f); + new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f); Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("glassPhysical",dDensity, 0.8f, 0.7f); + new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f); Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("woodPhysical",dDensity, 0.8f, 0.5f); + new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f); Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("fleshPhysical",dDensity, 0.8f, 0.3f); + new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f); Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("plasticPhysical",dDensity, 0.8f, 0.7f); + new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f); Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("rubberPhysical",dDensity, 0.8f, 0.9f); + new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f); Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] = new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution); Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("avatarPhysical",60f, 0.2f, 0f); + new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f); } // Under the [BulletSim] section, one can change the individual material diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 5558ad5..7454718 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -351,7 +351,7 @@ public static class BSParam (s) => { return AvatarStandingFriction; }, (s,p,l,v) => { AvatarStandingFriction = v; } ), new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", - 60f, + 3.5f, (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); }, (s) => { return AvatarDensity; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ), -- cgit v1.1 From bbc5a5089f79a4c5543f4a3f1cd4ffaf1de8c07e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 24 Dec 2012 20:18:06 -0800 Subject: BulletSim: Rename some of the interface structures (BulletWorld, ...) to get ready for... Start creation of BulletAPITemplate. This defines the abstract interface functions. Following commits will move over to the new interface. This will enable switching between the managed and unmanaged version of Bullet. --- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 2 +- .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 4 +- .../BulletSPlugin/BSConstraintCollection.cs | 4 +- .../Physics/BulletSPlugin/BSConstraintHinge.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 6 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 392 +++++++++++++++++++++ .../Region/Physics/BulletSPlugin/BulletSimData.cs | 4 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 7 + 9 files changed, 412 insertions(+), 13 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index e77fb50..59584b2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -36,7 +36,7 @@ public abstract class BSConstraint : IDisposable { private static string LogHeader = "[BULLETSIM CONSTRAINT]"; - protected BulletSim m_world; + protected BulletWorld m_world; protected BulletBody m_body1; protected BulletBody m_body2; protected BulletConstraint m_constraint; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index b073555..b946870 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -39,7 +39,7 @@ public sealed class BSConstraint6Dof : BSConstraint public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } // Create a btGeneric6DofConstraint - public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2, + public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 frame1, Quaternion frame1rot, Vector3 frame2, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) @@ -58,7 +58,7 @@ public sealed class BSConstraint6Dof : BSConstraint obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); } - public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2, + public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index a9fd826..2aeff25 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -41,9 +41,9 @@ public sealed class BSConstraintCollection : IDisposable delegate bool ConstraintAction(BSConstraint constrain); private List m_constraints; - private BulletSim m_world; + private BulletWorld m_world; - public BSConstraintCollection(BulletSim world) + public BSConstraintCollection(BulletWorld world) { m_world = world; m_constraints = new List(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs index ed3ffa7..a5378b9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs @@ -36,7 +36,7 @@ public sealed class BSConstraintHinge : BSConstraint { public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } } - public BSConstraintHinge(BulletSim world, BulletBody obj1, BulletBody obj2, + public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 pivotInA, Vector3 pivotInB, Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e8e0d50..0022e45 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -74,7 +74,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public IMesher mesher; public uint WorldID { get; private set; } - public BulletSim World { get; private set; } + public BulletWorld World { get; private set; } // All the constraints that have been allocated in this instance. public BSConstraintCollection Constraints { get; private set; } @@ -242,7 +242,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); - World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(), + World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(), m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(), m_DebugLogCallbackHandle)); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 939d5e9..65ebcaa 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -98,7 +98,7 @@ public sealed class BSShapeCollection : IDisposable // 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, BulletSim sim, BSPhysObject prim, + public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) { PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape"); @@ -126,7 +126,7 @@ public sealed class BSShapeCollection : IDisposable return ret; } - public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim) + public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim) { return GetBodyAndShape(forceRebuild, sim, prim, null, null); } @@ -918,7 +918,7 @@ public sealed class BSShapeCollection : IDisposable // 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, BulletSim sim, BulletShape shape, + private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape, BodyDestructionCallback bodyCallback) { bool ret = false; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 7857eaa..afe5bca 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -288,6 +288,398 @@ public enum ConstraintParamAxis : int AXIS_ALL }; +public abstract class BulletSimAPITemplate +{ +// Initialization and simulation +public abstract BulletWorld Initialize2(Vector3 maxPosition, IntPtr parms, + int maxCollisions, IntPtr collisionArray, + int maxUpdates, IntPtr updateArray + ); + +public abstract bool UpdateParameter2(BulletWorld world, uint localID, String parm, float value); + +public abstract void SetHeightMap2(BulletWorld world, float[] heightmap); + +public abstract void Shutdown2(BulletWorld sim); + +public abstract int PhysicsStep2(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, + out IntPtr updatedEntitiesPtr, + out int collidersCount, + out IntPtr collidersPtr); + +public abstract bool PushUpdate2(BulletBody obj); + +// ===================================================================================== +// Mesh, hull, shape and body creation helper routines +public abstract BulletShape CreateMeshShape2(BulletWorld world, + int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, + int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); + +public abstract BulletShape CreateHullShape2(BulletWorld world, + int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); + +public abstract BulletShape BuildHullShapeFromMesh2(BulletWorld world, BulletShape meshShape); + +public abstract BulletShape BuildNativeShape2(BulletWorld world, ShapeData shapeData); + +public abstract bool IsNativeShape2(BulletShape shape); + +public abstract void SetShapeCollisionMargin(BulletShape shape, float margin); + +public abstract BulletShape BuildCapsuleShape2(BulletWorld world, float radius, float height, Vector3 scale); + +public abstract BulletShape CreateCompoundShape2(BulletWorld sim, bool enableDynamicAabbTree); + +public abstract int GetNumberOfCompoundChildren2(BulletShape cShape); + +public abstract void AddChildShapeToCompoundShape2(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot); + +public abstract BulletShape GetChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx); + +public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx); + +public abstract void RemoveChildShapeFromCompoundShape2(BulletShape cShape, BulletShape removeShape); + +public abstract void RecalculateCompoundShapeLocalAabb2(BulletShape cShape); + +public abstract BulletShape DuplicateCollisionShape2(BulletWorld sim, BulletShape srcShape, uint id); + +public abstract BulletBody CreateBodyFromShapeAndInfo2(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo); + +public abstract bool DeleteCollisionShape2(BulletWorld world, BulletShape shape); + +public abstract int GetBodyType2(BulletBody obj); + +public abstract BulletBody CreateBodyFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); + +public abstract BulletBody CreateBodyWithDefaultMotionState2(BulletShape shape, uint id, Vector3 pos, Quaternion rot); + +public abstract BulletBody CreateGhostFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); + +public abstract IntPtr AllocateBodyInfo2(BulletBody obj); + +public abstract void ReleaseBodyInfo2(IntPtr obj); + +public abstract void DestroyObject2(BulletWorld sim, BulletBody obj); + +// ===================================================================================== +// Terrain creation and helper routines +public abstract IntPtr CreateHeightMapInfo2(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); + +public abstract IntPtr FillHeightMapInfo2(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); + +public abstract bool ReleaseHeightMapInfo2(IntPtr heightMapInfo); + +public abstract BulletBody CreateGroundPlaneShape2(uint id, float height, float collisionMargin); + +public abstract BulletBody CreateTerrainShape2(IntPtr mapInfo); + +// ===================================================================================== +// Constraint creation and helper routines +public abstract BulletConstraint Create6DofConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +public abstract BulletConstraint Create6DofConstraintToPoint2(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 joinPoint, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +public abstract BulletConstraint CreateHingeConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 pivotinA, Vector3 pivotinB, + Vector3 axisInA, Vector3 axisInB, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +public abstract void SetConstraintEnable2(BulletConstraint constrain, float numericTrueFalse); + +public abstract void SetConstraintNumSolverIterations2(BulletConstraint constrain, float iterations); + +public abstract bool SetFrames2(BulletConstraint constrain, + Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); + +public abstract bool SetLinearLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi); + +public abstract bool SetAngularLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi); + +public abstract bool UseFrameOffset2(BulletConstraint constrain, float enable); + +public abstract bool TranslationalLimitMotor2(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce); + +public abstract bool SetBreakingImpulseThreshold2(BulletConstraint constrain, float threshold); + +public abstract bool CalculateTransforms2(BulletConstraint constrain); + +public abstract bool SetConstraintParam2(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); + +public abstract bool DestroyConstraint2(BulletWorld world, BulletConstraint constrain); + +// ===================================================================================== +// btCollisionWorld entries +public abstract void UpdateSingleAabb2(BulletWorld world, BulletBody obj); + +public abstract void UpdateAabbs2(BulletWorld world); + +public abstract bool GetForceUpdateAllAabbs2(BulletWorld world); + +public abstract void SetForceUpdateAllAabbs2(BulletWorld world, bool force); + +// ===================================================================================== +// btDynamicsWorld entries +public abstract bool AddObjectToWorld2(BulletWorld world, BulletBody obj); + +public abstract bool RemoveObjectFromWorld2(BulletWorld world, BulletBody obj); + +public abstract bool AddConstraintToWorld2(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects); + +public abstract bool RemoveConstraintFromWorld2(BulletWorld world, BulletConstraint constrain); +// ===================================================================================== +// btCollisionObject entries +public abstract Vector3 GetAnisotripicFriction2(BulletConstraint constrain); + +public abstract Vector3 SetAnisotripicFriction2(BulletConstraint constrain, Vector3 frict); + +public abstract bool HasAnisotripicFriction2(BulletConstraint constrain); + +public abstract void SetContactProcessingThreshold2(BulletBody obj, float val); + +public abstract float GetContactProcessingThreshold2(BulletBody obj); + +public abstract bool IsStaticObject2(BulletBody obj); + +public abstract bool IsKinematicObject2(BulletBody obj); + +public abstract bool IsStaticOrKinematicObject2(BulletBody obj); + +public abstract bool HasContactResponse2(BulletBody obj); + +public abstract void SetCollisionShape2(BulletWorld sim, BulletBody obj, BulletBody shape); + +public abstract BulletShape GetCollisionShape2(BulletBody obj); + +public abstract int GetActivationState2(BulletBody obj); + +public abstract void SetActivationState2(BulletBody obj, int state); + +public abstract void SetDeactivationTime2(BulletBody obj, float dtime); + +public abstract float GetDeactivationTime2(BulletBody obj); + +public abstract void ForceActivationState2(BulletBody obj, ActivationState state); + +public abstract void Activate2(BulletBody obj, bool forceActivation); + +public abstract bool IsActive2(BulletBody obj); + +public abstract void SetRestitution2(BulletBody obj, float val); + +public abstract float GetRestitution2(BulletBody obj); + +public abstract void SetFriction2(BulletBody obj, float val); + +public abstract float GetFriction2(BulletBody obj); + + /* Haven't defined the type 'Transform' +public abstract Transform GetWorldTransform2(BulletBody obj); + +public abstract void setWorldTransform2(BulletBody obj, Transform trans); + */ + +public abstract Vector3 GetPosition2(BulletBody obj); + +public abstract Quaternion GetOrientation2(BulletBody obj); + +public abstract void SetTranslation2(BulletBody obj, Vector3 position, Quaternion rotation); + +public abstract IntPtr GetBroadphaseHandle2(BulletBody obj); + +public abstract void SetBroadphaseHandle2(BulletBody obj, IntPtr handle); + + /* +public abstract Transform GetInterpolationWorldTransform2(IntPtr obj); + +public abstract void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); + */ + +public abstract void SetInterpolationLinearVelocity2(BulletBody obj, Vector3 vel); + +public abstract void SetInterpolationAngularVelocity2(BulletBody obj, Vector3 vel); + +public abstract void SetInterpolationVelocity2(BulletBody obj, Vector3 linearVel, Vector3 angularVel); + +public abstract float GetHitFraction2(BulletBody obj); + +public abstract void SetHitFraction2(BulletBody obj, float val); + +public abstract CollisionFlags GetCollisionFlags2(BulletBody obj); + +public abstract CollisionFlags SetCollisionFlags2(BulletBody obj, CollisionFlags flags); + +public abstract CollisionFlags AddToCollisionFlags2(BulletBody obj, CollisionFlags flags); + +public abstract CollisionFlags RemoveFromCollisionFlags2(BulletBody obj, CollisionFlags flags); + +public abstract float GetCcdMotionThreshold2(BulletBody obj); + +public abstract void SetCcdMotionThreshold2(BulletBody obj, float val); + +public abstract float GetCcdSweptSphereRadius2(BulletBody obj); + +public abstract void SetCcdSweptSphereRadius2(BulletBody obj, float val); + +public abstract IntPtr GetUserPointer2(BulletBody obj); + +public abstract void SetUserPointer2(BulletBody obj, IntPtr val); + +// ===================================================================================== +// btRigidBody entries +public abstract void ApplyGravity2(BulletBody obj); + +public abstract void SetGravity2(BulletBody obj, Vector3 val); + +public abstract Vector3 GetGravity2(BulletBody obj); + +public abstract void SetDamping2(BulletBody obj, float lin_damping, float ang_damping); + +public abstract void SetLinearDamping2(BulletBody obj, float lin_damping); + +public abstract void SetAngularDamping2(BulletBody obj, float ang_damping); + +public abstract float GetLinearDamping2(BulletBody obj); + +public abstract float GetAngularDamping2(BulletBody obj); + +public abstract float GetLinearSleepingThreshold2(BulletBody obj); + + +public abstract void ApplyDamping2(BulletBody obj, float timeStep); + +public abstract void SetMassProps2(BulletBody obj, float mass, Vector3 inertia); + +public abstract Vector3 GetLinearFactor2(BulletBody obj); + +public abstract void SetLinearFactor2(BulletBody obj, Vector3 factor); + + /* +public abstract void SetCenterOfMassTransform2(BulletBody obj, Transform trans); + */ + +public abstract void SetCenterOfMassByPosRot2(BulletBody obj, Vector3 pos, Quaternion rot); + +// Add a force to the object as if its mass is one. +public abstract void ApplyCentralForce2(BulletBody obj, Vector3 force); + +// Set the force being applied to the object as if its mass is one. +public abstract void SetObjectForce2(BulletBody obj, Vector3 force); + +public abstract Vector3 GetTotalForce2(BulletBody obj); + +public abstract Vector3 GetTotalTorque2(BulletBody obj); + +public abstract Vector3 GetInvInertiaDiagLocal2(BulletBody obj); + +public abstract void SetInvInertiaDiagLocal2(BulletBody obj, Vector3 inert); + +public abstract void SetSleepingThresholds2(BulletBody obj, float lin_threshold, float ang_threshold); + +public abstract void ApplyTorque2(BulletBody obj, Vector3 torque); + +// Apply force at the given point. Will add torque to the object. +public abstract void ApplyForce2(BulletBody obj, Vector3 force, Vector3 pos); + +// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. +public abstract void ApplyCentralImpulse2(BulletBody obj, Vector3 imp); + +// Apply impulse to the object's torque. Force is scaled by object's mass. +public abstract void ApplyTorqueImpulse2(BulletBody obj, Vector3 imp); + +// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. +public abstract void ApplyImpulse2(BulletBody obj, Vector3 imp, Vector3 pos); + +public abstract void ClearForces2(BulletBody obj); + +public abstract void ClearAllForces2(BulletBody obj); + +public abstract void UpdateInertiaTensor2(BulletBody obj); + + + /* +public abstract Transform GetCenterOfMassTransform2(BulletBody obj); + */ + +public abstract Vector3 GetLinearVelocity2(BulletBody obj); + +public abstract Vector3 GetAngularVelocity2(BulletBody obj); + +public abstract void SetLinearVelocity2(BulletBody obj, Vector3 val); + +public abstract void SetAngularVelocity2(BulletBody obj, Vector3 angularVelocity); + +public abstract Vector3 GetVelocityInLocalPoint2(BulletBody obj, Vector3 pos); + +public abstract void Translate2(BulletBody obj, Vector3 trans); + +public abstract void UpdateDeactivation2(BulletBody obj, float timeStep); + +public abstract bool WantsSleeping2(BulletBody obj); + +public abstract void SetAngularFactor2(BulletBody obj, float factor); + +public abstract void SetAngularFactorV2(BulletBody obj, Vector3 factor); + +public abstract Vector3 GetAngularFactor2(BulletBody obj); + +public abstract bool IsInWorld2(BulletBody obj); + +public abstract void AddConstraintRef2(BulletBody obj, BulletConstraint constrain); + +public abstract void RemoveConstraintRef2(BulletBody obj, BulletConstraint constrain); + +public abstract BulletConstraint GetConstraintRef2(BulletBody obj, int index); + +public abstract int GetNumConstraintRefs2(BulletBody obj); + +public abstract bool SetCollisionGroupMask2(BulletBody body, uint filter, uint mask); + +// ===================================================================================== +// btCollisionShape entries + +public abstract float GetAngularMotionDisc2(BulletShape shape); + +public abstract float GetContactBreakingThreshold2(BulletShape shape, float defaultFactor); + +public abstract bool IsPolyhedral2(BulletShape shape); + +public abstract bool IsConvex2d2(BulletShape shape); + +public abstract bool IsConvex2(BulletShape shape); + +public abstract bool IsNonMoving2(BulletShape shape); + +public abstract bool IsConcave2(BulletShape shape); + +public abstract bool IsCompound2(BulletShape shape); + +public abstract bool IsSoftBody2(BulletShape shape); + +public abstract bool IsInfinite2(BulletShape shape); + +public abstract void SetLocalScaling2(BulletShape shape, Vector3 scale); + +public abstract Vector3 GetLocalScaling2(BulletShape shape); + +public abstract Vector3 CalculateLocalInertia2(BulletShape shape, float mass); + +public abstract int GetShapeType2(BulletShape shape); + +public abstract void SetMargin2(BulletShape shape, float val); + +public abstract float GetMargin2(BulletShape shape); + +}; + // =============================================================================== static class BulletSimAPI { // =============================================================================== diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 662177f..36d38d4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -35,9 +35,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin // These hold pointers to allocated objects in the unmanaged space. // The physics engine controller class created at initialization -public struct BulletSim +public struct BulletWorld { - public BulletSim(uint worldId, BSScene bss, IntPtr xx) + public BulletWorld(uint worldId, BSScene bss, IntPtr xx) { ptr = xx; worldID = worldId; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 0f27d67..35cb8f3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -146,6 +146,13 @@ Is there are more efficient method of implementing pre and post step actions? See http://www.codeproject.com/Articles/29922/Weak-Events-in-C Physics Arena central pyramid: why is one side permiable? +Enforce physical parameter min/max: + Gravity: [-1, 28] + Friction: [0, 255] + Density: [1, 22587] + Restitution [0, 1] + http://wiki.secondlife.com/wiki/Physics_Material_Settings_test +Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/31796/1.html INTERNAL IMPROVEMENT/CLEANUP ================================================= -- cgit v1.1 From 5f71ee57c44f277e9e78392c616509498459c027 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 25 Dec 2012 23:54:10 -0800 Subject: BulletSim: stop avatar from sliding VERY slowly after walking by only zeroing the movement motor in the UpdateProperties routine. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index bf0545a..9f0d5af 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -260,7 +260,6 @@ public sealed class BSCharacter : BSPhysObject public override void ZeroMotion(bool inTaintTime) { _velocity = OMV.Vector3.Zero; - _velocityMotor.Zero(); _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; @@ -772,9 +771,9 @@ public sealed class BSCharacter : BSPhysObject // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer. if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) { - _velocityMotor.Enabled = false; - stepVelocity = OMV.Vector3.Zero; ZeroMotion(true); + stepVelocity = OMV.Vector3.Zero; + _velocityMotor.Enabled = false; DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor); } -- cgit v1.1 From d1ede1df3a04428c83a9937059a0df00d7f3e281 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 25 Dec 2012 23:55:25 -0800 Subject: BulletSim: make llBuoyancy work. For some reason, Bullet resets an object's individual gravity to the world gravity when the object is added to the physical world. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 3 +++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 12 ++++++++---- OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 3 ++- 3 files changed, 13 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 3fde57b..a8edd23 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -573,6 +573,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); + Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy); + BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav); + VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 159f79f..0d13096 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -422,20 +422,24 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); } - float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); - Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); + // center of mass is at the zero of the object // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); - DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia); + DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld); if (inWorld) { BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); } + + // Must set gravity after it has been added to the world because, for unknown reasons, + // adding the object resets the object's gravity to world gravity + OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy); + BulletSimAPI.SetGravity2(PhysBody.ptr, grav); + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 35cb8f3..9d07d72 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -58,7 +58,6 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl BULLETSIM TODO LIST: ================================================= -In SL, perfect spheres don't seem to have rolling friction. Add special case. Avatar density is WAY off. Compare and calibrate with what's in SL. Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. Duplicating a physical prim causes old prim to jump away @@ -146,6 +145,8 @@ Is there are more efficient method of implementing pre and post step actions? See http://www.codeproject.com/Articles/29922/Weak-Events-in-C Physics Arena central pyramid: why is one side permiable? + +In SL, perfect spheres don't seem to have rolling friction. Add special case. Enforce physical parameter min/max: Gravity: [-1, 28] Friction: [0, 255] -- cgit v1.1 From 225b564573a5ac12ca1b1e592834476feccf8ebb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 26 Dec 2012 10:25:50 -0800 Subject: BulletSim: scale the force for external AddForce by the simulation step time so it will be applied completely the next step. The internal AddForce routine does not scale the force. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 12 +++++++++++- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++++ OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 4 ++++ 3 files changed, 19 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 0d13096..9013414 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1014,7 +1014,9 @@ public sealed class BSPrim : BSPhysObject public override float APIDDamping { set { return; } } public override void AddForce(OMV.Vector3 force, bool pushforce) { - AddForce(force, pushforce, false); + // Since this force is being applied in only one step, make this a force per second. + OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; + AddForce(addForce, pushforce, false); } // Applying a force just adds this to the total force on the object. // This added force will only last the next simulation tick. @@ -1022,8 +1024,16 @@ public sealed class BSPrim : BSPhysObject // for an object, doesn't matter if force is a pushforce or not if (force.IsFinite()) { + float magnitude = force.Length(); + if (magnitude > 20000f) + { + // Force has a limit + force = force / magnitude * 20000f; + } + OMV.Vector3 addForce = force; DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() { // Bullet adds this central force to the total force for this tick diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 0022e45..b67c0ed 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -495,6 +495,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters InTaintTime = false; // Only used for debugging so locking is not necessary. + // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. + // Only enable this in a limited test world with few objects. + // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG + // step the physical world one interval m_simulationStep++; int numSubSteps = 0; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 9d07d72..78cc26c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -35,6 +35,8 @@ Border crossing with linked vehicle causes crash Vehicles (Move smoothly) Add vehicle collisions so IsColliding is properly reported. Needed for banking, limitMotorUp, movementLimiting, ... +VehicleAddForce is not scaled by the simulation step but it is only + applied for one step. Should it be scaled? Some vehicles should not be able to turn if no speed or off ground. Cannot edit/move a vehicle being ridden: it jumps back to the origional position. Neb car jiggling left and right @@ -92,6 +94,8 @@ Should the different PID factors have non-equal contributions for different Selecting and deselecting physical objects causes CPU processing time to jump http://www.youtube.com/watch?v=Hjg57fWg8yI&hd=1 put thousand physical objects, select and deselect same. CPU time will be large. +Re-implement buoyancy as a separate force on the object rather than diddling gravity. + Register a pre-step event to add the force. LINKSETS ====================================================== -- cgit v1.1 From e98e223927226602d7a050bbb92ebb2904e81562 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 27 Dec 2012 06:56:36 -0800 Subject: BulletSim: complete applyImpulse function in BSCharacter (like I said I did last time). --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 25 +++++++++++++++------- 1 file changed, 17 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 9f0d5af..cbc1772 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -683,22 +683,31 @@ public sealed class BSCharacter : BSPhysObject public override void AddForce(OMV.Vector3 force, bool pushforce) { if (force.IsFinite()) { - _force.X += force.X; - _force.Y += force.Y; - _force.Z += force.Z; - // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); + float magnitude = force.Length(); + if (magnitude > BSParam.MaxAddForceMagnitude) + { + // Force has a limit + force = force / magnitude * BSParam.MaxAddForceMagnitude; + } + + OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; + DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce); + PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate() { - DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); + // Bullet adds this central force to the total force for this tick + DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); + { + BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); + } }); } else { - m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader); + m_log.WarnFormat("{0}: Got a NaN force applied to a character. LocalID={1}", LogHeader, LocalID); + return; } - //m_lastUpdateSent = false; } public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { -- cgit v1.1 From f3baed5827853c5041f042ff36cf394b1e45538f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 27 Dec 2012 06:58:07 -0800 Subject: BulletSim: add physical parameter min/max constants in BSParam. I just don't like raw numbers scattered around the code. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 12 ++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 9 --------- OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 1 + 4 files changed, 15 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 7454718..8366cef 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -89,6 +89,18 @@ public static class BSParam public static float PID_D { get; private set; } // derivative public static float PID_P { get; private set; } // proportional + // Various constants that come from that other virtual world that shall not be named + public const float MinGravityZ = -1f; + public const float MaxGravityZ = 28f; + public const float MinFriction = 0f; + public const float MaxFriction = 255f; + public const float MinDensity = 0f; + public const float MaxDensity = 22587f; + public const float MinRestitution = 0f; + public const float MaxRestitution = 1f; + public const float MaxAddForceMagnitude = 20000f; + + // =========================================================================== public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); public delegate float ParamGet(BSScene scene); public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 9013414..c7a81e0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1025,10 +1025,10 @@ public sealed class BSPrim : BSPhysObject if (force.IsFinite()) { float magnitude = force.Length(); - if (magnitude > 20000f) + if (magnitude > BSParam.MaxAddForceMagnitude) { // Force has a limit - force = force / magnitude * 20000f; + force = force / magnitude * BSParam.MaxAddForceMagnitude; } OMV.Vector3 addForce = force; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index b67c0ed..a5fbf10 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -38,15 +38,6 @@ using Nini.Config; using log4net; using OpenMetaverse; -// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) -// Based on material, set density and friction -// More efficient memory usage when passing hull information from BSPrim to BulletSim -// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect -// Implement LockAngularMotion -// Add PID movement operations. What does ScenePresence.MoveToTarget do? -// Check terrain size. 128 or 127? -// Raycast -// namespace OpenSim.Region.Physics.BulletSPlugin { public sealed class BSScene : PhysicsScene, IPhysicsParameters diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 78cc26c..bc6dd7e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -96,6 +96,7 @@ Selecting and deselecting physical objects causes CPU processing time to jump put thousand physical objects, select and deselect same. CPU time will be large. Re-implement buoyancy as a separate force on the object rather than diddling gravity. Register a pre-step event to add the force. +More efficient memory usage when passing hull information from BSPrim to BulletSim LINKSETS ====================================================== -- cgit v1.1 From 723099067976dfa71d18182378000df144d618af Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 27 Dec 2012 10:09:31 -0800 Subject: BulletSim: fix odd code that wasn't really recomputing the mass of a rebuilt linkset. I was burnt by making get/set methods with side effects. I should know better. --- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index d5cbf5f..4e02904 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -98,11 +98,12 @@ public sealed class BSLinksetCompound : BSLinkset // Schedule a refresh to happen after all the other taint processing. private void ScheduleRebuild(BSPhysObject requestor) { - DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}", - requestor.LocalID, Rebuilding); + DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2}", + requestor.LocalID, Rebuilding, HasAnyChildren); // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. - if (!Rebuilding) + // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. + if (!Rebuilding && HasAnyChildren) { PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() { @@ -112,8 +113,7 @@ public sealed class BSLinksetCompound : BSLinkset } } - // The object is going dynamic (physical). Do any setup necessary - // for a dynamic linkset. + // The object is going dynamic (physical). Do any setup necessary for a dynamic linkset. // Only the state of the passed object can be modified. The rest of the linkset // has not yet been fully constructed. // Return 'true' if any properties updated on the passed object. @@ -124,7 +124,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); if (IsRoot(child)) { - // The root is going dynamic. Make sure mass is properly set. + // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. ScheduleRebuild(LinksetRoot); } else @@ -378,7 +378,7 @@ public sealed class BSLinksetCompound : BSLinkset }); // With all of the linkset packed into the root prim, it has the mass of everyone. - LinksetMass = LinksetMass; + LinksetMass = ComputeLinksetMass(); LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); } finally -- cgit v1.1 From e57c0e6731bff376186ecba2530e76b697ab5887 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 27 Dec 2012 13:13:35 -0800 Subject: BulletSim: fix buoyancy so it's properly set by a script when an object is selected. Update TODO list. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 4 +-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 29 +++++++++++++++++++--- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 24 ++++++++++++------ 4 files changed, 44 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 4e02904..19ce62b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -5,7 +5,7 @@ * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclat simer. + * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyrightD * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 9e1a9ba..817a5f7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -241,8 +241,8 @@ public class BSVMotor : BSMotor public override string ToString() { - return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>", - UseName, CurrentValue, TargetValue, TargetValueDecayTimeScale, FrictionTimescale); + return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>", + UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index c7a81e0..f804a0f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -94,7 +94,7 @@ public sealed class BSPrim : BSPhysObject _size = size; Scale = size; // prims are the size the user wants them to be (different for BSCharactes). _orientation = rotation; - _buoyancy = 1f; + _buoyancy = 0f; _velocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; BaseShape = pbs; @@ -408,12 +408,15 @@ public sealed class BSPrim : BSPhysObject { if (IsStatic) { + BulletSimAPI.SetGravity2(PhysBody.ptr, PhysicsScene.DefaultGravity); Inertia = OMV.Vector3.Zero; BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); } else { + OMV.Vector3 grav = ComputeGravity(); + if (inWorld) { // Changing interesting properties doesn't change proxy and collision cache @@ -422,13 +425,16 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); } + // The computation of mass props requires gravity to be set on the object. + BulletSimAPI.SetGravity2(PhysBody.ptr, grav); + Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); // center of mass is at the zero of the object // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); - DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld); + DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld); if (inWorld) { @@ -437,13 +443,23 @@ public sealed class BSPrim : BSPhysObject // Must set gravity after it has been added to the world because, for unknown reasons, // adding the object resets the object's gravity to world gravity - OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy); BulletSimAPI.SetGravity2(PhysBody.ptr, grav); } } } + // Return what gravity should be set to this very moment + private OMV.Vector3 ComputeGravity() + { + OMV.Vector3 ret = PhysicsScene.DefaultGravity; + + if (!IsStatic) + ret *= (1f - Buoyancy); + + return ret; + } + // Is this used? public override OMV.Vector3 CenterOfMass { @@ -669,7 +685,7 @@ public sealed class BSPrim : BSPhysObject _isPhysical = value; PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() { - // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); + DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); SetObjectDynamic(true); // whether phys-to-static or static-to-phys, the object is not moving. ZeroMotion(true); @@ -726,6 +742,10 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. + // Replace this when the new AddObjectToWorld function is complete. + BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity()); + // Rebuild its shape BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); @@ -976,6 +996,7 @@ public sealed class BSPrim : BSPhysObject _buoyancy = value; // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Force the recalculation of the various inertia,etc variables in the object + DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2}", LocalID, _buoyancy, _mass); UpdatePhysicalMassProperties(_mass, true); ActivateIfPhysical(false); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index bc6dd7e..a66508a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,22 +1,21 @@ CURRENT PRIORITIES ================================================= -Smooth avatar movement with motor (DONE) - Should motor update be all at taint-time? (Yes, DONE) - Fix avatar slowly sliding when standing (zero motion when stopped) -llApplyImpulse() - Compare mass/movement in OS and SL. Calibrate actions. -llSetBuoyancy() -Boats float low in the water +Redo BulletSimAPI to allow native C# implementation of Bullet option. +Avatar movement + flying into a wall doesn't stop avatar who keeps appearing to move through the obsticle + walking up stairs is not calibrated correctly (stairs out of Kepler cabin) + avatar capsule rotation completed Enable vehicle border crossings (at least as poorly as ODE) Terrain skirts Avatar created in previous region and not new region when crossing border Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) -Add material densities to the material types. Vehicle movement on terrain smoothness Vehicle script tuning/debugging Avanti speed script Weapon shooter script limitMotorUp calibration (more down?) +Boats float low in the water +Add material densities to the material types. CRASHES ================================================= @@ -243,3 +242,12 @@ Should vehicle angular/linear movement friction happen after all the components What is expected by some vehicles (turning up friction to moderate speed)) Tune terrain/object friction to be closer to SL. (Resolution: added material type with friction and resolution) +Smooth avatar movement with motor (DONE) + Should motor update be all at taint-time? (Yes, DONE) + Fix avatar slowly sliding when standing (zero motion when stopped) (DONE) + (Resolution: added BSVMotor for avatar starting and stopping) +llApplyImpulse() + Compare mass/movement in OS and SL. Calibrate actions. (DONE) + (Resolution: tested on SL and OS. AddForce scales the force for timestep) +llSetBuoyancy() (DONE) + (Resolution: Bullet resets object gravity when added to world. Moved set gravity) -- cgit v1.1 From 7a5f598399c7373bd146061b478e6d04cb204879 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 27 Dec 2012 16:05:11 -0800 Subject: BulletSim: move logic for IsColliding, CollidingGround and CollidingObj from individual sub-classes and up to parent BSPhysObject class. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 36 ++++++++------------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 37 +++++++++++++++++++++- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 18 ++--------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 3 +- 4 files changed, 55 insertions(+), 39 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index cbc1772..3f7b5e1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -584,18 +584,6 @@ public sealed class BSCharacter : BSPhysObject get { return _throttleUpdates; } set { _throttleUpdates = value; } } - public override bool IsColliding { - get { return (CollidingStep == PhysicsScene.SimulationStep); } - set { _isColliding = value; } - } - public override bool CollidingGround { - get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } - set { CollidingGround = value; } - } - public override bool CollidingObj { - get { return _collidingObj; } - set { _collidingObj = value; } - } public override bool FloatOnWater { set { _floatOnWater = value; @@ -769,22 +757,26 @@ public sealed class BSCharacter : BSPhysObject OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep); - // If falling, we keep the world's downward vector no matter what the other axis specify. - if (!Flying && !IsColliding) - { - stepVelocity.Z = entprop.Velocity.Z; - DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); - } - - // If the user has said stop and we've stopped applying velocity correction, - // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer. - if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) + // Check for cases to turn off the motor. + if ( + // If the walking motor is all done, turn it off + (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) ) { ZeroMotion(true); stepVelocity = OMV.Vector3.Zero; _velocityMotor.Enabled = false; DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor); } + else + { + // If the motor is not being turned off... + // If falling, we keep the world's downward vector no matter what the other axis specify. + if (!Flying && !IsColliding) + { + stepVelocity.Z = entprop.Velocity.Z; + DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); + } + } _velocity = stepVelocity; entprop.Velocity = _velocity; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 4bed535..73b5764 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -182,9 +182,40 @@ public abstract class BSPhysObject : PhysicsActor protected long CollidingStep { get; set; } // The simulation step that last had a collision with the ground protected long CollidingGroundStep { get; set; } + // The simulation step that last collided with an object + protected long CollidingObjectStep { get; set; } // The collision flags we think are set in Bullet protected CollisionFlags CurrentCollisionFlags { get; set; } + public override bool IsColliding { + get { return (CollidingStep == PhysicsScene.SimulationStep); } + set { + if (value) + CollidingStep = PhysicsScene.SimulationStep; + else + CollidingStep = 0; + } + } + public override bool CollidingGround { + get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } + set + { + if (value) + CollidingGroundStep = PhysicsScene.SimulationStep; + else + CollidingGroundStep = 0; + } + } + public override bool CollidingObj { + get { return (CollidingObjectStep == PhysicsScene.SimulationStep); } + set { + if (value) + CollidingObjectStep = PhysicsScene.SimulationStep; + else + CollidingObjectStep = 0; + } + } + // The collisions that have been collected this tick protected CollisionEventUpdate CollisionCollection; @@ -196,12 +227,16 @@ public abstract class BSPhysObject : PhysicsActor { bool ret = false; - // The following lines make IsColliding() and IsCollidingGround() work + // The following lines make IsColliding(), CollidingGround() and CollidingObj work CollidingStep = PhysicsScene.SimulationStep; if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID) { CollidingGroundStep = PhysicsScene.SimulationStep; } + else + { + CollidingObjectStep = PhysicsScene.SimulationStep; + } // prims in the same linkset cannot collide with each other if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index f804a0f..06e4ada 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -915,18 +915,6 @@ public sealed class BSPrim : BSPhysObject get { return _throttleUpdates; } set { _throttleUpdates = value; } } - public override bool IsColliding { - get { return (CollidingStep == PhysicsScene.SimulationStep); } - set { _isColliding = value; } - } - public override bool CollidingGround { - get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } - set { _collidingGround = value; } - } - public override bool CollidingObj { - get { return _collidingObj; } - set { _collidingObj = value; } - } public bool IsPhantom { get { // SceneObjectPart removes phantom objects from the physics scene @@ -1006,12 +994,12 @@ public sealed class BSPrim : BSPhysObject public override OMV.Vector3 PIDTarget { set { _PIDTarget = value; } } - public override bool PIDActive { - set { _usePID = value; } - } public override float PIDTau { set { _PIDTau = value; } } + public override bool PIDActive { + set { _usePID = value; } + } // Used for llSetHoverHeight and maybe vehicle height // Hover Height will override MoveTo target's Z diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index a66508a..16131cd 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -2,9 +2,10 @@ CURRENT PRIORITIES ================================================= Redo BulletSimAPI to allow native C# implementation of Bullet option. Avatar movement - flying into a wall doesn't stop avatar who keeps appearing to move through the obsticle + flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle walking up stairs is not calibrated correctly (stairs out of Kepler cabin) avatar capsule rotation completed +llMoveToTarget Enable vehicle border crossings (at least as poorly as ODE) Terrain skirts Avatar created in previous region and not new region when crossing border -- cgit v1.1 From c1e7539c77480b839d513dbb7db74aa8f260eba0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 27 Dec 2012 18:19:25 -0800 Subject: BulletSim: Parameterize nominal frame rate (55) and add parameters to dynamially turn on/off detailed, unmanaged data dumping of prims and vehicles. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 6 ++++++ OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 5 +++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 11 ++++++++--- 4 files changed, 21 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index a8edd23..0bdfbe3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -822,6 +822,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (!IsActive) return; + if (PhysicsScene.VehiclePhysicalLoggingEnabled) + BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr); + ForgetKnownVehicleProperties(); MoveLinear(pTimestep); @@ -836,6 +839,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin // for the physics engine to note the changes so an UpdateProperties event will happen. PushKnownChanged(); + if (PhysicsScene.VehiclePhysicalLoggingEnabled) + BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr); + VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 8366cef..f8f24bd 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -212,6 +212,11 @@ public static class BSParam (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); }, (s) => { return (float)s.m_fixedTimeStep; }, (s,p,l,v) => { s.m_fixedTimeStep = v; } ), + new ParameterDefn("NominalFrameRate", "The base frame rate we claim", + 55f, + (s,cf,p,v) => { s.NominalFrameRate = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.NominalFrameRate; }, + (s,p,l,v) => { s.NominalFrameRate = (int)v; } ), new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", 2048f, (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 06e4ada..2d429c4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -758,8 +758,8 @@ public sealed class BSPrim : BSPhysObject // For compound based linksets, this enables and disables interactions of the children. Linkset.Refresh(this); - DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", - LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape); + 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); } // "Making dynamic" means changing to and from static. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index a5fbf10..8edcd20 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -74,6 +74,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters internal int m_maxSubSteps; internal float m_fixedTimeStep; internal long m_simulationStep = 0; + internal float NominalFrameRate { get; set; } public long SimulationStep { get { return m_simulationStep; } } internal int m_taintsToProcessPerStep; internal float LastTimeStep { get; private set; } @@ -162,6 +163,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters private string m_physicsLoggingPrefix; private int m_physicsLoggingFileMinutes; private bool m_physicsLoggingDoFlush; + private bool m_physicsPhysicalDumpEnabled; // 'true' of the vehicle code is to log lots of details public bool VehicleLoggingEnabled { get; private set; } public bool VehiclePhysicalLoggingEnabled { get; private set; } @@ -272,6 +274,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-"); m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false); + m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", false); // Very detailed logging for vehicle debugging VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false); @@ -488,7 +491,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. // Only enable this in a limited test world with few objects. - // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG + if (m_physicsPhysicalDumpEnabled) + BulletSimAPI.DumpAllInfo2(World.ptr); // step the physical world one interval m_simulationStep++; @@ -587,12 +591,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. // Only enable this in a limited test world with few objects. - // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG + if (m_physicsPhysicalDumpEnabled) + BulletSimAPI.DumpAllInfo2(World.ptr); // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. // Multiply by 55 to give a nominal frame rate of 55. - return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f; + return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate; } // Something has collided -- cgit v1.1 From 422f0fd6ec6e30c5200dbf81875c64223002f9c7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 27 Dec 2012 22:02:38 -0800 Subject: BulletSim: fix physical object not interacting with static objects. Another instance of the underlying Bullet doing, ah, helpful things when items are added to the world. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 33 +++++++++++++++++++------- 1 file changed, 24 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 2d429c4..5f3f0d1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -438,7 +438,7 @@ public sealed class BSPrim : BSPhysObject if (inWorld) { - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + AddObjectToPhysicalWorld(); } // Must set gravity after it has been added to the world because, for unknown reasons, @@ -740,18 +740,11 @@ public sealed class BSPrim : BSPhysObject // Make solid or not (do things bounce off or pass through this object). MakeSolid(IsSolid); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); - - // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. - // Replace this when the new AddObjectToWorld function is complete. - BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity()); + AddObjectToPhysicalWorld(); // Rebuild its shape BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); - // Collision filter can be set only when the object is in the world - PhysBody.ApplyCollisionMask(); - // Recompute any linkset parameters. // When going from non-physical to physical, this re-enables the constraints that // had been automatically disabled when the mass was set to zero. @@ -900,6 +893,28 @@ public sealed class BSPrim : BSPhysObject } } + // Add me to the physical world. + // Object MUST NOT already be in the world. + // This routine exists because some assorted properties get mangled by adding to the world. + internal void AddObjectToPhysicalWorld() + { + if (PhysBody.HasPhysicalBody) + { + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + + // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. + // Replace this when the new AddObjectToWorld function is complete. + BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity()); + + // Collision filter can be set only when the object is in the world + if (!PhysBody.ApplyCollisionMask()) + { + m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID); + DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType); + } + } + } + // prims don't fly public override bool Flying { get { return _flying; } -- cgit v1.1 From 1f6aaad0b587f1589afd7a7ca6feb8d2bbba8641 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 27 Dec 2012 22:04:12 -0800 Subject: BulletSim: correct collision mask definition for linkset children. Remove unused code. Add comments and TODOs. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 + .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 24 +++++++++---------- .../Region/Physics/BulletSPlugin/BulletSimData.cs | 27 ++++------------------ .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 1 + 4 files changed, 18 insertions(+), 35 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 8edcd20..4133107 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -269,6 +269,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters BSParam.SetParameterConfigurationValues(this, pConfig); // Very detailed logging for physics debugging + // TODO: the boolean values can be moved to the normal parameter processing. m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", "."); m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-"); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index afe5bca..eb4d039 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -250,20 +250,20 @@ public enum CollisionFilterGroups : uint // filter/mask definition below. This way collision interactions // are more easily found and debugged. BNoneGroup = 0, - BDefaultGroup = 1 << 0, - BStaticGroup = 1 << 1, - BKinematicGroup = 1 << 2, - BDebrisGroup = 1 << 3, - BSensorTrigger = 1 << 4, - BCharacterGroup = 1 << 5, - BAllGroup = 0xFFFFFFFF, + BDefaultGroup = 1 << 0, // 0001 + BStaticGroup = 1 << 1, // 0002 + BKinematicGroup = 1 << 2, // 0004 + BDebrisGroup = 1 << 3, // 0008 + BSensorTrigger = 1 << 4, // 0010 + BCharacterGroup = 1 << 5, // 0020 + BAllGroup = 0x000FFFFF, // Filter groups defined by BulletSim - BGroundPlaneGroup = 1 << 10, - BTerrainGroup = 1 << 11, - BRaycastGroup = 1 << 12, - BSolidGroup = 1 << 13, + BGroundPlaneGroup = 1 << 10, // 0400 + BTerrainGroup = 1 << 11, // 0800 + BRaycastGroup = 1 << 12, // 1000 + BSolidGroup = 1 << 13, // 2000 // BLinksetGroup = xx // a linkset proper is either static or dynamic - BLinksetChildGroup = 1 << 14, + BLinksetChildGroup = 1 << 14, // 4000 }; // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 36d38d4..5ad6746 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -72,12 +72,12 @@ public struct BulletBody public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } // Apply the specificed collision mask into the physical world - public void ApplyCollisionMask() + public bool ApplyCollisionMask() { // Should assert the body has been added to the physical world. // (The collision masks are stored in the collision proxy cache which only exists for // a collision body that is in the world.) - BulletSimAPI.SetCollisionGroupMask2(ptr, + return BulletSimAPI.SetCollisionGroupMask2(ptr, BulletSimData.CollisionTypeMasks[collisionType].group, BulletSimData.CollisionTypeMasks[collisionType].mask); } @@ -207,26 +207,6 @@ public struct CollisionTypeFilterGroup public uint mask; }; - /* NOTE: old definitions kept for reference. Delete when things are working. - // The collsion filters and masked are defined in one place -- don't want them scattered - AvatarGroup = BCharacterGroup, - AvatarMask = BAllGroup, - ObjectGroup = BSolidGroup, - ObjectMask = BAllGroup, - StaticObjectGroup = BStaticGroup, - StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much - LinksetGroup = BLinksetGroup, - LinksetMask = BAllGroup, - LinksetChildGroup = BLinksetChildGroup, - LinksetChildMask = BNoneGroup, // Linkset children disappear from the world - VolumeDetectGroup = BSensorTrigger, - VolumeDetectMask = ~BSensorTrigger, - TerrainGroup = BTerrainGroup, - TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide - GroundPlaneGroup = BGroundPlaneGroup, - GroundPlaneMask = BAllGroup - */ - public static class BulletSimData { @@ -269,8 +249,9 @@ public static Dictionary CollisionTypeM }, { CollisionType.LinksetChild, new CollisionTypeFilterGroup(CollisionType.LinksetChild, - (uint)CollisionFilterGroups.BTerrainGroup, + (uint)CollisionFilterGroups.BLinksetChildGroup, (uint)(CollisionFilterGroups.BNoneGroup)) + // (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) }, }; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 16131cd..f805836 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -194,6 +194,7 @@ Should taints check for existance or activeness of target? actually gone when the taint happens. Crashes don't happen because the taint closure keeps the object from being freed, but that is just an accident. Possibly have and 'active' flag that is checked by the taint processor? +Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones) THREADING ================================================= -- cgit v1.1 From 70e0a86601ed33113a87189ee53a40e12790c609 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 28 Dec 2012 11:56:07 -0800 Subject: BulletSim: fix problem of avatars appearing to walk through walls by moving the movement motor to a pre-step action and out of its questionable previous home in UpdateProperties. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 106 +++++++++++---------- 1 file changed, 55 insertions(+), 51 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 3f7b5e1..90936d0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -91,17 +91,7 @@ public sealed class BSCharacter : BSPhysObject if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; - // A motor to control the acceleration and deceleration of the avatar movement. - // _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f); - // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f); - // Infinite decay and timescale values so motor only changes current to target values. - _velocityMotor = new BSVMotor("BSCharacter.Velocity", - 0.2f, // time scale - BSMotor.Infinite, // decay time scale - BSMotor.InfiniteVector, // friction timescale - 1f // efficiency - ); - _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. + SetupMovementMotor(); _flying = isFlying; _orientation = OMV.Quaternion.Identity; @@ -152,13 +142,12 @@ public sealed class BSCharacter : BSPhysObject ZeroMotion(true); ForcePosition = _position; + // Set the velocity and compute the proper friction - ForceVelocity = _velocity; - // Setting the current and target in the motor will cause it to start computing any deceleration. _velocityMotor.Reset(); - _velocityMotor.SetCurrent(_velocity); _velocityMotor.SetTarget(_velocity); - _velocityMotor.Enabled = false; + _velocityMotor.SetCurrent(_velocity); + ForceVelocity = _velocity; // This will enable or disable the flying buoyancy of the avatar. // Needs to be reset especially when an avatar is recreated after crossing a region boundry. @@ -192,6 +181,48 @@ public sealed class BSCharacter : BSPhysObject PhysBody.ApplyCollisionMask(); } + // The avatar's movement is controlled by this motor that speeds up and slows down + // the avatar seeking to reach the motor's target speed. + // This motor runs as a prestep action for the avatar so it will keep the avatar + // standing as well as moving. Destruction of the avatar will destroy the pre-step action. + private void SetupMovementMotor() + { + + // Someday, use a PID motor for asymmetric speed up and slow down + // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f); + + // Infinite decay and timescale values so motor only changes current to target values. + _velocityMotor = new BSVMotor("BSCharacter.Velocity", + 0.2f, // time scale + BSMotor.Infinite, // decay time scale + BSMotor.InfiniteVector, // friction timescale + 1f // efficiency + ); + // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. + + RegisterPreStepAction("BSCharactor.Movement", LocalID, delegate(float timeStep) + { + // TODO: Decide if the step parameters should be changed depending on the avatar's + // state (flying, colliding, ...). There is code in ODE to do this. + + OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep); + + // If falling, we keep the world's downward vector no matter what the other axis specify. + if (!Flying && !IsColliding) + { + stepVelocity.Z = _velocity.Z; + DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", + LocalID, stepVelocity); + } + + // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. + OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass / PhysicsScene.LastTimeStep; + DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", + LocalID, stepVelocity, _velocity, Mass, moveForce); + AddForce(moveForce, false, true); + }); + } + public override void RequestPhysicsterseUpdate() { base.RequestPhysicsterseUpdate(); @@ -668,7 +699,13 @@ public sealed class BSCharacter : BSPhysObject public override float APIDStrength { set { return; } } public override float APIDDamping { set { return; } } - public override void AddForce(OMV.Vector3 force, bool pushforce) { + public override void AddForce(OMV.Vector3 force, bool pushforce) + { + // Since this force is being applied in only one step, make this a force per second. + OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; + AddForce(addForce, pushforce, false); + } + private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { if (force.IsFinite()) { float magnitude = force.Length(); @@ -678,10 +715,10 @@ public sealed class BSCharacter : BSPhysObject force = force / magnitude * BSParam.MaxAddForceMagnitude; } - OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; + OMV.Vector3 addForce = force; DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce); - PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate() + PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate() { // Bullet adds this central force to the total force for this tick DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); @@ -750,39 +787,6 @@ public sealed class BSCharacter : BSPhysObject // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. PositionSanityCheck(true); - if (_velocityMotor.Enabled) - { - // TODO: Decide if the step parameters should be changed depending on the avatar's - // state (flying, colliding, ...). - - OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep); - - // Check for cases to turn off the motor. - if ( - // If the walking motor is all done, turn it off - (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) ) - { - ZeroMotion(true); - stepVelocity = OMV.Vector3.Zero; - _velocityMotor.Enabled = false; - DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor); - } - else - { - // If the motor is not being turned off... - // If falling, we keep the world's downward vector no matter what the other axis specify. - if (!Flying && !IsColliding) - { - stepVelocity.Z = entprop.Velocity.Z; - DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); - } - } - - _velocity = stepVelocity; - entprop.Velocity = _velocity; - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); - } - // remember the current and last set values LastEntityProperties = CurrentEntityProperties; CurrentEntityProperties = entprop; -- cgit v1.1 From 7266eeca6efd10852a062cfc802a50c346b7b119 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 28 Dec 2012 12:01:57 -0800 Subject: BulletSim: add 'AvatarAlwaysRunFactor' parameter and use in setTargetVelocity to implement the 'always run' feature. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 6 +++--- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 ++++++ 2 files changed, 9 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 90936d0..901f976 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -464,15 +464,15 @@ public sealed class BSCharacter : BSPhysObject { DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value); OMV.Vector3 targetVel = value; + if (_setAlwaysRun) + targetVel *= BSParam.AvatarAlwaysRunFactor; + PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate() { _velocityMotor.Reset(); _velocityMotor.SetTarget(targetVel); _velocityMotor.SetCurrent(_velocity); _velocityMotor.Enabled = true; - - // Make sure a property update happens next step so the motor gets incorporated. - BulletSimAPI.PushUpdate2(PhysBody.ptr); }); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index f8f24bd..5c8553a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -68,6 +68,7 @@ public static class BSParam // Avatar parameters public static float AvatarFriction { get; private set; } public static float AvatarStandingFriction { get; private set; } + public static float AvatarAlwaysRunFactor { get; private set; } public static float AvatarDensity { get; private set; } public static float AvatarRestitution { get; private set; } public static float AvatarCapsuleWidth { get; private set; } @@ -367,6 +368,11 @@ public static class BSParam (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); }, (s) => { return AvatarStandingFriction; }, (s,p,l,v) => { AvatarStandingFriction = v; } ), + new ParameterDefn("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run", + 1.3f, + (s,cf,p,v) => { AvatarAlwaysRunFactor = cf.GetFloat(p, v); }, + (s) => { return AvatarAlwaysRunFactor; }, + (s,p,l,v) => { AvatarAlwaysRunFactor = v; } ), new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", 3.5f, (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); }, -- cgit v1.1 From db6c0363f05db8b2a180eff04db9138a378d227f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 29 Dec 2012 08:03:57 -0800 Subject: BulletSim: tweeking avatar capsule code in an attempt to have asymmetrical avatar capsule work now that rotation is being passed from the simulator. Turns out the Bullet capsule is just not very functional: it doesn't scale properly, the implementation only half does asymmetry and, in general, is hard to work with. Avatar shape is about what it was before these changes. Added initial data structures for avatar shape mesh. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 104 ++++++++++++--------- .../Physics/BulletSPlugin/BSShapeCollection.cs | 6 +- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 13 +++ .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 4 +- 4 files changed, 81 insertions(+), 46 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 901f976..9659542 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -66,7 +66,6 @@ public sealed class BSCharacter : BSPhysObject private float _buoyancy; // The friction and velocity of the avatar is modified depending on whether walking or not. - private OMV.Vector3 _appliedVelocity; // the last velocity applied to the avatar private float _currentFriction; // the friction currently being used (changed by setVelocity). private BSVMotor _velocityMotor; @@ -85,27 +84,27 @@ public sealed class BSCharacter : BSPhysObject _physicsActorType = (int)ActorTypes.Agent; _position = pos; - // Old versions of ScenePresence passed only the height. If width and/or depth are zero, - // replace with the default values. - _size = size; - if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; - if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; - - SetupMovementMotor(); - _flying = isFlying; _orientation = OMV.Quaternion.Identity; _velocity = OMV.Vector3.Zero; - _appliedVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); _currentFriction = BSParam.AvatarStandingFriction; _avatarDensity = BSParam.AvatarDensity; - // The dimensions of the avatar capsule are kept in the scale. + // Old versions of ScenePresence passed only the height. If width and/or depth are zero, + // replace with the default values. + _size = size; + if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; + if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; + + // The dimensions of the physical capsule are kept in the scale. // Physics creates a unit capsule which is scaled by the physics engine. - ComputeAvatarScale(_size); + Scale = ComputeAvatarScale(_size); // set _avatarVolume and _mass based on capsule size, _density and Scale ComputeAvatarVolumeAndMass(); + + SetupMovementMotor(); + DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); @@ -217,9 +216,21 @@ public sealed class BSCharacter : BSPhysObject // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass / PhysicsScene.LastTimeStep; - DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", - LocalID, stepVelocity, _velocity, Mass, moveForce); - AddForce(moveForce, false, true); + + // If moveForce is very small, zero things so we don't keep sending microscopic updates to the user + float moveForceMagnitudeSquared = moveForce.LengthSquared(); + if (moveForceMagnitudeSquared < 0.0001) + { + DetailLog("{0},BSCharacter.MoveMotor,zeroMovement,stepVel={1},vel={2},mass={3},magSq={4},moveForce={5}", + LocalID, stepVelocity, _velocity, Mass, moveForceMagnitudeSquared, moveForce); + ForceVelocity = OMV.Vector3.Zero; + } + else + { + DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", + LocalID, stepVelocity, _velocity, Mass, moveForce); + AddForce(moveForce, false, true); + } }); } @@ -238,14 +249,13 @@ public sealed class BSCharacter : BSPhysObject } set { - // When an avatar's size is set, only the height is changed. _size = value; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth; if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth; - ComputeAvatarScale(_size); + Scale = ComputeAvatarScale(_size); ComputeAvatarVolumeAndMass(); DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); @@ -521,8 +531,6 @@ public sealed class BSCharacter : BSPhysObject BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); } } - // Remember the set velocity so we can suppress the reduction by friction, ... - _appliedVelocity = value; BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); BulletSimAPI.Activate2(PhysBody.ptr, true); @@ -554,11 +562,7 @@ public sealed class BSCharacter : BSPhysObject // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() { - if (PhysBody.HasPhysicalBody) - { - // _position = BulletSimAPI.GetPosition2(BSBody.ptr); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - } + ForceOrientation = _orientation; }); } } @@ -573,7 +577,11 @@ public sealed class BSCharacter : BSPhysObject set { _orientation = value; - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + if (PhysBody.HasPhysicalBody) + { + // _position = BulletSimAPI.GetPosition2(BSBody.ptr); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + } } } public override int PhysicsActorType { @@ -716,7 +724,7 @@ public sealed class BSCharacter : BSPhysObject } OMV.Vector3 addForce = force; - DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce); + // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce); PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate() { @@ -740,21 +748,31 @@ public sealed class BSCharacter : BSPhysObject public override void SetMomentum(OMV.Vector3 momentum) { } - private void ComputeAvatarScale(OMV.Vector3 size) + private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size) { - OMV.Vector3 newScale = size; - // newScale.X = PhysicsScene.Params.avatarCapsuleWidth; - // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth; - - // From the total height, remove the capsule half spheres that are at each end - // The 1.15f came from ODE. Not sure what this factors in. - // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y); + OMV.Vector3 newScale; + + // Bullet's capsule total height is the "passed height + radius * 2"; + // The base capsule is 1 diameter and 2 height (passed radius=0.5, passed height = 1) + // The number we pass in for 'scaling' is the multiplier to get that base + // shape to be the size desired. + // So, when creating the scale for the avatar height, we take the passed height + // (size.Z) and remove the caps. + // Another oddity of the Bullet capsule implementation is that it presumes the Y + // dimension is the radius of the capsule. Even though some of the code allows + // for a asymmetrical capsule, other parts of the code presume it is cylindrical. + + // Scale is multiplier of radius with one of "0.5" + newScale.X = size.X / 2f; + newScale.Y = size.Y / 2f; // The total scale height is the central cylindar plus the caps on the two ends. - newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f); + newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2)) / 2f; + // If smaller than the endcaps, just fake like we're almost that small + if (newScale.Z < 0) + newScale.Z = 0.1f; - // Convert diameters to radii and height to half height -- the way Bullet expects it. - Scale = newScale / 2f; + return newScale; } // set _avatarVolume and _mass based on capsule size, _density and Scale @@ -762,14 +780,14 @@ public sealed class BSCharacter : BSPhysObject { _avatarVolume = (float)( Math.PI - * Scale.X - * Scale.Y // the area of capsule cylinder - * Scale.Z // times height of capsule cylinder + * Size.X / 2f + * Size.Y / 2f // the area of capsule cylinder + * Size.Z // times height of capsule cylinder + 1.33333333f * Math.PI - * Scale.X - * Math.Min(Scale.X, Scale.Y) - * Scale.Y // plus the volume of the capsule end caps + * Size.X / 2f + * Math.Min(Size.X, Size.Y) / 2 + * Size.Y / 2f // plus the volume of the capsule end caps ); _mass = _avatarDensity * _avatarVolume; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 65ebcaa..0cc51b0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -420,8 +420,7 @@ public sealed class BSShapeCollection : IDisposable 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); + 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; @@ -573,6 +572,9 @@ public sealed class BSShapeCollection : IDisposable { // The proper scale has been calculated in the prim. newShape = new BulletShape( + // Bullet's capsule total height is the passed "height + (radius * 2)" so, the base + // capsule is radius of 0.5f (1 diameter) and height of two (1.0f + 0.5f * 2)". + // This must be taken into account when computing the scaling of the capsule. BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale) , shapeType); if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 96cd55e..c7885c6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -205,4 +205,17 @@ public class BSShapeCompound : BSShape } public override void Dereference(BSScene physicsScene) { } } + +public class BSShapeAvatar : BSShape +{ + private static string LogHeader = "[BULLETSIM SHAPE AVATAR]"; + public BSShapeAvatar() : base() + { + } + public static BSShape GetReference(BSPhysObject prim) + { + return new BSShapeNull(); + } + public override void Dereference(BSScene physicsScene) { } +} } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index eb4d039..b909b38 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -69,6 +69,7 @@ public enum BSPhysicsShapeType SHAPE_TERRAIN = 21, SHAPE_COMPOUND = 22, SHAPE_HEIGHTMAP = 23, + SHAPE_AVATAR = 24, }; // The native shapes have predefined shape hash keys @@ -79,7 +80,8 @@ public enum FixedShapeKey : ulong KEY_SPHERE = 2, KEY_CONE = 3, KEY_CYLINDER = 4, - KEY_CAPSULE = 5, + KEY_CAPSULE = 5, + KEY_AVATAR = 6, } [StructLayout(LayoutKind.Sequential)] -- cgit v1.1 From 0538096fa3397c52b1171a3ec83dc88489002710 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 29 Dec 2012 08:32:57 -0800 Subject: BulletSim: an 'if' to suppress multiple setting of avatar orientation. Looks like the viewer bombards the server with avatar orientation information (we're talking several hundred a second) when the avatar is being turned or when walking. This change just reduces the number of 'set' calls into unmanaged code. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 9659542..e19b5b3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -558,12 +558,16 @@ public sealed class BSCharacter : BSPhysObject public override OMV.Quaternion Orientation { get { return _orientation; } set { - _orientation = value; - // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); - PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() + // Orientation is set zillions of times when an avatar is walking. It's like + // the viewer doesn't trust us. + if (_orientation != value) { - ForceOrientation = _orientation; - }); + _orientation = value; + PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() + { + ForceOrientation = _orientation; + }); + } } } // Go directly to Bullet to get/set the value. -- cgit v1.1 From 28a8949b9f315e9257a6c51d8872cd99d00fe556 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 29 Dec 2012 10:19:47 -0800 Subject: BulletSim: remove check for small motor movement because, while it did the right thing for stopping (speed reducing to zero), it prevented movement from starting (speed increasing from zero). Will revisit when the generalize PID motor is debugged. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 7 +++++-- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 2 +- 2 files changed, 6 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e19b5b3..3b77e49 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -217,6 +217,7 @@ public sealed class BSCharacter : BSPhysObject // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass / PhysicsScene.LastTimeStep; + /* // If moveForce is very small, zero things so we don't keep sending microscopic updates to the user float moveForceMagnitudeSquared = moveForce.LengthSquared(); if (moveForceMagnitudeSquared < 0.0001) @@ -227,10 +228,12 @@ public sealed class BSCharacter : BSPhysObject } else { - DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", - LocalID, stepVelocity, _velocity, Mass, moveForce); AddForce(moveForce, false, true); } + */ + DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", + LocalID, stepVelocity, _velocity, Mass, moveForce); + AddForce(moveForce, false, true); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index b909b38..b361498 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -80,7 +80,7 @@ public enum FixedShapeKey : ulong KEY_SPHERE = 2, KEY_CONE = 3, KEY_CYLINDER = 4, - KEY_CAPSULE = 5, + KEY_CAPSULE = 5, KEY_AVATAR = 6, } -- cgit v1.1 From 203588e3c0374505a6aa564d8f7a655d968653d7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 29 Dec 2012 18:34:46 -0800 Subject: BulletSim: change physical data structures to classes. Add default instantiations for PhysBody and PhysShape when BSPhysObject is created to account for them being classes and not structures. Update TODO list. --- .../Region/Physics/BulletSPlugin/BSLinksetConstraints.cs | 15 +++++++++------ OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 5 +++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 5 +---- OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs | 15 ++++++++++----- OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 4 ++++ 5 files changed, 29 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 6b592e7..86c29c7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -48,12 +48,15 @@ public sealed class BSLinksetConstraints : BSLinkset { base.Refresh(requestor); - // Queue to happen after all the other taint processing - PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() - { - if (HasAnyChildren && IsRoot(requestor)) - RecomputeLinksetConstraints(); - }); + if (HasAnyChildren && IsRoot(requestor)) + { + // Queue to happen after all the other taint processing + PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() + { + if (HasAnyChildren && IsRoot(requestor)) + RecomputeLinksetConstraints(); + }); + } } // The object is going dynamic (physical). Do any setup necessary diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 73b5764..b093890 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -67,6 +67,11 @@ public abstract class BSPhysObject : PhysicsActor PhysObjectName = name; TypeName = typeName; + // We don't have any physical representation yet. + PhysBody = new BulletBody(localID); + PhysShape = new BulletShape(); + + // A linkset of just me Linkset = BSLinkset.Factory(PhysicsScene, this); LastAssetBuildFailed = false; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 5f3f0d1..2de4717 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -111,10 +111,7 @@ public sealed class BSPrim : BSPhysObject _mass = CalculateMass(); - // No body or shape yet - PhysBody = new BulletBody(LocalID); - PhysShape = new BulletShape(); - + // Cause linkset variables to be initialized (like mass) Linkset.Refresh(this); DetailLog("{0},BSPrim.constructor,call", LocalID); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 5ad6746..cd5d170 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -35,7 +35,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // These hold pointers to allocated objects in the unmanaged space. // The physics engine controller class created at initialization -public struct BulletWorld +public class BulletWorld { public BulletWorld(uint worldId, BSScene bss, IntPtr xx) { @@ -50,7 +50,7 @@ public struct BulletWorld } // An allocated Bullet btRigidBody -public struct BulletBody +public class BulletBody { public BulletBody(uint id) : this(id, IntPtr.Zero) { @@ -96,9 +96,14 @@ public struct BulletBody } } -public struct BulletShape +public class BulletShape { - public BulletShape(IntPtr xx) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN) + public BulletShape() + : this(IntPtr.Zero, BSPhysicsShapeType.SHAPE_UNKNOWN) + { + } + public BulletShape(IntPtr xx) + : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN) { } public BulletShape(IntPtr xx, BSPhysicsShapeType typ) @@ -136,7 +141,7 @@ public struct BulletShape } // An allocated Bullet btConstraint -public struct BulletConstraint +public class BulletConstraint { public BulletConstraint(IntPtr xx) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index f805836..8ec9871 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -97,6 +97,9 @@ Selecting and deselecting physical objects causes CPU processing time to jump Re-implement buoyancy as a separate force on the object rather than diddling gravity. Register a pre-step event to add the force. More efficient memory usage when passing hull information from BSPrim to BulletSim +Avatar movement motor check for zero or small movement. Somehow suppress small movements + when avatar has stopped and is just standing. Simple test for near zero has + the problem of preventing starting up (increase from zero) especially when falling. LINKSETS ====================================================== @@ -195,6 +198,7 @@ Should taints check for existance or activeness of target? keeps the object from being freed, but that is just an accident. Possibly have and 'active' flag that is checked by the taint processor? Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones) +Can some of the physical wrapper classes (BulletBody, BulletWorld, BulletShape) be 'sealed'? THREADING ================================================= -- cgit v1.1 From 48f718f39fcd61501262878a8bcfbd98efed29d2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 29 Dec 2012 21:43:43 -0800 Subject: BulletSim: first round of conversion from direct BulletSimAPI interfacing by BulletSim core to using the BulletSimAPITemplate. Physical object creation and destruction first. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 8 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 6 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 10 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 63 +- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 7 +- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 7 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 8 +- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 8 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 947 ++++----------------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 7 +- 11 files changed, 234 insertions(+), 839 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 3b77e49..d5ab245 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -210,8 +210,7 @@ public sealed class BSCharacter : BSPhysObject if (!Flying && !IsColliding) { stepVelocity.Z = _velocity.Z; - DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", - LocalID, stepVelocity); + // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); } // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. @@ -231,8 +230,7 @@ public sealed class BSCharacter : BSPhysObject AddForce(moveForce, false, true); } */ - DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", - LocalID, stepVelocity, _velocity, Mass, moveForce); + // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); AddForce(moveForce, false, true); }); } @@ -736,7 +734,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate() { // Bullet adds this central force to the total force for this tick - DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); + // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) { BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 19ce62b..9bb951c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -359,7 +359,7 @@ public sealed class BSLinksetCompound : BSLinkset PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); BulletShape newShape = cPrim.PhysShape; cPrim.PhysShape = saveShape; - BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot); + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, lci.OffsetPos, lci.OffsetRot); } else { @@ -371,7 +371,7 @@ public sealed class BSLinksetCompound : BSLinkset PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); } - BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot); + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); } } return false; // 'false' says to move onto the next child in the list @@ -386,7 +386,7 @@ public sealed class BSLinksetCompound : BSLinkset Rebuilding = false; } - BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr); + PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape); // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets. // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 2de4717..cf09be2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -845,7 +845,7 @@ 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) { - CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr); + CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(PhysBody); if (makeSolid) { // Verify the previous code created the correct shape for this type of thing. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 4133107..bfc9df2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -50,6 +50,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public string BulletSimVersion = "?"; + // The handle to the underlying managed or unmanaged version of Bullet being used. + public BulletSimAPITemplate PE; + public Dictionary PhysObjects; public BSShapeCollection Shapes; @@ -187,12 +190,15 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Allocate pinned memory to pass parameters. UnmanagedParams = new ConfigurationParameters[1]; - m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned); // Set default values for physics parameters plus any overrides from the ini file GetInitialParameterValues(config); - // allocate more pinned memory close to the above in an attempt to get the memory all together + // For the moment, only one version of the interface + PE = new BSAPIUnman(); + + // Allocate more pinned memory. Do this early to try and get all pinned memory close together. + m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned); m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame]; m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned); m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 0cc51b0..e7d8d14 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -174,7 +174,7 @@ public sealed class BSShapeCollection : IDisposable // Zero any reference to the shape so it is not freed when the body is deleted. BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); + PhysicsScene.PE.DestroyObject(PhysicsScene.World, body); }); } } @@ -261,7 +261,7 @@ public sealed class BSShapeCollection : IDisposable if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime); if (shapeCallback != null) shapeCallback(shape); - BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); + PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape); } else { @@ -342,26 +342,26 @@ public sealed class BSShapeCollection : IDisposable return; } - int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr); + 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--) { - IntPtr childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii); + BulletShape childShape = PhysicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(shape, ii); DereferenceAnonCollisionShape(childShape); } - BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); + 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(IntPtr cShape) + private void DereferenceAnonCollisionShape(BulletShape shapeInfo) { MeshDesc meshDesc; HullDesc hullDesc; - BulletShape shapeInfo = new BulletShape(cShape); + IntPtr cShape = shapeInfo.ptr; if (TryGetMeshByPtr(cShape, out meshDesc)) { shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH; @@ -382,7 +382,7 @@ public sealed class BSShapeCollection : IDisposable } else { - if (BulletSimAPI.IsNativeShape2(cShape)) + if (PhysicsScene.PE.IsNativeShape(shapeInfo)) { shapeInfo.isNativeShape = true; shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) @@ -570,19 +570,15 @@ public sealed class BSShapeCollection : IDisposable if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) { - // The proper scale has been calculated in the prim. - newShape = new BulletShape( - // Bullet's capsule total height is the passed "height + (radius * 2)" so, the base - // capsule is radius of 0.5f (1 diameter) and height of two (1.0f + 0.5f * 2)". - // This must be taken into account when computing the scaling of the capsule. - BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale) - , shapeType); + + newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale); if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); } else { // Native shapes are scaled in Bullet so set the scaling to the size - newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); + newShape = PhysicsScene.PE.BuildNativeShape(PhysicsScene.World, nativeShapeData); + } if (!newShape.HasPhysicalShape) { @@ -629,13 +625,14 @@ public sealed class BSShapeCollection : IDisposable private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { + BulletShape newShape = new BulletShape(); IMesh meshData = null; - IntPtr meshPtr = IntPtr.Zero; + MeshDesc meshDesc; if (Meshes.TryGetValue(newMeshKey, out meshDesc)) { // If the mesh has already been built just use it. - meshPtr = meshDesc.ptr; + newShape = new BulletShape(meshDesc.ptr, BSPhysicsShapeType.SHAPE_MESH); } else { @@ -658,11 +655,10 @@ public sealed class BSShapeCollection : IDisposable // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); - meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, + newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indices.GetLength(0), indices, vertices.Count, verticesAsFloats); } } - BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH); newShape.shapeKey = newMeshKey; return newShape; @@ -700,12 +696,14 @@ public sealed class BSShapeCollection : IDisposable private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { + BulletShape newShape = new BulletShape(); IntPtr hullPtr = IntPtr.Zero; + HullDesc hullDesc; if (Hulls.TryGetValue(newHullKey, out hullDesc)) { // If the hull shape already is created, just use it. - hullPtr = hullDesc.ptr; + newShape = new BulletShape(hullDesc.ptr, BSPhysicsShapeType.SHAPE_HULL); } else { @@ -793,11 +791,10 @@ public sealed class BSShapeCollection : IDisposable } } // create the hull data structure in Bullet - hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); + newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls); } } - BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL); newShape.shapeKey = newHullKey; return newShape; @@ -819,12 +816,12 @@ public sealed class BSShapeCollection : IDisposable // 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 = new BulletShape( - BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND); + + 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); - BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity); + 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); @@ -932,7 +929,7 @@ public sealed class BSShapeCollection : IDisposable // If not a solid object, body is a GhostObject. Otherwise a RigidBody. if (!mustRebuild) { - CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr); + CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(prim.PhysBody); if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT) { @@ -947,20 +944,16 @@ public sealed class BSShapeCollection : IDisposable DereferenceBody(prim.PhysBody, true, bodyCallback); BulletBody aBody; - IntPtr bodyPtr = IntPtr.Zero; if (prim.IsSolid) { - bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, - prim.LocalID, prim.RawPosition, prim.RawOrientation); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); + aBody = PhysicsScene.PE.CreateBodyFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation); + if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody); } else { - bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, - prim.LocalID, prim.RawPosition, prim.RawOrientation); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); + aBody = PhysicsScene.PE.CreateGhostFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation); + if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody); } - aBody = new BulletBody(prim.LocalID, bodyPtr); ReferenceBody(aBody, true); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index c7885c6..cdaa869 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -126,7 +126,8 @@ public class BSShapeNative : BSShape BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) { // Native shapes are not shared and are always built anew. - return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); + //return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); + return null; } private BSShapeNative(BSScene physicsScene, BSPhysObject prim, @@ -141,6 +142,7 @@ public class BSShapeNative : BSShape nativeShapeData.HullKey = (ulong)shapeKey; + /* if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) { ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); @@ -157,15 +159,18 @@ public class BSShapeNative : BSShape } type = shapeType; key = (UInt64)shapeKey; + */ } // Make this reference to the physical shape go away since native shapes are not shared. public override void Dereference(BSScene physicsScene) { + /* // Native shapes are not tracked and are released immediately physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr); ptr = IntPtr.Zero; // Garbage collection will free up this instance. + */ } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 07a9fd8..a2c085e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -105,9 +105,8 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); - m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, - m_mapInfo.ID, centerPos, Quaternion.Identity)); + m_mapInfo.terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, + m_mapInfo.ID, centerPos, Quaternion.Identity); // Set current terrain attributes BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction); @@ -139,7 +138,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); // Frees both the body and the shape. - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody); BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 86ccfbb..d99a50f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -137,9 +137,9 @@ public sealed class BSTerrainManager : IDisposable BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); - m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, - BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, - Vector3.Zero, Quaternion.Identity)); + m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, + BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity); + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr); // Ground plane does not move @@ -160,7 +160,7 @@ public sealed class BSTerrainManager : IDisposable { if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr)) { - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr); + PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_groundPlane); } m_groundPlane.Clear(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 061e232..d8c4972 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -91,9 +91,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", ID, indicesCount, indices.Length, verticesCount, vertices.Length); - m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, - indicesCount, indices, verticesCount, vertices), - BSPhysicsShapeType.SHAPE_MESH); + m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount, vertices); if (!m_terrainShape.HasPhysicalShape) { // DISASTER!! @@ -106,7 +104,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys Vector3 pos = regionBase; Quaternion rot = Quaternion.Identity; - m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot)); + m_terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot); if (!m_terrainBody.HasPhysicalBody) { // DISASTER!! @@ -143,7 +141,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys { BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); // Frees both the body and the shape. - BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr); + PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index b361498..6b76151 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -292,985 +292,376 @@ public enum ConstraintParamAxis : int public abstract class BulletSimAPITemplate { + /* // Initialization and simulation -public abstract BulletWorld Initialize2(Vector3 maxPosition, IntPtr parms, +public abstract BulletWorld Initialize(Vector3 maxPosition, IntPtr parms, int maxCollisions, IntPtr collisionArray, int maxUpdates, IntPtr updateArray ); -public abstract bool UpdateParameter2(BulletWorld world, uint localID, String parm, float value); +public abstract bool UpdateParameter(BulletWorld world, uint localID, String parm, float value); -public abstract void SetHeightMap2(BulletWorld world, float[] heightmap); +public abstract void SetHeightMap(BulletWorld world, float[] heightmap); -public abstract void Shutdown2(BulletWorld sim); +public abstract void Shutdown(BulletWorld sim); -public abstract int PhysicsStep2(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, +public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out IntPtr updatedEntitiesPtr, out int collidersCount, out IntPtr collidersPtr); -public abstract bool PushUpdate2(BulletBody obj); +public abstract bool PushUpdate(BulletBody obj); + */ // ===================================================================================== // Mesh, hull, shape and body creation helper routines -public abstract BulletShape CreateMeshShape2(BulletWorld world, - int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, - int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); +public abstract BulletShape CreateMeshShape(BulletWorld world, + int indicesCount, int[] indices, + int verticesCount, float[] vertices ); -public abstract BulletShape CreateHullShape2(BulletWorld world, - int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); +public abstract BulletShape CreateHullShape(BulletWorld world, + int hullCount, float[] hulls); -public abstract BulletShape BuildHullShapeFromMesh2(BulletWorld world, BulletShape meshShape); +public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape); -public abstract BulletShape BuildNativeShape2(BulletWorld world, ShapeData shapeData); +public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData); -public abstract bool IsNativeShape2(BulletShape shape); +public abstract bool IsNativeShape(BulletShape shape); public abstract void SetShapeCollisionMargin(BulletShape shape, float margin); -public abstract BulletShape BuildCapsuleShape2(BulletWorld world, float radius, float height, Vector3 scale); - -public abstract BulletShape CreateCompoundShape2(BulletWorld sim, bool enableDynamicAabbTree); - -public abstract int GetNumberOfCompoundChildren2(BulletShape cShape); - -public abstract void AddChildShapeToCompoundShape2(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot); - -public abstract BulletShape GetChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx); - -public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex2(BulletShape cShape, int indx); - -public abstract void RemoveChildShapeFromCompoundShape2(BulletShape cShape, BulletShape removeShape); - -public abstract void RecalculateCompoundShapeLocalAabb2(BulletShape cShape); - -public abstract BulletShape DuplicateCollisionShape2(BulletWorld sim, BulletShape srcShape, uint id); - -public abstract BulletBody CreateBodyFromShapeAndInfo2(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo); - -public abstract bool DeleteCollisionShape2(BulletWorld world, BulletShape shape); - -public abstract int GetBodyType2(BulletBody obj); - -public abstract BulletBody CreateBodyFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); - -public abstract BulletBody CreateBodyWithDefaultMotionState2(BulletShape shape, uint id, Vector3 pos, Quaternion rot); - -public abstract BulletBody CreateGhostFromShape2(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); - -public abstract IntPtr AllocateBodyInfo2(BulletBody obj); - -public abstract void ReleaseBodyInfo2(IntPtr obj); - -public abstract void DestroyObject2(BulletWorld sim, BulletBody obj); - -// ===================================================================================== -// Terrain creation and helper routines -public abstract IntPtr CreateHeightMapInfo2(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); - -public abstract IntPtr FillHeightMapInfo2(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); - -public abstract bool ReleaseHeightMapInfo2(IntPtr heightMapInfo); - -public abstract BulletBody CreateGroundPlaneShape2(uint id, float height, float collisionMargin); - -public abstract BulletBody CreateTerrainShape2(IntPtr mapInfo); - -// ===================================================================================== -// Constraint creation and helper routines -public abstract BulletConstraint Create6DofConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 frame1loc, Quaternion frame1rot, - Vector3 frame2loc, Quaternion frame2rot, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -public abstract BulletConstraint Create6DofConstraintToPoint2(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 joinPoint, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -public abstract BulletConstraint CreateHingeConstraint2(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 pivotinA, Vector3 pivotinB, - Vector3 axisInA, Vector3 axisInB, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -public abstract void SetConstraintEnable2(BulletConstraint constrain, float numericTrueFalse); - -public abstract void SetConstraintNumSolverIterations2(BulletConstraint constrain, float iterations); - -public abstract bool SetFrames2(BulletConstraint constrain, - Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); - -public abstract bool SetLinearLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi); - -public abstract bool SetAngularLimits2(BulletConstraint constrain, Vector3 low, Vector3 hi); - -public abstract bool UseFrameOffset2(BulletConstraint constrain, float enable); - -public abstract bool TranslationalLimitMotor2(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce); - -public abstract bool SetBreakingImpulseThreshold2(BulletConstraint constrain, float threshold); - -public abstract bool CalculateTransforms2(BulletConstraint constrain); - -public abstract bool SetConstraintParam2(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); - -public abstract bool DestroyConstraint2(BulletWorld world, BulletConstraint constrain); - -// ===================================================================================== -// btCollisionWorld entries -public abstract void UpdateSingleAabb2(BulletWorld world, BulletBody obj); - -public abstract void UpdateAabbs2(BulletWorld world); - -public abstract bool GetForceUpdateAllAabbs2(BulletWorld world); - -public abstract void SetForceUpdateAllAabbs2(BulletWorld world, bool force); - -// ===================================================================================== -// btDynamicsWorld entries -public abstract bool AddObjectToWorld2(BulletWorld world, BulletBody obj); - -public abstract bool RemoveObjectFromWorld2(BulletWorld world, BulletBody obj); - -public abstract bool AddConstraintToWorld2(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects); - -public abstract bool RemoveConstraintFromWorld2(BulletWorld world, BulletConstraint constrain); -// ===================================================================================== -// btCollisionObject entries -public abstract Vector3 GetAnisotripicFriction2(BulletConstraint constrain); - -public abstract Vector3 SetAnisotripicFriction2(BulletConstraint constrain, Vector3 frict); - -public abstract bool HasAnisotripicFriction2(BulletConstraint constrain); - -public abstract void SetContactProcessingThreshold2(BulletBody obj, float val); - -public abstract float GetContactProcessingThreshold2(BulletBody obj); - -public abstract bool IsStaticObject2(BulletBody obj); - -public abstract bool IsKinematicObject2(BulletBody obj); - -public abstract bool IsStaticOrKinematicObject2(BulletBody obj); - -public abstract bool HasContactResponse2(BulletBody obj); - -public abstract void SetCollisionShape2(BulletWorld sim, BulletBody obj, BulletBody shape); - -public abstract BulletShape GetCollisionShape2(BulletBody obj); - -public abstract int GetActivationState2(BulletBody obj); - -public abstract void SetActivationState2(BulletBody obj, int state); - -public abstract void SetDeactivationTime2(BulletBody obj, float dtime); - -public abstract float GetDeactivationTime2(BulletBody obj); - -public abstract void ForceActivationState2(BulletBody obj, ActivationState state); - -public abstract void Activate2(BulletBody obj, bool forceActivation); - -public abstract bool IsActive2(BulletBody obj); - -public abstract void SetRestitution2(BulletBody obj, float val); - -public abstract float GetRestitution2(BulletBody obj); - -public abstract void SetFriction2(BulletBody obj, float val); - -public abstract float GetFriction2(BulletBody obj); - - /* Haven't defined the type 'Transform' -public abstract Transform GetWorldTransform2(BulletBody obj); - -public abstract void setWorldTransform2(BulletBody obj, Transform trans); - */ - -public abstract Vector3 GetPosition2(BulletBody obj); - -public abstract Quaternion GetOrientation2(BulletBody obj); - -public abstract void SetTranslation2(BulletBody obj, Vector3 position, Quaternion rotation); - -public abstract IntPtr GetBroadphaseHandle2(BulletBody obj); - -public abstract void SetBroadphaseHandle2(BulletBody obj, IntPtr handle); - - /* -public abstract Transform GetInterpolationWorldTransform2(IntPtr obj); - -public abstract void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); - */ - -public abstract void SetInterpolationLinearVelocity2(BulletBody obj, Vector3 vel); - -public abstract void SetInterpolationAngularVelocity2(BulletBody obj, Vector3 vel); - -public abstract void SetInterpolationVelocity2(BulletBody obj, Vector3 linearVel, Vector3 angularVel); - -public abstract float GetHitFraction2(BulletBody obj); - -public abstract void SetHitFraction2(BulletBody obj, float val); - -public abstract CollisionFlags GetCollisionFlags2(BulletBody obj); - -public abstract CollisionFlags SetCollisionFlags2(BulletBody obj, CollisionFlags flags); - -public abstract CollisionFlags AddToCollisionFlags2(BulletBody obj, CollisionFlags flags); - -public abstract CollisionFlags RemoveFromCollisionFlags2(BulletBody obj, CollisionFlags flags); - -public abstract float GetCcdMotionThreshold2(BulletBody obj); - -public abstract void SetCcdMotionThreshold2(BulletBody obj, float val); - -public abstract float GetCcdSweptSphereRadius2(BulletBody obj); - -public abstract void SetCcdSweptSphereRadius2(BulletBody obj, float val); - -public abstract IntPtr GetUserPointer2(BulletBody obj); - -public abstract void SetUserPointer2(BulletBody obj, IntPtr val); - -// ===================================================================================== -// btRigidBody entries -public abstract void ApplyGravity2(BulletBody obj); - -public abstract void SetGravity2(BulletBody obj, Vector3 val); - -public abstract Vector3 GetGravity2(BulletBody obj); - -public abstract void SetDamping2(BulletBody obj, float lin_damping, float ang_damping); - -public abstract void SetLinearDamping2(BulletBody obj, float lin_damping); - -public abstract void SetAngularDamping2(BulletBody obj, float ang_damping); - -public abstract float GetLinearDamping2(BulletBody obj); +public abstract BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale); -public abstract float GetAngularDamping2(BulletBody obj); +public abstract BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree); -public abstract float GetLinearSleepingThreshold2(BulletBody obj); +public abstract int GetNumberOfCompoundChildren(BulletShape cShape); +public abstract void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot); -public abstract void ApplyDamping2(BulletBody obj, float timeStep); +public abstract BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx); -public abstract void SetMassProps2(BulletBody obj, float mass, Vector3 inertia); +public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx); -public abstract Vector3 GetLinearFactor2(BulletBody obj); +public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape); -public abstract void SetLinearFactor2(BulletBody obj, Vector3 factor); +public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape); - /* -public abstract void SetCenterOfMassTransform2(BulletBody obj, Transform trans); - */ - -public abstract void SetCenterOfMassByPosRot2(BulletBody obj, Vector3 pos, Quaternion rot); - -// Add a force to the object as if its mass is one. -public abstract void ApplyCentralForce2(BulletBody obj, Vector3 force); - -// Set the force being applied to the object as if its mass is one. -public abstract void SetObjectForce2(BulletBody obj, Vector3 force); - -public abstract Vector3 GetTotalForce2(BulletBody obj); +public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id); -public abstract Vector3 GetTotalTorque2(BulletBody obj); +public abstract BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo); -public abstract Vector3 GetInvInertiaDiagLocal2(BulletBody obj); +public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape); -public abstract void SetInvInertiaDiagLocal2(BulletBody obj, Vector3 inert); +public abstract int GetBodyType(BulletBody obj); -public abstract void SetSleepingThresholds2(BulletBody obj, float lin_threshold, float ang_threshold); +public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); -public abstract void ApplyTorque2(BulletBody obj, Vector3 torque); - -// Apply force at the given point. Will add torque to the object. -public abstract void ApplyForce2(BulletBody obj, Vector3 force, Vector3 pos); - -// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. -public abstract void ApplyCentralImpulse2(BulletBody obj, Vector3 imp); - -// Apply impulse to the object's torque. Force is scaled by object's mass. -public abstract void ApplyTorqueImpulse2(BulletBody obj, Vector3 imp); - -// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. -public abstract void ApplyImpulse2(BulletBody obj, Vector3 imp, Vector3 pos); +public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot); -public abstract void ClearForces2(BulletBody obj); +public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); -public abstract void ClearAllForces2(BulletBody obj); +public abstract IntPtr AllocateBodyInfo(BulletBody obj); -public abstract void UpdateInertiaTensor2(BulletBody obj); +public abstract void ReleaseBodyInfo(IntPtr obj); +public abstract void DestroyObject(BulletWorld sim, BulletBody obj); /* -public abstract Transform GetCenterOfMassTransform2(BulletBody obj); - */ - -public abstract Vector3 GetLinearVelocity2(BulletBody obj); - -public abstract Vector3 GetAngularVelocity2(BulletBody obj); - -public abstract void SetLinearVelocity2(BulletBody obj, Vector3 val); - -public abstract void SetAngularVelocity2(BulletBody obj, Vector3 angularVelocity); - -public abstract Vector3 GetVelocityInLocalPoint2(BulletBody obj, Vector3 pos); - -public abstract void Translate2(BulletBody obj, Vector3 trans); - -public abstract void UpdateDeactivation2(BulletBody obj, float timeStep); - -public abstract bool WantsSleeping2(BulletBody obj); - -public abstract void SetAngularFactor2(BulletBody obj, float factor); - -public abstract void SetAngularFactorV2(BulletBody obj, Vector3 factor); - -public abstract Vector3 GetAngularFactor2(BulletBody obj); - -public abstract bool IsInWorld2(BulletBody obj); - -public abstract void AddConstraintRef2(BulletBody obj, BulletConstraint constrain); - -public abstract void RemoveConstraintRef2(BulletBody obj, BulletConstraint constrain); - -public abstract BulletConstraint GetConstraintRef2(BulletBody obj, int index); - -public abstract int GetNumConstraintRefs2(BulletBody obj); - -public abstract bool SetCollisionGroupMask2(BulletBody body, uint filter, uint mask); - -// ===================================================================================== -// btCollisionShape entries - -public abstract float GetAngularMotionDisc2(BulletShape shape); - -public abstract float GetContactBreakingThreshold2(BulletShape shape, float defaultFactor); - -public abstract bool IsPolyhedral2(BulletShape shape); - -public abstract bool IsConvex2d2(BulletShape shape); - -public abstract bool IsConvex2(BulletShape shape); - -public abstract bool IsNonMoving2(BulletShape shape); - -public abstract bool IsConcave2(BulletShape shape); - -public abstract bool IsCompound2(BulletShape shape); - -public abstract bool IsSoftBody2(BulletShape shape); - -public abstract bool IsInfinite2(BulletShape shape); - -public abstract void SetLocalScaling2(BulletShape shape, Vector3 scale); - -public abstract Vector3 GetLocalScaling2(BulletShape shape); - -public abstract Vector3 CalculateLocalInertia2(BulletShape shape, float mass); - -public abstract int GetShapeType2(BulletShape shape); - -public abstract void SetMargin2(BulletShape shape, float val); - -public abstract float GetMargin2(BulletShape shape); - -}; - -// =============================================================================== -static class BulletSimAPI { -// =============================================================================== -// Link back to the managed code for outputting log messages -[UnmanagedFunctionPointer(CallingConvention.Cdecl)] -public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); - -// =============================================================================== -// Initialization and simulation -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, - int maxCollisions, IntPtr collisionArray, - int maxUpdates, IntPtr updateArray, - DebugLogCallback logRoutine); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetHeightMap2(IntPtr world, float[] heightmap); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void Shutdown2(IntPtr sim); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, - out IntPtr updatedEntitiesPtr, - out int collidersCount, - out IntPtr collidersPtr); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool PushUpdate2(IntPtr obj); - -// ===================================================================================== -// Mesh, hull, shape and body creation helper routines -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateMeshShape2(IntPtr world, - int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, - int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateHullShape2(IntPtr world, - int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsNativeShape2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetShapeCollisionMargin(IntPtr shape, float margin); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetNumberOfCompoundChildren2(IntPtr cShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetBodyType2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr AllocateBodyInfo2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ReleaseBodyInfo2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DestroyObject2(IntPtr sim, IntPtr obj); - // ===================================================================================== // Terrain creation and helper routines -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); +public abstract IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, + float[] heightMap, float collisionMargin); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); +public abstract IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, + float[] heightMap, float collisionMargin); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo); +public abstract bool ReleaseHeightMapInfo(IntPtr heightMapInfo); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); +public abstract BulletBody CreateGroundPlaneShape(uint id, float height, float collisionMargin); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo); +public abstract BulletBody CreateTerrainShape(IntPtr mapInfo); // ===================================================================================== // Constraint creation and helper routines -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, +public abstract BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 frame1loc, Quaternion frame1rot, Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2, +public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, +public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 pivotinA, Vector3 pivotinB, Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse); +public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); +public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetFrames2(IntPtr constrain, +public abstract bool SetFrames(BulletConstraint constrain, Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); +public abstract bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi); +public abstract bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UseFrameOffset2(IntPtr constrain, float enable); +public abstract bool UseFrameOffset(BulletConstraint constrain, float enable); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); +public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); +public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool CalculateTransforms2(IntPtr constrain); +public abstract bool CalculateTransforms(BulletConstraint constrain); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); +public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); +public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain); // ===================================================================================== // btCollisionWorld entries -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj); +public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void UpdateAabbs2(IntPtr world); +public abstract void UpdateAabbs(BulletWorld world); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool GetForceUpdateAllAabbs2(IntPtr world); +public abstract bool GetForceUpdateAllAabbs(BulletWorld world); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force); +public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force); // ===================================================================================== // btDynamicsWorld entries -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); +public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); +public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects); +public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain); +public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain); // ===================================================================================== // btCollisionObject entries -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain); +public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict); +public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool HasAnisotripicFriction2(IntPtr constrain); +public abstract bool HasAnisotripicFriction(BulletConstraint constrain); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetContactProcessingThreshold2(IntPtr obj, float val); +public abstract void SetContactProcessingThreshold(BulletBody obj, float val); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetContactProcessingThreshold2(IntPtr obj); +public abstract float GetContactProcessingThreshold(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsStaticObject2(IntPtr obj); +public abstract bool IsStaticObject(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsKinematicObject2(IntPtr obj); +public abstract bool IsKinematicObject(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsStaticOrKinematicObject2(IntPtr obj); +public abstract bool IsStaticOrKinematicObject(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool HasContactResponse2(IntPtr obj); +public abstract bool HasContactResponse(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape); +public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletBody shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetCollisionShape2(IntPtr obj); +public abstract BulletShape GetCollisionShape(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetActivationState2(IntPtr obj); +public abstract int GetActivationState(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetActivationState2(IntPtr obj, int state); +public abstract void SetActivationState(BulletBody obj, int state); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetDeactivationTime2(IntPtr obj, float dtime); +public abstract void SetDeactivationTime(BulletBody obj, float dtime); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetDeactivationTime2(IntPtr obj); +public abstract float GetDeactivationTime(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ForceActivationState2(IntPtr obj, ActivationState state); +public abstract void ForceActivationState(BulletBody obj, ActivationState state); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void Activate2(IntPtr obj, bool forceActivation); +public abstract void Activate(BulletBody obj, bool forceActivation); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsActive2(IntPtr obj); +public abstract bool IsActive(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetRestitution2(IntPtr obj, float val); +public abstract void SetRestitution(BulletBody obj, float val); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetRestitution2(IntPtr obj); +public abstract float GetRestitution(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetFriction2(IntPtr obj, float val); +public abstract void SetFriction(BulletBody obj, float val); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetFriction2(IntPtr obj); +public abstract float GetFriction(BulletBody obj); - /* Haven't defined the type 'Transform' -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Transform GetWorldTransform2(IntPtr obj); +public abstract Vector3 GetPosition(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void setWorldTransform2(IntPtr obj, Transform trans); - */ +public abstract Quaternion GetOrientation(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetPosition2(IntPtr obj); +public abstract void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Quaternion GetOrientation2(IntPtr obj); +public abstract IntPtr GetBroadphaseHandle(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); +public abstract void SetBroadphaseHandle(BulletBody obj, IntPtr handle); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetBroadphaseHandle2(IntPtr obj); +public abstract void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle); +public abstract void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel); - /* -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Transform GetInterpolationWorldTransform2(IntPtr obj); +public abstract void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); - */ - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel); +public abstract float GetHitFraction(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetHitFraction2(IntPtr obj); +public abstract void SetHitFraction(BulletBody obj, float val); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetHitFraction2(IntPtr obj, float val); +public abstract CollisionFlags GetCollisionFlags(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); +public abstract CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags); +public abstract CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); +public abstract CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); +public abstract float GetCcdMotionThreshold(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetCcdMotionThreshold2(IntPtr obj); +public abstract void SetCcdMotionThreshold(BulletBody obj, float val); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCcdMotionThreshold2(IntPtr obj, float val); +public abstract float GetCcdSweptSphereRadius(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetCcdSweptSphereRadius2(IntPtr obj); +public abstract void SetCcdSweptSphereRadius(BulletBody obj, float val); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val); +public abstract IntPtr GetUserPointer(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetUserPointer2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetUserPointer2(IntPtr obj, IntPtr val); +public abstract void SetUserPointer(BulletBody obj, IntPtr val); // ===================================================================================== // btRigidBody entries -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyGravity2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetGravity2(IntPtr obj, Vector3 val); +public abstract void ApplyGravity(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetGravity2(IntPtr obj); +public abstract void SetGravity(BulletBody obj, Vector3 val); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping); +public abstract Vector3 GetGravity(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetLinearDamping2(IntPtr obj, float lin_damping); +public abstract void SetDamping(BulletBody obj, float lin_damping, float ang_damping); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetAngularDamping2(IntPtr obj, float ang_damping); +public abstract void SetLinearDamping(BulletBody obj, float lin_damping); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetLinearDamping2(IntPtr obj); +public abstract void SetAngularDamping(BulletBody obj, float ang_damping); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetAngularDamping2(IntPtr obj); +public abstract float GetLinearDamping(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetLinearSleepingThreshold2(IntPtr obj); +public abstract float GetAngularDamping(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetAngularSleepingThreshold2(IntPtr obj); +public abstract float GetLinearSleepingThreshold(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyDamping2(IntPtr obj, float timeStep); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia); +public abstract void ApplyDamping(BulletBody obj, float timeStep); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetLinearFactor2(IntPtr obj); +public abstract void SetMassProps(BulletBody obj, float mass, Vector3 inertia); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor); +public abstract Vector3 GetLinearFactor(BulletBody obj); - /* -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans); - */ +public abstract void SetLinearFactor(BulletBody obj, Vector3 factor); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot); +public abstract void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot); // Add a force to the object as if its mass is one. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force); +public abstract void ApplyCentralForce(BulletBody obj, Vector3 force); // Set the force being applied to the object as if its mass is one. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetObjectForce2(IntPtr obj, Vector3 force); +public abstract void SetObjectForce(BulletBody obj, Vector3 force); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetTotalForce2(IntPtr obj); +public abstract Vector3 GetTotalForce(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetTotalTorque2(IntPtr obj); +public abstract Vector3 GetTotalTorque(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj); +public abstract Vector3 GetInvInertiaDiagLocal(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert); +public abstract void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); +public abstract void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyTorque2(IntPtr obj, Vector3 torque); +public abstract void ApplyTorque(BulletBody obj, Vector3 torque); // Apply force at the given point. Will add torque to the object. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos); +public abstract void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos); // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp); +public abstract void ApplyCentralImpulse(BulletBody obj, Vector3 imp); // Apply impulse to the object's torque. Force is scaled by object's mass. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp); +public abstract void ApplyTorqueImpulse(BulletBody obj, Vector3 imp); // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ClearForces2(IntPtr obj); +public abstract void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ClearAllForces2(IntPtr obj); +public abstract void ClearForces(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void UpdateInertiaTensor2(IntPtr obj); +public abstract void ClearAllForces(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj); - - /* -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Transform GetCenterOfMassTransform2(IntPtr obj); - */ +public abstract void UpdateInertiaTensor(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetLinearVelocity2(IntPtr obj); +public abstract Vector3 GetLinearVelocity(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetAngularVelocity2(IntPtr obj); +public abstract Vector3 GetAngularVelocity(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val); +public abstract void SetLinearVelocity(BulletBody obj, Vector3 val); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); +public abstract void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos); +public abstract Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void Translate2(IntPtr obj, Vector3 trans); +public abstract void Translate(BulletBody obj, Vector3 trans); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void UpdateDeactivation2(IntPtr obj, float timeStep); +public abstract void UpdateDeactivation(BulletBody obj, float timeStep); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool WantsSleeping2(IntPtr obj); +public abstract bool WantsSleeping(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetAngularFactor2(IntPtr obj, float factor); +public abstract void SetAngularFactor(BulletBody obj, float factor); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor); +public abstract void SetAngularFactorV(BulletBody obj, Vector3 factor); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetAngularFactor2(IntPtr obj); +public abstract Vector3 GetAngularFactor(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsInWorld2(IntPtr obj); +public abstract bool IsInWorld(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain); +public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain); +public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetConstraintRef2(IntPtr obj, int index); +public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetNumConstraintRefs2(IntPtr obj); +public abstract int GetNumConstraintRefs(BulletBody obj); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask); +public abstract bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask); // ===================================================================================== // btCollisionShape entries -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetAngularMotionDisc2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor); +public abstract float GetAngularMotionDisc(BulletShape shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsPolyhedral2(IntPtr shape); +public abstract float GetContactBreakingThreshold(BulletShape shape, float defaultFactor); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsConvex2d2(IntPtr shape); +public abstract bool IsPolyhedral(BulletShape shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsConvex2(IntPtr shape); +public abstract bool IsConvex2d(BulletShape shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsNonMoving2(IntPtr shape); +public abstract bool IsConvex(BulletShape shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsConcave2(IntPtr shape); +public abstract bool IsNonMoving(BulletShape shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsCompound2(IntPtr shape); +public abstract bool IsConcave(BulletShape shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsSoftBody2(IntPtr shape); +public abstract bool IsCompound(BulletShape shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsInfinite2(IntPtr shape); +public abstract bool IsSoftBody(BulletShape shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale); +public abstract bool IsInfinite(BulletShape shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetLocalScaling2(IntPtr shape); +public abstract void SetLocalScaling(BulletShape shape, Vector3 scale); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass); +public abstract Vector3 GetLocalScaling(BulletShape shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetShapeType2(IntPtr shape); +public abstract Vector3 CalculateLocalInertia(BulletShape shape, float mass); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetMargin2(IntPtr shape, float val); +public abstract int GetShapeType(BulletShape shape); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetMargin2(IntPtr shape); - -// ===================================================================================== -// Debugging -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); +public abstract void SetMargin(BulletShape shape, float val); -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape); +public abstract float GetMargin(BulletShape shape); + */ -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpActivationInfo2(IntPtr sim); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpAllInfo2(IntPtr sim); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpPhysicsStatistics2(IntPtr sim); - -} +}; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 8ec9871..4cb8e6d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -31,6 +31,7 @@ CRASHES VEHICLES TODO LIST: ================================================= +Angular motor direction is global coordinates rather than local coordinates Border crossing with linked vehicle causes crash Vehicles (Move smoothly) Add vehicle collisions so IsColliding is properly reported. @@ -78,7 +79,7 @@ Small physical objects do not interact correctly Create chain of .5x.5x.1 torui and make all but top physical so to hang. The chain will fall apart and pairs will dance around on ground Chains of 1x1x.2 will stay connected but will dance. - Chains above 2x2x.4 are move stable and get stablier as torui get larger. + Chains above 2x2x.4 are more stable and get stablier as torui get larger. Add PID motor for avatar movement (slow to stop, ...) setForce should set a constant force. Different than AddImpulse. Implement raycast. @@ -100,9 +101,13 @@ More efficient memory usage when passing hull information from BSPrim to BulletS Avatar movement motor check for zero or small movement. Somehow suppress small movements when avatar has stopped and is just standing. Simple test for near zero has the problem of preventing starting up (increase from zero) especially when falling. +Physical and phantom will drop through the terrain + LINKSETS ====================================================== +Offset the center of the linkset to be the geometric center of all the prims + Not quite the same as the center-of-gravity Linksets should allow collisions to individual children Add LocalID to children shapes in LinksetCompound and create events for individuals LinksetCompound: when one of the children changes orientation (like tires -- cgit v1.1 From 9fd0e1b0805ccc97b8e4f19727d98b26fb5fa89d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 29 Dec 2012 21:44:13 -0800 Subject: BulletSim: add the implementation files for the two versions of Bullet: unmanaged (C++) and managed (C#). --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 1107 ++++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 39 + 2 files changed, 1146 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs new file mode 100755 index 0000000..bbfc1f8 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -0,0 +1,1107 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using System.Security; +using System.Text; + +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public sealed class BSAPIUnman : BulletSimAPITemplate +{ + /* +// Initialization and simulation +public BulletWorld Initialize(Vector3 maxPosition, IntPtr parms, + int maxCollisions, IntPtr collisionArray, + int maxUpdates, IntPtr updateArray + ); + +public bool UpdateParameter(BulletWorld world, uint localID, String parm, float value); + +public void SetHeightMap(BulletWorld world, float[] heightmap); + +public void Shutdown(BulletWorld sim); + +public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, + out IntPtr updatedEntitiesPtr, + out int collidersCount, + out IntPtr collidersPtr); + +public bool PushUpdate(BulletBody obj); + */ + +// ===================================================================================== +// Mesh, hull, shape and body creation helper routines +public override BulletShape CreateMeshShape(BulletWorld world, + int indicesCount, int[] indices, + int verticesCount, float[] vertices) +{ + return new BulletShape( + BSAPI.CreateMeshShape2(world.ptr, indicesCount, indices, verticesCount, vertices), + BSPhysicsShapeType.SHAPE_MESH); +} + +public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls) +{ + return new BulletShape( + BSAPI.CreateHullShape2(world.ptr, hullCount, hulls), + BSPhysicsShapeType.SHAPE_HULL); +} + +public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) +{ + return new BulletShape( + BSAPI.BuildHullShapeFromMesh2(world.ptr, meshShape.ptr), + BSPhysicsShapeType.SHAPE_HULL); +} + +public override BulletShape BuildNativeShape( BulletWorld world, ShapeData shapeData) +{ + return new BulletShape( + BSAPI.BuildNativeShape2(world.ptr, shapeData), + shapeData.Type); +} + +public override bool IsNativeShape(BulletShape shape) +{ + if (shape.HasPhysicalShape) + return BSAPI.IsNativeShape2(shape.ptr); + return false; +} + +public override void SetShapeCollisionMargin(BulletShape shape, float margin) +{ + if (shape.HasPhysicalShape) + BSAPI.SetShapeCollisionMargin2(shape.ptr, margin); +} + +public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale) +{ + return new BulletShape( + BSAPI.BuildCapsuleShape2(world.ptr, radius, height, scale), + BSPhysicsShapeType.SHAPE_CAPSULE); +} + +public override BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree) +{ + return new BulletShape( + BSAPI.CreateCompoundShape2(sim.ptr, enableDynamicAabbTree), + BSPhysicsShapeType.SHAPE_COMPOUND); + +} + +public override int GetNumberOfCompoundChildren(BulletShape shape) +{ + if (shape.HasPhysicalShape) + return BSAPI.GetNumberOfCompoundChildren2(shape.ptr); + return 0; +} + +public override void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot) +{ + BSAPI.AddChildShapeToCompoundShape2(cShape.ptr, addShape.ptr, pos, rot); +} + +public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) +{ + return new BulletShape(BSAPI.GetChildShapeFromCompoundShapeIndex2(cShape.ptr, indx)); +} + +public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) +{ + return new BulletShape(BSAPI.RemoveChildShapeFromCompoundShapeIndex2(cShape.ptr, indx)); +} + +public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) +{ + BSAPI.RemoveChildShapeFromCompoundShape2(cShape.ptr, removeShape.ptr); +} + +public override void RecalculateCompoundShapeLocalAabb(BulletShape cShape) +{ + BSAPI.RecalculateCompoundShapeLocalAabb2(cShape.ptr); +} + +public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id) +{ + return new BulletShape(BSAPI.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type); +} + +public override BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo) +{ + return new BulletBody(id, BSAPI.CreateBodyFromShapeAndInfo2(sim.ptr, shape.ptr, id, constructionInfo)); +} + +public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) +{ + return BSAPI.DeleteCollisionShape2(world.ptr, shape.ptr); +} + +public override int GetBodyType(BulletBody obj) +{ + return BSAPI.GetBodyType2(obj.ptr); +} + +public override BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot) +{ + return new BulletBody(id, BSAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, id, pos, rot)); +} + +public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot) +{ + return new BulletBody(id, BSAPI.CreateBodyWithDefaultMotionState2(shape.ptr, id, pos, rot)); +} + +public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot) +{ + return new BulletBody(id, BSAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot)); +} + +public override IntPtr AllocateBodyInfo(BulletBody obj) +{ + return BSAPI.AllocateBodyInfo2(obj.ptr); +} + +public override void ReleaseBodyInfo(IntPtr obj) +{ + BSAPI.ReleaseBodyInfo2(obj); +} + +public override void DestroyObject(BulletWorld sim, BulletBody obj) +{ + BSAPI.DestroyObject2(sim.ptr, obj.ptr); +} + + /* +// ===================================================================================== +// Terrain creation and helper routines +public override IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); + +public override IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); + +public override bool ReleaseHeightMapInfo(IntPtr heightMapInfo); + +public override BulletBody CreateGroundPlaneShape(uint id, float height, float collisionMargin); + +public override BulletBody CreateTerrainShape(IntPtr mapInfo); + +// ===================================================================================== +// Constraint creation and helper routines +public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 joinPoint, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 pivotinA, Vector3 pivotinB, + Vector3 axisInA, Vector3 axisInB, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse); + +public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations); + +public override bool SetFrames(BulletConstraint constrain, + Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); + +public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi); + +public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi); + +public override bool UseFrameOffset(BulletConstraint constrain, float enable); + +public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce); + +public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold); + +public override bool CalculateTransforms(BulletConstraint constrain); + +public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); + +public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain); + +// ===================================================================================== +// btCollisionWorld entries +public override void UpdateSingleAabb(BulletWorld world, BulletBody obj); + +public override void UpdateAabbs(BulletWorld world); + +public override bool GetForceUpdateAllAabbs(BulletWorld world); + +public override void SetForceUpdateAllAabbs(BulletWorld world, bool force); + +// ===================================================================================== +// btDynamicsWorld entries +public override bool AddObjectToWorld(BulletWorld world, BulletBody obj); + +public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj); + +public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects); + +public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain); +// ===================================================================================== +// btCollisionObject entries +public override Vector3 GetAnisotripicFriction(BulletConstraint constrain); + +public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict); + +public override bool HasAnisotripicFriction(BulletConstraint constrain); + +public override void SetContactProcessingThreshold(BulletBody obj, float val); + +public override float GetContactProcessingThreshold(BulletBody obj); + +public override bool IsStaticObject(BulletBody obj); + +public override bool IsKinematicObject(BulletBody obj); + +public override bool IsStaticOrKinematicObject(BulletBody obj); + +public override bool HasContactResponse(BulletBody obj); + +public override void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletBody shape); + +public override BulletShape GetCollisionShape(BulletBody obj); + +public override int GetActivationState(BulletBody obj); + +public override void SetActivationState(BulletBody obj, int state); + +public override void SetDeactivationTime(BulletBody obj, float dtime); + +public override float GetDeactivationTime(BulletBody obj); + +public override void ForceActivationState(BulletBody obj, ActivationState state); + +public override void Activate(BulletBody obj, bool forceActivation); + +public override bool IsActive(BulletBody obj); + +public override void SetRestitution(BulletBody obj, float val); + +public override float GetRestitution(BulletBody obj); + +public override void SetFriction(BulletBody obj, float val); + +public override float GetFriction(BulletBody obj); + +public override Vector3 GetPosition(BulletBody obj); + +public override Quaternion GetOrientation(BulletBody obj); + +public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation); + +public override IntPtr GetBroadphaseHandle(BulletBody obj); + +public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle); + +public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel); + +public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel); + +public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel); + +public override float GetHitFraction(BulletBody obj); + +public override void SetHitFraction(BulletBody obj, float val); + +public override CollisionFlags GetCollisionFlags(BulletBody obj); + +public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags); + +public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags); + +public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags); + +public override float GetCcdMotionThreshold(BulletBody obj); + +public override void SetCcdMotionThreshold(BulletBody obj, float val); + +public override float GetCcdSweptSphereRadius(BulletBody obj); + +public override void SetCcdSweptSphereRadius(BulletBody obj, float val); + +public override IntPtr GetUserPointer(BulletBody obj); + +public override void SetUserPointer(BulletBody obj, IntPtr val); + +// ===================================================================================== +// btRigidBody entries +public override void ApplyGravity(BulletBody obj); + +public override void SetGravity(BulletBody obj, Vector3 val); + +public override Vector3 GetGravity(BulletBody obj); + +public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping); + +public override void SetLinearDamping(BulletBody obj, float lin_damping); + +public override void SetAngularDamping(BulletBody obj, float ang_damping); + +public override float GetLinearDamping(BulletBody obj); + +public override float GetAngularDamping(BulletBody obj); + +public override float GetLinearSleepingThreshold(BulletBody obj); + + +public override void ApplyDamping(BulletBody obj, float timeStep); + +public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia); + +public override Vector3 GetLinearFactor(BulletBody obj); + +public override void SetLinearFactor(BulletBody obj, Vector3 factor); + +public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot); + +// Add a force to the object as if its mass is one. +public override void ApplyCentralForce(BulletBody obj, Vector3 force); + +// Set the force being applied to the object as if its mass is one. +public override void SetObjectForce(BulletBody obj, Vector3 force); + +public override Vector3 GetTotalForce(BulletBody obj); + +public override Vector3 GetTotalTorque(BulletBody obj); + +public override Vector3 GetInvInertiaDiagLocal(BulletBody obj); + +public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert); + +public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold); + +public override void ApplyTorque(BulletBody obj, Vector3 torque); + +// Apply force at the given point. Will add torque to the object. +public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos); + +// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. +public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp); + +// Apply impulse to the object's torque. Force is scaled by object's mass. +public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp); + +// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. +public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos); + +public override void ClearForces(BulletBody obj); + +public override void ClearAllForces(BulletBody obj); + +public override void UpdateInertiaTensor(BulletBody obj); + +public override Vector3 GetLinearVelocity(BulletBody obj); + +public override Vector3 GetAngularVelocity(BulletBody obj); + +public override void SetLinearVelocity(BulletBody obj, Vector3 val); + +public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity); + +public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos); + +public override void Translate(BulletBody obj, Vector3 trans); + +public override void UpdateDeactivation(BulletBody obj, float timeStep); + +public override bool WantsSleeping(BulletBody obj); + +public override void SetAngularFactor(BulletBody obj, float factor); + +public override void SetAngularFactorV(BulletBody obj, Vector3 factor); + +public override Vector3 GetAngularFactor(BulletBody obj); + +public override bool IsInWorld(BulletBody obj); + +public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain); + +public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain); + +public override BulletConstraint GetConstraintRef(BulletBody obj, int index); + +public override int GetNumConstraintRefs(BulletBody obj); + +public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask); + +// ===================================================================================== +// btCollisionShape entries + +public override float GetAngularMotionDisc(BulletShape shape); + +public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor); + +public override bool IsPolyhedral(BulletShape shape); + +public override bool IsConvex2d(BulletShape shape); + +public override bool IsConvex(BulletShape shape); + +public override bool IsNonMoving(BulletShape shape); + +public override bool IsConcave(BulletShape shape); + +public override bool IsCompound(BulletShape shape); + +public override bool IsSoftBody(BulletShape shape); + +public override bool IsInfinite(BulletShape shape); + +public override void SetLocalScaling(BulletShape shape, Vector3 scale); + +public override Vector3 GetLocalScaling(BulletShape shape); + +public override Vector3 CalculateLocalInertia(BulletShape shape, float mass); + +public override int GetShapeType(BulletShape shape); + +public override void SetMargin(BulletShape shape, float val); + +public override float GetMargin(BulletShape shape); + */ + +static class BSAPI +{ +// ===================================================================================== +// Mesh, hull, shape and body creation helper routines +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateMeshShape2(IntPtr world, + int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, + int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateHullShape2(IntPtr world, + int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsNativeShape2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetNumberOfCompoundChildren2(IntPtr cShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetBodyType2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr AllocateBodyInfo2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ReleaseBodyInfo2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DestroyObject2(IntPtr sim, IntPtr obj); + +} +} + +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +static class BulletSimAPI { +// =============================================================================== +// Link back to the managed code for outputting log messages +[UnmanagedFunctionPointer(CallingConvention.Cdecl)] +public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); + +// =============================================================================== +// Initialization and simulation +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, + int maxCollisions, IntPtr collisionArray, + int maxUpdates, IntPtr updateArray, + DebugLogCallback logRoutine); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetHeightMap2(IntPtr world, float[] heightmap); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Shutdown2(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, + out IntPtr updatedEntitiesPtr, + out int collidersCount, + out IntPtr collidersPtr); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool PushUpdate2(IntPtr obj); + +// ===================================================================================== +// Terrain creation and helper routines +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo); + +// ===================================================================================== +// Constraint creation and helper routines +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 joinPoint, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 pivotinA, Vector3 pivotinB, + Vector3 axisInA, Vector3 axisInB, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetFrames2(IntPtr constrain, + Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UseFrameOffset2(IntPtr constrain, float enable); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool CalculateTransforms2(IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); + +// ===================================================================================== +// btCollisionWorld entries +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateAabbs2(IntPtr world); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool GetForceUpdateAllAabbs2(IntPtr world); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force); + +// ===================================================================================== +// btDynamicsWorld entries +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain); +// ===================================================================================== +// btCollisionObject entries +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool HasAnisotripicFriction2(IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetContactProcessingThreshold2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetContactProcessingThreshold2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsStaticObject2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsKinematicObject2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsStaticOrKinematicObject2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool HasContactResponse2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetCollisionShape2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetActivationState2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetActivationState2(IntPtr obj, int state); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetDeactivationTime2(IntPtr obj, float dtime); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetDeactivationTime2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ForceActivationState2(IntPtr obj, ActivationState state); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Activate2(IntPtr obj, bool forceActivation); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsActive2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetRestitution2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetRestitution2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetFriction2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetFriction2(IntPtr obj); + + /* Haven't defined the type 'Transform' +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Transform GetWorldTransform2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void setWorldTransform2(IntPtr obj, Transform trans); + */ + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetPosition2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Quaternion GetOrientation2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetBroadphaseHandle2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle); + + /* +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Transform GetInterpolationWorldTransform2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); + */ + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetHitFraction2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetHitFraction2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetCcdMotionThreshold2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCcdMotionThreshold2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetCcdSweptSphereRadius2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetUserPointer2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetUserPointer2(IntPtr obj, IntPtr val); + +// ===================================================================================== +// btRigidBody entries +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyGravity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetGravity2(IntPtr obj, Vector3 val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetGravity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetLinearDamping2(IntPtr obj, float lin_damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetAngularDamping2(IntPtr obj, float ang_damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetLinearDamping2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetAngularDamping2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetLinearSleepingThreshold2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetAngularSleepingThreshold2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyDamping2(IntPtr obj, float timeStep); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetLinearFactor2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor); + + /* +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans); + */ + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot); + +// Add a force to the object as if its mass is one. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force); + +// Set the force being applied to the object as if its mass is one. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetObjectForce2(IntPtr obj, Vector3 force); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetTotalForce2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetTotalTorque2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyTorque2(IntPtr obj, Vector3 torque); + +// Apply force at the given point. Will add torque to the object. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos); + +// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp); + +// Apply impulse to the object's torque. Force is scaled by object's mass. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp); + +// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ClearForces2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ClearAllForces2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateInertiaTensor2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj); + + /* +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Transform GetCenterOfMassTransform2(IntPtr obj); + */ + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetLinearVelocity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetAngularVelocity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Translate2(IntPtr obj, Vector3 trans); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateDeactivation2(IntPtr obj, float timeStep); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool WantsSleeping2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetAngularFactor2(IntPtr obj, float factor); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetAngularFactor2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsInWorld2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetConstraintRef2(IntPtr obj, int index); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetNumConstraintRefs2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask); + +// ===================================================================================== +// btCollisionShape entries + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetAngularMotionDisc2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsPolyhedral2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsConvex2d2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsConvex2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsNonMoving2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsConcave2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsCompound2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsSoftBody2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsInfinite2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetLocalScaling2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetShapeType2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetMargin2(IntPtr shape, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetMargin2(IntPtr shape); + +// ===================================================================================== +// Debugging +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpActivationInfo2(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpAllInfo2(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpPhysicsStatistics2(IntPtr sim); + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs new file mode 100755 index 0000000..a56a817 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -0,0 +1,39 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + /* +public sealed class BSAPIXNA : BulletSimAPITemplate +{ +} + */ +} -- cgit v1.1 From 9218748321519ed04da5cdffa1f29e69030171b5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 30 Dec 2012 10:21:47 -0800 Subject: BulletSim: another round of conversion: dynamics world and collision object functions. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 2425 +++++++++++--------- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 46 +- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 17 +- .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 30 +- .../Physics/BulletSPlugin/BSConstraintHinge.cs | 10 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 10 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 12 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 8 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 74 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 6 +- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 23 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 13 +- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 16 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 8 +- 15 files changed, 1454 insertions(+), 1248 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index bbfc1f8..9a8a2e8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -1,1107 +1,1318 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Runtime.InteropServices; -using System.Security; -using System.Text; - -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public sealed class BSAPIUnman : BulletSimAPITemplate -{ - /* -// Initialization and simulation -public BulletWorld Initialize(Vector3 maxPosition, IntPtr parms, - int maxCollisions, IntPtr collisionArray, - int maxUpdates, IntPtr updateArray - ); - -public bool UpdateParameter(BulletWorld world, uint localID, String parm, float value); - -public void SetHeightMap(BulletWorld world, float[] heightmap); - -public void Shutdown(BulletWorld sim); - -public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, - out IntPtr updatedEntitiesPtr, - out int collidersCount, - out IntPtr collidersPtr); - -public bool PushUpdate(BulletBody obj); - */ - -// ===================================================================================== -// Mesh, hull, shape and body creation helper routines -public override BulletShape CreateMeshShape(BulletWorld world, - int indicesCount, int[] indices, - int verticesCount, float[] vertices) -{ - return new BulletShape( - BSAPI.CreateMeshShape2(world.ptr, indicesCount, indices, verticesCount, vertices), - BSPhysicsShapeType.SHAPE_MESH); -} - -public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls) -{ - return new BulletShape( - BSAPI.CreateHullShape2(world.ptr, hullCount, hulls), - BSPhysicsShapeType.SHAPE_HULL); -} - -public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) -{ - return new BulletShape( - BSAPI.BuildHullShapeFromMesh2(world.ptr, meshShape.ptr), - BSPhysicsShapeType.SHAPE_HULL); -} - -public override BulletShape BuildNativeShape( BulletWorld world, ShapeData shapeData) -{ - return new BulletShape( - BSAPI.BuildNativeShape2(world.ptr, shapeData), - shapeData.Type); -} - -public override bool IsNativeShape(BulletShape shape) -{ - if (shape.HasPhysicalShape) - return BSAPI.IsNativeShape2(shape.ptr); - return false; -} - -public override void SetShapeCollisionMargin(BulletShape shape, float margin) -{ - if (shape.HasPhysicalShape) - BSAPI.SetShapeCollisionMargin2(shape.ptr, margin); -} - -public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale) -{ - return new BulletShape( - BSAPI.BuildCapsuleShape2(world.ptr, radius, height, scale), - BSPhysicsShapeType.SHAPE_CAPSULE); -} - -public override BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree) -{ - return new BulletShape( - BSAPI.CreateCompoundShape2(sim.ptr, enableDynamicAabbTree), - BSPhysicsShapeType.SHAPE_COMPOUND); - -} - -public override int GetNumberOfCompoundChildren(BulletShape shape) -{ - if (shape.HasPhysicalShape) - return BSAPI.GetNumberOfCompoundChildren2(shape.ptr); - return 0; -} - -public override void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot) -{ - BSAPI.AddChildShapeToCompoundShape2(cShape.ptr, addShape.ptr, pos, rot); -} - -public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) -{ - return new BulletShape(BSAPI.GetChildShapeFromCompoundShapeIndex2(cShape.ptr, indx)); -} - -public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) -{ - return new BulletShape(BSAPI.RemoveChildShapeFromCompoundShapeIndex2(cShape.ptr, indx)); -} - -public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) -{ - BSAPI.RemoveChildShapeFromCompoundShape2(cShape.ptr, removeShape.ptr); -} - -public override void RecalculateCompoundShapeLocalAabb(BulletShape cShape) -{ - BSAPI.RecalculateCompoundShapeLocalAabb2(cShape.ptr); -} - -public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id) -{ - return new BulletShape(BSAPI.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type); -} - -public override BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo) -{ - return new BulletBody(id, BSAPI.CreateBodyFromShapeAndInfo2(sim.ptr, shape.ptr, id, constructionInfo)); -} - -public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) -{ - return BSAPI.DeleteCollisionShape2(world.ptr, shape.ptr); -} - -public override int GetBodyType(BulletBody obj) -{ - return BSAPI.GetBodyType2(obj.ptr); -} - -public override BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot) -{ - return new BulletBody(id, BSAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, id, pos, rot)); -} - -public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot) -{ - return new BulletBody(id, BSAPI.CreateBodyWithDefaultMotionState2(shape.ptr, id, pos, rot)); -} - -public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot) -{ - return new BulletBody(id, BSAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot)); -} - -public override IntPtr AllocateBodyInfo(BulletBody obj) -{ - return BSAPI.AllocateBodyInfo2(obj.ptr); -} - -public override void ReleaseBodyInfo(IntPtr obj) -{ - BSAPI.ReleaseBodyInfo2(obj); -} - -public override void DestroyObject(BulletWorld sim, BulletBody obj) -{ - BSAPI.DestroyObject2(sim.ptr, obj.ptr); -} - - /* -// ===================================================================================== -// Terrain creation and helper routines -public override IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); - -public override IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); - -public override bool ReleaseHeightMapInfo(IntPtr heightMapInfo); - -public override BulletBody CreateGroundPlaneShape(uint id, float height, float collisionMargin); - -public override BulletBody CreateTerrainShape(IntPtr mapInfo); - -// ===================================================================================== -// Constraint creation and helper routines -public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 frame1loc, Quaternion frame1rot, - Vector3 frame2loc, Quaternion frame2rot, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 joinPoint, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 pivotinA, Vector3 pivotinB, - Vector3 axisInA, Vector3 axisInB, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse); - -public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations); - -public override bool SetFrames(BulletConstraint constrain, - Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); - -public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi); - -public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi); - -public override bool UseFrameOffset(BulletConstraint constrain, float enable); - -public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce); - -public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold); - -public override bool CalculateTransforms(BulletConstraint constrain); - -public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); - -public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain); - -// ===================================================================================== -// btCollisionWorld entries -public override void UpdateSingleAabb(BulletWorld world, BulletBody obj); - -public override void UpdateAabbs(BulletWorld world); - -public override bool GetForceUpdateAllAabbs(BulletWorld world); - -public override void SetForceUpdateAllAabbs(BulletWorld world, bool force); - -// ===================================================================================== -// btDynamicsWorld entries -public override bool AddObjectToWorld(BulletWorld world, BulletBody obj); - -public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj); - -public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects); - -public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain); -// ===================================================================================== -// btCollisionObject entries -public override Vector3 GetAnisotripicFriction(BulletConstraint constrain); - -public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict); - -public override bool HasAnisotripicFriction(BulletConstraint constrain); - -public override void SetContactProcessingThreshold(BulletBody obj, float val); - -public override float GetContactProcessingThreshold(BulletBody obj); - -public override bool IsStaticObject(BulletBody obj); - -public override bool IsKinematicObject(BulletBody obj); - -public override bool IsStaticOrKinematicObject(BulletBody obj); - -public override bool HasContactResponse(BulletBody obj); - -public override void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletBody shape); - -public override BulletShape GetCollisionShape(BulletBody obj); - -public override int GetActivationState(BulletBody obj); - -public override void SetActivationState(BulletBody obj, int state); - -public override void SetDeactivationTime(BulletBody obj, float dtime); - -public override float GetDeactivationTime(BulletBody obj); - -public override void ForceActivationState(BulletBody obj, ActivationState state); - -public override void Activate(BulletBody obj, bool forceActivation); - -public override bool IsActive(BulletBody obj); - -public override void SetRestitution(BulletBody obj, float val); - -public override float GetRestitution(BulletBody obj); - -public override void SetFriction(BulletBody obj, float val); - -public override float GetFriction(BulletBody obj); - -public override Vector3 GetPosition(BulletBody obj); - -public override Quaternion GetOrientation(BulletBody obj); - -public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation); - -public override IntPtr GetBroadphaseHandle(BulletBody obj); - -public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle); - -public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel); - -public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel); - -public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel); - -public override float GetHitFraction(BulletBody obj); - -public override void SetHitFraction(BulletBody obj, float val); - -public override CollisionFlags GetCollisionFlags(BulletBody obj); - -public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags); - -public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags); - -public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags); - -public override float GetCcdMotionThreshold(BulletBody obj); - -public override void SetCcdMotionThreshold(BulletBody obj, float val); - -public override float GetCcdSweptSphereRadius(BulletBody obj); - -public override void SetCcdSweptSphereRadius(BulletBody obj, float val); - -public override IntPtr GetUserPointer(BulletBody obj); - -public override void SetUserPointer(BulletBody obj, IntPtr val); - -// ===================================================================================== -// btRigidBody entries -public override void ApplyGravity(BulletBody obj); - -public override void SetGravity(BulletBody obj, Vector3 val); - -public override Vector3 GetGravity(BulletBody obj); - -public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping); - -public override void SetLinearDamping(BulletBody obj, float lin_damping); - -public override void SetAngularDamping(BulletBody obj, float ang_damping); - -public override float GetLinearDamping(BulletBody obj); - -public override float GetAngularDamping(BulletBody obj); - -public override float GetLinearSleepingThreshold(BulletBody obj); - - -public override void ApplyDamping(BulletBody obj, float timeStep); - -public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia); - -public override Vector3 GetLinearFactor(BulletBody obj); - -public override void SetLinearFactor(BulletBody obj, Vector3 factor); - -public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot); - -// Add a force to the object as if its mass is one. -public override void ApplyCentralForce(BulletBody obj, Vector3 force); - -// Set the force being applied to the object as if its mass is one. -public override void SetObjectForce(BulletBody obj, Vector3 force); - -public override Vector3 GetTotalForce(BulletBody obj); - -public override Vector3 GetTotalTorque(BulletBody obj); - -public override Vector3 GetInvInertiaDiagLocal(BulletBody obj); - -public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert); - -public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold); - -public override void ApplyTorque(BulletBody obj, Vector3 torque); - -// Apply force at the given point. Will add torque to the object. -public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos); - -// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. -public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp); - -// Apply impulse to the object's torque. Force is scaled by object's mass. -public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp); - -// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. -public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos); - -public override void ClearForces(BulletBody obj); - -public override void ClearAllForces(BulletBody obj); - -public override void UpdateInertiaTensor(BulletBody obj); - -public override Vector3 GetLinearVelocity(BulletBody obj); - -public override Vector3 GetAngularVelocity(BulletBody obj); - -public override void SetLinearVelocity(BulletBody obj, Vector3 val); - -public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity); - -public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos); - -public override void Translate(BulletBody obj, Vector3 trans); - -public override void UpdateDeactivation(BulletBody obj, float timeStep); - -public override bool WantsSleeping(BulletBody obj); - -public override void SetAngularFactor(BulletBody obj, float factor); - -public override void SetAngularFactorV(BulletBody obj, Vector3 factor); - -public override Vector3 GetAngularFactor(BulletBody obj); - -public override bool IsInWorld(BulletBody obj); - -public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain); - -public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain); - -public override BulletConstraint GetConstraintRef(BulletBody obj, int index); - -public override int GetNumConstraintRefs(BulletBody obj); - -public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask); - -// ===================================================================================== -// btCollisionShape entries - -public override float GetAngularMotionDisc(BulletShape shape); - -public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor); - -public override bool IsPolyhedral(BulletShape shape); - -public override bool IsConvex2d(BulletShape shape); - -public override bool IsConvex(BulletShape shape); - -public override bool IsNonMoving(BulletShape shape); - -public override bool IsConcave(BulletShape shape); - -public override bool IsCompound(BulletShape shape); - -public override bool IsSoftBody(BulletShape shape); - -public override bool IsInfinite(BulletShape shape); - -public override void SetLocalScaling(BulletShape shape, Vector3 scale); - -public override Vector3 GetLocalScaling(BulletShape shape); - -public override Vector3 CalculateLocalInertia(BulletShape shape, float mass); - -public override int GetShapeType(BulletShape shape); - -public override void SetMargin(BulletShape shape, float val); - -public override float GetMargin(BulletShape shape); - */ - -static class BSAPI -{ -// ===================================================================================== -// Mesh, hull, shape and body creation helper routines -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateMeshShape2(IntPtr world, - int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, - int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateHullShape2(IntPtr world, - int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsNativeShape2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetNumberOfCompoundChildren2(IntPtr cShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetBodyType2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr AllocateBodyInfo2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ReleaseBodyInfo2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DestroyObject2(IntPtr sim, IntPtr obj); - -} -} - -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -static class BulletSimAPI { -// =============================================================================== -// Link back to the managed code for outputting log messages -[UnmanagedFunctionPointer(CallingConvention.Cdecl)] -public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); - -// =============================================================================== -// Initialization and simulation -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, - int maxCollisions, IntPtr collisionArray, - int maxUpdates, IntPtr updateArray, - DebugLogCallback logRoutine); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetHeightMap2(IntPtr world, float[] heightmap); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void Shutdown2(IntPtr sim); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, - out IntPtr updatedEntitiesPtr, - out int collidersCount, - out IntPtr collidersPtr); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool PushUpdate2(IntPtr obj); - -// ===================================================================================== -// Terrain creation and helper routines -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo); - -// ===================================================================================== -// Constraint creation and helper routines -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, - Vector3 frame1loc, Quaternion frame1rot, - Vector3 frame2loc, Quaternion frame2rot, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2, - Vector3 joinPoint, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, - Vector3 pivotinA, Vector3 pivotinB, - Vector3 axisInA, Vector3 axisInB, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetFrames2(IntPtr constrain, - Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UseFrameOffset2(IntPtr constrain, float enable); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool CalculateTransforms2(IntPtr constrain); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); - -// ===================================================================================== -// btCollisionWorld entries -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void UpdateAabbs2(IntPtr world); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool GetForceUpdateAllAabbs2(IntPtr world); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force); - -// ===================================================================================== -// btDynamicsWorld entries -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain); -// ===================================================================================== -// btCollisionObject entries -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool HasAnisotripicFriction2(IntPtr constrain); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetContactProcessingThreshold2(IntPtr obj, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetContactProcessingThreshold2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsStaticObject2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsKinematicObject2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsStaticOrKinematicObject2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool HasContactResponse2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetCollisionShape2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetActivationState2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetActivationState2(IntPtr obj, int state); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetDeactivationTime2(IntPtr obj, float dtime); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetDeactivationTime2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ForceActivationState2(IntPtr obj, ActivationState state); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void Activate2(IntPtr obj, bool forceActivation); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsActive2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetRestitution2(IntPtr obj, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetRestitution2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetFriction2(IntPtr obj, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetFriction2(IntPtr obj); - - /* Haven't defined the type 'Transform' -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Transform GetWorldTransform2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void setWorldTransform2(IntPtr obj, Transform trans); - */ - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetPosition2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Quaternion GetOrientation2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetBroadphaseHandle2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle); - - /* -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Transform GetInterpolationWorldTransform2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); - */ - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetHitFraction2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetHitFraction2(IntPtr obj, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetCcdMotionThreshold2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCcdMotionThreshold2(IntPtr obj, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetCcdSweptSphereRadius2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetUserPointer2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetUserPointer2(IntPtr obj, IntPtr val); - -// ===================================================================================== -// btRigidBody entries -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyGravity2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetGravity2(IntPtr obj, Vector3 val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetGravity2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetLinearDamping2(IntPtr obj, float lin_damping); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetAngularDamping2(IntPtr obj, float ang_damping); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetLinearDamping2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetAngularDamping2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetLinearSleepingThreshold2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetAngularSleepingThreshold2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyDamping2(IntPtr obj, float timeStep); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetLinearFactor2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor); - - /* -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans); - */ - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot); - -// Add a force to the object as if its mass is one. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force); - -// Set the force being applied to the object as if its mass is one. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetObjectForce2(IntPtr obj, Vector3 force); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetTotalForce2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetTotalTorque2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyTorque2(IntPtr obj, Vector3 torque); - -// Apply force at the given point. Will add torque to the object. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos); - -// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp); - -// Apply impulse to the object's torque. Force is scaled by object's mass. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp); - -// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ClearForces2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ClearAllForces2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void UpdateInertiaTensor2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj); - - /* -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Transform GetCenterOfMassTransform2(IntPtr obj); - */ - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetLinearVelocity2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetAngularVelocity2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void Translate2(IntPtr obj, Vector3 trans); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void UpdateDeactivation2(IntPtr obj, float timeStep); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool WantsSleeping2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetAngularFactor2(IntPtr obj, float factor); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetAngularFactor2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsInWorld2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr GetConstraintRef2(IntPtr obj, int index); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetNumConstraintRefs2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask); - -// ===================================================================================== -// btCollisionShape entries - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetAngularMotionDisc2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsPolyhedral2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsConvex2d2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsConvex2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsNonMoving2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsConcave2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsCompound2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsSoftBody2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool IsInfinite2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 GetLocalScaling2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int GetShapeType2(IntPtr shape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetMargin2(IntPtr shape, float val); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern float GetMargin2(IntPtr shape); - -// ===================================================================================== -// Debugging -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpActivationInfo2(IntPtr sim); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpAllInfo2(IntPtr sim); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpPhysicsStatistics2(IntPtr sim); - -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Runtime.InteropServices; +using System.Security; +using System.Text; + +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public sealed class BSAPIUnman : BulletSimAPITemplate +{ + /* +// Initialization and simulation +public BulletWorld Initialize(Vector3 maxPosition, IntPtr parms, + int maxCollisions, IntPtr collisionArray, + int maxUpdates, IntPtr updateArray + ); + +public bool UpdateParameter(BulletWorld world, uint localID, String parm, float value); + +public void SetHeightMap(BulletWorld world, float[] heightmap); + +public void Shutdown(BulletWorld sim); + +public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, + out IntPtr updatedEntitiesPtr, + out int collidersCount, + out IntPtr collidersPtr); + +public bool PushUpdate(BulletBody obj); + */ + +// ===================================================================================== +// Mesh, hull, shape and body creation helper routines +public override BulletShape CreateMeshShape(BulletWorld world, + int indicesCount, int[] indices, + int verticesCount, float[] vertices) +{ + return new BulletShape( + BSAPICPP.CreateMeshShape2(world.ptr, indicesCount, indices, verticesCount, vertices), + BSPhysicsShapeType.SHAPE_MESH); +} + +public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls) +{ + return new BulletShape( + BSAPICPP.CreateHullShape2(world.ptr, hullCount, hulls), + BSPhysicsShapeType.SHAPE_HULL); +} + +public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) +{ + return new BulletShape( + BSAPICPP.BuildHullShapeFromMesh2(world.ptr, meshShape.ptr), + BSPhysicsShapeType.SHAPE_HULL); +} + +public override BulletShape BuildNativeShape( BulletWorld world, ShapeData shapeData) +{ + return new BulletShape( + BSAPICPP.BuildNativeShape2(world.ptr, shapeData), + shapeData.Type); +} + +public override bool IsNativeShape(BulletShape shape) +{ + if (shape.HasPhysicalShape) + return BSAPICPP.IsNativeShape2(shape.ptr); + return false; +} + +public override void SetShapeCollisionMargin(BulletShape shape, float margin) +{ + if (shape.HasPhysicalShape) + BSAPICPP.SetShapeCollisionMargin2(shape.ptr, margin); +} + +public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale) +{ + return new BulletShape( + BSAPICPP.BuildCapsuleShape2(world.ptr, radius, height, scale), + BSPhysicsShapeType.SHAPE_CAPSULE); +} + +public override BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree) +{ + return new BulletShape( + BSAPICPP.CreateCompoundShape2(sim.ptr, enableDynamicAabbTree), + BSPhysicsShapeType.SHAPE_COMPOUND); + +} + +public override int GetNumberOfCompoundChildren(BulletShape shape) +{ + if (shape.HasPhysicalShape) + return BSAPICPP.GetNumberOfCompoundChildren2(shape.ptr); + return 0; +} + +public override void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot) +{ + BSAPICPP.AddChildShapeToCompoundShape2(cShape.ptr, addShape.ptr, pos, rot); +} + +public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) +{ + return new BulletShape(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(cShape.ptr, indx)); +} + +public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) +{ + return new BulletShape(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(cShape.ptr, indx)); +} + +public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) +{ + BSAPICPP.RemoveChildShapeFromCompoundShape2(cShape.ptr, removeShape.ptr); +} + +public override void RecalculateCompoundShapeLocalAabb(BulletShape cShape) +{ + BSAPICPP.RecalculateCompoundShapeLocalAabb2(cShape.ptr); +} + +public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id) +{ + return new BulletShape(BSAPICPP.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type); +} + +public override BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo) +{ + return new BulletBody(id, BSAPICPP.CreateBodyFromShapeAndInfo2(sim.ptr, shape.ptr, id, constructionInfo)); +} + +public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) +{ + return BSAPICPP.DeleteCollisionShape2(world.ptr, shape.ptr); +} + +public override int GetBodyType(BulletBody obj) +{ + return BSAPICPP.GetBodyType2(obj.ptr); +} + +public override BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot) +{ + return new BulletBody(id, BSAPICPP.CreateBodyFromShape2(sim.ptr, shape.ptr, id, pos, rot)); +} + +public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot) +{ + return new BulletBody(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shape.ptr, id, pos, rot)); +} + +public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot) +{ + return new BulletBody(id, BSAPICPP.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot)); +} + +public override IntPtr AllocateBodyInfo(BulletBody obj) +{ + return BSAPICPP.AllocateBodyInfo2(obj.ptr); +} + +public override void ReleaseBodyInfo(IntPtr obj) +{ + BSAPICPP.ReleaseBodyInfo2(obj); +} + +public override void DestroyObject(BulletWorld sim, BulletBody obj) +{ + BSAPICPP.DestroyObject2(sim.ptr, obj.ptr); +} + +// ===================================================================================== +// Terrain creation and helper routines +public override IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, + float[] heightMap, float collisionMargin) +{ + return BSAPICPP.CreateHeightMapInfo2(sim.ptr, id, minCoords, maxCoords, heightMap, collisionMargin); +} + +public override IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, + float[] heightMap, float collisionMargin) +{ + return BSAPICPP.FillHeightMapInfo2(sim.ptr, mapInfo, id, minCoords, maxCoords, heightMap, collisionMargin); +} + +public override bool ReleaseHeightMapInfo(IntPtr heightMapInfo) +{ + return BSAPICPP.ReleaseHeightMapInfo2(heightMapInfo); +} + +public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin) +{ + return new BulletShape(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); +} + +public override BulletShape CreateTerrainShape(IntPtr mapInfo) +{ + return new BulletShape(BSAPICPP.CreateTerrainShape2(mapInfo), BSPhysicsShapeType.SHAPE_TERRAIN); +} + +// ===================================================================================== +// Constraint creation and helper routines +public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) +{ + return new BulletConstraint(BSAPICPP.Create6DofConstraint2(world.ptr, obj1.ptr, obj2.ptr, frame1loc, frame1rot, + frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); +} + +public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 joinPoint, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) +{ + return new BulletConstraint(BSAPICPP.Create6DofConstraintToPoint2(world.ptr, obj1.ptr, obj2.ptr, + joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); +} + +public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 pivotinA, Vector3 pivotinB, + Vector3 axisInA, Vector3 axisInB, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) +{ + return new BulletConstraint(BSAPICPP.CreateHingeConstraint2(world.ptr, obj1.ptr, obj2.ptr, + pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); +} + +public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse) +{ + BSAPICPP.SetConstraintEnable2(constrain.ptr, numericTrueFalse); +} + +public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations) +{ + BSAPICPP.SetConstraintNumSolverIterations2(constrain.ptr, iterations); +} + +public override bool SetFrames(BulletConstraint constrain, + Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) +{ + return BSAPICPP.SetFrames2(constrain.ptr, frameA, frameArot, frameB, frameBrot); +} + +public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) +{ + return BSAPICPP.SetLinearLimits2(constrain.ptr, low, hi); +} + +public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) +{ + return BSAPICPP.SetAngularLimits2(constrain.ptr, low, hi); +} + +public override bool UseFrameOffset(BulletConstraint constrain, float enable) +{ + return BSAPICPP.UseFrameOffset2(constrain.ptr, enable); +} + +public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce) +{ + return BSAPICPP.TranslationalLimitMotor2(constrain.ptr, enable, targetVel, maxMotorForce); +} + +public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold) +{ + return BSAPICPP.SetBreakingImpulseThreshold2(constrain.ptr, threshold); +} + +public override bool CalculateTransforms(BulletConstraint constrain) +{ + return BSAPICPP.CalculateTransforms2(constrain.ptr); +} + +public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis) +{ + return BSAPICPP.SetConstraintParam2(constrain.ptr, paramIndex, value, axis); +} + +public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain) +{ + return BSAPICPP.DestroyConstraint2(world.ptr, constrain.ptr); +} + +// ===================================================================================== +// btCollisionWorld entries +public override void UpdateSingleAabb(BulletWorld world, BulletBody obj) +{ + BSAPICPP.UpdateSingleAabb2(world.ptr, obj.ptr); +} + +public override void UpdateAabbs(BulletWorld world) +{ + BSAPICPP.UpdateAabbs2(world.ptr); +} + +public override bool GetForceUpdateAllAabbs(BulletWorld world) +{ + return BSAPICPP.GetForceUpdateAllAabbs2(world.ptr); +} + +public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) +{ + BSAPICPP.SetForceUpdateAllAabbs2(world.ptr, force); +} + +// ===================================================================================== +// btDynamicsWorld entries +public override bool AddObjectToWorld(BulletWorld world, BulletBody obj) +{ + return BSAPICPP.AddObjectToWorld2(world.ptr, obj.ptr); +} + +public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj) +{ + return BSAPICPP.RemoveObjectFromWorld2(world.ptr, obj.ptr); +} + +public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) +{ + return BSAPICPP.AddConstraintToWorld2(world.ptr, constrain.ptr, disableCollisionsBetweenLinkedObjects); +} + +public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) +{ + return BSAPICPP.RemoveConstraintFromWorld2(world.ptr, constrain.ptr); +} +// ===================================================================================== +// btCollisionObject entries +public override Vector3 GetAnisotripicFriction(BulletConstraint constrain) +{ + return BSAPICPP.GetAnisotripicFriction2(constrain.ptr); +} + +public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict) +{ + return BSAPICPP.SetAnisotripicFriction2(constrain.ptr, frict); +} + +public override bool HasAnisotripicFriction(BulletConstraint constrain) +{ + return BSAPICPP.HasAnisotripicFriction2(constrain.ptr); +} + +public override void SetContactProcessingThreshold(BulletBody obj, float val) +{ + BSAPICPP.SetContactProcessingThreshold2(obj.ptr, val); +} + +public override float GetContactProcessingThreshold(BulletBody obj) +{ + return BSAPICPP.GetContactProcessingThreshold2(obj.ptr); +} + +public override bool IsStaticObject(BulletBody obj) +{ + return BSAPICPP.IsStaticObject2(obj.ptr); +} + +public override bool IsKinematicObject(BulletBody obj) +{ + return BSAPICPP.IsKinematicObject2(obj.ptr); +} + +public override bool IsStaticOrKinematicObject(BulletBody obj) +{ + return BSAPICPP.IsStaticOrKinematicObject2(obj.ptr); +} + +public override bool HasContactResponse(BulletBody obj) +{ + return BSAPICPP.HasContactResponse2(obj.ptr); +} + +public override void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape) +{ + BSAPICPP.SetCollisionShape2(sim.ptr, obj.ptr, shape.ptr); +} + +public override BulletShape GetCollisionShape(BulletBody obj) +{ + return new BulletShape(BSAPICPP.GetCollisionShape2(obj.ptr)); +} + +public override int GetActivationState(BulletBody obj) +{ + return BSAPICPP.GetActivationState2(obj.ptr); +} + +public override void SetActivationState(BulletBody obj, int state) +{ + BSAPICPP.SetActivationState2(obj.ptr, state); +} + +public override void SetDeactivationTime(BulletBody obj, float dtime) +{ + BSAPICPP.SetDeactivationTime2(obj.ptr, dtime); +} + +public override float GetDeactivationTime(BulletBody obj) +{ + return BSAPICPP.GetDeactivationTime2(obj.ptr); +} + +public override void ForceActivationState(BulletBody obj, ActivationState state) +{ + BSAPICPP.ForceActivationState2(obj.ptr, state); +} + +public override void Activate(BulletBody obj, bool forceActivation) +{ + BSAPICPP.Activate2(obj.ptr, forceActivation); +} + +public override bool IsActive(BulletBody obj) +{ + return BSAPICPP.IsActive2(obj.ptr); +} + +public override void SetRestitution(BulletBody obj, float val) +{ + BSAPICPP.SetRestitution2(obj.ptr, val); +} + +public override float GetRestitution(BulletBody obj) +{ + return BSAPICPP.GetRestitution2(obj.ptr); +} + +public override void SetFriction(BulletBody obj, float val) +{ + BSAPICPP.SetFriction2(obj.ptr, val); +} + +public override float GetFriction(BulletBody obj) +{ + return BSAPICPP.GetFriction2(obj.ptr); +} + +public override Vector3 GetPosition(BulletBody obj) +{ + return BSAPICPP.GetPosition2(obj.ptr); +} + +public override Quaternion GetOrientation(BulletBody obj) +{ + return BSAPICPP.GetOrientation2(obj.ptr); +} + +public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation) +{ + BSAPICPP.SetTranslation2(obj.ptr, position, rotation); +} + +public override IntPtr GetBroadphaseHandle(BulletBody obj) +{ + return BSAPICPP.GetBroadphaseHandle2(obj.ptr); +} + +public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle) +{ + BSAPICPP.SetUserPointer2(obj.ptr, handle); +} + +public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel) +{ + BSAPICPP.SetInterpolationLinearVelocity2(obj.ptr, vel); +} + +public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel) +{ + BSAPICPP.SetInterpolationAngularVelocity2(obj.ptr, vel); +} + +public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel) +{ + BSAPICPP.SetInterpolationVelocity2(obj.ptr, linearVel, angularVel); +} + +public override float GetHitFraction(BulletBody obj) +{ + return BSAPICPP.GetHitFraction2(obj.ptr); +} + +public override void SetHitFraction(BulletBody obj, float val) +{ + BSAPICPP.SetHitFraction2(obj.ptr, val); +} + +public override CollisionFlags GetCollisionFlags(BulletBody obj) +{ + return BSAPICPP.GetCollisionFlags2(obj.ptr); +} + +public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags) +{ + return BSAPICPP.SetCollisionFlags2(obj.ptr, flags); +} + +public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags) +{ + return BSAPICPP.AddToCollisionFlags2(obj.ptr, flags); +} + +public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags) +{ + return BSAPICPP.RemoveFromCollisionFlags2(obj.ptr, flags); +} + +public override float GetCcdMotionThreshold(BulletBody obj) +{ + return BSAPICPP.GetCcdMotionThreshold2(obj.ptr); +} + + +public override void SetCcdMotionThreshold(BulletBody obj, float val) +{ + BSAPICPP.SetCcdMotionThreshold2(obj.ptr, val); +} + +public override float GetCcdSweptSphereRadius(BulletBody obj) +{ + return BSAPICPP.GetCcdSweptSphereRadius2(obj.ptr); +} + +public override void SetCcdSweptSphereRadius(BulletBody obj, float val) +{ + BSAPICPP.SetCcdSweptSphereRadius2(obj.ptr, val); +} + +public override IntPtr GetUserPointer(BulletBody obj) +{ + return BSAPICPP.GetUserPointer2(obj.ptr); +} + +public override void SetUserPointer(BulletBody obj, IntPtr val) +{ + BSAPICPP.SetUserPointer2(obj.ptr, val); +} + + /* +// ===================================================================================== +// btRigidBody entries +public override void ApplyGravity(BulletBody obj); + +public override void SetGravity(BulletBody obj, Vector3 val); + +public override Vector3 GetGravity(BulletBody obj); + +public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping); + +public override void SetLinearDamping(BulletBody obj, float lin_damping); + +public override void SetAngularDamping(BulletBody obj, float ang_damping); + +public override float GetLinearDamping(BulletBody obj); + +public override float GetAngularDamping(BulletBody obj); + +public override float GetLinearSleepingThreshold(BulletBody obj); + + +public override void ApplyDamping(BulletBody obj, float timeStep); + +public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia); + +public override Vector3 GetLinearFactor(BulletBody obj); + +public override void SetLinearFactor(BulletBody obj, Vector3 factor); + +public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot); + +// Add a force to the object as if its mass is one. +public override void ApplyCentralForce(BulletBody obj, Vector3 force); + +// Set the force being applied to the object as if its mass is one. +public override void SetObjectForce(BulletBody obj, Vector3 force); + +public override Vector3 GetTotalForce(BulletBody obj); + +public override Vector3 GetTotalTorque(BulletBody obj); + +public override Vector3 GetInvInertiaDiagLocal(BulletBody obj); + +public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert); + +public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold); + +public override void ApplyTorque(BulletBody obj, Vector3 torque); + +// Apply force at the given point. Will add torque to the object. +public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos); + +// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. +public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp); + +// Apply impulse to the object's torque. Force is scaled by object's mass. +public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp); + +// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. +public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos); + +public override void ClearForces(BulletBody obj); + +public override void ClearAllForces(BulletBody obj); + +public override void UpdateInertiaTensor(BulletBody obj); + +public override Vector3 GetLinearVelocity(BulletBody obj); + +public override Vector3 GetAngularVelocity(BulletBody obj); + +public override void SetLinearVelocity(BulletBody obj, Vector3 val); + +public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity); + +public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos); + +public override void Translate(BulletBody obj, Vector3 trans); + +public override void UpdateDeactivation(BulletBody obj, float timeStep); + +public override bool WantsSleeping(BulletBody obj); + +public override void SetAngularFactor(BulletBody obj, float factor); + +public override void SetAngularFactorV(BulletBody obj, Vector3 factor); + +public override Vector3 GetAngularFactor(BulletBody obj); + +public override bool IsInWorld(BulletBody obj); + +public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain); + +public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain); + +public override BulletConstraint GetConstraintRef(BulletBody obj, int index); + +public override int GetNumConstraintRefs(BulletBody obj); + +public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask); + +// ===================================================================================== +// btCollisionShape entries + +public override float GetAngularMotionDisc(BulletShape shape); + +public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor); + +public override bool IsPolyhedral(BulletShape shape); + +public override bool IsConvex2d(BulletShape shape); + +public override bool IsConvex(BulletShape shape); + +public override bool IsNonMoving(BulletShape shape); + +public override bool IsConcave(BulletShape shape); + +public override bool IsCompound(BulletShape shape); + +public override bool IsSoftBody(BulletShape shape); + +public override bool IsInfinite(BulletShape shape); + +public override void SetLocalScaling(BulletShape shape, Vector3 scale); + +public override Vector3 GetLocalScaling(BulletShape shape); + +public override Vector3 CalculateLocalInertia(BulletShape shape, float mass); + +public override int GetShapeType(BulletShape shape); + +public override void SetMargin(BulletShape shape, float val); + +public override float GetMargin(BulletShape shape); + */ + +static class BSAPICPP +{ +// ===================================================================================== +// Mesh, hull, shape and body creation helper routines +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateMeshShape2(IntPtr world, + int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, + int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateHullShape2(IntPtr world, + int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsNativeShape2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateCompoundShape2(IntPtr sim, bool enableDynamicAabbTree); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetNumberOfCompoundChildren2(IntPtr cShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void AddChildShapeToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShape, int indx); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetBodyType2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr AllocateBodyInfo2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ReleaseBodyInfo2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DestroyObject2(IntPtr sim, IntPtr obj); + +// ===================================================================================== +// Terrain creation and helper routines +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo); + +// ===================================================================================== +// Constraint creation and helper routines +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr Create6DofConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 joinPoint, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 pivotinA, Vector3 pivotinB, + Vector3 axisInA, Vector3 axisInB, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetFrames2(IntPtr constrain, + Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UseFrameOffset2(IntPtr constrain, float enable); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool CalculateTransforms2(IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyConstraint2(IntPtr world, IntPtr constrain); + +// ===================================================================================== +// btCollisionWorld entries +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateSingleAabb2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateAabbs2(IntPtr world); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool GetForceUpdateAllAabbs2(IntPtr world); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetForceUpdateAllAabbs2(IntPtr world, bool force); + +// ===================================================================================== +// btDynamicsWorld entries +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool RemoveConstraintFromWorld2(IntPtr world, IntPtr constrain); +// ===================================================================================== +// btCollisionObject entries +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetAnisotripicFriction2(IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 SetAnisotripicFriction2(IntPtr constrain, Vector3 frict); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool HasAnisotripicFriction2(IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetContactProcessingThreshold2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetContactProcessingThreshold2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsStaticObject2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsKinematicObject2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsStaticOrKinematicObject2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool HasContactResponse2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCollisionShape2(IntPtr sim, IntPtr obj, IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetCollisionShape2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetActivationState2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetActivationState2(IntPtr obj, int state); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetDeactivationTime2(IntPtr obj, float dtime); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetDeactivationTime2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ForceActivationState2(IntPtr obj, ActivationState state); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Activate2(IntPtr obj, bool forceActivation); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsActive2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetRestitution2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetRestitution2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetFriction2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetFriction2(IntPtr obj); + + /* Haven't defined the type 'Transform' +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Transform GetWorldTransform2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void setWorldTransform2(IntPtr obj, Transform trans); + */ + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetPosition2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Quaternion GetOrientation2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetBroadphaseHandle2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetBroadphaseHandle2(IntPtr obj, IntPtr handle); + + /* +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Transform GetInterpolationWorldTransform2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetInterpolationWorldTransform2(IntPtr obj, Transform trans); + */ + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetInterpolationLinearVelocity2(IntPtr obj, Vector3 vel); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetInterpolationAngularVelocity2(IntPtr obj, Vector3 vel); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetInterpolationVelocity2(IntPtr obj, Vector3 linearVel, Vector3 angularVel); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetHitFraction2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetHitFraction2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern CollisionFlags GetCollisionFlags2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern CollisionFlags SetCollisionFlags2(IntPtr obj, CollisionFlags flags); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern CollisionFlags AddToCollisionFlags2(IntPtr obj, CollisionFlags flags); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern CollisionFlags RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetCcdMotionThreshold2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCcdMotionThreshold2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetCcdSweptSphereRadius2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCcdSweptSphereRadius2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetUserPointer2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetUserPointer2(IntPtr obj, IntPtr val); + +} +} + +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +// =============================================================================== +static class BulletSimAPI { +// =============================================================================== +// Link back to the managed code for outputting log messages +[UnmanagedFunctionPointer(CallingConvention.Cdecl)] +public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); + +// =============================================================================== +// Initialization and simulation +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, + int maxCollisions, IntPtr collisionArray, + int maxUpdates, IntPtr updateArray, + DebugLogCallback logRoutine); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetHeightMap2(IntPtr world, float[] heightmap); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Shutdown2(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, + out IntPtr updatedEntitiesPtr, + out int collidersCount, + out IntPtr collidersPtr); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool PushUpdate2(IntPtr obj); + +// ===================================================================================== +// btRigidBody entries +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyGravity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetGravity2(IntPtr obj, Vector3 val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetGravity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetDamping2(IntPtr obj, float lin_damping, float ang_damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetLinearDamping2(IntPtr obj, float lin_damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetAngularDamping2(IntPtr obj, float ang_damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetLinearDamping2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetAngularDamping2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetLinearSleepingThreshold2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetAngularSleepingThreshold2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyDamping2(IntPtr obj, float timeStep); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetMassProps2(IntPtr obj, float mass, Vector3 inertia); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetLinearFactor2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetLinearFactor2(IntPtr obj, Vector3 factor); + + /* +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCenterOfMassTransform2(IntPtr obj, Transform trans); + */ + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetCenterOfMassByPosRot2(IntPtr obj, Vector3 pos, Quaternion rot); + +// Add a force to the object as if its mass is one. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyCentralForce2(IntPtr obj, Vector3 force); + +// Set the force being applied to the object as if its mass is one. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetObjectForce2(IntPtr obj, Vector3 force); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetTotalForce2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetTotalTorque2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetInvInertiaDiagLocal2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetInvInertiaDiagLocal2(IntPtr obj, Vector3 inert); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyTorque2(IntPtr obj, Vector3 torque); + +// Apply force at the given point. Will add torque to the object. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyForce2(IntPtr obj, Vector3 force, Vector3 pos); + +// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyCentralImpulse2(IntPtr obj, Vector3 imp); + +// Apply impulse to the object's torque. Force is scaled by object's mass. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyTorqueImpulse2(IntPtr obj, Vector3 imp); + +// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ApplyImpulse2(IntPtr obj, Vector3 imp, Vector3 pos); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ClearForces2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ClearAllForces2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateInertiaTensor2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetCenterOfMassPosition2(IntPtr obj); + + /* +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Transform GetCenterOfMassTransform2(IntPtr obj); + */ + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetLinearVelocity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetAngularVelocity2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetLinearVelocity2(IntPtr obj, Vector3 val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetVelocityInLocalPoint2(IntPtr obj, Vector3 pos); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Translate2(IntPtr obj, Vector3 trans); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateDeactivation2(IntPtr obj, float timeStep); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool WantsSleeping2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetAngularFactor2(IntPtr obj, float factor); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetAngularFactorV2(IntPtr obj, Vector3 factor); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetAngularFactor2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsInWorld2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void AddConstraintRef2(IntPtr obj, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void RemoveConstraintRef2(IntPtr obj, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetConstraintRef2(IntPtr obj, int index); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetNumConstraintRefs2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask); + +// ===================================================================================== +// btCollisionShape entries + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetAngularMotionDisc2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetContactBreakingThreshold2(IntPtr shape, float defaultFactor); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsPolyhedral2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsConvex2d2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsConvex2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsNonMoving2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsConcave2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsCompound2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsSoftBody2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool IsInfinite2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetLocalScaling2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int GetShapeType2(IntPtr shape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetMargin2(IntPtr shape, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern float GetMargin2(IntPtr shape); + +// ===================================================================================== +// Debugging +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpActivationInfo2(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpAllInfo2(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpPhysicsStatistics2(IntPtr sim); + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index d5ab245..328164b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -137,7 +137,7 @@ public sealed class BSCharacter : BSPhysObject private void SetPhysicalProperties() { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody); ZeroMotion(true); ForcePosition = _position; @@ -152,14 +152,14 @@ public sealed class BSCharacter : BSPhysObject // Needs to be reset especially when an avatar is recreated after crossing a region boundry. Flying = _flying; - BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution); + PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); - BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold); + PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); if (BSParam.CcdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); + PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); + PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); } UpdatePhysicalMassProperties(RawMass, false); @@ -167,13 +167,13 @@ public sealed class BSCharacter : BSPhysObject // Make so capsule does not fall over BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); + PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); - // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); - BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION); - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); + // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); + PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION); + PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); // Do this after the object has been added to the world PhysBody.collisionType = CollisionType.Avatar; @@ -320,7 +320,7 @@ public sealed class BSCharacter : BSPhysObject { if (PhysBody.HasPhysicalBody) { - BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero); BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); // The next also get rid of applied linear force but the linear velocity is untouched. BulletSimAPI.ClearForces2(PhysBody.ptr); @@ -350,19 +350,19 @@ public sealed class BSCharacter : BSPhysObject { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); }); } } public override OMV.Vector3 ForcePosition { get { - _position = BulletSimAPI.GetPosition2(PhysBody.ptr); + _position = PhysicsScene.PE.GetPosition(PhysBody); return _position; } set { _position = value; PositionSanityCheck(); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); } } @@ -418,7 +418,7 @@ public sealed class BSCharacter : BSPhysObject { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); }); ret = true; } @@ -520,7 +520,7 @@ public sealed class BSCharacter : BSPhysObject { _currentFriction = BSParam.AvatarStandingFriction; if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); + PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); } } else @@ -529,12 +529,12 @@ public sealed class BSCharacter : BSPhysObject { _currentFriction = BSParam.AvatarFriction; if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); + PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); } } BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); - BulletSimAPI.Activate2(PhysBody.ptr, true); + PhysicsScene.PE.Activate(PhysBody, true); } } public override OMV.Vector3 Torque { @@ -576,7 +576,7 @@ public sealed class BSCharacter : BSPhysObject { get { - _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); + _orientation = PhysicsScene.PE.GetOrientation(PhysBody); return _orientation; } set @@ -584,8 +584,8 @@ public sealed class BSCharacter : BSPhysObject _orientation = value; if (PhysBody.HasPhysicalBody) { - // _position = BulletSimAPI.GetPosition2(BSBody.ptr); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + // _position = PhysicsScene.PE.GetPosition(BSBody); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); } } } @@ -636,9 +636,9 @@ public sealed class BSCharacter : BSPhysObject if (PhysBody.HasPhysicalBody) { if (_floatOnWater) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); else - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); } }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 59584b2..c9c7c2e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -37,6 +37,7 @@ public abstract class BSConstraint : IDisposable private static string LogHeader = "[BULLETSIM CONSTRAINT]"; protected BulletWorld m_world; + protected BSScene PhysicsScene; protected BulletBody m_body1; protected BulletBody m_body2; protected BulletConstraint m_constraint; @@ -48,8 +49,10 @@ public abstract class BSConstraint : IDisposable public abstract ConstraintType Type { get; } public bool IsEnabled { get { return m_enabled; } } - public BSConstraint() + public BSConstraint(BulletWorld world) { + m_world = world; + PhysicsScene = m_world.physicsScene; } public virtual void Dispose() @@ -59,7 +62,7 @@ public abstract class BSConstraint : IDisposable m_enabled = false; if (m_constraint.HasPhysicalConstraint) { - bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); + bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint); m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", BSScene.DetailLogZero, m_body1.ID, m_body1.ptr.ToString("X"), @@ -74,7 +77,7 @@ public abstract class BSConstraint : IDisposable { bool ret = false; if (m_enabled) - ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high); + ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high); return ret; } @@ -82,7 +85,7 @@ public abstract class BSConstraint : IDisposable { bool ret = false; if (m_enabled) - ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high); + ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high); return ret; } @@ -91,7 +94,7 @@ public abstract class BSConstraint : IDisposable bool ret = false; if (m_enabled) { - BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt); + PhysicsScene.PE.SetConstraintNumSolverIterations(m_constraint, cnt); ret = true; } return ret; @@ -103,7 +106,7 @@ public abstract class BSConstraint : IDisposable if (m_enabled) { // Recompute the internal transforms - BulletSimAPI.CalculateTransforms2(m_constraint.ptr); + PhysicsScene.PE.CalculateTransforms(m_constraint); ret = true; } return ret; @@ -122,7 +125,7 @@ public abstract class BSConstraint : IDisposable // Setting an object's mass to zero (making it static like when it's selected) // automatically disables the constraints. // If the link is enabled, be sure to set the constraint itself to enabled. - BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true)); + PhysicsScene.PE.SetConstraintEnable(m_constraint, BSParam.NumericBool(true)); } else { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index b946870..aee93c9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -43,15 +43,14 @@ public sealed class BSConstraint6Dof : BSConstraint Vector3 frame1, Quaternion frame1rot, Vector3 frame2, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + : base(world) { - m_world = world; m_body1 = obj1; m_body2 = obj2; - m_constraint = new BulletConstraint( - BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, + m_constraint = PhysicsScene.PE.Create6DofConstraint(m_world, m_body1, m_body2, frame1, frame1rot, frame2, frame2rot, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); m_enabled = true; world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", BSScene.DetailLogZero, world.worldID, @@ -61,8 +60,8 @@ public sealed class BSConstraint6Dof : BSConstraint public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + : base(world) { - m_world = world; m_body1 = obj1; m_body2 = obj2; if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody) @@ -76,11 +75,10 @@ public sealed class BSConstraint6Dof : BSConstraint } else { - m_constraint = new BulletConstraint( - BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, + m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2, joinPoint, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"), obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); if (!m_constraint.HasPhysicalConstraint) @@ -101,7 +99,7 @@ public sealed class BSConstraint6Dof : BSConstraint bool ret = false; if (m_enabled) { - BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); + PhysicsScene.PE.SetFrames(m_constraint, frameA, frameArot, frameB, frameBrot); ret = true; } return ret; @@ -112,9 +110,9 @@ public sealed class BSConstraint6Dof : BSConstraint bool ret = false; if (m_enabled) { - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); - BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); + PhysicsScene.PE.SetConstraintParam(m_constraint, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); ret = true; } return ret; @@ -125,7 +123,7 @@ public sealed class BSConstraint6Dof : BSConstraint bool ret = false; float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; if (m_enabled) - ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff); + ret = PhysicsScene.PE.UseFrameOffset(m_constraint, onOff); return ret; } @@ -135,7 +133,7 @@ public sealed class BSConstraint6Dof : BSConstraint float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; if (m_enabled) { - ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce); + ret = PhysicsScene.PE.TranslationalLimitMotor(m_constraint, onOff, targetVelocity, maxMotorForce); m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}", BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce); } @@ -146,7 +144,7 @@ public sealed class BSConstraint6Dof : BSConstraint { bool ret = false; if (m_enabled) - ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); + ret = PhysicsScene.PE.SetBreakingImpulseThreshold(m_constraint, threshold); return ret; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs index a5378b9..7714a03 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs @@ -40,15 +40,13 @@ public sealed class BSConstraintHinge : BSConstraint Vector3 pivotInA, Vector3 pivotInB, Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + : base(world) { - m_world = world; m_body1 = obj1; m_body2 = obj2; - m_constraint = new BulletConstraint( - BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, - pivotInA, pivotInB, - axisInA, axisInB, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2, + pivotInA, pivotInB, axisInA, axisInB, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); m_enabled = true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 0bdfbe3..5d70ef7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -558,7 +558,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Friction affects are handled by this vehicle code float friction = 0f; - BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction); + PhysicsScene.PE.SetFriction(Prim.PhysBody, friction); // Moderate angular movement introduced by Bullet. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. @@ -567,7 +567,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); // Vehicles report collision events so we know when it's on the ground - BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); + PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass); BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); @@ -581,7 +581,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } else { - BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); + PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); } } @@ -651,7 +651,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_knownChanged & m_knownChangedVelocity) != 0) { Prim.ForceVelocity = m_knownVelocity; - BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity); + PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, VehicleVelocity); } if ((m_knownChanged & m_knownChangedForce) != 0) @@ -661,7 +661,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { Prim.ForceRotationalVelocity = m_knownRotationalVelocity; // Fake out Bullet by making it think the velocity is the same as last time. - BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity); + PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity); } if ((m_knownChanged & m_knownChangedRotationalForce) != 0) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 9bb951c..3c99ca7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -131,10 +131,10 @@ public sealed class BSLinksetCompound : BSLinkset { // The origional prims are removed from the world as the shape of the root compound // shape takes over. - BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION); + PhysicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + PhysicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION); // We don't want collisions from the old linkset children. - BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); child.PhysBody.collisionType = CollisionType.LinksetChild; @@ -159,12 +159,12 @@ public sealed class BSLinksetCompound : BSLinkset else { // The non-physical children can come back to life. - BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); child.PhysBody.collisionType = CollisionType.LinksetChild; // Don't force activation so setting of DISABLE_SIMULATION can stay if used. - BulletSimAPI.Activate2(child.PhysBody.ptr, false); + PhysicsScene.PE.Activate(child.PhysBody, false); ret = true; } return ret; @@ -371,7 +371,7 @@ public sealed class BSLinksetCompound : BSLinkset PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); } - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); } } return false; // 'false' says to move onto the next child in the list diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 5c8553a..c6c2946 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -300,7 +300,7 @@ public static class BSParam (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, (s) => { return DeactivationTime; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ), + (s,o,v) => { s.PE.SetDeactivationTime(o.PhysBody, v); } ), new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", 0.8f, (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, @@ -318,19 +318,19 @@ public static class BSParam (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, (s) => { return CcdMotionThreshold; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ), + (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ), new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , 0f, (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); }, (s) => { return CcdSweptSphereRadius; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ), + (s,o,v) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, v); } ), new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , 0.1f, (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return ContactProcessingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), + (s,o,v) => { s.PE.SetContactProcessingThreshold(o.PhysBody, v); } ), new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", (float)BSTerrainPhys.TerrainImplementation.Mesh, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index b093890..e7cb3e0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -308,7 +308,7 @@ public abstract class BSPhysObject : PhysicsActor PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() { if (PhysBody.HasPhysicalBody) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } else @@ -324,7 +324,7 @@ public abstract class BSPhysObject : PhysicsActor { // Make sure there is a body there because sometimes destruction happens in an un-ideal order. if (PhysBody.HasPhysicalBody) - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } // Return 'true' if the simulator wants collision events diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index cf09be2..613606f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -120,7 +120,7 @@ public sealed class BSPrim : BSPhysObject { CreateGeomAndObject(true); - CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr); + CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody); }); } @@ -265,7 +265,7 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); if (PhysBody.HasPhysicalBody) { - BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); } }); @@ -318,14 +318,14 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Vector3 ForcePosition { get { - _position = BulletSimAPI.GetPosition2(PhysBody.ptr); + _position = PhysicsScene.PE.GetPosition(PhysBody); return _position; } set { _position = value; if (PhysBody.HasPhysicalBody) { - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); ActivateIfPhysical(false); } } @@ -419,7 +419,7 @@ public sealed class BSPrim : BSPhysObject // Changing interesting properties doesn't change proxy and collision cache // information. The Bullet solution is to re-add the object to the world // after parameters are changed. - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody); } // The computation of mass props requires gravity to be set on the object. @@ -649,9 +649,9 @@ public sealed class BSPrim : BSPhysObject { if (PhysBody.HasPhysicalBody) { - // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); + // _position = PhysicsScene.PE.GetObjectPosition(PhysicsScene.World, BSBody); // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); } }); } @@ -661,13 +661,13 @@ public sealed class BSPrim : BSPhysObject { get { - _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); + _orientation = PhysicsScene.PE.GetOrientation(PhysBody); return _orientation; } set { _orientation = value; - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); } } public override int PhysicsActorType { @@ -723,7 +723,7 @@ public sealed class BSPrim : BSPhysObject // Mangling all the physical properties requires the object not be in the physical world. // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody); // Set up the object physicalness (does gravity and collisions move this object) MakeDynamic(IsStatic); @@ -740,7 +740,7 @@ public sealed class BSPrim : BSPhysObject AddObjectToPhysicalWorld(); // Rebuild its shape - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); + PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); // Recompute any linkset parameters. // When going from non-physical to physical, this re-enables the constraints that @@ -762,28 +762,28 @@ public sealed class BSPrim : BSPhysObject if (makeStatic) { // Become a Bullet 'static' object type - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement ZeroMotion(true); // Set various physical properties so other object interact properly MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); - BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); - BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); + PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction); + PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution); // Mass is zero which disables a bunch of physics stuff in Bullet UpdatePhysicalMassProperties(0f, false); // Set collision detection parameters if (BSParam.CcdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); + PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); + PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); } // The activation state is 'disabled' so Bullet will not try to act on it. - // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); + // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION); // Start it out sleeping and physical actions could wake it up. - BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING); + PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING); // This collides like a static object PhysBody.collisionType = CollisionType.Static; @@ -794,22 +794,22 @@ public sealed class BSPrim : BSPhysObject else { // Not a Bullet static object - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT); // Set various physical properties so other object interact properly MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true); - BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); - BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); + PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction); + PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 // Since this can be called multiple times, only zero forces when becoming physical - // BulletSimAPI.ClearAllForces2(BSBody.ptr); + // PhysicsScene.PE.ClearAllForces(BSBody); // For good measure, make sure the transform is set through to the motion state - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); // Center of mass is at the center of the object - // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); + // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody, _position, _orientation); // A dynamic object has mass UpdatePhysicalMassProperties(RawMass, false); @@ -817,22 +817,22 @@ public sealed class BSPrim : BSPhysObject // Set collision detection parameters if (BSParam.CcdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); + PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); + PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); } // Various values for simulation limits BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping); - BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime); + PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime); BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); - BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold); + PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); // This collides like an object. PhysBody.collisionType = CollisionType.Dynamic; // Force activation of the object so Bullet will act on it. // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. - BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); + PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); // There might be special things needed for implementing linksets. Linkset.MakeDynamic(this); @@ -853,7 +853,7 @@ public sealed class BSPrim : BSPhysObject { m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType); } - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); } else { @@ -861,7 +861,7 @@ public sealed class BSPrim : BSPhysObject { m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); } - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); // Change collision info from a static object to a ghosty collision object PhysBody.collisionType = CollisionType.VolumeDetect; @@ -874,7 +874,7 @@ public sealed class BSPrim : BSPhysObject private void ActivateIfPhysical(bool forceIt) { if (IsPhysical && PhysBody.HasPhysicalBody) - BulletSimAPI.Activate2(PhysBody.ptr, forceIt); + PhysicsScene.PE.Activate(PhysBody, forceIt); } // Turn on or off the flag controlling whether collision events are returned to the simulator. @@ -882,11 +882,11 @@ public sealed class BSPrim : BSPhysObject { if (wantsCollisionEvents) { - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } else { - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } } @@ -897,7 +897,7 @@ public sealed class BSPrim : BSPhysObject { if (PhysBody.HasPhysicalBody) { - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. // Replace this when the new AddObjectToWorld function is complete. @@ -941,9 +941,9 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() { if (_floatOnWater) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); else - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); }); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index e7d8d14..6f819d8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -143,7 +143,7 @@ public sealed class BSShapeCollection : IDisposable { if (!BulletSimAPI.IsInWorld2(body.ptr)) { - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body); if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); } }); @@ -168,12 +168,12 @@ public sealed class BSShapeCollection : IDisposable if (BulletSimAPI.IsInWorld2(body.ptr)) { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); + PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body); if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); } // Zero any reference to the shape so it is not freed when the body is deleted. - BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); + PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, new BulletShape()); PhysicsScene.PE.DestroyObject(PhysicsScene.World, body); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index a2c085e..01966c0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -91,13 +91,12 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys // Using the information in m_mapInfo, create the physical representation of the heightmap. private void BuildHeightmapTerrain() { - m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, + m_mapInfo.Ptr = PhysicsScene.PE.CreateHeightMapInfo(PhysicsScene.World, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, BSParam.TerrainCollisionMargin); // Create the terrain shape from the mapInfo - m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), - BSPhysicsShapeType.SHAPE_TERRAIN); + m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape(m_mapInfo.Ptr); // The terrain object initial position is at the center of the object Vector3 centerPos; @@ -109,22 +108,22 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys m_mapInfo.ID, centerPos, Quaternion.Identity); // Set current terrain attributes - BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction); - BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction); - BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution); - BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + PhysicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction); + PhysicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction); + PhysicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution); + PhysicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT); // Return the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_mapInfo.terrainBody); // redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody); m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; m_mapInfo.terrainBody.ApplyCollisionMask(); // Make it so the terrain will not move or be considered for movement. - BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION); return; } @@ -136,10 +135,10 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { if (m_mapInfo.terrainBody.HasPhysicalBody) { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); + PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody); // Frees both the body and the shape. PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody); - BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr); + PhysicsScene.PE.ReleaseHeightMapInfo(m_mapInfo.Ptr); } } m_mapInfo = null; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index d99a50f..590c687 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -133,17 +133,14 @@ public sealed class BSTerrainManager : IDisposable public void CreateInitialGroundPlaneAndTerrain() { // The ground plane is here to catch things that are trying to drop to negative infinity - BulletShape groundPlaneShape = new BulletShape( - BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, - BSParam.TerrainCollisionMargin), - BSPhysicsShapeType.SHAPE_GROUNDPLANE); + BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr); + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_groundPlane); + PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_groundPlane); // Ground plane does not move - BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); + PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION); // Everything collides with the ground plane. m_groundPlane.collisionType = CollisionType.Groundplane; m_groundPlane.ApplyCollisionMask(); @@ -158,7 +155,7 @@ public sealed class BSTerrainManager : IDisposable { if (m_groundPlane.HasPhysicalBody) { - if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr)) + if (PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_groundPlane)) { PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_groundPlane); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index d8c4972..2f55fc3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -114,32 +114,32 @@ public sealed class BSTerrainMesh : BSTerrainPhys } // Set current terrain attributes - BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction); - BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction); - BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution); - BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction); + PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction); + PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution); + PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT); // Static objects are not very massive. BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); // Put the new terrain to the world of physical objects - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody); // Redo its bounding box now that it is in the world - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); + PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody); m_terrainBody.collisionType = CollisionType.Terrain; m_terrainBody.ApplyCollisionMask(); // Make it so the terrain will not move or be considered for movement. - BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION); } public override void Dispose() { if (m_terrainBody.HasPhysicalBody) { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); + PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_terrainBody); // Frees both the body and the shape. PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 6b76151..b119f22 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -367,7 +367,6 @@ public abstract void ReleaseBodyInfo(IntPtr obj); public abstract void DestroyObject(BulletWorld sim, BulletBody obj); - /* // ===================================================================================== // Terrain creation and helper routines public abstract IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, @@ -378,9 +377,9 @@ public abstract IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint i public abstract bool ReleaseHeightMapInfo(IntPtr heightMapInfo); -public abstract BulletBody CreateGroundPlaneShape(uint id, float height, float collisionMargin); +public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin); -public abstract BulletBody CreateTerrainShape(IntPtr mapInfo); +public abstract BulletShape CreateTerrainShape(IntPtr mapInfo); // ===================================================================================== // Constraint creation and helper routines @@ -460,7 +459,7 @@ public abstract bool IsStaticOrKinematicObject(BulletBody obj); public abstract bool HasContactResponse(BulletBody obj); -public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletBody shape); +public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape); public abstract BulletShape GetCollisionShape(BulletBody obj); @@ -526,6 +525,7 @@ public abstract IntPtr GetUserPointer(BulletBody obj); public abstract void SetUserPointer(BulletBody obj, IntPtr val); + /* // ===================================================================================== // btRigidBody entries public abstract void ApplyGravity(BulletBody obj); -- cgit v1.1 From 5379d6d112a8027c8f0f62ba77303e8b69e24332 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 30 Dec 2012 10:37:37 -0800 Subject: BulletSim: remove all the debug printing of pointer formatting (.ToString(X)) and replace it with a method on BulletBody, BulletShape, ... --- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 4 +-- .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 10 +++---- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 6 ++--- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 16 +++++------ .../Physics/BulletSPlugin/BSShapeCollection.cs | 8 +++--- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 8 +++++- .../Region/Physics/BulletSPlugin/BulletSimData.cs | 31 ++++++++++++++++++++-- 7 files changed, 58 insertions(+), 25 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index c9c7c2e..b813974 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -65,8 +65,8 @@ public abstract class BSConstraint : IDisposable bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint); m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", BSScene.DetailLogZero, - m_body1.ID, m_body1.ptr.ToString("X"), - m_body2.ID, m_body2.ptr.ToString("X"), + m_body1.ID, m_body1.AddrString, + m_body2.ID, m_body2.AddrString, success); m_constraint.Clear(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index aee93c9..ecb1b32 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -54,7 +54,7 @@ public sealed class BSConstraint6Dof : BSConstraint m_enabled = true; world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", BSScene.DetailLogZero, world.worldID, - obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); + obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); } public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, @@ -68,9 +68,9 @@ public sealed class BSConstraint6Dof : BSConstraint { world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", BSScene.DetailLogZero, world.worldID, - obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); + obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); + LogHeader, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); m_enabled = false; } else @@ -79,8 +79,8 @@ public sealed class BSConstraint6Dof : BSConstraint joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", - BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"), - obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); + BSScene.DetailLogZero, world.worldID, m_constraint.AddrString, + obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); if (!m_constraint.HasPhysicalConstraint) { world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 3c99ca7..143c60c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -196,7 +196,7 @@ public sealed class BSLinksetCompound : BSLinkset bool ret = false; DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), IsRoot(child)); + child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, IsRoot(child)); if (!IsRoot(child)) { @@ -280,8 +280,8 @@ public sealed class BSLinksetCompound : BSLinkset { DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", child.LocalID, - LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), - child.LocalID, child.PhysBody.ptr.ToString("X")); + LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, + child.LocalID, child.PhysBody.AddrString); // Cause the child's body to be rebuilt and thus restored to normal operation RecomputeChildWorldPosition(child, false); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 86c29c7..629bc72 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -98,7 +98,7 @@ public sealed class BSLinksetConstraints : BSLinkset bool ret = false; DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X")); + child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString); lock (m_linksetActivityLock) { @@ -147,8 +147,8 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", childx.LocalID, - rootx.LocalID, rootx.PhysBody.ptr.ToString("X"), - childx.LocalID, childx.PhysBody.ptr.ToString("X")); + rootx.LocalID, rootx.PhysBody.AddrString, + childx.LocalID, childx.PhysBody.AddrString); PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate() { @@ -187,8 +187,8 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", rootPrim.LocalID, - rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"), - childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"), + rootPrim.LocalID, rootPrim.PhysBody.AddrString, + childPrim.LocalID, childPrim.PhysBody.AddrString, rootPrim.Position, childPrim.Position, midPoint); // create a constraint that allows no freedom of movement between the two objects @@ -252,8 +252,8 @@ public sealed class BSLinksetConstraints : BSLinkset bool ret = false; DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", rootPrim.LocalID, - rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"), - childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X")); + rootPrim.LocalID, rootPrim.PhysBody.AddrString, + childPrim.LocalID, childPrim.PhysBody.AddrString); // Find the constraint for this link and get rid of it from the overall collection and from my list if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) @@ -290,7 +290,7 @@ public sealed class BSLinksetConstraints : BSLinkset // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", - LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass); + LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass); foreach (BSPhysObject child in m_children) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 6f819d8..d59e455 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -259,7 +259,7 @@ public sealed class BSShapeCollection : IDisposable { // Native shapes are not tracked and are released immediately if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", - BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime); + BSScene.DetailLogZero, shape.AddrString, inTaintTime); if (shapeCallback != null) shapeCallback(shape); PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape); } @@ -336,9 +336,9 @@ public sealed class BSShapeCollection : IDisposable { // 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.ptr.ToString("X")); + LogHeader, shape.type, shape.AddrString); if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", - BSScene.DetailLogZero, shape.type, shape.ptr.ToString("X")); + BSScene.DetailLogZero, shape.type, shape.AddrString); return; } @@ -400,7 +400,7 @@ public sealed class BSShapeCollection : IDisposable else { PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}", - LogHeader, PhysicsScene.RegionName, cShape.ToString("X")); + LogHeader, PhysicsScene.RegionName, shapeInfo.AddrString); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index cdaa869..423e700 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -91,11 +91,17 @@ public abstract class BSShape // All shapes have a static call to get a reference to the physical shape // protected abstract static BSShape GetReference(); + // Returns a string for debugging that uniquily identifies the memory used by this instance + public string AddrString + { + get { return ptr.ToString("X"); } + } + public override string ToString() { StringBuilder buff = new StringBuilder(); buff.Append(""); @@ -124,11 +133,20 @@ public class BulletShape } public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } } + // Used for log messages for a unique display of the memory/object allocated to this instance + public string AddrString + { + get + { + return ptr.ToString("X"); + } + } + public override string ToString() { StringBuilder buff = new StringBuilder(); buff.Append(" 0f) { @@ -165,19 +165,19 @@ public sealed class BSCharacter : BSPhysObject UpdatePhysicalMassProperties(RawMass, false); // Make so capsule does not fall over - BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); + PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero); PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); - // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); + // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION); PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); // Do this after the object has been added to the world PhysBody.collisionType = CollisionType.Avatar; - PhysBody.ApplyCollisionMask(); + PhysBody.ApplyCollisionMask(PhysicsScene); } // The avatar's movement is controlled by this motor that speeds up and slows down @@ -265,10 +265,10 @@ public sealed class BSCharacter : BSPhysObject { if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) { - BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); + PhysicsScene.PE.SetLocalScaling(PhysShape, Scale); UpdatePhysicalMassProperties(RawMass, true); // Make sure this change appears as a property update event - BulletSimAPI.PushUpdate2(PhysBody.ptr); + PhysicsScene.PE.PushUpdate(PhysBody); } }); @@ -309,7 +309,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) - BulletSimAPI.ClearAllForces2(PhysBody.ptr); + PhysicsScene.PE.ClearAllForces(PhysBody); }); } public override void ZeroAngularMotion(bool inTaintTime) @@ -321,9 +321,9 @@ public sealed class BSCharacter : BSPhysObject if (PhysBody.HasPhysicalBody) { PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + PhysicsScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero); // The next also get rid of applied linear force but the linear velocity is untouched. - BulletSimAPI.ClearForces2(PhysBody.ptr); + PhysicsScene.PE.ClearForces(PhysBody); } }); } @@ -339,7 +339,7 @@ public sealed class BSCharacter : BSPhysObject public override OMV.Vector3 Position { get { // Don't refetch the position because this function is called a zillion times - // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID); + // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); return _position; } set { @@ -433,8 +433,8 @@ public sealed class BSCharacter : BSPhysObject } public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) { - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); - BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); + OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass); + PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia); } public override OMV.Vector3 Force { @@ -446,7 +446,7 @@ public sealed class BSCharacter : BSPhysObject { DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); + PhysicsScene.PE.SetObjectForce(PhysBody, _force); }); } } @@ -533,7 +533,7 @@ public sealed class BSCharacter : BSPhysObject } } - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); + PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); PhysicsScene.PE.Activate(PhysBody, true); } } @@ -676,7 +676,7 @@ public sealed class BSCharacter : BSPhysObject // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); if (PhysBody.HasPhysicalBody) - BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); + PhysicsScene.PE.SetGravity(PhysBody, new OMV.Vector3(0f, 0f, grav)); } } @@ -737,7 +737,7 @@ public sealed class BSCharacter : BSPhysObject // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) { - BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); + PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); } }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 5d70ef7..e4e3edc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -564,17 +564,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. // Maybe compute linear and angular factor and damping from params. float angularDamping = BSParam.VehicleAngularDamping; - BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); + PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping); // Vehicles report collision events so we know when it's on the ground PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); - Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass); - BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); - BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); + Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass); + PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, localInertia); + PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody); Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy); - BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav); + PhysicsScene.PE.SetGravity(Prim.PhysBody, grav); VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); @@ -669,7 +669,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // If we set one of the values (ie, the physics engine didn't do it) we must force // an UpdateProperties event to send the changes up to the simulator. - BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); + PhysicsScene.PE.PushUpdate(Prim.PhysBody); } m_knownChanged = 0; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 143c60c..bd03d31 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -387,11 +387,6 @@ public sealed class BSLinksetCompound : BSLinkset } PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape); - - // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets. - // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, - // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - } } } \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 629bc72..d0b2a56 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -259,7 +259,7 @@ public sealed class BSLinksetConstraints : BSLinkset if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) { // Make the child refresh its location - BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr); + PhysicsScene.PE.PushUpdate(childPrim.PhysBody); ret = true; } @@ -286,9 +286,6 @@ public sealed class BSLinksetConstraints : BSLinkset float linksetMass = LinksetMass; LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true); - // DEBUG: see of inter-linkset collisions are causing problems - // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, - // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass); @@ -307,11 +304,7 @@ public sealed class BSLinksetConstraints : BSLinkset } constrain.RecomputeConstraintVariables(linksetMass); - // DEBUG: see of inter-linkset collisions are causing problems - // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr, - // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - - // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr); // DEBUG DEBUG + // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index c6c2946..339722e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -280,7 +280,7 @@ public static class BSParam (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); }, (s) => { return s.UnmanagedParams[0].gravity; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); }, - (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ), + (s,o,v) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,v)); } ), new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", @@ -288,13 +288,13 @@ public static class BSParam (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); }, (s) => { return LinearDamping; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ), + (s,o,v) => { s.PE.SetDamping(o.PhysBody, v, AngularDamping); } ), new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", 0f, (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); }, (s) => { return AngularDamping; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ), + (s,o,v) => { s.PE.SetDamping(o.PhysBody, LinearDamping, v); } ), new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", 0.2f, (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, @@ -306,13 +306,13 @@ public static class BSParam (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return LinearSleepingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), + (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", 1.0f, (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return AngularSleepingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), + (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , 0f, // set to zero to disable (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 613606f..064ce3c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -253,7 +253,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) - BulletSimAPI.ClearAllForces2(PhysBody.ptr); + PhysicsScene.PE.ClearAllForces(PhysBody); }); } public override void ZeroAngularMotion(bool inTaintTime) @@ -266,7 +266,7 @@ public sealed class BSPrim : BSPhysObject if (PhysBody.HasPhysicalBody) { PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); } }); } @@ -292,7 +292,7 @@ public sealed class BSPrim : BSPhysObject */ // don't do the GetObjectPosition for root elements because this function is called a zillion times. - // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); + // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody); return _position; } set { @@ -405,10 +405,10 @@ public sealed class BSPrim : BSPhysObject { if (IsStatic) { - BulletSimAPI.SetGravity2(PhysBody.ptr, PhysicsScene.DefaultGravity); + PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity); Inertia = OMV.Vector3.Zero; - BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); - BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); + PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia); + PhysicsScene.PE.UpdateInertiaTensor(PhysBody); } else { @@ -423,14 +423,14 @@ public sealed class BSPrim : BSPhysObject } // The computation of mass props requires gravity to be set on the object. - BulletSimAPI.SetGravity2(PhysBody.ptr, grav); + PhysicsScene.PE.SetGravity(PhysBody, grav); - Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); - BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); - BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); + Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass); + PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia); + PhysicsScene.PE.UpdateInertiaTensor(PhysBody); // center of mass is at the zero of the object - // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); + // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(PhysBody, ForcePosition, ForceOrientation); DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld); if (inWorld) @@ -440,7 +440,7 @@ public sealed class BSPrim : BSPhysObject // Must set gravity after it has been added to the world because, for unknown reasons, // adding the object resets the object's gravity to world gravity - BulletSimAPI.SetGravity2(PhysBody.ptr, grav); + PhysicsScene.PE.SetGravity(PhysBody, grav); } } @@ -483,7 +483,7 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force); if (PhysBody.HasPhysicalBody) { - BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force); + PhysicsScene.PE.ApplyCentralForce(PhysBody, _force); ActivateIfPhysical(false); } } @@ -583,7 +583,7 @@ public sealed class BSPrim : BSPhysObject _velocity = value; if (PhysBody.HasPhysicalBody) { - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); + PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); ActivateIfPhysical(false); } } @@ -809,7 +809,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); // Center of mass is at the center of the object - // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody, _position, _orientation); + // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation); // A dynamic object has mass UpdatePhysicalMassProperties(RawMass, false); @@ -822,9 +822,9 @@ public sealed class BSPrim : BSPhysObject } // Various values for simulation limits - BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping); + PhysicsScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping); PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime); - BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); + PhysicsScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); // This collides like an object. @@ -901,10 +901,10 @@ public sealed class BSPrim : BSPhysObject // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. // Replace this when the new AddObjectToWorld function is complete. - BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity()); + PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity()); // Collision filter can be set only when the object is in the world - if (!PhysBody.ApplyCollisionMask()) + if (!PhysBody.ApplyCollisionMask(PhysicsScene)) { m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID); DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType); @@ -969,7 +969,7 @@ public sealed class BSPrim : BSPhysObject _rotationalVelocity = value; if (PhysBody.HasPhysicalBody) { - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); ActivateIfPhysical(false); } } @@ -1061,7 +1061,7 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) { - BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); + PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); ActivateIfPhysical(false); } }); @@ -1085,7 +1085,7 @@ public sealed class BSPrim : BSPhysObject { if (PhysBody.HasPhysicalBody) { - BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce); + PhysicsScene.PE.ApplyTorque(PhysBody, angForce); ActivateIfPhysical(false); } }); @@ -1108,7 +1108,7 @@ public sealed class BSPrim : BSPhysObject { if (PhysBody.HasPhysicalBody) { - BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); + PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse); ActivateIfPhysical(false); } }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index bfc9df2..28c6680 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -51,7 +51,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public string BulletSimVersion = "?"; // The handle to the underlying managed or unmanaged version of Bullet being used. - public BulletSimAPITemplate PE; + public BSAPITemplate PE; public Dictionary PhysObjects; public BSShapeCollection Shapes; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index d59e455..cd77581 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -141,7 +141,7 @@ public sealed class BSShapeCollection : IDisposable if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() { - if (!BulletSimAPI.IsInWorld2(body.ptr)) + if (!PhysicsScene.PE.IsInWorld(body)) { PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body); if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); @@ -166,7 +166,7 @@ public sealed class BSShapeCollection : IDisposable // If the caller needs to know the old body is going away, pass the event up. if (bodyCallback != null) bodyCallback(body); - if (BulletSimAPI.IsInWorld2(body.ptr)) + if (PhysicsScene.PE.IsInWorld(body)) { PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body); if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); @@ -332,7 +332,7 @@ public sealed class BSShapeCollection : IDisposable // Called at taint-time. private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback) { - if (!BulletSimAPI.IsCompound2(shape.ptr)) + 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}", @@ -376,7 +376,7 @@ public sealed class BSShapeCollection : IDisposable } else { - if (BulletSimAPI.IsCompound2(cShape)) + if (PhysicsScene.PE.IsCompound(shapeInfo)) { shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND; } @@ -467,7 +467,7 @@ public sealed class BSShapeCollection : IDisposable // 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 = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr); + scaleOfExistingShape = PhysicsScene.PE.GetLocalScaling(prim.PhysShape); 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); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 423e700..c75eb9b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -151,12 +151,12 @@ public class BSShapeNative : BSShape /* if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) { - ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); + ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale); physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); } else { - ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData); + ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData); } if (ptr == IntPtr.Zero) { @@ -173,7 +173,7 @@ public class BSShapeNative : BSShape /* // Native shapes are not tracked and are released immediately physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); - BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr); + PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this); ptr = IntPtr.Zero; // Garbage collection will free up this instance. */ diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 01966c0..cc28344 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -120,7 +120,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody); m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; - m_mapInfo.terrainBody.ApplyCollisionMask(); + m_mapInfo.terrainBody.ApplyCollisionMask(PhysicsScene); // Make it so the terrain will not move or be considered for movement. PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 590c687..2e9db39 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -143,7 +143,7 @@ public sealed class BSTerrainManager : IDisposable PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION); // Everything collides with the ground plane. m_groundPlane.collisionType = CollisionType.Groundplane; - m_groundPlane.ApplyCollisionMask(); + m_groundPlane.ApplyCollisionMask(PhysicsScene); // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 2f55fc3..1d55ce3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -120,7 +120,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT); // Static objects are not very massive. - BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero); + PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero); // Put the new terrain to the world of physical objects PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody); @@ -129,7 +129,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody); m_terrainBody.collisionType = CollisionType.Terrain; - m_terrainBody.ApplyCollisionMask(); + m_terrainBody.ApplyCollisionMask(PhysicsScene); // Make it so the terrain will not move or be considered for movement. PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs deleted file mode 100644 index b119f22..0000000 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ /dev/null @@ -1,667 +0,0 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Runtime.InteropServices; -using System.Security; -using System.Text; -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin { - - // Constraint type values as defined by Bullet -public enum ConstraintType : int -{ - POINT2POINT_CONSTRAINT_TYPE = 3, - HINGE_CONSTRAINT_TYPE, - CONETWIST_CONSTRAINT_TYPE, - D6_CONSTRAINT_TYPE, - SLIDER_CONSTRAINT_TYPE, - CONTACT_CONSTRAINT_TYPE, - D6_SPRING_CONSTRAINT_TYPE, - MAX_CONSTRAINT_TYPE -} - -// =============================================================================== -[StructLayout(LayoutKind.Sequential)] -public struct ConvexHull -{ - Vector3 Offset; - int VertexCount; - Vector3[] Vertices; -} -public enum BSPhysicsShapeType -{ - SHAPE_UNKNOWN = 0, - SHAPE_CAPSULE = 1, - SHAPE_BOX = 2, - SHAPE_CONE = 3, - SHAPE_CYLINDER = 4, - SHAPE_SPHERE = 5, - SHAPE_MESH = 6, - SHAPE_HULL = 7, - // following defined by BulletSim - SHAPE_GROUNDPLANE = 20, - SHAPE_TERRAIN = 21, - SHAPE_COMPOUND = 22, - SHAPE_HEIGHTMAP = 23, - SHAPE_AVATAR = 24, -}; - -// The native shapes have predefined shape hash keys -public enum FixedShapeKey : ulong -{ - KEY_NONE = 0, - KEY_BOX = 1, - KEY_SPHERE = 2, - KEY_CONE = 3, - KEY_CYLINDER = 4, - KEY_CAPSULE = 5, - KEY_AVATAR = 6, -} - -[StructLayout(LayoutKind.Sequential)] -public struct ShapeData -{ - public uint ID; - public BSPhysicsShapeType Type; - public Vector3 Position; - public Quaternion Rotation; - public Vector3 Velocity; - public Vector3 Scale; - public float Mass; - public float Buoyancy; - public System.UInt64 HullKey; - public System.UInt64 MeshKey; - public float Friction; - public float Restitution; - public float Collidable; // true of things bump into this - public float Static; // true if a static object. Otherwise gravity, etc. - public float Solid; // true if object cannot be passed through - public Vector3 Size; - - // note that bools are passed as floats since bool size changes by language and architecture - public const float numericTrue = 1f; - public const float numericFalse = 0f; -} -[StructLayout(LayoutKind.Sequential)] -public struct SweepHit -{ - public uint ID; - public float Fraction; - public Vector3 Normal; - public Vector3 Point; -} -[StructLayout(LayoutKind.Sequential)] -public struct RaycastHit -{ - public uint ID; - public float Fraction; - public Vector3 Normal; -} -[StructLayout(LayoutKind.Sequential)] -public struct CollisionDesc -{ - public uint aID; - public uint bID; - public Vector3 point; - public Vector3 normal; -} -[StructLayout(LayoutKind.Sequential)] -public struct EntityProperties -{ - public uint ID; - public Vector3 Position; - public Quaternion Rotation; - public Vector3 Velocity; - public Vector3 Acceleration; - public Vector3 RotationalVelocity; -} - -// Format of this structure must match the definition in the C++ code -// NOTE: adding the X causes compile breaks if used. These are unused symbols -// that can be removed from both here and the unmanaged definition of this structure. -[StructLayout(LayoutKind.Sequential)] -public struct ConfigurationParameters -{ - public float defaultFriction; - public float defaultDensity; - public float defaultRestitution; - public float collisionMargin; - public float gravity; - - public float XlinearDamping; - public float XangularDamping; - public float XdeactivationTime; - public float XlinearSleepingThreshold; - public float XangularSleepingThreshold; - public float XccdMotionThreshold; - public float XccdSweptSphereRadius; - public float XcontactProcessingThreshold; - - public float XterrainImplementation; - public float XterrainFriction; - public float XterrainHitFraction; - public float XterrainRestitution; - public float XterrainCollisionMargin; - - public float XavatarFriction; - public float XavatarStandingFriction; - public float XavatarDensity; - public float XavatarRestitution; - public float XavatarCapsuleWidth; - public float XavatarCapsuleDepth; - public float XavatarCapsuleHeight; - public float XavatarContactProcessingThreshold; - - public float XvehicleAngularDamping; - - public float maxPersistantManifoldPoolSize; - public float maxCollisionAlgorithmPoolSize; - public float shouldDisableContactPoolDynamicAllocation; - public float shouldForceUpdateAllAabbs; - public float shouldRandomizeSolverOrder; - public float shouldSplitSimulationIslands; - public float shouldEnableFrictionCaching; - public float numberOfSolverIterations; - - public float XlinksetImplementation; - public float XlinkConstraintUseFrameOffset; - public float XlinkConstraintEnableTransMotor; - public float XlinkConstraintTransMotorMaxVel; - public float XlinkConstraintTransMotorMaxForce; - public float XlinkConstraintERP; - public float XlinkConstraintCFM; - public float XlinkConstraintSolverIterations; - - public float physicsLoggingFrames; - - public const float numericTrue = 1f; - public const float numericFalse = 0f; -} - - -// The states a bullet collision object can have -public enum ActivationState : uint -{ - ACTIVE_TAG = 1, - ISLAND_SLEEPING, - WANTS_DEACTIVATION, - DISABLE_DEACTIVATION, - DISABLE_SIMULATION, -} - -public enum CollisionObjectTypes : int -{ - CO_COLLISION_OBJECT = 1 << 0, - CO_RIGID_BODY = 1 << 1, - CO_GHOST_OBJECT = 1 << 2, - CO_SOFT_BODY = 1 << 3, - CO_HF_FLUID = 1 << 4, - CO_USER_TYPE = 1 << 5, -} - -// Values used by Bullet and BulletSim to control object properties. -// Bullet's "CollisionFlags" has more to do with operations on the -// object (if collisions happen, if gravity effects it, ...). -public enum CollisionFlags : uint -{ - CF_STATIC_OBJECT = 1 << 0, - CF_KINEMATIC_OBJECT = 1 << 1, - CF_NO_CONTACT_RESPONSE = 1 << 2, - CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3, - CF_CHARACTER_OBJECT = 1 << 4, - CF_DISABLE_VISUALIZE_OBJECT = 1 << 5, - CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, - // Following used by BulletSim to control collisions and updates - BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, - BS_FLOATS_ON_WATER = 1 << 11, - BS_VEHICLE_COLLISIONS = 1 << 12, - BS_NONE = 0, - BS_ALL = 0xFFFFFFFF -}; - -// Values f collisions groups and masks -public enum CollisionFilterGroups : uint -{ - // Don't use the bit definitions!! Define the use in a - // filter/mask definition below. This way collision interactions - // are more easily found and debugged. - BNoneGroup = 0, - BDefaultGroup = 1 << 0, // 0001 - BStaticGroup = 1 << 1, // 0002 - BKinematicGroup = 1 << 2, // 0004 - BDebrisGroup = 1 << 3, // 0008 - BSensorTrigger = 1 << 4, // 0010 - BCharacterGroup = 1 << 5, // 0020 - BAllGroup = 0x000FFFFF, - // Filter groups defined by BulletSim - BGroundPlaneGroup = 1 << 10, // 0400 - BTerrainGroup = 1 << 11, // 0800 - BRaycastGroup = 1 << 12, // 1000 - BSolidGroup = 1 << 13, // 2000 - // BLinksetGroup = xx // a linkset proper is either static or dynamic - BLinksetChildGroup = 1 << 14, // 4000 -}; - -// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 -// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. -public enum ConstraintParams : int -{ - BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730 - BT_CONSTRAINT_STOP_ERP, - BT_CONSTRAINT_CFM, - BT_CONSTRAINT_STOP_CFM, -}; -public enum ConstraintParamAxis : int -{ - AXIS_LINEAR_X = 0, - AXIS_LINEAR_Y, - AXIS_LINEAR_Z, - AXIS_ANGULAR_X, - AXIS_ANGULAR_Y, - AXIS_ANGULAR_Z, - AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls - AXIS_ANGULAR_ALL, - AXIS_ALL -}; - -public abstract class BulletSimAPITemplate -{ - /* -// Initialization and simulation -public abstract BulletWorld Initialize(Vector3 maxPosition, IntPtr parms, - int maxCollisions, IntPtr collisionArray, - int maxUpdates, IntPtr updateArray - ); - -public abstract bool UpdateParameter(BulletWorld world, uint localID, String parm, float value); - -public abstract void SetHeightMap(BulletWorld world, float[] heightmap); - -public abstract void Shutdown(BulletWorld sim); - -public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, - out IntPtr updatedEntitiesPtr, - out int collidersCount, - out IntPtr collidersPtr); - -public abstract bool PushUpdate(BulletBody obj); - */ - -// ===================================================================================== -// Mesh, hull, shape and body creation helper routines -public abstract BulletShape CreateMeshShape(BulletWorld world, - int indicesCount, int[] indices, - int verticesCount, float[] vertices ); - -public abstract BulletShape CreateHullShape(BulletWorld world, - int hullCount, float[] hulls); - -public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape); - -public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData); - -public abstract bool IsNativeShape(BulletShape shape); - -public abstract void SetShapeCollisionMargin(BulletShape shape, float margin); - -public abstract BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale); - -public abstract BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree); - -public abstract int GetNumberOfCompoundChildren(BulletShape cShape); - -public abstract void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot); - -public abstract BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx); - -public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx); - -public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape); - -public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape); - -public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id); - -public abstract BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo); - -public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape); - -public abstract int GetBodyType(BulletBody obj); - -public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); - -public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot); - -public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); - -public abstract IntPtr AllocateBodyInfo(BulletBody obj); - -public abstract void ReleaseBodyInfo(IntPtr obj); - -public abstract void DestroyObject(BulletWorld sim, BulletBody obj); - -// ===================================================================================== -// Terrain creation and helper routines -public abstract IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, - float[] heightMap, float collisionMargin); - -public abstract IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, - float[] heightMap, float collisionMargin); - -public abstract bool ReleaseHeightMapInfo(IntPtr heightMapInfo); - -public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin); - -public abstract BulletShape CreateTerrainShape(IntPtr mapInfo); - -// ===================================================================================== -// Constraint creation and helper routines -public abstract BulletConstraint Create6DofConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 frame1loc, Quaternion frame1rot, - Vector3 frame2loc, Quaternion frame2rot, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 joinPoint, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, - Vector3 pivotinA, Vector3 pivotinB, - Vector3 axisInA, Vector3 axisInB, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); - -public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse); - -public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations); - -public abstract bool SetFrames(BulletConstraint constrain, - Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); - -public abstract bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi); - -public abstract bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi); - -public abstract bool UseFrameOffset(BulletConstraint constrain, float enable); - -public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce); - -public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold); - -public abstract bool CalculateTransforms(BulletConstraint constrain); - -public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); - -public abstract bool DestroyConstraint(BulletWorld world, BulletConstraint constrain); - -// ===================================================================================== -// btCollisionWorld entries -public abstract void UpdateSingleAabb(BulletWorld world, BulletBody obj); - -public abstract void UpdateAabbs(BulletWorld world); - -public abstract bool GetForceUpdateAllAabbs(BulletWorld world); - -public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force); - -// ===================================================================================== -// btDynamicsWorld entries -public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj); - -public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj); - -public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects); - -public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain); -// ===================================================================================== -// btCollisionObject entries -public abstract Vector3 GetAnisotripicFriction(BulletConstraint constrain); - -public abstract Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict); - -public abstract bool HasAnisotripicFriction(BulletConstraint constrain); - -public abstract void SetContactProcessingThreshold(BulletBody obj, float val); - -public abstract float GetContactProcessingThreshold(BulletBody obj); - -public abstract bool IsStaticObject(BulletBody obj); - -public abstract bool IsKinematicObject(BulletBody obj); - -public abstract bool IsStaticOrKinematicObject(BulletBody obj); - -public abstract bool HasContactResponse(BulletBody obj); - -public abstract void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape); - -public abstract BulletShape GetCollisionShape(BulletBody obj); - -public abstract int GetActivationState(BulletBody obj); - -public abstract void SetActivationState(BulletBody obj, int state); - -public abstract void SetDeactivationTime(BulletBody obj, float dtime); - -public abstract float GetDeactivationTime(BulletBody obj); - -public abstract void ForceActivationState(BulletBody obj, ActivationState state); - -public abstract void Activate(BulletBody obj, bool forceActivation); - -public abstract bool IsActive(BulletBody obj); - -public abstract void SetRestitution(BulletBody obj, float val); - -public abstract float GetRestitution(BulletBody obj); - -public abstract void SetFriction(BulletBody obj, float val); - -public abstract float GetFriction(BulletBody obj); - -public abstract Vector3 GetPosition(BulletBody obj); - -public abstract Quaternion GetOrientation(BulletBody obj); - -public abstract void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation); - -public abstract IntPtr GetBroadphaseHandle(BulletBody obj); - -public abstract void SetBroadphaseHandle(BulletBody obj, IntPtr handle); - -public abstract void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel); - -public abstract void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel); - -public abstract void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel); - -public abstract float GetHitFraction(BulletBody obj); - -public abstract void SetHitFraction(BulletBody obj, float val); - -public abstract CollisionFlags GetCollisionFlags(BulletBody obj); - -public abstract CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags); - -public abstract CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags); - -public abstract CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags); - -public abstract float GetCcdMotionThreshold(BulletBody obj); - -public abstract void SetCcdMotionThreshold(BulletBody obj, float val); - -public abstract float GetCcdSweptSphereRadius(BulletBody obj); - -public abstract void SetCcdSweptSphereRadius(BulletBody obj, float val); - -public abstract IntPtr GetUserPointer(BulletBody obj); - -public abstract void SetUserPointer(BulletBody obj, IntPtr val); - - /* -// ===================================================================================== -// btRigidBody entries -public abstract void ApplyGravity(BulletBody obj); - -public abstract void SetGravity(BulletBody obj, Vector3 val); - -public abstract Vector3 GetGravity(BulletBody obj); - -public abstract void SetDamping(BulletBody obj, float lin_damping, float ang_damping); - -public abstract void SetLinearDamping(BulletBody obj, float lin_damping); - -public abstract void SetAngularDamping(BulletBody obj, float ang_damping); - -public abstract float GetLinearDamping(BulletBody obj); - -public abstract float GetAngularDamping(BulletBody obj); - -public abstract float GetLinearSleepingThreshold(BulletBody obj); - - -public abstract void ApplyDamping(BulletBody obj, float timeStep); - -public abstract void SetMassProps(BulletBody obj, float mass, Vector3 inertia); - -public abstract Vector3 GetLinearFactor(BulletBody obj); - -public abstract void SetLinearFactor(BulletBody obj, Vector3 factor); - -public abstract void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot); - -// Add a force to the object as if its mass is one. -public abstract void ApplyCentralForce(BulletBody obj, Vector3 force); - -// Set the force being applied to the object as if its mass is one. -public abstract void SetObjectForce(BulletBody obj, Vector3 force); - -public abstract Vector3 GetTotalForce(BulletBody obj); - -public abstract Vector3 GetTotalTorque(BulletBody obj); - -public abstract Vector3 GetInvInertiaDiagLocal(BulletBody obj); - -public abstract void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert); - -public abstract void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold); - -public abstract void ApplyTorque(BulletBody obj, Vector3 torque); - -// Apply force at the given point. Will add torque to the object. -public abstract void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos); - -// Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. -public abstract void ApplyCentralImpulse(BulletBody obj, Vector3 imp); - -// Apply impulse to the object's torque. Force is scaled by object's mass. -public abstract void ApplyTorqueImpulse(BulletBody obj, Vector3 imp); - -// Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. -public abstract void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos); - -public abstract void ClearForces(BulletBody obj); - -public abstract void ClearAllForces(BulletBody obj); - -public abstract void UpdateInertiaTensor(BulletBody obj); - -public abstract Vector3 GetLinearVelocity(BulletBody obj); - -public abstract Vector3 GetAngularVelocity(BulletBody obj); - -public abstract void SetLinearVelocity(BulletBody obj, Vector3 val); - -public abstract void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity); - -public abstract Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos); - -public abstract void Translate(BulletBody obj, Vector3 trans); - -public abstract void UpdateDeactivation(BulletBody obj, float timeStep); - -public abstract bool WantsSleeping(BulletBody obj); - -public abstract void SetAngularFactor(BulletBody obj, float factor); - -public abstract void SetAngularFactorV(BulletBody obj, Vector3 factor); - -public abstract Vector3 GetAngularFactor(BulletBody obj); - -public abstract bool IsInWorld(BulletBody obj); - -public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain); - -public abstract void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain); - -public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index); - -public abstract int GetNumConstraintRefs(BulletBody obj); - -public abstract bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask); - -// ===================================================================================== -// btCollisionShape entries - -public abstract float GetAngularMotionDisc(BulletShape shape); - -public abstract float GetContactBreakingThreshold(BulletShape shape, float defaultFactor); - -public abstract bool IsPolyhedral(BulletShape shape); - -public abstract bool IsConvex2d(BulletShape shape); - -public abstract bool IsConvex(BulletShape shape); - -public abstract bool IsNonMoving(BulletShape shape); - -public abstract bool IsConcave(BulletShape shape); - -public abstract bool IsCompound(BulletShape shape); - -public abstract bool IsSoftBody(BulletShape shape); - -public abstract bool IsInfinite(BulletShape shape); - -public abstract void SetLocalScaling(BulletShape shape, Vector3 scale); - -public abstract Vector3 GetLocalScaling(BulletShape shape); - -public abstract Vector3 CalculateLocalInertia(BulletShape shape, float mass); - -public abstract int GetShapeType(BulletShape shape); - -public abstract void SetMargin(BulletShape shape, float val); - -public abstract float GetMargin(BulletShape shape); - */ - -}; -} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index c10d75e..a040928 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -72,12 +72,12 @@ public class BulletBody public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } // Apply the specificed collision mask into the physical world - public bool ApplyCollisionMask() + public bool ApplyCollisionMask(BSScene physicsScene) { // Should assert the body has been added to the physical world. // (The collision masks are stored in the collision proxy cache which only exists for // a collision body that is in the world.) - return BulletSimAPI.SetCollisionGroupMask2(ptr, + return physicsScene.PE.SetCollisionGroupMask(this, BulletSimData.CollisionTypeMasks[collisionType].group, BulletSimData.CollisionTypeMasks[collisionType].mask); } -- cgit v1.1 From 3d0fc708647ceb734385f90e2f22be9774e2171e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 31 Dec 2012 16:22:45 -0800 Subject: BulletSim: complete movement of BulletSimAPI functions to BSAPITemplate. Update BulletSim DLLs and SOs with simplier step function interface. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 217 +++++++++++++++------ OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 78 ++++---- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 43 ++-- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 127 ++++++------ .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 12 +- .../Region/Physics/BulletSPlugin/BulletSimData.cs | 8 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 10 +- 8 files changed, 310 insertions(+), 189 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 6e68053..0355b94 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -26,6 +26,7 @@ */ using System; using System.Collections.Generic; +using System.Reflection; using System.Runtime.InteropServices; using System.Security; using System.Text; @@ -36,31 +37,102 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public sealed class BSAPIUnman : BSAPITemplate { - /* + +// We pin the memory passed between the managed and unmanaged code. +GCHandle m_paramsHandle; +private GCHandle m_collisionArrayPinnedHandle; +private GCHandle m_updateArrayPinnedHandle; + +// Handle to the callback used by the unmanaged code to call into the managed code. +// Used for debug logging. +// Need to store the handle in a persistant variable so it won't be freed. +private BSAPICPP.DebugLogCallback m_DebugLogCallbackHandle; + +private BSScene PhysicsScene { get; set; } + +public override string BulletEngineName { get { return "BulletUnmanaged"; } } +public override string BulletEngineVersion { get; protected set; } + +public BSAPIUnman(string paramName, BSScene physScene) +{ + PhysicsScene = physScene; + // Do something fancy with the paramName to get the right DLL implementation + // like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc. +} + // Initialization and simulation -public BulletWorld Initialize(Vector3 maxPosition, IntPtr parms, - int maxCollisions, IntPtr collisionArray, - int maxUpdates, IntPtr updateArray - ); +public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, + int maxCollisions, ref CollisionDesc[] collisionArray, + int maxUpdates, ref EntityProperties[] updateArray + ) +{ + // Pin down the memory that will be used to pass object collisions and updates back from unmanaged code + m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned); + m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned); + m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned); -public bool UpdateParameter(BulletWorld world, uint localID, String parm, float value); + // If Debug logging level, enable logging from the unmanaged code + m_DebugLogCallbackHandle = null; + if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled) + { + BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader); + if (PhysicsScene.PhysicsLogging.Enabled) + // The handle is saved in a variable to make sure it doesn't get freed after this call + m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog); + else + m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger); + } -public void SetHeightMap(BulletWorld world, float[] heightmap); + // Get the version of the DLL + // TODO: this doesn't work yet. Something wrong with marshaling the returned string. + // BulletEngineVersion = BulletSimAPI.GetVersion2(); + BulletEngineVersion = ""; + + // Call the unmanaged code with the buffers and other information + return new BulletWorld(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(), + maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), + maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(), + m_DebugLogCallbackHandle)); -public void Shutdown(BulletWorld sim); +} -public int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, - out IntPtr updatedEntitiesPtr, - out int collidersCount, - out IntPtr collidersPtr); +// Called directly from unmanaged code so don't do much +private void BulletLogger(string msg) +{ + BSScene.m_log.Debug("[BULLETS UNMANAGED]:" + msg); +} + +// Called directly from unmanaged code so don't do much +private void BulletLoggerPhysLog(string msg) +{ + PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg); +} + + /* +public void SetHeightMap(BulletWorld world, float[] heightmap); */ +public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, out int collidersCount) +{ + return BSAPICPP.PhysicsStep2(world.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount); +} + +public override void Shutdown(BulletWorld sim) +{ + BSAPICPP.Shutdown2(sim.ptr); +} + public override bool PushUpdate(BulletBody obj) { return BSAPICPP.PushUpdate2(obj.ptr); } +public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) +{ + return BSAPICPP.UpdateParameter2(world.ptr, localID, parm, value); +} + // ===================================================================================== // Mesh, hull, shape and body creation helper routines public override BulletShape CreateMeshShape(BulletWorld world, @@ -893,11 +965,81 @@ public override float GetMargin(BulletShape shape) return BSAPICPP.GetMargin2(shape.ptr); } +// ===================================================================================== +// Debugging +public override void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) +{ + BSAPICPP.DumpRigidBody2(sim.ptr, collisionObject.ptr); +} + +public override void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape) +{ + BSAPICPP.DumpCollisionShape2(sim.ptr, collisionShape.ptr); +} + +public override void DumpMapInfo(BulletWorld sim, BulletHMapInfo mapInfo) +{ + BSAPICPP.DumpMapInfo2(sim.ptr, mapInfo.ptr); +} + +public override void DumpConstraint(BulletWorld sim, BulletConstraint constrain) +{ + BSAPICPP.DumpConstraint2(sim.ptr, constrain.ptr); +} + +public override void DumpActivationInfo(BulletWorld sim) +{ + BSAPICPP.DumpActivationInfo2(sim.ptr); +} + +public override void DumpAllInfo(BulletWorld sim) +{ + BSAPICPP.DumpAllInfo2(sim.ptr); +} + +public override void DumpPhysicsStatistics(BulletWorld sim) +{ + BSAPICPP.DumpPhysicsStatistics2(sim.ptr); +} + + +// ===================================================================================== +// ===================================================================================== +// ===================================================================================== +// ===================================================================================== +// ===================================================================================== +// The actual interface to the unmanaged code static class BSAPICPP { +// =============================================================================== +// Link back to the managed code for outputting log messages +[UnmanagedFunctionPointer(CallingConvention.Cdecl)] +public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); + +// =============================================================================== +// Initialization and simulation +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, + int maxCollisions, IntPtr collisionArray, + int maxUpdates, IntPtr updateArray, + DebugLogCallback logRoutine); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetHeightMap2(IntPtr world, float[] heightmap); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, out int collidersCount); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Shutdown2(IntPtr sim); + [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool PushUpdate2(IntPtr obj); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); + // ===================================================================================== // Mesh, hull, shape and body creation helper routines [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -1431,52 +1573,6 @@ public static extern void SetMargin2(IntPtr shape, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetMargin2(IntPtr shape); -} -} - -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -// =============================================================================== -static class BulletSimAPI { -// =============================================================================== -// Link back to the managed code for outputting log messages -[UnmanagedFunctionPointer(CallingConvention.Cdecl)] -public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); - -// =============================================================================== -// Initialization and simulation -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, - int maxCollisions, IntPtr collisionArray, - int maxUpdates, IntPtr updateArray, - DebugLogCallback logRoutine); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetHeightMap2(IntPtr world, float[] heightmap); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void Shutdown2(IntPtr sim); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, - out IntPtr updatedEntitiesPtr, - out int collidersCount, - out IntPtr collidersPtr); - // ===================================================================================== // Debugging [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -1501,4 +1597,7 @@ public static extern void DumpAllInfo2(IntPtr sim); public static extern void DumpPhysicsStatistics2(IntPtr sim); } + +} + } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index a56a817..8ed791e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -1,39 +1,39 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Linq; -using System.Text; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ - /* -public sealed class BSAPIXNA : BulletSimAPITemplate -{ -} - */ -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + /* +public sealed class BSAPIXNA : BSAPITemplate +{ +} + */ +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index fbf362d..64a886b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -292,26 +292,27 @@ public enum ConstraintParamAxis : int public abstract class BSAPITemplate { - /* +// Returns the name of the underlying Bullet engine +public abstract string BulletEngineName { get; } +public abstract string BulletEngineVersion { get; protected set;} + // Initialization and simulation -public abstract BulletWorld Initialize(Vector3 maxPosition, IntPtr parms, - int maxCollisions, IntPtr collisionArray, - int maxUpdates, IntPtr updateArray +public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, + int maxCollisions, ref CollisionDesc[] collisionArray, + int maxUpdates, ref EntityProperties[] updateArray ); -public abstract bool UpdateParameter(BulletWorld world, uint localID, String parm, float value); - + /* public abstract void SetHeightMap(BulletWorld world, float[] heightmap); -public abstract void Shutdown(BulletWorld sim); - + */ public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, - out IntPtr updatedEntitiesPtr, - out int collidersCount, - out IntPtr collidersPtr); + out int updatedEntityCount, out int collidersCount); + +public abstract bool UpdateParameter(BulletWorld world, uint localID, String parm, float value); + +public abstract void Shutdown(BulletWorld sim); - */ public abstract bool PushUpdate(BulletBody obj); // ===================================================================================== @@ -660,5 +661,21 @@ public abstract void SetMargin(BulletShape shape, float val); public abstract float GetMargin(BulletShape shape); +// ===================================================================================== +// Debugging +public abstract void DumpRigidBody(BulletWorld sim, BulletBody collisionObject); + +public abstract void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape); + +public abstract void DumpMapInfo(BulletWorld sim, BulletHMapInfo mapInfo); + +public abstract void DumpConstraint(BulletWorld sim, BulletConstraint constrain); + +public abstract void DumpActivationInfo(BulletWorld sim); + +public abstract void DumpAllInfo(BulletWorld sim); + +public abstract void DumpPhysicsStatistics(BulletWorld sim); + }; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index e4e3edc..13c2539 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -823,7 +823,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (!IsActive) return; if (PhysicsScene.VehiclePhysicalLoggingEnabled) - BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr); + PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody); ForgetKnownVehicleProperties(); @@ -840,7 +840,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin PushKnownChanged(); if (PhysicsScene.VehiclePhysicalLoggingEnabled) - BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr); + PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody); VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 28c6680..258b72f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -26,6 +26,7 @@ */ using System; using System.Collections.Generic; +using System.Reflection; using System.Runtime.InteropServices; using System.Text; using System.Threading; @@ -42,8 +43,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public sealed class BSScene : PhysicsScene, IPhysicsParameters { - private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); - private static readonly string LogHeader = "[BULLETS SCENE]"; + internal static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); + internal static readonly string LogHeader = "[BULLETS SCENE]"; // The name of the region we're working for. public string RegionName { get; private set; } @@ -51,6 +52,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public string BulletSimVersion = "?"; // The handle to the underlying managed or unmanaged version of Bullet being used. + public string BulletEngineName { get; private set; } public BSAPITemplate PE; public Dictionary PhysObjects; @@ -102,11 +104,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Pinned memory used to pass step information between managed and unmanaged internal int m_maxCollisionsPerFrame; internal CollisionDesc[] m_collisionArray; - internal GCHandle m_collisionArrayPinnedHandle; internal int m_maxUpdatesPerFrame; internal EntityProperties[] m_updateArray; - internal GCHandle m_updateArrayPinnedHandle; public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero public const uint GROUNDPLANE_ID = 1; @@ -152,12 +152,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // A pointer to an instance if this structure is passed to the C++ code // Used to pass basic configuration values to the unmanaged code. internal ConfigurationParameters[] UnmanagedParams; - GCHandle m_paramsHandle; - - // Handle to the callback used by the unmanaged code to call into the managed code. - // Used for debug logging. - // Need to store the handle in a persistant variable so it won't be freed. - private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; // Sometimes you just have to log everything. public Logging.LogWriter PhysicsLogging; @@ -194,15 +188,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Set default values for physics parameters plus any overrides from the ini file GetInitialParameterValues(config); - // For the moment, only one version of the interface - PE = new BSAPIUnman(); - - // Allocate more pinned memory. Do this early to try and get all pinned memory close together. - m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned); - m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame]; - m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned); - m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; - m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); + // Get the connection to the physics engine (could be native or one of many DLLs) + PE = SelectUnderlyingBulletEngine(BulletEngineName); // Enable very detailed logging. // By creating an empty logger when not logging, the log message invocation code @@ -217,22 +204,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters PhysicsLogging = new Logging.LogWriter(); } - // If Debug logging level, enable logging from the unmanaged code - m_DebugLogCallbackHandle = null; - if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) - { - m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); - if (PhysicsLogging.Enabled) - // The handle is saved in a variable to make sure it doesn't get freed after this call - m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog); - else - m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); - } - - // Get the version of the DLL - // TODO: this doesn't work yet. Something wrong with marshaling the returned string. - // BulletSimVersion = BulletSimAPI.GetVersion(); - // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); + // Allocate memory for returning of the updates and collisions from the physics engine + m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame]; + m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; // The bounding box for the simulated world. The origin is 0,0,0 unless we're // a child in a mega-region. @@ -240,11 +214,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // area. It tracks active objects no matter where they are. Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); - // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); - World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(), - m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), - m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(), - m_DebugLogCallbackHandle)); + World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray); Constraints = new BSConstraintCollection(World); @@ -274,6 +244,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { BSParam.SetParameterConfigurationValues(this, pConfig); + // There are two Bullet implementations to choose from + BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged"); + // Very detailed logging for physics debugging // TODO: the boolean values can be moved to the normal parameter processing. m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); @@ -315,16 +288,41 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters return ret; } - // Called directly from unmanaged code so don't do much - private void BulletLogger(string msg) + // Select the connection to the actual Bullet implementation. + // The main engine selection is the engineName up to the first hypen. + // So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name + // is passed to the engine to do its special selection, etc. + private BSAPITemplate SelectUnderlyingBulletEngine(string engineName) { - m_log.Debug("[BULLETS UNMANAGED]:" + msg); - } + // For the moment, do a simple switch statement. + // Someday do fancyness with looking up the interfaces in the assembly. + BSAPITemplate ret = null; - // Called directly from unmanaged code so don't do much - private void BulletLoggerPhysLog(string msg) - { - DetailLog("[BULLETS UNMANAGED]:" + msg); + string selectionName = engineName.ToLower(); + int hyphenIndex = engineName.IndexOf("-"); + if (hyphenIndex > 0) + selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1); + + switch (selectionName) + { + case "bulletunmanaged": + ret = new BSAPIUnman(engineName, this); + break; + case "bulletxna": + // ret = new BSAPIXNA(engineName, this); + break; + } + + if (ret == null) + { + m_log.ErrorFormat("{0) COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader); + } + else + { + m_log.WarnFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion); + } + + return ret; } public override void Dispose() @@ -361,7 +359,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } // Anything left in the unmanaged code should be cleaned out - BulletSimAPI.Shutdown2(World.ptr); + PE.Shutdown(World); // Not logging any more PhysicsLogging.Close(); @@ -474,9 +472,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters LastTimeStep = timeStep; int updatedEntityCount = 0; - IntPtr updatedEntitiesPtr; int collidersCount = 0; - IntPtr collidersPtr; int beforeTime = 0; int simTime = 0; @@ -492,6 +488,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters TriggerPreStepEvent(timeStep); // the prestep actions might have added taints + numTaints += _taintOperations.Count; ProcessTaints(); InTaintTime = false; // Only used for debugging so locking is not necessary. @@ -499,23 +496,25 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. // Only enable this in a limited test world with few objects. if (m_physicsPhysicalDumpEnabled) - BulletSimAPI.DumpAllInfo2(World.ptr); + PE.DumpAllInfo(World); // step the physical world one interval m_simulationStep++; int numSubSteps = 0; - try { - if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); + if (PhysicsLogging.Enabled) + beforeTime = Util.EnvironmentTickCount(); - numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, - out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); + numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount); - if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); - DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", - DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, - updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); + if (PhysicsLogging.Enabled) + { + simTime = Util.EnvironmentTickCountSubtract(beforeTime); + DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", + DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, + updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); + } } catch (Exception e) { @@ -527,8 +526,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters collidersCount = 0; } - // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in. - // Get a value for 'now' so all the collision and update routines don't have to get their own. SimulationNowTime = Util.EnvironmentTickCount(); @@ -570,7 +567,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Objects that are done colliding are removed from the ObjectsWithCollisions list. // Not done above because it is inside an iteration of ObjectWithCollisions. // This complex collision processing is required to create an empty collision - // event call after all collisions have happened on an object. This enables + // event call after all real collisions have happened on an object. This enables // the simulator to generate the 'collision end' event. if (ObjectsWithNoMoreCollisions.Count > 0) { @@ -599,11 +596,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. // Only enable this in a limited test world with few objects. if (m_physicsPhysicalDumpEnabled) - BulletSimAPI.DumpAllInfo2(World.ptr); + PE.DumpAllInfo(World); // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. - // Multiply by 55 to give a nominal frame rate of 55. + // Multiply by a fixed nominal frame rate to give a rate similar to the simulator (usually 55). return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index cc28344..0802b3a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -44,7 +44,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]"; - BulletHeightMapInfo m_mapInfo = null; + BulletHMapInfo m_mapInfo = null; // Constructor to build a default, flat heightmap terrain. public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) @@ -58,7 +58,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; } - m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo = new BulletHMapInfo(id, initialMap, IntPtr.Zero); m_mapInfo.minCoords = minTerrainCoords; m_mapInfo.maxCoords = maxTerrainCoords; m_mapInfo.terrainRegionBase = TerrainBase; @@ -72,7 +72,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys Vector3 minCoords, Vector3 maxCoords) : base(physicsScene, regionBase, id) { - m_mapInfo = new BulletHeightMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo = new BulletHMapInfo(id, initialMap, IntPtr.Zero); m_mapInfo.minCoords = minCoords; m_mapInfo.maxCoords = maxCoords; m_mapInfo.minZ = minCoords.Z; @@ -91,12 +91,12 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys // Using the information in m_mapInfo, create the physical representation of the heightmap. private void BuildHeightmapTerrain() { - m_mapInfo.Ptr = PhysicsScene.PE.CreateHeightMapInfo(PhysicsScene.World, m_mapInfo.ID, + m_mapInfo.ptr = PhysicsScene.PE.CreateHeightMapInfo(PhysicsScene.World, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, BSParam.TerrainCollisionMargin); // Create the terrain shape from the mapInfo - m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape(m_mapInfo.Ptr); + m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape(m_mapInfo.ptr); // The terrain object initial position is at the center of the object Vector3 centerPos; @@ -138,7 +138,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody); // Frees both the body and the shape. PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody); - PhysicsScene.PE.ReleaseHeightMapInfo(m_mapInfo.Ptr); + PhysicsScene.PE.ReleaseHeightMapInfo(m_mapInfo.ptr); } } m_mapInfo = null; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index a040928..c8f4602 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -187,11 +187,11 @@ public class BulletConstraint // Made a class rather than a struct so there would be only one // instance of this and C# will pass around pointers rather // than making copies. -public class BulletHeightMapInfo +public class BulletHMapInfo { - public BulletHeightMapInfo(uint id, float[] hm, IntPtr xx) { + public BulletHMapInfo(uint id, float[] hm, IntPtr xx) { ID = id; - Ptr = xx; + ptr = xx; heightMap = hm; terrainRegionBase = OMV.Vector3.Zero; minCoords = new OMV.Vector3(100f, 100f, 25f); @@ -200,7 +200,7 @@ public class BulletHeightMapInfo sizeX = sizeY = 256f; } public uint ID; - public IntPtr Ptr; + public IntPtr ptr; public float[] heightMap; public OMV.Vector3 terrainRegionBase; public OMV.Vector3 minCoords; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 4cb8e6d..a8a4ff5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -61,7 +61,8 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl BULLETSIM TODO LIST: ================================================= -Avatar density is WAY off. Compare and calibrate with what's in SL. +Implement an avatar mesh shape. The Bullet capsule is way too limited. + Consider just hand creating a vertex/index array in a new BSShapeAvatar. Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. Duplicating a physical prim causes old prim to jump away Dup a phys prim and the original become unselected and thus interacts w/ selected prim. @@ -170,6 +171,9 @@ Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/3179 INTERNAL IMPROVEMENT/CLEANUP ================================================= +Create the physical wrapper classes (BulletBody, BulletShape) by methods on + BSAPITemplate and make their actual implementation Bullet engine specific. + For the short term, just call the existing functions in ShapeCollection. Consider moving prim/character body and shape destruction in destroy() to postTimeTime rather than protecting all the potential sets that might have been queued up. @@ -204,6 +208,8 @@ Should taints check for existance or activeness of target? Possibly have and 'active' flag that is checked by the taint processor? Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones) Can some of the physical wrapper classes (BulletBody, BulletWorld, BulletShape) be 'sealed'? +There are TOO MANY interfaces from BulletSim core to Bullet itself + Think of something to eliminate one or more of the layers THREADING ================================================= @@ -262,3 +268,5 @@ llApplyImpulse() (Resolution: tested on SL and OS. AddForce scales the force for timestep) llSetBuoyancy() (DONE) (Resolution: Bullet resets object gravity when added to world. Moved set gravity) +Avatar density is WAY off. Compare and calibrate with what's in SL. (DONE) + (Resolution: set default density to 3.5 (from 60) which is closer to SL) -- cgit v1.1 From 9396ccc078516023d63b5a86b3262ff97a1e97fb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 31 Dec 2012 16:54:39 -0800 Subject: BulletSim: eliminate the use of the unmanaged HeightMapInfo structure. Remove all related calls from the unmanaged and BSAPITemplate interfaces. Update DLLs and SOs to include the version without HeightMapInfo structures. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 26 +++++++++------------- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 18 ++------------- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 14 +++++------- .../Region/Physics/BulletSPlugin/BulletSimData.cs | 4 +--- 4 files changed, 20 insertions(+), 42 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 0355b94..cf37e56 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -108,10 +108,6 @@ private void BulletLoggerPhysLog(string msg) PhysicsScene.DetailLog("[BULLETS UNMANAGED]:" + msg); } - /* -public void SetHeightMap(BulletWorld world, float[] heightmap); - - */ public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out int collidersCount) { @@ -277,6 +273,7 @@ public override void DestroyObject(BulletWorld sim, BulletBody obj) // ===================================================================================== // Terrain creation and helper routines + /* public override IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, float[] heightMap, float collisionMargin) { @@ -293,15 +290,18 @@ public override bool ReleaseHeightMapInfo(IntPtr heightMapInfo) { return BSAPICPP.ReleaseHeightMapInfo2(heightMapInfo); } + */ public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin) { return new BulletShape(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); } -public override BulletShape CreateTerrainShape(IntPtr mapInfo) +public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, + float scaleFactor, float collisionMargin) { - return new BulletShape(BSAPICPP.CreateTerrainShape2(mapInfo), BSPhysicsShapeType.SHAPE_TERRAIN); + return new BulletShape(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin), + BSPhysicsShapeType.SHAPE_TERRAIN); } // ===================================================================================== @@ -977,11 +977,6 @@ public override void DumpCollisionShape(BulletWorld sim, BulletShape collisionSh BSAPICPP.DumpCollisionShape2(sim.ptr, collisionShape.ptr); } -public override void DumpMapInfo(BulletWorld sim, BulletHMapInfo mapInfo) -{ - BSAPICPP.DumpMapInfo2(sim.ptr, mapInfo.ptr); -} - public override void DumpConstraint(BulletWorld sim, BulletConstraint constrain) { BSAPICPP.DumpConstraint2(sim.ptr, constrain.ptr); @@ -1025,9 +1020,6 @@ public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, DebugLogCallback logRoutine); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetHeightMap2(IntPtr world, float[] heightmap); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out int collidersCount); @@ -1119,6 +1111,7 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj); // ===================================================================================== // Terrain creation and helper routines + /* [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); @@ -1129,12 +1122,15 @@ public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo); + */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateTerrainShape2(IntPtr mapInfo); +public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, + [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, + float scaleFactor, float collisionMargin); // ===================================================================================== // Constraint creation and helper routines diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 64a886b..a618a21 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -302,10 +302,6 @@ public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet int maxUpdates, ref EntityProperties[] updateArray ); - /* -public abstract void SetHeightMap(BulletWorld world, float[] heightmap); - - */ public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out int collidersCount); @@ -369,18 +365,10 @@ public abstract void ReleaseBodyInfo(IntPtr obj); public abstract void DestroyObject(BulletWorld sim, BulletBody obj); // ===================================================================================== -// Terrain creation and helper routines -public abstract IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, - float[] heightMap, float collisionMargin); - -public abstract IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, - float[] heightMap, float collisionMargin); - -public abstract bool ReleaseHeightMapInfo(IntPtr heightMapInfo); - public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin); -public abstract BulletShape CreateTerrainShape(IntPtr mapInfo); +public abstract BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, + float scaleFactor, float collisionMargin); // ===================================================================================== // Constraint creation and helper routines @@ -667,8 +655,6 @@ public abstract void DumpRigidBody(BulletWorld sim, BulletBody collisionObject); public abstract void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape); -public abstract void DumpMapInfo(BulletWorld sim, BulletHMapInfo mapInfo); - public abstract void DumpConstraint(BulletWorld sim, BulletConstraint constrain); public abstract void DumpActivationInfo(BulletWorld sim); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 0802b3a..114c0aa 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -58,7 +58,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; } - m_mapInfo = new BulletHMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo = new BulletHMapInfo(id, initialMap); m_mapInfo.minCoords = minTerrainCoords; m_mapInfo.maxCoords = maxTerrainCoords; m_mapInfo.terrainRegionBase = TerrainBase; @@ -72,7 +72,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys Vector3 minCoords, Vector3 maxCoords) : base(physicsScene, regionBase, id) { - m_mapInfo = new BulletHMapInfo(id, initialMap, IntPtr.Zero); + m_mapInfo = new BulletHMapInfo(id, initialMap); m_mapInfo.minCoords = minCoords; m_mapInfo.maxCoords = maxCoords; m_mapInfo.minZ = minCoords.Z; @@ -91,12 +91,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys // Using the information in m_mapInfo, create the physical representation of the heightmap. private void BuildHeightmapTerrain() { - m_mapInfo.ptr = PhysicsScene.PE.CreateHeightMapInfo(PhysicsScene.World, m_mapInfo.ID, - m_mapInfo.minCoords, m_mapInfo.maxCoords, - m_mapInfo.heightMap, BSParam.TerrainCollisionMargin); - // Create the terrain shape from the mapInfo - m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape(m_mapInfo.ptr); + m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID, + new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ, + m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin); + // The terrain object initial position is at the center of the object Vector3 centerPos; @@ -138,7 +137,6 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody); // Frees both the body and the shape. PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody); - PhysicsScene.PE.ReleaseHeightMapInfo(m_mapInfo.ptr); } } m_mapInfo = null; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index c8f4602..681d21e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -189,9 +189,8 @@ public class BulletConstraint // than making copies. public class BulletHMapInfo { - public BulletHMapInfo(uint id, float[] hm, IntPtr xx) { + public BulletHMapInfo(uint id, float[] hm) { ID = id; - ptr = xx; heightMap = hm; terrainRegionBase = OMV.Vector3.Zero; minCoords = new OMV.Vector3(100f, 100f, 25f); @@ -200,7 +199,6 @@ public class BulletHMapInfo sizeX = sizeY = 256f; } public uint ID; - public IntPtr ptr; public float[] heightMap; public OMV.Vector3 terrainRegionBase; public OMV.Vector3 minCoords; -- cgit v1.1 From 6988b5ceaf6387198f0d23769adefdf572757c4a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 31 Dec 2012 17:06:47 -0800 Subject: BulletSim: remove rigid body contruction functions from BSAPITemplate that relied on prebuilt construction info structures. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 56 ---------------------- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 5 -- 2 files changed, 61 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index cf37e56..a06f6d0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -226,11 +226,6 @@ public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape return new BulletShape(BSAPICPP.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type); } -public override BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo) -{ - return new BulletBody(id, BSAPICPP.CreateBodyFromShapeAndInfo2(sim.ptr, shape.ptr, id, constructionInfo)); -} - public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) { return BSAPICPP.DeleteCollisionShape2(world.ptr, shape.ptr); @@ -256,16 +251,6 @@ public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape sha return new BulletBody(id, BSAPICPP.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot)); } -public override IntPtr AllocateBodyInfo(BulletBody obj) -{ - return BSAPICPP.AllocateBodyInfo2(obj.ptr); -} - -public override void ReleaseBodyInfo(IntPtr obj) -{ - BSAPICPP.ReleaseBodyInfo2(obj); -} - public override void DestroyObject(BulletWorld sim, BulletBody obj) { BSAPICPP.DestroyObject2(sim.ptr, obj.ptr); @@ -273,25 +258,6 @@ public override void DestroyObject(BulletWorld sim, BulletBody obj) // ===================================================================================== // Terrain creation and helper routines - /* -public override IntPtr CreateHeightMapInfo(BulletWorld sim, uint id, Vector3 minCoords, Vector3 maxCoords, - float[] heightMap, float collisionMargin) -{ - return BSAPICPP.CreateHeightMapInfo2(sim.ptr, id, minCoords, maxCoords, heightMap, collisionMargin); -} - -public override IntPtr FillHeightMapInfo(BulletWorld sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, - float[] heightMap, float collisionMargin) -{ - return BSAPICPP.FillHeightMapInfo2(sim.ptr, mapInfo, id, minCoords, maxCoords, heightMap, collisionMargin); -} - -public override bool ReleaseHeightMapInfo(IntPtr heightMapInfo) -{ - return BSAPICPP.ReleaseHeightMapInfo2(heightMapInfo); -} - */ - public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin) { return new BulletShape(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); @@ -1083,9 +1049,6 @@ public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape); public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -1101,29 +1064,10 @@ public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr AllocateBodyInfo2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void ReleaseBodyInfo2(IntPtr obj); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DestroyObject2(IntPtr sim, IntPtr obj); // ===================================================================================== // Terrain creation and helper routines - /* -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, - [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); - -[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern bool ReleaseHeightMapInfo2(IntPtr heightMapInfo); - */ - [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index a618a21..6e67c7a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -346,7 +346,6 @@ public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape); public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id); -public abstract BulletBody CreateBodyFromShapeAndInfo(BulletWorld sim, BulletShape shape, uint id, IntPtr constructionInfo); public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape); @@ -358,10 +357,6 @@ public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, u public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); -public abstract IntPtr AllocateBodyInfo(BulletBody obj); - -public abstract void ReleaseBodyInfo(IntPtr obj); - public abstract void DestroyObject(BulletWorld sim, BulletBody obj); // ===================================================================================== -- cgit v1.1 From db3b6e892133c096f2c4244a0902b4f9f1a87371 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 31 Dec 2012 19:56:32 -0800 Subject: BulletSim: remove unused unmanaged memory reference functions from BSAPITemplate. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 2 ++ OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 4 ++-- 2 files changed, 4 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index a06f6d0..3975776 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -524,6 +524,7 @@ public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion BSAPICPP.SetTranslation2(obj.ptr, position, rotation); } + /* public override IntPtr GetBroadphaseHandle(BulletBody obj) { return BSAPICPP.GetBroadphaseHandle2(obj.ptr); @@ -533,6 +534,7 @@ public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle) { BSAPICPP.SetUserPointer2(obj.ptr, handle); } + */ public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 6e67c7a..699f055 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -475,9 +475,9 @@ public abstract Quaternion GetOrientation(BulletBody obj); public abstract void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation); -public abstract IntPtr GetBroadphaseHandle(BulletBody obj); +// public abstract IntPtr GetBroadphaseHandle(BulletBody obj); -public abstract void SetBroadphaseHandle(BulletBody obj, IntPtr handle); +// public abstract void SetBroadphaseHandle(BulletBody obj, IntPtr handle); public abstract void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel); -- cgit v1.1 From 04132d3af4c8f44639ea842091f86274513e2dfd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 1 Jan 2013 09:30:49 -0800 Subject: BulletSim: subclass Bullet[World|Body|Shape|Constraint] for unmanaged to have pointers and managed to have objects. Initial paste of XNA code. Commented out. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 654 +++++++--- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 1278 +++++++++++++++++++- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 37 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 27 +- .../Region/Physics/BulletSPlugin/BulletSimData.cs | 86 +- 6 files changed, 1806 insertions(+), 278 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 3975776..2c0cb43 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -38,6 +38,91 @@ namespace OpenSim.Region.Physics.BulletSPlugin public sealed class BSAPIUnman : BSAPITemplate { +private sealed class BulletWorldUnman : BulletWorld +{ + public IntPtr ptr; + public BulletWorldUnman(uint id, BSScene physScene, IntPtr xx) + : base(id, physScene) + { + ptr = xx; + } +} + +private sealed class BulletBodyUnman : BulletBody +{ + public IntPtr ptr; + public BulletBodyUnman(uint id, IntPtr xx) + : base(id) + { + ptr = xx; + } + public override bool HasPhysicalBody + { + get { return ptr != IntPtr.Zero; } + } + public override void Clear() + { + ptr = IntPtr.Zero; + } + public override string AddrString + { + get { return ptr.ToString("X"); } + } +} + +private sealed class BulletShapeUnman : BulletShape +{ + public IntPtr ptr; + public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) + : base() + { + ptr = xx; + type = typ; + } + public override bool HasPhysicalShape + { + get { return ptr != IntPtr.Zero; } + } + public override void Clear() + { + ptr = IntPtr.Zero; + } + public override BulletShape Clone() + { + return new BulletShapeUnman(ptr, type); + } + public override bool ReferenceSame(BulletShape other) + { + BulletShapeUnman otheru = other as BulletShapeUnman; + return (otheru != null) && (this.ptr == otheru.ptr); + + } + public override string AddrString + { + get { return ptr.ToString("X"); } + } +} +private sealed class BulletConstraintUnman : BulletConstraint +{ + public BulletConstraintUnman(IntPtr xx) : base() + { + ptr = xx; + } + public IntPtr ptr; + + public override void Clear() + { + ptr = IntPtr.Zero; + } + public override bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } + + // Used for log messages for a unique display of the memory/object allocated to this instance + public override string AddrString + { + get { return ptr.ToString("X"); } + } +} + // We pin the memory passed between the managed and unmanaged code. GCHandle m_paramsHandle; private GCHandle m_collisionArrayPinnedHandle; @@ -89,7 +174,7 @@ public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet BulletEngineVersion = ""; // Call the unmanaged code with the buffers and other information - return new BulletWorld(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(), + return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(), maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(), m_DebugLogCallbackHandle)); @@ -111,22 +196,26 @@ private void BulletLoggerPhysLog(string msg) public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out int collidersCount) { - return BSAPICPP.PhysicsStep2(world.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount); + BulletWorldUnman worldu = world as BulletWorldUnman; + return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount); } -public override void Shutdown(BulletWorld sim) +public override void Shutdown(BulletWorld world) { - BSAPICPP.Shutdown2(sim.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.Shutdown2(worldu.ptr); } public override bool PushUpdate(BulletBody obj) { - return BSAPICPP.PushUpdate2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.PushUpdate2(bodyu.ptr); } public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { - return BSAPICPP.UpdateParameter2(world.ptr, localID, parm, value); + BulletWorldUnman worldu = world as BulletWorldUnman; + return BSAPICPP.UpdateParameter2(worldu.ptr, localID, parm, value); } // ===================================================================================== @@ -135,138 +224,165 @@ public override BulletShape CreateMeshShape(BulletWorld world, int indicesCount, int[] indices, int verticesCount, float[] vertices) { - return new BulletShape( - BSAPICPP.CreateMeshShape2(world.ptr, indicesCount, indices, verticesCount, vertices), + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateMeshShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices), BSPhysicsShapeType.SHAPE_MESH); } public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls) { - return new BulletShape( - BSAPICPP.CreateHullShape2(world.ptr, hullCount, hulls), + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), BSPhysicsShapeType.SHAPE_HULL); } public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { - return new BulletShape( - BSAPICPP.BuildHullShapeFromMesh2(world.ptr, meshShape.ptr), + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = meshShape as BulletShapeUnman; + return new BulletShapeUnman( + BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr), BSPhysicsShapeType.SHAPE_HULL); } -public override BulletShape BuildNativeShape( BulletWorld world, ShapeData shapeData) +public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData) { - return new BulletShape( - BSAPICPP.BuildNativeShape2(world.ptr, shapeData), - shapeData.Type); + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type); } public override bool IsNativeShape(BulletShape shape) { - if (shape.HasPhysicalShape) - return BSAPICPP.IsNativeShape2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + if (shapeu != null && shapeu.HasPhysicalShape) + return BSAPICPP.IsNativeShape2(shapeu.ptr); return false; } public override void SetShapeCollisionMargin(BulletShape shape, float margin) { - if (shape.HasPhysicalShape) - BSAPICPP.SetShapeCollisionMargin2(shape.ptr, margin); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + if (shapeu != null && shapeu.HasPhysicalShape) + BSAPICPP.SetShapeCollisionMargin2(shapeu.ptr, margin); } public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale) { - return new BulletShape( - BSAPICPP.BuildCapsuleShape2(world.ptr, radius, height, scale), + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.BuildCapsuleShape2(worldu.ptr, radius, height, scale), BSPhysicsShapeType.SHAPE_CAPSULE); } -public override BulletShape CreateCompoundShape(BulletWorld sim, bool enableDynamicAabbTree) +public override BulletShape CreateCompoundShape(BulletWorld world, bool enableDynamicAabbTree) { - return new BulletShape( - BSAPICPP.CreateCompoundShape2(sim.ptr, enableDynamicAabbTree), + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateCompoundShape2(worldu.ptr, enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND); } public override int GetNumberOfCompoundChildren(BulletShape shape) { - if (shape.HasPhysicalShape) - return BSAPICPP.GetNumberOfCompoundChildren2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + if (shapeu != null && shapeu.HasPhysicalShape) + return BSAPICPP.GetNumberOfCompoundChildren2(shapeu.ptr); return 0; } -public override void AddChildShapeToCompoundShape(BulletShape cShape, BulletShape addShape, Vector3 pos, Quaternion rot) +public override void AddChildShapeToCompoundShape(BulletShape shape, BulletShape addShape, Vector3 pos, Quaternion rot) { - BSAPICPP.AddChildShapeToCompoundShape2(cShape.ptr, addShape.ptr, pos, rot); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BulletShapeUnman addShapeu = addShape as BulletShapeUnman; + BSAPICPP.AddChildShapeToCompoundShape2(shapeu.ptr, addShapeu.ptr, pos, rot); } -public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) +public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape shape, int indx) { - return new BulletShape(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(cShape.ptr, indx)); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletShapeUnman(BSAPICPP.GetChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN); } -public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) +public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape shape, int indx) { - return new BulletShape(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(cShape.ptr, indx)); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletShapeUnman(BSAPICPP.RemoveChildShapeFromCompoundShapeIndex2(shapeu.ptr, indx), BSPhysicsShapeType.SHAPE_UNKNOWN); } -public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) +public override void RemoveChildShapeFromCompoundShape(BulletShape shape, BulletShape removeShape) { - BSAPICPP.RemoveChildShapeFromCompoundShape2(cShape.ptr, removeShape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BulletShapeUnman removeShapeu = removeShape as BulletShapeUnman; + BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr); } -public override void RecalculateCompoundShapeLocalAabb(BulletShape cShape) +public override void RecalculateCompoundShapeLocalAabb(BulletShape shape) { - BSAPICPP.RecalculateCompoundShapeLocalAabb2(cShape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BSAPICPP.RecalculateCompoundShapeLocalAabb2(shapeu.ptr); } -public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id) +public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletShape srcShape, uint id) { - return new BulletShape(BSAPICPP.DuplicateCollisionShape2(sim.ptr, srcShape.ptr, id), srcShape.type); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman; + return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.type); } public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) { - return BSAPICPP.DeleteCollisionShape2(world.ptr, shape.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr); } public override int GetBodyType(BulletBody obj) { - return BSAPICPP.GetBodyType2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetBodyType2(bodyu.ptr); } -public override BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot) +public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) { - return new BulletBody(id, BSAPICPP.CreateBodyFromShape2(sim.ptr, shape.ptr, id, pos, rot)); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletBodyUnman(id, BSAPICPP.CreateBodyFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot)); } public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot) { - return new BulletBody(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shape.ptr, id, pos, rot)); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletBodyUnman(id, BSAPICPP.CreateBodyWithDefaultMotionState2(shapeu.ptr, id, pos, rot)); } -public override BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot) +public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) { - return new BulletBody(id, BSAPICPP.CreateGhostFromShape2(sim.ptr, shape.ptr, id, pos, rot)); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot)); } -public override void DestroyObject(BulletWorld sim, BulletBody obj) +public override void DestroyObject(BulletWorld world, BulletBody obj) { - BSAPICPP.DestroyObject2(sim.ptr, obj.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.DestroyObject2(worldu.ptr, bodyu.ptr); } // ===================================================================================== // Terrain creation and helper routines public override BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin) { - return new BulletShape(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); + return new BulletShapeUnman(BSAPICPP.CreateGroundPlaneShape2(id, height, collisionMargin), BSPhysicsShapeType.SHAPE_GROUNDPLANE); } public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, float scaleFactor, float collisionMargin) { - return new BulletShape(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin), + return new BulletShapeUnman(BSAPICPP.CreateTerrainShape2(id, size, minHeight, maxHeight, heightMap, scaleFactor, collisionMargin), BSPhysicsShapeType.SHAPE_TERRAIN); } @@ -277,7 +393,10 @@ public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletB Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { - return new BulletConstraint(BSAPICPP.Create6DofConstraint2(world.ptr, obj1.ptr, obj2.ptr, frame1loc, frame1rot, + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } @@ -285,7 +404,10 @@ public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { - return new BulletConstraint(BSAPICPP.Create6DofConstraintToPoint2(world.ptr, obj1.ptr, obj2.ptr, + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } @@ -294,560 +416,687 @@ public override BulletConstraint CreateHingeConstraint(BulletWorld world, Bullet Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { - return new BulletConstraint(BSAPICPP.CreateHingeConstraint2(world.ptr, obj1.ptr, obj2.ptr, + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse) { - BSAPICPP.SetConstraintEnable2(constrain.ptr, numericTrueFalse); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.SetConstraintEnable2(constrainu.ptr, numericTrueFalse); } public override void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations) { - BSAPICPP.SetConstraintNumSolverIterations2(constrain.ptr, iterations); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.SetConstraintNumSolverIterations2(constrainu.ptr, iterations); } public override bool SetFrames(BulletConstraint constrain, Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) { - return BSAPICPP.SetFrames2(constrain.ptr, frameA, frameArot, frameB, frameBrot); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetFrames2(constrainu.ptr, frameA, frameArot, frameB, frameBrot); } public override bool SetLinearLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) { - return BSAPICPP.SetLinearLimits2(constrain.ptr, low, hi); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetLinearLimits2(constrainu.ptr, low, hi); } public override bool SetAngularLimits(BulletConstraint constrain, Vector3 low, Vector3 hi) { - return BSAPICPP.SetAngularLimits2(constrain.ptr, low, hi); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetAngularLimits2(constrainu.ptr, low, hi); } public override bool UseFrameOffset(BulletConstraint constrain, float enable) { - return BSAPICPP.UseFrameOffset2(constrain.ptr, enable); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.UseFrameOffset2(constrainu.ptr, enable); } public override bool TranslationalLimitMotor(BulletConstraint constrain, float enable, float targetVel, float maxMotorForce) { - return BSAPICPP.TranslationalLimitMotor2(constrain.ptr, enable, targetVel, maxMotorForce); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.TranslationalLimitMotor2(constrainu.ptr, enable, targetVel, maxMotorForce); } public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold) { - return BSAPICPP.SetBreakingImpulseThreshold2(constrain.ptr, threshold); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold); } public override bool CalculateTransforms(BulletConstraint constrain) { - return BSAPICPP.CalculateTransforms2(constrain.ptr); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.CalculateTransforms2(constrainu.ptr); } public override bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis) { - return BSAPICPP.SetConstraintParam2(constrain.ptr, paramIndex, value, axis); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetConstraintParam2(constrainu.ptr, paramIndex, value, axis); } public override bool DestroyConstraint(BulletWorld world, BulletConstraint constrain) { - return BSAPICPP.DestroyConstraint2(world.ptr, constrain.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.DestroyConstraint2(worldu.ptr, constrainu.ptr); } // ===================================================================================== // btCollisionWorld entries public override void UpdateSingleAabb(BulletWorld world, BulletBody obj) -{ - BSAPICPP.UpdateSingleAabb2(world.ptr, obj.ptr); +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr); } public override void UpdateAabbs(BulletWorld world) { - BSAPICPP.UpdateAabbs2(world.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.UpdateAabbs2(worldu.ptr); } public override bool GetForceUpdateAllAabbs(BulletWorld world) { - return BSAPICPP.GetForceUpdateAllAabbs2(world.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr); } public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { - BSAPICPP.SetForceUpdateAllAabbs2(world.ptr, force); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force); } // ===================================================================================== // btDynamicsWorld entries public override bool AddObjectToWorld(BulletWorld world, BulletBody obj) { - return BSAPICPP.AddObjectToWorld2(world.ptr, obj.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr); } public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj) { - return BSAPICPP.RemoveObjectFromWorld2(world.ptr, obj.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr); } public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) { - return BSAPICPP.AddConstraintToWorld2(world.ptr, constrain.ptr, disableCollisionsBetweenLinkedObjects); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects); } public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) { - return BSAPICPP.RemoveConstraintFromWorld2(world.ptr, constrain.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr); } // ===================================================================================== // btCollisionObject entries public override Vector3 GetAnisotripicFriction(BulletConstraint constrain) { - return BSAPICPP.GetAnisotripicFriction2(constrain.ptr); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.GetAnisotripicFriction2(constrainu.ptr); } public override Vector3 SetAnisotripicFriction(BulletConstraint constrain, Vector3 frict) { - return BSAPICPP.SetAnisotripicFriction2(constrain.ptr, frict); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SetAnisotripicFriction2(constrainu.ptr, frict); } public override bool HasAnisotripicFriction(BulletConstraint constrain) { - return BSAPICPP.HasAnisotripicFriction2(constrain.ptr); + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.HasAnisotripicFriction2(constrainu.ptr); } public override void SetContactProcessingThreshold(BulletBody obj, float val) { - BSAPICPP.SetContactProcessingThreshold2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetContactProcessingThreshold2(bodyu.ptr, val); } public override float GetContactProcessingThreshold(BulletBody obj) { - return BSAPICPP.GetContactProcessingThreshold2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetContactProcessingThreshold2(bodyu.ptr); } public override bool IsStaticObject(BulletBody obj) { - return BSAPICPP.IsStaticObject2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsStaticObject2(bodyu.ptr); } public override bool IsKinematicObject(BulletBody obj) { - return BSAPICPP.IsKinematicObject2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsKinematicObject2(bodyu.ptr); } public override bool IsStaticOrKinematicObject(BulletBody obj) { - return BSAPICPP.IsStaticOrKinematicObject2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsStaticOrKinematicObject2(bodyu.ptr); } public override bool HasContactResponse(BulletBody obj) { - return BSAPICPP.HasContactResponse2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.HasContactResponse2(bodyu.ptr); } -public override void SetCollisionShape(BulletWorld sim, BulletBody obj, BulletShape shape) +public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape) { - BSAPICPP.SetCollisionShape2(sim.ptr, obj.ptr, shape.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BulletShapeUnman shapeu = shape as BulletShapeUnman; + if (worldu != null && bodyu != null) + { + // Special case to allow the caller to zero out the reference to any physical shape + if (shapeu != null) + BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr); + else + BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero); + } } public override BulletShape GetCollisionShape(BulletBody obj) { - return new BulletShape(BSAPICPP.GetCollisionShape2(obj.ptr)); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return new BulletShapeUnman(BSAPICPP.GetCollisionShape2(bodyu.ptr), BSPhysicsShapeType.SHAPE_UNKNOWN); } public override int GetActivationState(BulletBody obj) { - return BSAPICPP.GetActivationState2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetActivationState2(bodyu.ptr); } public override void SetActivationState(BulletBody obj, int state) { - BSAPICPP.SetActivationState2(obj.ptr, state); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetActivationState2(bodyu.ptr, state); } public override void SetDeactivationTime(BulletBody obj, float dtime) { - BSAPICPP.SetDeactivationTime2(obj.ptr, dtime); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetDeactivationTime2(bodyu.ptr, dtime); } public override float GetDeactivationTime(BulletBody obj) { - return BSAPICPP.GetDeactivationTime2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetDeactivationTime2(bodyu.ptr); } public override void ForceActivationState(BulletBody obj, ActivationState state) { - BSAPICPP.ForceActivationState2(obj.ptr, state); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ForceActivationState2(bodyu.ptr, state); } public override void Activate(BulletBody obj, bool forceActivation) { - BSAPICPP.Activate2(obj.ptr, forceActivation); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.Activate2(bodyu.ptr, forceActivation); } public override bool IsActive(BulletBody obj) { - return BSAPICPP.IsActive2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsActive2(bodyu.ptr); } public override void SetRestitution(BulletBody obj, float val) { - BSAPICPP.SetRestitution2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetRestitution2(bodyu.ptr, val); } public override float GetRestitution(BulletBody obj) { - return BSAPICPP.GetRestitution2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetRestitution2(bodyu.ptr); } public override void SetFriction(BulletBody obj, float val) { - BSAPICPP.SetFriction2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetFriction2(bodyu.ptr, val); } public override float GetFriction(BulletBody obj) { - return BSAPICPP.GetFriction2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetFriction2(bodyu.ptr); } public override Vector3 GetPosition(BulletBody obj) { - return BSAPICPP.GetPosition2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetPosition2(bodyu.ptr); } public override Quaternion GetOrientation(BulletBody obj) { - return BSAPICPP.GetOrientation2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetOrientation2(bodyu.ptr); } public override void SetTranslation(BulletBody obj, Vector3 position, Quaternion rotation) { - BSAPICPP.SetTranslation2(obj.ptr, position, rotation); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetTranslation2(bodyu.ptr, position, rotation); } /* public override IntPtr GetBroadphaseHandle(BulletBody obj) { - return BSAPICPP.GetBroadphaseHandle2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetBroadphaseHandle2(bodyu.ptr); } public override void SetBroadphaseHandle(BulletBody obj, IntPtr handle) { - BSAPICPP.SetUserPointer2(obj.ptr, handle); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetUserPointer2(bodyu.ptr, handle); } */ public override void SetInterpolationLinearVelocity(BulletBody obj, Vector3 vel) { - BSAPICPP.SetInterpolationLinearVelocity2(obj.ptr, vel); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetInterpolationLinearVelocity2(bodyu.ptr, vel); } public override void SetInterpolationAngularVelocity(BulletBody obj, Vector3 vel) { - BSAPICPP.SetInterpolationAngularVelocity2(obj.ptr, vel); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetInterpolationAngularVelocity2(bodyu.ptr, vel); } public override void SetInterpolationVelocity(BulletBody obj, Vector3 linearVel, Vector3 angularVel) { - BSAPICPP.SetInterpolationVelocity2(obj.ptr, linearVel, angularVel); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetInterpolationVelocity2(bodyu.ptr, linearVel, angularVel); } public override float GetHitFraction(BulletBody obj) { - return BSAPICPP.GetHitFraction2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetHitFraction2(bodyu.ptr); } public override void SetHitFraction(BulletBody obj, float val) { - BSAPICPP.SetHitFraction2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetHitFraction2(bodyu.ptr, val); } public override CollisionFlags GetCollisionFlags(BulletBody obj) { - return BSAPICPP.GetCollisionFlags2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetCollisionFlags2(bodyu.ptr); } public override CollisionFlags SetCollisionFlags(BulletBody obj, CollisionFlags flags) { - return BSAPICPP.SetCollisionFlags2(obj.ptr, flags); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.SetCollisionFlags2(bodyu.ptr, flags); } public override CollisionFlags AddToCollisionFlags(BulletBody obj, CollisionFlags flags) { - return BSAPICPP.AddToCollisionFlags2(obj.ptr, flags); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.AddToCollisionFlags2(bodyu.ptr, flags); } public override CollisionFlags RemoveFromCollisionFlags(BulletBody obj, CollisionFlags flags) { - return BSAPICPP.RemoveFromCollisionFlags2(obj.ptr, flags); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.RemoveFromCollisionFlags2(bodyu.ptr, flags); } public override float GetCcdMotionThreshold(BulletBody obj) { - return BSAPICPP.GetCcdMotionThreshold2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetCcdMotionThreshold2(bodyu.ptr); } public override void SetCcdMotionThreshold(BulletBody obj, float val) { - BSAPICPP.SetCcdMotionThreshold2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetCcdMotionThreshold2(bodyu.ptr, val); } public override float GetCcdSweptSphereRadius(BulletBody obj) { - return BSAPICPP.GetCcdSweptSphereRadius2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetCcdSweptSphereRadius2(bodyu.ptr); } public override void SetCcdSweptSphereRadius(BulletBody obj, float val) { - BSAPICPP.SetCcdSweptSphereRadius2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetCcdSweptSphereRadius2(bodyu.ptr, val); } public override IntPtr GetUserPointer(BulletBody obj) { - return BSAPICPP.GetUserPointer2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetUserPointer2(bodyu.ptr); } public override void SetUserPointer(BulletBody obj, IntPtr val) { - BSAPICPP.SetUserPointer2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetUserPointer2(bodyu.ptr, val); } // ===================================================================================== // btRigidBody entries public override void ApplyGravity(BulletBody obj) { - BSAPICPP.ApplyGravity2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyGravity2(bodyu.ptr); } public override void SetGravity(BulletBody obj, Vector3 val) { - BSAPICPP.SetGravity2(obj.ptr, val); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetGravity2(bodyu.ptr, val); } public override Vector3 GetGravity(BulletBody obj) { - return BSAPICPP.GetGravity2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetGravity2(bodyu.ptr); } public override void SetDamping(BulletBody obj, float lin_damping, float ang_damping) { - BSAPICPP.SetDamping2(obj.ptr, lin_damping, ang_damping); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetDamping2(bodyu.ptr, lin_damping, ang_damping); } public override void SetLinearDamping(BulletBody obj, float lin_damping) { - BSAPICPP.SetLinearDamping2(obj.ptr, lin_damping); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetLinearDamping2(bodyu.ptr, lin_damping); } public override void SetAngularDamping(BulletBody obj, float ang_damping) { - BSAPICPP.SetAngularDamping2(obj.ptr, ang_damping); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetAngularDamping2(bodyu.ptr, ang_damping); } public override float GetLinearDamping(BulletBody obj) { - return BSAPICPP.GetLinearDamping2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetLinearDamping2(bodyu.ptr); } public override float GetAngularDamping(BulletBody obj) { - return BSAPICPP.GetAngularDamping2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetAngularDamping2(bodyu.ptr); } public override float GetLinearSleepingThreshold(BulletBody obj) { - return BSAPICPP.GetLinearSleepingThreshold2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetLinearSleepingThreshold2(bodyu.ptr); } public override void ApplyDamping(BulletBody obj, float timeStep) { - BSAPICPP.ApplyDamping2(obj.ptr, timeStep); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyDamping2(bodyu.ptr, timeStep); } public override void SetMassProps(BulletBody obj, float mass, Vector3 inertia) { - BSAPICPP.SetMassProps2(obj.ptr, mass, inertia); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetMassProps2(bodyu.ptr, mass, inertia); } public override Vector3 GetLinearFactor(BulletBody obj) { - return BSAPICPP.GetLinearFactor2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetLinearFactor2(bodyu.ptr); } public override void SetLinearFactor(BulletBody obj, Vector3 factor) { - BSAPICPP.SetLinearFactor2(obj.ptr, factor); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetLinearFactor2(bodyu.ptr, factor); } public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { - BSAPICPP.SetCenterOfMassByPosRot2(obj.ptr, pos, rot); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetCenterOfMassByPosRot2(bodyu.ptr, pos, rot); } // Add a force to the object as if its mass is one. public override void ApplyCentralForce(BulletBody obj, Vector3 force) { - BSAPICPP.ApplyCentralForce2(obj.ptr, force); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyCentralForce2(bodyu.ptr, force); } // Set the force being applied to the object as if its mass is one. public override void SetObjectForce(BulletBody obj, Vector3 force) { - BSAPICPP.SetObjectForce2(obj.ptr, force); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetObjectForce2(bodyu.ptr, force); } public override Vector3 GetTotalForce(BulletBody obj) { - return BSAPICPP.GetTotalForce2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetTotalForce2(bodyu.ptr); } public override Vector3 GetTotalTorque(BulletBody obj) { - return BSAPICPP.GetTotalTorque2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetTotalTorque2(bodyu.ptr); } public override Vector3 GetInvInertiaDiagLocal(BulletBody obj) { - return BSAPICPP.GetInvInertiaDiagLocal2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetInvInertiaDiagLocal2(bodyu.ptr); } public override void SetInvInertiaDiagLocal(BulletBody obj, Vector3 inert) { - BSAPICPP.SetInvInertiaDiagLocal2(obj.ptr, inert); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetInvInertiaDiagLocal2(bodyu.ptr, inert); } public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, float ang_threshold) { - BSAPICPP.SetSleepingThresholds2(obj.ptr, lin_threshold, ang_threshold); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold); } public override void ApplyTorque(BulletBody obj, Vector3 torque) { - BSAPICPP.ApplyTorque2(obj.ptr, torque); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyTorque2(bodyu.ptr, torque); } // Apply force at the given point. Will add torque to the object. public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos) { - BSAPICPP.ApplyForce2(obj.ptr, force, pos); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyForce2(bodyu.ptr, force, pos); } // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp) { - BSAPICPP.ApplyCentralImpulse2(obj.ptr, imp); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyCentralImpulse2(bodyu.ptr, imp); } // Apply impulse to the object's torque. Force is scaled by object's mass. public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp) { - BSAPICPP.ApplyTorqueImpulse2(obj.ptr, imp); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyTorqueImpulse2(bodyu.ptr, imp); } // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos) { - BSAPICPP.ApplyImpulse2(obj.ptr, imp, pos); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ApplyImpulse2(bodyu.ptr, imp, pos); } public override void ClearForces(BulletBody obj) { - BSAPICPP.ClearForces2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ClearForces2(bodyu.ptr); } public override void ClearAllForces(BulletBody obj) { - BSAPICPP.ClearAllForces2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.ClearAllForces2(bodyu.ptr); } public override void UpdateInertiaTensor(BulletBody obj) { - BSAPICPP.UpdateInertiaTensor2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.UpdateInertiaTensor2(bodyu.ptr); } public override Vector3 GetLinearVelocity(BulletBody obj) { - return BSAPICPP.GetLinearVelocity2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetLinearVelocity2(bodyu.ptr); } public override Vector3 GetAngularVelocity(BulletBody obj) { - return BSAPICPP.GetAngularVelocity2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetAngularVelocity2(bodyu.ptr); } public override void SetLinearVelocity(BulletBody obj, Vector3 vel) { - BSAPICPP.SetLinearVelocity2(obj.ptr, vel); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetLinearVelocity2(bodyu.ptr, vel); } public override void SetAngularVelocity(BulletBody obj, Vector3 angularVelocity) { - BSAPICPP.SetAngularVelocity2(obj.ptr, angularVelocity); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetAngularVelocity2(bodyu.ptr, angularVelocity); } public override Vector3 GetVelocityInLocalPoint(BulletBody obj, Vector3 pos) { - return BSAPICPP.GetVelocityInLocalPoint2(obj.ptr, pos); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetVelocityInLocalPoint2(bodyu.ptr, pos); } public override void Translate(BulletBody obj, Vector3 trans) { - BSAPICPP.Translate2(obj.ptr, trans); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.Translate2(bodyu.ptr, trans); } public override void UpdateDeactivation(BulletBody obj, float timeStep) { - BSAPICPP.UpdateDeactivation2(obj.ptr, timeStep); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.UpdateDeactivation2(bodyu.ptr, timeStep); } public override bool WantsSleeping(BulletBody obj) { - return BSAPICPP.WantsSleeping2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.WantsSleeping2(bodyu.ptr); } public override void SetAngularFactor(BulletBody obj, float factor) { - BSAPICPP.SetAngularFactor2(obj.ptr, factor); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetAngularFactor2(bodyu.ptr, factor); } public override void SetAngularFactorV(BulletBody obj, Vector3 factor) { - BSAPICPP.SetAngularFactorV2(obj.ptr, factor); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BSAPICPP.SetAngularFactorV2(bodyu.ptr, factor); } public override Vector3 GetAngularFactor(BulletBody obj) { - return BSAPICPP.GetAngularFactor2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetAngularFactor2(bodyu.ptr); } public override bool IsInWorld(BulletBody obj) { - return BSAPICPP.IsInWorld2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.IsInWorld2(bodyu.ptr); } public override void AddConstraintRef(BulletBody obj, BulletConstraint constrain) { - BSAPICPP.AddConstraintRef2(obj.ptr, constrain.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.AddConstraintRef2(bodyu.ptr, constrainu.ptr); } public override void RemoveConstraintRef(BulletBody obj, BulletConstraint constrain) { - BSAPICPP.RemoveConstraintRef2(obj.ptr, constrain.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.RemoveConstraintRef2(bodyu.ptr, constrainu.ptr); } public override BulletConstraint GetConstraintRef(BulletBody obj, int index) { - return new BulletConstraint(BSAPICPP.GetConstraintRef2(obj.ptr, index)); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.GetConstraintRef2(bodyu.ptr, index)); } public override int GetNumConstraintRefs(BulletBody obj) { - return BSAPICPP.GetNumConstraintRefs2(obj.ptr); + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.GetNumConstraintRefs2(bodyu.ptr); } public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask) { - return BSAPICPP.SetCollisionGroupMask2(body.ptr, filter, mask); + BulletBodyUnman bodyu = body as BulletBodyUnman; + return BSAPICPP.SetCollisionGroupMask2(bodyu.ptr, filter, mask); } // ===================================================================================== @@ -855,114 +1104,139 @@ public override bool SetCollisionGroupMask(BulletBody body, uint filter, uint ma public override float GetAngularMotionDisc(BulletShape shape) { - return BSAPICPP.GetAngularMotionDisc2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetAngularMotionDisc2(shapeu.ptr); } public override float GetContactBreakingThreshold(BulletShape shape, float defaultFactor) { - return BSAPICPP.GetContactBreakingThreshold2(shape.ptr, defaultFactor); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetContactBreakingThreshold2(shapeu.ptr, defaultFactor); } public override bool IsPolyhedral(BulletShape shape) { - return BSAPICPP.IsPolyhedral2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsPolyhedral2(shapeu.ptr); } public override bool IsConvex2d(BulletShape shape) { - return BSAPICPP.IsConvex2d2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsConvex2d2(shapeu.ptr); } public override bool IsConvex(BulletShape shape) { - return BSAPICPP.IsConvex2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsConvex2(shapeu.ptr); } public override bool IsNonMoving(BulletShape shape) { - return BSAPICPP.IsNonMoving2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsNonMoving2(shapeu.ptr); } public override bool IsConcave(BulletShape shape) { - return BSAPICPP.IsConcave2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsConcave2(shapeu.ptr); } public override bool IsCompound(BulletShape shape) { - return BSAPICPP.IsCompound2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsCompound2(shapeu.ptr); } public override bool IsSoftBody(BulletShape shape) { - return BSAPICPP.IsSoftBody2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsSoftBody2(shapeu.ptr); } public override bool IsInfinite(BulletShape shape) { - return BSAPICPP.IsInfinite2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.IsInfinite2(shapeu.ptr); } public override void SetLocalScaling(BulletShape shape, Vector3 scale) { - BSAPICPP.SetLocalScaling2(shape.ptr, scale); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BSAPICPP.SetLocalScaling2(shapeu.ptr, scale); } public override Vector3 GetLocalScaling(BulletShape shape) { - return BSAPICPP.GetLocalScaling2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetLocalScaling2(shapeu.ptr); } public override Vector3 CalculateLocalInertia(BulletShape shape, float mass) { - return BSAPICPP.CalculateLocalInertia2(shape.ptr, mass); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.CalculateLocalInertia2(shapeu.ptr, mass); } public override int GetShapeType(BulletShape shape) { - return BSAPICPP.GetShapeType2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetShapeType2(shapeu.ptr); } public override void SetMargin(BulletShape shape, float val) { - BSAPICPP.SetMargin2(shape.ptr, val); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + BSAPICPP.SetMargin2(shapeu.ptr, val); } public override float GetMargin(BulletShape shape) { - return BSAPICPP.GetMargin2(shape.ptr); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + return BSAPICPP.GetMargin2(shapeu.ptr); } // ===================================================================================== // Debugging -public override void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) +public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject) { - BSAPICPP.DumpRigidBody2(sim.ptr, collisionObject.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = collisionObject as BulletBodyUnman; + BSAPICPP.DumpRigidBody2(worldu.ptr, bodyu.ptr); } -public override void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape) +public override void DumpCollisionShape(BulletWorld world, BulletShape collisionShape) { - BSAPICPP.DumpCollisionShape2(sim.ptr, collisionShape.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = collisionShape as BulletShapeUnman; + BSAPICPP.DumpCollisionShape2(worldu.ptr, shapeu.ptr); } -public override void DumpConstraint(BulletWorld sim, BulletConstraint constrain) +public override void DumpConstraint(BulletWorld world, BulletConstraint constrain) { - BSAPICPP.DumpConstraint2(sim.ptr, constrain.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + BSAPICPP.DumpConstraint2(worldu.ptr, constrainu.ptr); } -public override void DumpActivationInfo(BulletWorld sim) +public override void DumpActivationInfo(BulletWorld world) { - BSAPICPP.DumpActivationInfo2(sim.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.DumpActivationInfo2(worldu.ptr); } -public override void DumpAllInfo(BulletWorld sim) +public override void DumpAllInfo(BulletWorld world) { - BSAPICPP.DumpAllInfo2(sim.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.DumpAllInfo2(worldu.ptr); } -public override void DumpPhysicsStatistics(BulletWorld sim) +public override void DumpPhysicsStatistics(BulletWorld world) { - BSAPICPP.DumpPhysicsStatistics2(sim.ptr); + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.DumpPhysicsStatistics2(worldu.ptr); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 8ed791e..f70ad30 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -29,11 +29,1287 @@ using System.Collections.Generic; using System.Linq; using System.Text; +using BulletXNA; +using BulletXNA.LinearMath; +using BulletXNA.BulletCollision; +using BulletXNA.BulletDynamics; +using BulletXNA.BulletCollision.CollisionDispatch; + +using OpenMetaverse; + namespace OpenSim.Region.Physics.BulletSPlugin { /* public sealed class BSAPIXNA : BSAPITemplate { + private static int m_collisionsThisFrame; + private BSScene PhysicsScene { get; set; } + + public override string BulletEngineName { get { return "BulletXNA"; } } + public override string BulletEngineVersion { get; protected set; } + + public BSAPIXNA(string paramName, BSScene physScene) + { + PhysicsScene = physScene; + } + + /// + /// + /// + /// + /// + public override bool RemoveObjectFromWorld2(object pWorld, object pBody) + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + RigidBody body = pBody as RigidBody; + world.RemoveRigidBody(body); + return true; + } + + public override void SetRestitution2(object pBody, float pRestitution) + { + RigidBody body = pBody as RigidBody; + body.SetRestitution(pRestitution); + } + + public override void SetMargin2(object pShape, float pMargin) + { + CollisionShape shape = pShape as CollisionShape; + shape.SetMargin(pMargin); + } + + public override void SetLocalScaling2(object pShape, Vector3 pScale) + { + CollisionShape shape = pShape as CollisionShape; + IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); + shape.SetLocalScaling(ref vec); + + } + + public override void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold) + { + RigidBody body = pBody as RigidBody; + body.SetContactProcessingThreshold(contactprocessingthreshold); + } + + public override void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold) + { + RigidBody body = pBody as RigidBody; + body.SetCcdMotionThreshold(pccdMotionThreashold); + } + + public override void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius) + { + RigidBody body = pBody as RigidBody; + body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); + } + + public override void SetAngularFactorV2(object pBody, Vector3 pAngularFactor) + { + RigidBody body = pBody as RigidBody; + body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); + } + + public override CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) + { + CollisionObject body = pBody as CollisionObject; + CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); + existingcollisionFlags |= pcollisionFlags; + body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); + return (CollisionFlags) (uint) existingcollisionFlags; + } + + public override void AddObjectToWorld2(object pWorld, object pBody) + { + RigidBody body = pBody as RigidBody; + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) + + world.AddRigidBody(body); + + //if (body.GetBroadphaseHandle() != null) + // world.UpdateSingleAabb(body); + } + + public override void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation) + { + RigidBody body = pBody as RigidBody; + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) + + world.AddRigidBody(body); + IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); + IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, + _orientation.W); + IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); + mat._origin = vposition; + body.SetWorldTransform(mat); + //if (body.GetBroadphaseHandle() != null) + // world.UpdateSingleAabb(body); + } + + public override void ForceActivationState2(object pBody, ActivationState pActivationState) + { + CollisionObject body = pBody as CollisionObject; + body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); + } + + public override void UpdateSingleAabb2(object pWorld, object pBody) + { + CollisionObject body = pBody as CollisionObject; + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + world.UpdateSingleAabb(body); + } + + public override bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask) + { + RigidBody body = pBody as RigidBody; + body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; + body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; + if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0) + return false; + return true; + } + + public override void ClearAllForces2(object pBody) + { + CollisionObject body = pBody as CollisionObject; + IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); + body.SetInterpolationLinearVelocity(ref zeroVector); + body.SetInterpolationAngularVelocity(ref zeroVector); + IndexedMatrix bodytransform = body.GetWorldTransform(); + + body.SetInterpolationWorldTransform(ref bodytransform); + + if (body is RigidBody) + { + RigidBody rigidbody = body as RigidBody; + rigidbody.SetLinearVelocity(zeroVector); + rigidbody.SetAngularVelocity(zeroVector); + rigidbody.ClearForces(); + } + } + + public override void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); + body.SetInterpolationAngularVelocity(ref vec); + } + + public override void SetAngularVelocity2(object pBody, Vector3 pVector3) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); + body.SetAngularVelocity(ref vec); + } + + public override void ClearForces2(object pBody) + { + RigidBody body = pBody as RigidBody; + body.ClearForces(); + } + + public override void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); + IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, + _orientation.W); + IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); + mat._origin = vposition; + body.SetWorldTransform(mat); + + } + + public override Vector3 GetPosition2(object pBody) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin; + return new Vector3(pos.X, pos.Y, pos.Z); + } + + public override Vector3 CalculateLocalInertia2(object pShape, float pphysMass) + { + CollisionShape shape = pShape as CollisionShape; + IndexedVector3 inertia = IndexedVector3.Zero; + shape.CalculateLocalInertia(pphysMass, out inertia); + return new Vector3(inertia.X, inertia.Y, inertia.Z); + } + + public override void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); + body.SetMassProps(pphysMass, inertia); + } + + + public override void SetObjectForce2(object pBody, Vector3 _force) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); + body.SetTotalForce(ref force); + } + + public override void SetFriction2(object pBody, float _currentFriction) + { + RigidBody body = pBody as RigidBody; + body.SetFriction(_currentFriction); + } + + public override void SetLinearVelocity2(object pBody, Vector3 _velocity) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); + body.SetLinearVelocity(velocity); + } + + public override void Activate2(object pBody, bool pforceactivation) + { + RigidBody body = pBody as RigidBody; + body.Activate(pforceactivation); + + } + + public override Quaternion GetOrientation2(object pBody) + { + RigidBody body = pBody as RigidBody; + IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation(); + return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); + } + + public override CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) + { + RigidBody body = pBody as RigidBody; + CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); + existingcollisionFlags &= ~pcollisionFlags; + body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); + return (CollisionFlags)(uint)existingcollisionFlags; + } + + public override void SetGravity2(object pBody, Vector3 pGravity) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); + body.SetGravity(gravity); + } + + public override bool DestroyConstraint2(object pBody, object pConstraint) + { + RigidBody body = pBody as RigidBody; + TypedConstraint constraint = pConstraint as TypedConstraint; + body.RemoveConstraintRef(constraint); + return true; + } + + public override bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); + IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); + constraint.SetLinearLowerLimit(lowlimit); + constraint.SetLinearUpperLimit(highlimit); + return true; + } + + public override bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); + IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); + constraint.SetAngularLowerLimit(lowlimit); + constraint.SetAngularUpperLimit(highlimit); + return true; + } + + public override void SetConstraintNumSolverIterations2(object pConstraint, float cnt) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + constraint.SetOverrideNumSolverIterations((int)cnt); + } + + public override void CalculateTransforms2(object pConstraint) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + constraint.CalculateTransforms(); + } + + public override void SetConstraintEnable2(object pConstraint, float p_2) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + constraint.SetEnabled((p_2 == 0) ? false : true); + } + + + //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + public override object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + RigidBody body1 = pBody1 as RigidBody; + RigidBody body2 = pBody2 as RigidBody; + IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); + IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); + IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); + frame1._origin = frame1v; + + IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); + IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); + IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); + frame2._origin = frame1v; + + Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, + puseLinearReferenceFrameA); + consttr.CalculateTransforms(); + world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); + + return consttr; + } + + + /// + /// + /// + /// + /// + /// + /// + /// + /// + /// + public override object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + RigidBody body1 = pBody1 as RigidBody; + RigidBody body2 = pBody2 as RigidBody; + IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); + IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); + + IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); + IndexedMatrix mat = IndexedMatrix.Identity; + mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z); + frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint; + frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint; + + Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA); + consttr.CalculateTransforms(); + world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies); + + return consttr; + } + //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); + public override void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); + IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); + IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); + frame1._origin = frame1v; + + IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); + IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); + IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); + frame2._origin = frame1v; + constraint.SetFrames(ref frame1, ref frame2); + } + + + + + public override bool IsInWorld2(object pWorld, object pShapeObj) + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + CollisionObject shape = pShapeObj as CollisionObject; + return world.IsInWorld(shape); + } + + public override void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); + body.SetInterpolationLinearVelocity(ref velocity); + } + + public override bool UseFrameOffset2(object pConstraint, float onOff) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + constraint.SetUseFrameOffset((onOff == 0) ? false : true); + return true; + } + //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); + public override bool SetBreakingImpulseThreshold2(object pConstraint, float threshold) + { + Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + constraint.SetBreakingImpulseThreshold(threshold); + return true; + } + //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); + public override void SetAngularDamping2(object pBody, float angularDamping) + { + RigidBody body = pBody as RigidBody; + float lineardamping = body.GetLinearDamping(); + body.SetDamping(lineardamping, angularDamping); + + } + + public override void UpdateInertiaTensor2(object pBody) + { + RigidBody body = pBody as RigidBody; + body.UpdateInertiaTensor(); + } + + public override void RecalculateCompoundShapeLocalAabb2( object pCompoundShape) + { + + CompoundShape shape = pCompoundShape as CompoundShape; + shape.RecalculateLocalAabb(); + } + + //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr) + public override CollisionFlags GetCollisionFlags2(object pBody) + { + RigidBody body = pBody as RigidBody; + uint flags = (uint)body.GetCollisionFlags(); + return (CollisionFlags) flags; + } + + public override void SetDamping2(object pBody, float pLinear, float pAngular) + { + RigidBody body = pBody as RigidBody; + body.SetDamping(pLinear, pAngular); + } + //PhysBody.ptr, PhysicsScene.Params.deactivationTime); + public override void SetDeactivationTime2(object pBody, float pDeactivationTime) + { + RigidBody body = pBody as RigidBody; + body.SetDeactivationTime(pDeactivationTime); + } + //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); + public override void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) + { + RigidBody body = pBody as RigidBody; + body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); + } + + public override CollisionObjectTypes GetBodyType2(object pBody) + { + RigidBody body = pBody as RigidBody; + return (CollisionObjectTypes)(int) body.GetInternalType(); + } + + //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); + public override void ApplyCentralForce2(object pBody, Vector3 pfSum) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); + body.ApplyCentralForce(ref fSum); + } + public override void ApplyCentralImpulse2(object pBody, Vector3 pfSum) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); + body.ApplyCentralImpulse(ref fSum); + } + public override void ApplyTorque2(object pBody, Vector3 pfSum) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); + body.ApplyTorque(ref fSum); + } + public override void ApplyTorqueImpulse2(object pBody, Vector3 pfSum) + { + RigidBody body = pBody as RigidBody; + IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); + body.ApplyTorqueImpulse(ref fSum); + } + + public override void DumpRigidBody2(object p, object p_2) + { + //TODO: + } + + public override void DumpCollisionShape2(object p, object p_2) + { + //TODO: + } + + public override void DestroyObject2(object p, object p_2) + { + //TODO: + } + + public override void Shutdown2(object pWorld) + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + world.Cleanup(); + } + + public override void DeleteCollisionShape2(object p, object p_2) + { + //TODO: + } + //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); + + public override object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) + { + CollisionWorld world = pWorld as CollisionWorld; + IndexedMatrix mat = + IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, + pRawOrientation.Z, pRawOrientation.W)); + mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); + CollisionShape shape = pShape as CollisionShape; + //UpdateSingleAabb2(world, shape); + // TODO: Feed Update array into null + RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero); + + body.SetUserPointer(pLocalID); + return body; + } + + + public override object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) + { + + IndexedMatrix mat = + IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, + pRawOrientation.Z, pRawOrientation.W)); + mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); + + CollisionShape shape = pShape as CollisionShape; + + // TODO: Feed Update array into null + RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); + body.SetWorldTransform(mat); + body.SetUserPointer(pLocalID); + return body; + } + //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + public override void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags) + { + RigidBody body = pBody as RigidBody; + body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); + } + //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); + public override void SetHitFraction2(object pBody, float pHitFraction) + { + RigidBody body = pBody as RigidBody; + body.SetHitFraction(pHitFraction); + } + //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); + public override object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale) + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); + CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); + capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); + capsuleShapeZ.SetLocalScaling(ref scale); + + return capsuleShapeZ; + } + + public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List collisionArray, int mMaxUpdatesPerFrame, ref List updateArray, object mDebugLogCallbackHandle) + { + CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); + + p.angularDamping = o[0].XangularDamping; + p.defaultFriction = o[0].defaultFriction; + p.defaultFriction = o[0].defaultFriction; + p.defaultDensity = o[0].defaultDensity; + p.defaultRestitution = o[0].defaultRestitution; + p.collisionMargin = o[0].collisionMargin; + p.gravity = o[0].gravity; + + p.linearDamping = o[0].XlinearDamping; + p.angularDamping = o[0].XangularDamping; + p.deactivationTime = o[0].XdeactivationTime; + p.linearSleepingThreshold = o[0].XlinearSleepingThreshold; + p.angularSleepingThreshold = o[0].XangularSleepingThreshold; + p.ccdMotionThreshold = o[0].XccdMotionThreshold; + p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius; + p.contactProcessingThreshold = o[0].XcontactProcessingThreshold; + + p.terrainImplementation = o[0].XterrainImplementation; + p.terrainFriction = o[0].XterrainFriction; + + p.terrainHitFraction = o[0].XterrainHitFraction; + p.terrainRestitution = o[0].XterrainRestitution; + p.terrainCollisionMargin = o[0].XterrainCollisionMargin; + + p.avatarFriction = o[0].XavatarFriction; + p.avatarStandingFriction = o[0].XavatarStandingFriction; + p.avatarDensity = o[0].XavatarDensity; + p.avatarRestitution = o[0].XavatarRestitution; + p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth; + p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth; + p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight; + p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold; + + p.vehicleAngularDamping = o[0].XvehicleAngularDamping; + + p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; + p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; + p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; + p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs; + p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder; + p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands; + p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching; + p.numberOfSolverIterations = o[0].numberOfSolverIterations; + + p.linksetImplementation = o[0].XlinksetImplementation; + p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset; + p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor; + p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel; + p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce; + p.linkConstraintERP = o[0].XlinkConstraintERP; + p.linkConstraintCFM = o[0].XlinkConstraintCFM; + p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations; + p.physicsLoggingFrames = o[0].physicsLoggingFrames; + DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); + + DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); + CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); + + + if (p.maxPersistantManifoldPoolSize > 0) + cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize; + if (p.shouldDisableContactPoolDynamicAllocation !=0) + m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); + //if (p.maxCollisionAlgorithmPoolSize >0 ) + + DbvtBroadphase m_broadphase = new DbvtBroadphase(); + //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0); + //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256); + + //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true); + m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback()); + + SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); + + DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); + world.UpdatedObjects = updateArray; + world.UpdatedCollisions = collisionArray; + world.WorldSettings.Params = p; + world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); + world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; + if (p.shouldRandomizeSolverOrder != 0) + world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER; + + world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0); + //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port + + if (p.shouldEnableFrictionCaching != 0) + world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; + + if (p.numberOfSolverIterations > 0) + world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations; + + + world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping; + world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution; + world.GetSolverInfo().m_globalCfm = 0.0f; + world.GetSolverInfo().m_tau = 0.6f; + world.GetSolverInfo().m_friction = 0.3f; + world.GetSolverInfo().m_maxErrorReduction = 20f; + world.GetSolverInfo().m_numIterations = 10; + world.GetSolverInfo().m_erp = 0.2f; + world.GetSolverInfo().m_erp2 = 0.1f; + world.GetSolverInfo().m_sor = 1.0f; + world.GetSolverInfo().m_splitImpulse = false; + world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f; + world.GetSolverInfo().m_linearSlop = 0.0f; + world.GetSolverInfo().m_warmstartingFactor = 0.85f; + world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; + world.SetForceUpdateAllAabbs(true); + + + world.SetGravity(new IndexedVector3(0,0,p.gravity)); + + return world; + } + //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL + public override bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) + { + Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; + if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) + { + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1); + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2); + } + if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) + { + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3); + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4); + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5); + } + if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL) + { + constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis); + } + return true; + } + + public override bool PushUpdate2(object pCollisionObject) + { + bool ret = false; + RigidBody rb = pCollisionObject as RigidBody; + if (rb != null) + { + SimMotionState sms = rb.GetMotionState() as SimMotionState; + if (sms != null) + { + IndexedMatrix wt = IndexedMatrix.Identity; + sms.GetWorldTransform(out wt); + sms.SetWorldTransform(ref wt, true); + ret = true; + } + } + return ret; + + } + + public override bool IsCompound2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsCompound(); + } + public override bool IsPloyhedral2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsPolyhedral(); + } + public override bool IsConvex2d2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsConvex2d(); + } + public override bool IsConvex2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsConvex(); + } + public override bool IsNonMoving2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsNonMoving(); + } + public override bool IsConcave2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsConcave(); + } + public override bool IsInfinite2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + return shape.IsInfinite(); + } + public override bool IsNativeShape2(object pShape) + { + CollisionShape shape = pShape as CollisionShape; + bool ret; + switch (shape.GetShapeType()) + { + case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: + case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: + case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: + case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: + ret = true; + break; + default: + ret = false; + break; + } + return ret; + } + //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation + public override object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) + { + IndexedMatrix bodyTransform = new IndexedMatrix(); + bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); + bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); + GhostObject gObj = new PairCachingGhostObject(); + gObj.SetWorldTransform(bodyTransform); + CollisionShape shape = pShape as CollisionShape; + gObj.SetCollisionShape(shape); + gObj.SetUserPointer(pLocalID); + // TODO: Add to Special CollisionObjects! + return gObj; + } + + public static void SetCollisionShape2(object pWorld, object pObj, object pShape) + { + var world = pWorld as DiscreteDynamicsWorld; + var obj = pObj as CollisionObject; + var shape = pShape as CollisionShape; + obj.SetCollisionShape(shape); + + } + //(PhysicsScene.World.ptr, nativeShapeData) + public override object BuildNativeShape2(object pWorld, ShapeData pShapeData) + { + var world = pWorld as DiscreteDynamicsWorld; + CollisionShape shape = null; + switch (pShapeData.Type) + { + case BSPhysicsShapeType.SHAPE_BOX: + shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f)); + break; + case BSPhysicsShapeType.SHAPE_CONE: + shape = new ConeShapeZ(0.5f, 1.0f); + break; + case BSPhysicsShapeType.SHAPE_CYLINDER: + shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f)); + break; + case BSPhysicsShapeType.SHAPE_SPHERE: + shape = new SphereShape(0.5f); + break; + + } + if (shape != null) + { + IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z); + shape.SetMargin(world.WorldSettings.Params.collisionMargin); + shape.SetLocalScaling(ref scaling); + + } + return shape; + } + //PhysicsScene.World.ptr, false + public override object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree) + { + return new CompoundShape(enableDynamicAabbTree); + } + + public override int GetNumberOfCompoundChildren2(object pCompoundShape) + { + var compoundshape = pCompoundShape as CompoundShape; + return compoundshape.GetNumChildShapes(); + } + //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot + public override void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot) + { + IndexedMatrix relativeTransform = new IndexedMatrix(); + var compoundshape = pCShape as CompoundShape; + var addshape = paddShape as CollisionShape; + + relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); + relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); + compoundshape.AddChildShape(ref relativeTransform, addshape); + + } + + public override object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii) + { + var compoundshape = pCShape as CompoundShape; + CollisionShape ret = null; + ret = compoundshape.GetChildShape(pii); + compoundshape.RemoveChildShapeByIndex(pii); + return ret; + } + + public override object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin) + { + StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight ); + m_planeshape.SetMargin(pcollisionMargin); + m_planeshape.SetUserPointer(pLocalId); + return m_planeshape; + } + + public override object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + { + HingeConstraint constrain = null; + var rb1 = pBody1 as RigidBody; + var rb2 = ppBody2 as RigidBody; + if (rb1 != null && rb2 != null) + { + IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); + IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); + IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); + IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); + var world = pWorld as DiscreteDynamicsWorld; + world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); + } + return constrain; + } + + public override bool ReleaseHeightMapInfo2(object pMapInfo) + { + if (pMapInfo != null) + { + BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo; + if (mapinfo.heightMap != null) + mapinfo.heightMap = null; + + + } + return true; + } + + public override object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls) + { + CompoundShape compoundshape = new CompoundShape(false); + var world = pWorld as DiscreteDynamicsWorld; + + + compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); + int ii = 1; + + for (int i = 0; i < pHullCount; i++) + { + int vertexCount = (int) pConvHulls[ii]; + + IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]); + IndexedMatrix childTrans = IndexedMatrix.Identity; + childTrans._origin = centroid; + + List virts = new List(); + int ender = ((ii + 4) + (vertexCount*3)); + for (int iii = ii + 4; iii < ender; iii+=3) + { + + virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); + } + ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); + convexShape.SetMargin(world.WorldSettings.Params.collisionMargin); + compoundshape.AddChildShape(ref childTrans, convexShape); + ii += (vertexCount*3 + 4); + } + + + return compoundshape; + } + + public override object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) + { + //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); + + for (int iter = 0; iter < pVerticesCount; iter++) + { + if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; + if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; + } + + ObjectArray indicesarr = new ObjectArray(indices); + ObjectArray vertices = new ObjectArray(verticesAsFloats); + DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); + var world = pWorld as DiscreteDynamicsWorld; + IndexedMesh mesh = new IndexedMesh(); + mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; + mesh.m_numTriangles = pIndicesCount/3; + mesh.m_numVertices = pVerticesCount; + mesh.m_triangleIndexBase = indicesarr; + mesh.m_vertexBase = vertices; + mesh.m_vertexStride = 3; + mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; + mesh.m_triangleIndexStride = 3; + + TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); + tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); + BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); + meshShape.SetMargin(world.WorldSettings.Params.collisionMargin); + // world.UpdateSingleAabb(meshShape); + return meshShape; + + } + public static void DumpRaw(ObjectArrayindices, ObjectArray vertices, int pIndicesCount,int pVerticesCount ) + { + + String fileName = "objTest3.raw"; + String completePath = System.IO.Path.Combine(Util.configDir(), fileName); + StreamWriter sw = new StreamWriter(completePath); + IndexedMesh mesh = new IndexedMesh(); + + mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; + mesh.m_numTriangles = pIndicesCount / 3; + mesh.m_numVertices = pVerticesCount; + mesh.m_triangleIndexBase = indices; + mesh.m_vertexBase = vertices; + mesh.m_vertexStride = 3; + mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; + mesh.m_triangleIndexStride = 3; + + TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); + tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); + + + + for (int i = 0; i < pVerticesCount; i++) + { + + string s = vertices[indices[i * 3]].ToString("0.0000"); + s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); + s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); + + sw.Write(s + "\n"); + } + + sw.Close(); + } + public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount) + { + + String fileName = "objTest6.raw"; + String completePath = System.IO.Path.Combine(Util.configDir(), fileName); + StreamWriter sw = new StreamWriter(completePath); + IndexedMesh mesh = new IndexedMesh(); + + mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; + mesh.m_numTriangles = pIndicesCount / 3; + mesh.m_numVertices = pVerticesCount; + mesh.m_triangleIndexBase = indices; + mesh.m_vertexBase = vertices; + mesh.m_vertexStride = 3; + mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; + mesh.m_triangleIndexStride = 3; + + TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); + tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); + + + sw.WriteLine("Indices"); + sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount)); + for (int iter = 0; iter < indices.Length; iter++) + { + sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter])); + } + sw.WriteLine("VerticesFloats"); + sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount)); + for (int iter = 0; iter < vertices.Length; iter++) + { + sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000"))); + } + + // for (int i = 0; i < pVerticesCount; i++) + // { + // + // string s = vertices[indices[i * 3]].ToString("0.0000"); + // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); + // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); + // + // sw.Write(s + "\n"); + //} + + sw.Close(); + } + //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin + public override object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin) + { + BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null); + mapInfo.heightMap = null; + mapInfo.minCoords = pminCoords; + mapInfo.maxCoords = pmaxCoords; + mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X); + mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y); + mapInfo.ID = pId; + mapInfo.minZ = pminCoords.Z; + mapInfo.maxZ = pmaxCoords.Z; + mapInfo.collisionMargin = pCollisionMargin; + if (mapInfo.minZ == mapInfo.maxZ) + mapInfo.minZ -= 0.2f; + mapInfo.heightMap = pheightMap; + + return mapInfo; + + } + + public override object CreateTerrainShape2(object pMapInfo) + { + BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo; + const int upAxis = 2; + const float scaleFactor = 1.0f; + HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY, + mapinfo.heightMap, scaleFactor, + mapinfo.minZ, mapinfo.maxZ, upAxis, + false); + terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f); + terrainShape.SetUseDiamondSubdivision(true); + terrainShape.SetUserPointer(mapinfo.ID); + return terrainShape; + } + + public override bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce) + { + TypedConstraint tconstrain = pConstraint as TypedConstraint; + bool onOff = ponOff != 0; + bool ret = false; + + switch (tconstrain.GetConstraintType()) + { + case TypedConstraintType.D6_CONSTRAINT_TYPE: + Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; + constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff; + constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity; + constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce; + ret = true; + break; + } + + + return ret; + + } + + public override int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out Listcolliders) + { + int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, + out collidersCount, out colliders); + return epic; + } + + private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out List colliders) + { + int numSimSteps = 0; + + + //if (updatedEntities is null) + // updatedEntities = new List(); + + //if (colliders is null) + // colliders = new List(); + + + if (pWorld is DiscreteDynamicsWorld) + { + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + + numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); + int updates = 0; + + updatedEntityCount = world.UpdatedObjects.Count; + updatedEntities = new List(world.UpdatedObjects); + updatedEntityCount = updatedEntities.Count; + world.UpdatedObjects.Clear(); + + + collidersCount = world.UpdatedCollisions.Count; + colliders = new List(world.UpdatedCollisions); + + world.UpdatedCollisions.Clear(); + m_collisionsThisFrame = 0; + int numManifolds = world.GetDispatcher().GetNumManifolds(); + for (int j = 0; j < numManifolds; j++) + { + PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); + int numContacts = contactManifold.GetNumContacts(); + if (numContacts == 0) + continue; + + CollisionObject objA = contactManifold.GetBody0() as CollisionObject; + CollisionObject objB = contactManifold.GetBody1() as CollisionObject; + + ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0); + IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); + IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A + + RecordCollision(world, objA, objB, contactPoint, contactNormal); + m_collisionsThisFrame ++; + if (m_collisionsThisFrame >= 9999999) + break; + + + } + + + } + else + { + //if (updatedEntities is null) + updatedEntities = new List(); + updatedEntityCount = 0; + //if (colliders is null) + colliders = new List(); + collidersCount = 0; + } + return numSimSteps; + } + + private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) + { + + IndexedVector3 contactNormal = norm; + if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && + (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) + { + return; + } + uint idA = (uint)objA.GetUserPointer(); + uint idB = (uint)objB.GetUserPointer(); + if (idA > idB) + { + uint temp = idA; + idA = idB; + idB = temp; + contactNormal = -contactNormal; + } + + ulong collisionID = ((ulong) idA << 32) | idB; + + BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc() + { + aID = idA, + bID = idB, + point = contact, + normal = contactNormal + }; + world.UpdatedCollisions.Add(cDesc); + m_collisionsThisFrame++; + + + } + private static EntityProperties GetDebugProperties(object pWorld, object pBody) + { + EntityProperties ent = new EntityProperties(); + DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + RigidBody body = pBody as RigidBody; + IndexedMatrix transform = body.GetWorldTransform(); + IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity(); + IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity(); + IndexedQuaternion rotation = transform.GetRotation(); + ent.Acceleration = Vector3.Zero; + ent.ID = (uint)body.GetUserPointer(); + ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z); + ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W); + ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z); + ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z); + return ent; + } + + public override Vector3 GetLocalScaling2(object pBody) + { + CollisionShape shape = pBody as CollisionShape; + IndexedVector3 scale = shape.GetLocalScaling(); + return new Vector3(scale.X,scale.Y,scale.Z); + } + + public override bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe) + { + DynamicsWorld world = pWorld as DynamicsWorld; + if (world != null) + { + if (NotMe is CollisionObject || NotMe is RigidBody) + { + CollisionObject AvoidBody = NotMe as CollisionObject; + + IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); + IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); + using ( + ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin, + rEnd, AvoidBody) + ) + { + world.RayTest(ref rOrigin, ref rEnd, rayCallback); + if (rayCallback.HasHit()) + { + IndexedVector3 hitLocation = rayCallback.m_hitPointWorld; + + } + return rayCallback.HasHit(); + } + } + } + return false; + } } - */ +*/ } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 699f055..2350f59 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -362,7 +362,7 @@ public abstract void DestroyObject(BulletWorld sim, BulletBody obj); // ===================================================================================== public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin); -public abstract BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, +public abstract BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, float scaleFactor, float collisionMargin); // ===================================================================================== diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 064ce3c..cb8108d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -300,7 +300,7 @@ public sealed class BSPrim : BSPhysObject // All positions are given in world positions. if (_position == value) { - DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation); return; } _position = value; @@ -894,21 +894,26 @@ public sealed class BSPrim : BSPhysObject // Object MUST NOT already be in the world. // This routine exists because some assorted properties get mangled by adding to the world. internal void AddObjectToPhysicalWorld() - { - if (PhysBody.HasPhysicalBody) - { - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); - - // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. - // Replace this when the new AddObjectToWorld function is complete. - PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity()); - - // Collision filter can be set only when the object is in the world - if (!PhysBody.ApplyCollisionMask(PhysicsScene)) - { - m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID); - DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType); - } + { + if (PhysBody.HasPhysicalBody) + { + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); + + // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. + // Replace this when the new AddObjectToWorld function is complete. + PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity()); + + // Collision filter can be set only when the object is in the world + if (!PhysBody.ApplyCollisionMask(PhysicsScene)) + { + m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID); + DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType); + } + } + else + { + m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID); + DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index cd77581..2b652f5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -45,7 +45,7 @@ public sealed class BSShapeCollection : IDisposable // Description of a Mesh private struct MeshDesc { - public IntPtr ptr; + public BulletShape shape; public int referenceCount; public DateTime lastReferenced; public UInt64 shapeKey; @@ -55,7 +55,7 @@ public sealed class BSShapeCollection : IDisposable // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations. private struct HullDesc { - public IntPtr ptr; + public BulletShape shape; public int referenceCount; public DateTime lastReferenced; public UInt64 shapeKey; @@ -173,7 +173,7 @@ public sealed class BSShapeCollection : IDisposable } // Zero any reference to the shape so it is not freed when the body is deleted. - PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, new BulletShape()); + PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null); PhysicsScene.PE.DestroyObject(PhysicsScene.World, body); }); } @@ -202,7 +202,7 @@ public sealed class BSShapeCollection : IDisposable else { // This is a new reference to a mesh - meshDesc.ptr = shape.ptr; + 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; @@ -225,7 +225,7 @@ public sealed class BSShapeCollection : IDisposable else { // This is a new reference to a hull - hullDesc.ptr = shape.ptr; + hullDesc.shape = shape.Clone(); hullDesc.shapeKey = shape.shapeKey; hullDesc.referenceCount = 1; if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}", @@ -361,15 +361,14 @@ public sealed class BSShapeCollection : IDisposable MeshDesc meshDesc; HullDesc hullDesc; - IntPtr cShape = shapeInfo.ptr; - if (TryGetMeshByPtr(cShape, out meshDesc)) + if (TryGetMeshByPtr(shapeInfo, out meshDesc)) { shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH; shapeInfo.shapeKey = meshDesc.shapeKey; } else { - if (TryGetHullByPtr(cShape, out hullDesc)) + if (TryGetHullByPtr(shapeInfo, out hullDesc)) { shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL; shapeInfo.shapeKey = hullDesc.shapeKey; @@ -632,7 +631,7 @@ public sealed class BSShapeCollection : IDisposable if (Meshes.TryGetValue(newMeshKey, out meshDesc)) { // If the mesh has already been built just use it. - newShape = new BulletShape(meshDesc.ptr, BSPhysicsShapeType.SHAPE_MESH); + newShape = meshDesc.shape.Clone(); } else { @@ -703,7 +702,7 @@ public sealed class BSShapeCollection : IDisposable if (Hulls.TryGetValue(newHullKey, out hullDesc)) { // If the hull shape already is created, just use it. - newShape = new BulletShape(hullDesc.ptr, BSPhysicsShapeType.SHAPE_HULL); + newShape = hullDesc.shape.Clone(); } else { @@ -965,13 +964,13 @@ public sealed class BSShapeCollection : IDisposable return ret; } - private bool TryGetMeshByPtr(IntPtr addr, out MeshDesc outDesc) + private bool TryGetMeshByPtr(BulletShape shape, out MeshDesc outDesc) { bool ret = false; MeshDesc foundDesc = new MeshDesc(); foreach (MeshDesc md in Meshes.Values) { - if (md.ptr == addr) + if (md.shape.ReferenceSame(shape)) { foundDesc = md; ret = true; @@ -983,13 +982,13 @@ public sealed class BSShapeCollection : IDisposable return ret; } - private bool TryGetHullByPtr(IntPtr addr, out HullDesc outDesc) + private bool TryGetHullByPtr(BulletShape shape, out HullDesc outDesc) { bool ret = false; HullDesc foundDesc = new HullDesc(); foreach (HullDesc hd in Hulls.Values) { - if (hd.ptr == addr) + if (hd.shape.ReferenceSame(shape)) { foundDesc = hd; ret = true; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 681d21e..662dd68 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -33,17 +33,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // Classes to allow some type checking for the API // These hold pointers to allocated objects in the unmanaged space. +// These classes are subclassed by the various physical implementations of +// objects. In particular, there is a version for physical instances in +// unmanaged memory ("unman") and one for in managed memory ("XNA"). + +// Currently, the instances of these classes are a reference to a +// physical representation and this has no releationship to other +// instances. Someday, refarb the usage of these classes so each instance +// refers to a particular physical instance and this class controls reference +// counts and such. This should be done along with adding BSShapes. -// The physics engine controller class created at initialization public class BulletWorld { - public BulletWorld(uint worldId, BSScene bss, IntPtr xx) + public BulletWorld(uint worldId, BSScene bss) { - ptr = xx; worldID = worldId; physicsScene = bss; } - public IntPtr ptr; public uint worldID; // The scene is only in here so very low level routines have a handle to print debug/error messages public BSScene physicsScene; @@ -52,27 +58,19 @@ public class BulletWorld // An allocated Bullet btRigidBody public class BulletBody { - public BulletBody(uint id) : this(id, IntPtr.Zero) - { - } - public BulletBody(uint id, IntPtr xx) + public BulletBody(uint id) { ID = id; - ptr = xx; collisionType = CollisionType.Static; } - public IntPtr ptr; public uint ID; public CollisionType collisionType; - public void Clear() - { - ptr = IntPtr.Zero; - } - public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } + public virtual void Clear() { } + public virtual bool HasPhysicalBody { get { return false; } } // Apply the specificed collision mask into the physical world - public bool ApplyCollisionMask(BSScene physicsScene) + public virtual bool ApplyCollisionMask(BSScene physicsScene) { // Should assert the body has been added to the physical world. // (The collision masks are stored in the collision proxy cache which only exists for @@ -83,12 +81,9 @@ public class BulletBody } // Used for log messages for a unique display of the memory/object allocated to this instance - public string AddrString + public virtual string AddrString { - get - { - return ptr.ToString("X"); - } + get { return "unknown"; } } public override string ToString() @@ -108,38 +103,26 @@ public class BulletBody public class BulletShape { public BulletShape() - : this(IntPtr.Zero, BSPhysicsShapeType.SHAPE_UNKNOWN) - { - } - public BulletShape(IntPtr xx) - : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN) { - } - public BulletShape(IntPtr xx, BSPhysicsShapeType typ) - { - ptr = xx; - type = typ; + type = BSPhysicsShapeType.SHAPE_UNKNOWN; shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; isNativeShape = false; } - public IntPtr ptr; public BSPhysicsShapeType type; public System.UInt64 shapeKey; public bool isNativeShape; - public void Clear() - { - ptr = IntPtr.Zero; - } - public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } } + public virtual void Clear() { } + public virtual bool HasPhysicalShape { get { return false; } } + // Make another reference to this physical object. + public virtual BulletShape Clone() { return new BulletShape(); } + // Return 'true' if this and other refer to the same physical object + public virtual bool ReferenceSame(BulletShape xx) { return false; } // Used for log messages for a unique display of the memory/object allocated to this instance - public string AddrString + public virtual string AddrString { - get - { - return ptr.ToString("X"); - } + get { return "unknown"; } } public override string ToString() @@ -161,25 +144,16 @@ public class BulletShape // An allocated Bullet btConstraint public class BulletConstraint { - public BulletConstraint(IntPtr xx) - { - ptr = xx; - } - public IntPtr ptr; - - public void Clear() + public BulletConstraint() { - ptr = IntPtr.Zero; } - public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } + public virtual void Clear() { } + public virtual bool HasPhysicalConstraint { get { return false; } } // Used for log messages for a unique display of the memory/object allocated to this instance - public string AddrString + public virtual string AddrString { - get - { - return ptr.ToString("X"); - } + get { return "unknown"; } } } -- cgit v1.1 From 0662d109c2954c7be5f5e9400b1f4afdeab2c298 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 1 Jan 2013 09:32:21 -0800 Subject: BulletSim: fix line endings. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 64 +++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 40 +++++++------- 2 files changed, 52 insertions(+), 52 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 2c0cb43..9d8f60d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -55,10 +55,10 @@ private sealed class BulletBodyUnman : BulletBody : base(id) { ptr = xx; - } - public override bool HasPhysicalBody - { - get { return ptr != IntPtr.Zero; } + } + public override bool HasPhysicalBody + { + get { return ptr != IntPtr.Zero; } } public override void Clear() { @@ -79,10 +79,10 @@ private sealed class BulletShapeUnman : BulletShape ptr = xx; type = typ; } - public override bool HasPhysicalShape - { - get { return ptr != IntPtr.Zero; } - } + public override bool HasPhysicalShape + { + get { return ptr != IntPtr.Zero; } + } public override void Clear() { ptr = IntPtr.Zero; @@ -202,7 +202,7 @@ public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSte public override void Shutdown(BulletWorld world) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.Shutdown2(worldu.ptr); } @@ -249,7 +249,7 @@ public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShap public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; return new BulletShapeUnman(BSAPICPP.BuildNativeShape2(worldu.ptr, shapeData), shapeData.Type); } @@ -334,7 +334,7 @@ public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletSha public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; BulletShapeUnman shapeu = shape as BulletShapeUnman; return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr); } @@ -360,7 +360,7 @@ public override BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, u public override BulletBody CreateGhostFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; BulletShapeUnman shapeu = shape as BulletShapeUnman; return new BulletBodyUnman(id, BSAPICPP.CreateGhostFromShape2(worldu.ptr, shapeu.ptr, id, pos, rot)); } @@ -393,7 +393,7 @@ public override BulletConstraint Create6DofConstraint(BulletWorld world, BulletB Vector3 frame2loc, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; return new BulletConstraintUnman(BSAPICPP.Create6DofConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, @@ -404,7 +404,7 @@ public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintToPoint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, @@ -416,7 +416,7 @@ public override BulletConstraint CreateHingeConstraint(BulletWorld world, Bullet Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; return new BulletConstraintUnman(BSAPICPP.CreateHingeConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, @@ -494,7 +494,7 @@ public override bool DestroyConstraint(BulletWorld world, BulletConstraint const // ===================================================================================== // btCollisionWorld entries public override void UpdateSingleAabb(BulletWorld world, BulletBody obj) -{ +{ BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman; BSAPICPP.UpdateSingleAabb2(worldu.ptr, bodyu.ptr); @@ -502,19 +502,19 @@ public override void UpdateSingleAabb(BulletWorld world, BulletBody obj) public override void UpdateAabbs(BulletWorld world) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.UpdateAabbs2(worldu.ptr); } public override bool GetForceUpdateAllAabbs(BulletWorld world) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; return BSAPICPP.GetForceUpdateAllAabbs2(worldu.ptr); } public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.SetForceUpdateAllAabbs2(worldu.ptr, force); } @@ -522,28 +522,28 @@ public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) // btDynamicsWorld entries public override bool AddObjectToWorld(BulletWorld world, BulletBody obj) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr); } public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr); } public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.AddConstraintToWorld2(worldu.ptr, constrainu.ptr, disableCollisionsBetweenLinkedObjects); } public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; return BSAPICPP.RemoveConstraintFromWorld2(worldu.ptr, constrainu.ptr); } @@ -605,16 +605,16 @@ public override bool HasContactResponse(BulletBody obj) public override void SetCollisionShape(BulletWorld world, BulletBody obj, BulletShape shape) { - BulletWorldUnman worldu = world as BulletWorldUnman; + BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman; - BulletShapeUnman shapeu = shape as BulletShapeUnman; - if (worldu != null && bodyu != null) - { - // Special case to allow the caller to zero out the reference to any physical shape - if (shapeu != null) - BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr); - else - BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero); + BulletShapeUnman shapeu = shape as BulletShapeUnman; + if (worldu != null && bodyu != null) + { + // Special case to allow the caller to zero out the reference to any physical shape + if (shapeu != null) + BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, shapeu.ptr); + else + BSAPICPP.SetCollisionShape2(worldu.ptr, bodyu.ptr, IntPtr.Zero); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index cb8108d..d4e2e87 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -894,26 +894,26 @@ public sealed class BSPrim : BSPhysObject // Object MUST NOT already be in the world. // This routine exists because some assorted properties get mangled by adding to the world. internal void AddObjectToPhysicalWorld() - { - if (PhysBody.HasPhysicalBody) - { - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); - - // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. - // Replace this when the new AddObjectToWorld function is complete. - PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity()); - - // Collision filter can be set only when the object is in the world - if (!PhysBody.ApplyCollisionMask(PhysicsScene)) - { - m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID); - DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType); - } - } - else - { - m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID); - DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType); + { + if (PhysBody.HasPhysicalBody) + { + PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); + + // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. + // Replace this when the new AddObjectToWorld function is complete. + PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity()); + + // Collision filter can be set only when the object is in the world + if (!PhysBody.ApplyCollisionMask(PhysicsScene)) + { + m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID); + DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType); + } + } + else + { + m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID); + DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType); } } -- cgit v1.1 From 9d840fd2ee5c3e6c6f788e8145f06701e9ea2724 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 1 Jan 2013 16:49:38 -0800 Subject: BulletSim: move over and port the interface for BulletXNA. Copied BulletSNPlugin.BulletSimAPI to a new BulletSPlugin.BSAPIXNA.cs and then modifyed the latter to comply with the BSAPITemplate definition. Not totally debugged but the code is all there for an INI variable to select either unmanaged C++ Bullet or the C# version of Bullet. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 22 +- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 889 ++++++++++++++------- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 6 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 11 - OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 4 +- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 4 +- 7 files changed, 623 insertions(+), 315 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 9d8f60d..83e12ba 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -339,10 +339,10 @@ public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) return BSAPICPP.DeleteCollisionShape2(worldu.ptr, shapeu.ptr); } -public override int GetBodyType(BulletBody obj) +public override CollisionObjectTypes GetBodyType(BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.GetBodyType2(bodyu.ptr); + return (CollisionObjectTypes)BSAPICPP.GetBodyType2(bodyu.ptr); } public override BulletBody CreateBodyFromShape(BulletWorld world, BulletShape shape, uint id, Vector3 pos, Quaternion rot) @@ -522,9 +522,22 @@ public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) // btDynamicsWorld entries public override bool AddObjectToWorld(BulletWorld world, BulletBody obj) { + // Bullet resets several variables when an object is added to the world. + // Gravity is reset to world default depending on the static/dynamic + // type. Of course, the collision flags in the broadphase proxy are initialized to default. BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman; - return BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr); + + Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr); + + bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr); + + if (ret) + { + BSAPICPP.SetGravity2(bodyu.ptr, origGrav); + obj.ApplyCollisionMask(world.physicsScene); + } + return ret; } public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj) @@ -1061,7 +1074,7 @@ public override Vector3 GetAngularFactor(BulletBody obj) return BSAPICPP.GetAngularFactor2(bodyu.ptr); } -public override bool IsInWorld(BulletBody obj) +public override bool IsInWorld(BulletWorld world, BulletBody obj) { BulletBodyUnman bodyu = obj as BulletBodyUnman; return BSAPICPP.IsInWorld2(bodyu.ptr); @@ -1239,7 +1252,6 @@ public override void DumpPhysicsStatistics(BulletWorld world) BSAPICPP.DumpPhysicsStatistics2(worldu.ptr); } - // ===================================================================================== // ===================================================================================== // ===================================================================================== diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index f70ad30..aea10ee 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -26,22 +26,110 @@ */ using System; using System.Collections.Generic; -using System.Linq; +using System.IO; using System.Text; +using OpenSim.Framework; + +using OpenMetaverse; + using BulletXNA; using BulletXNA.LinearMath; using BulletXNA.BulletCollision; using BulletXNA.BulletDynamics; using BulletXNA.BulletCollision.CollisionDispatch; -using OpenMetaverse; - namespace OpenSim.Region.Physics.BulletSPlugin { - /* public sealed class BSAPIXNA : BSAPITemplate { +private sealed class BulletWorldXNA : BulletWorld +{ + public DiscreteDynamicsWorld world; + public BulletWorldXNA(uint id, BSScene physScene, DiscreteDynamicsWorld xx) + : base(id, physScene) + { + world = xx; + } +} + +private sealed class BulletBodyXNA : BulletBody +{ + public CollisionObject body; + public RigidBody rigidBody { get { return RigidBody.Upcast(body); } } + + public BulletBodyXNA(uint id, CollisionObject xx) + : base(id) + { + body = xx; + } + public override bool HasPhysicalBody + { + get { return body != null; } + } + public override void Clear() + { + body = null; + } + public override string AddrString + { + get { return "XNARigidBody"; } + } +} + +private sealed class BulletShapeXNA : BulletShape +{ + public CollisionShape shape; + public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) + : base() + { + shape = xx; + type = typ; + } + public override bool HasPhysicalShape + { + get { return shape != null; } + } + public override void Clear() + { + shape = null; + } + public override BulletShape Clone() + { + return new BulletShapeXNA(shape, type); + } + public override bool ReferenceSame(BulletShape other) + { + BulletShapeXNA otheru = other as BulletShapeXNA; + return (otheru != null) && (this.shape == otheru.shape); + + } + public override string AddrString + { + get { return "XNACollisionShape"; } + } +} +private sealed class BulletConstraintXNA : BulletConstraint +{ + public TypedConstraint constrain; + public BulletConstraintXNA(TypedConstraint xx) : base() + { + constrain = xx; + } + + public override void Clear() + { + constrain = null; + } + public override bool HasPhysicalConstraint { get { return constrain != null; } } + + // Used for log messages for a unique display of the memory/object allocated to this instance + public override string AddrString + { + get { return "XNAConstraint"; } + } +} + private static int m_collisionsThisFrame; private BSScene PhysicsScene { get; set; } @@ -58,112 +146,135 @@ public sealed class BSAPIXNA : BSAPITemplate /// /// /// - public override bool RemoveObjectFromWorld2(object pWorld, object pBody) + public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody) { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - RigidBody body = pBody as RigidBody; + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; world.RemoveRigidBody(body); return true; } - public override void SetRestitution2(object pBody, float pRestitution) + public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) { - RigidBody body = pBody as RigidBody; + /* TODO */ + return false; + } + + public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) + { + /* TODO */ + return false; + } + + public override void SetRestitution(BulletBody pBody, float pRestitution) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.SetRestitution(pRestitution); } - public override void SetMargin2(object pShape, float pMargin) + public override int GetShapeType(BulletShape pShape) + { + CollisionShape shape = ((BulletShapeXNA)pShape).shape; + return (int)shape.GetShapeType(); + } + public override void SetMargin(BulletShape pShape, float pMargin) { - CollisionShape shape = pShape as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; shape.SetMargin(pMargin); } - public override void SetLocalScaling2(object pShape, Vector3 pScale) + public override float GetMargin(BulletShape pShape) + { + CollisionShape shape = ((BulletShapeXNA)pShape).shape; + return shape.GetMargin(); + } + + public override void SetLocalScaling(BulletShape pShape, Vector3 pScale) { - CollisionShape shape = pShape as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); shape.SetLocalScaling(ref vec); } - public override void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold) + public override void SetContactProcessingThreshold(BulletBody pBody, float contactprocessingthreshold) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.SetContactProcessingThreshold(contactprocessingthreshold); } - public override void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold) + public override void SetCcdMotionThreshold(BulletBody pBody, float pccdMotionThreashold) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.SetCcdMotionThreshold(pccdMotionThreashold); } - public override void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius) + public override void SetCcdSweptSphereRadius(BulletBody pBody, float pCcdSweptSphereRadius) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); } - public override void SetAngularFactorV2(object pBody, Vector3 pAngularFactor) + public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); } - public override CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) + public override CollisionFlags AddToCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags) { - CollisionObject body = pBody as CollisionObject; + CollisionObject body = ((BulletBodyXNA)pBody).body; CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); existingcollisionFlags |= pcollisionFlags; body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); return (CollisionFlags) (uint) existingcollisionFlags; } - public override void AddObjectToWorld2(object pWorld, object pBody) + public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody) { - RigidBody body = pBody as RigidBody; - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + // Bullet resets several variables when an object is added to the world. In particular, + // BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic + // type. Of course, the collision flags in the broadphase proxy are initialized to default. + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + + IndexedMatrix origPos = body.GetWorldTransform(); + IndexedVector3 origGrav = body.GetGravity(); + //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) world.AddRigidBody(body); - //if (body.GetBroadphaseHandle() != null) - // world.UpdateSingleAabb(body); - } + body.SetWorldTransform(origPos); + body.SetGravity(origGrav); - public override void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation) - { - RigidBody body = pBody as RigidBody; - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) + pBody.ApplyCollisionMask(pWorld.physicsScene); - world.AddRigidBody(body); - IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); - IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, - _orientation.W); - IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); - mat._origin = vposition; - body.SetWorldTransform(mat); //if (body.GetBroadphaseHandle() != null) // world.UpdateSingleAabb(body); + return true; } - public override void ForceActivationState2(object pBody, ActivationState pActivationState) + public override void ForceActivationState(BulletBody pBody, ActivationState pActivationState) { - CollisionObject body = pBody as CollisionObject; + CollisionObject body = ((BulletBodyXNA)pBody).body; body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); } - public override void UpdateSingleAabb2(object pWorld, object pBody) + public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pBody) { - CollisionObject body = pBody as CollisionObject; - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + CollisionObject body = ((BulletBodyXNA)pBody).body; world.UpdateSingleAabb(body); } - public override bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask) + public override void UpdateAabbs(BulletWorld world) { /* TODO */ } + public override bool GetForceUpdateAllAabbs(BulletWorld world) { /* TODO */ return false; } + public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { /* TODO */ } + + public override bool SetCollisionGroupMask(BulletBody pBody, uint pGroup, uint pMask) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0) @@ -171,9 +282,9 @@ public sealed class BSAPIXNA : BSAPITemplate return true; } - public override void ClearAllForces2(object pBody) + public override void ClearAllForces(BulletBody pBody) { - CollisionObject body = pBody as CollisionObject; + CollisionObject body = ((BulletBodyXNA)pBody).body; IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); body.SetInterpolationLinearVelocity(ref zeroVector); body.SetInterpolationAngularVelocity(ref zeroVector); @@ -190,29 +301,67 @@ public sealed class BSAPIXNA : BSAPITemplate } } - public override void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3) + public override void SetInterpolationAngularVelocity(BulletBody pBody, Vector3 pVector3) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); body.SetInterpolationAngularVelocity(ref vec); } - public override void SetAngularVelocity2(object pBody, Vector3 pVector3) + public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); body.SetAngularVelocity(ref vec); } + public override Vector3 GetTotalForce(BulletBody pBody) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + IndexedVector3 iv3 = body.GetTotalForce(); + return new Vector3(iv3.X, iv3.Y, iv3.Z); + } + public override Vector3 GetTotalTorque(BulletBody pBody) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + IndexedVector3 iv3 = body.GetTotalTorque(); + return new Vector3(iv3.X, iv3.Y, iv3.Z); + } + public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + IndexedVector3 iv3 = body.GetInvInertiaDiagLocal(); + return new Vector3(iv3.X, iv3.Y, iv3.Z); + } + public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z); + body.SetInvInertiaDiagLocal(ref iv3); + } + public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z); + IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); + body.ApplyForce(ref forceiv3, ref posiv3); + } + public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z); + IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); + body.ApplyImpulse(ref impiv3, ref posiv3); + } - public override void ClearForces2(object pBody) + public override void ClearForces(BulletBody pBody) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.ClearForces(); } - public override void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation) + public override void SetTranslation(BulletBody pBody, Vector3 _position, Quaternion _orientation) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W); @@ -222,90 +371,98 @@ public sealed class BSAPIXNA : BSAPITemplate } - public override Vector3 GetPosition2(object pBody) + public override Vector3 GetPosition(BulletBody pBody) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin; return new Vector3(pos.X, pos.Y, pos.Z); } - public override Vector3 CalculateLocalInertia2(object pShape, float pphysMass) + public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass) { - CollisionShape shape = pShape as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; IndexedVector3 inertia = IndexedVector3.Zero; shape.CalculateLocalInertia(pphysMass, out inertia); return new Vector3(inertia.X, inertia.Y, inertia.Z); } - public override void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia) + public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); body.SetMassProps(pphysMass, inertia); } - public override void SetObjectForce2(object pBody, Vector3 _force) + public override void SetObjectForce(BulletBody pBody, Vector3 _force) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); body.SetTotalForce(ref force); } - public override void SetFriction2(object pBody, float _currentFriction) + public override void SetFriction(BulletBody pBody, float _currentFriction) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.SetFriction(_currentFriction); } - public override void SetLinearVelocity2(object pBody, Vector3 _velocity) + public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); body.SetLinearVelocity(velocity); } - public override void Activate2(object pBody, bool pforceactivation) + public override void Activate(BulletBody pBody, bool pforceactivation) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.Activate(pforceactivation); } - public override Quaternion GetOrientation2(object pBody) + public override Quaternion GetOrientation(BulletBody pBody) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation(); return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); } - public override CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags) + public override CollisionFlags RemoveFromCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); existingcollisionFlags &= ~pcollisionFlags; body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); return (CollisionFlags)(uint)existingcollisionFlags; } - public override void SetGravity2(object pBody, Vector3 pGravity) + public override float GetCcdMotionThreshold(BulletBody obj) { /* TODO */ return 0f; } + + public override float GetCcdSweptSphereRadius(BulletBody obj) { /* TODO */ return 0f; } + + public override IntPtr GetUserPointer(BulletBody obj) { /* TODO */ return IntPtr.Zero; } + + public override void SetUserPointer(BulletBody obj, IntPtr val) { /* TODO */ } + + public override void SetGravity(BulletBody pBody, Vector3 pGravity) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); body.SetGravity(gravity); } - public override bool DestroyConstraint2(object pBody, object pConstraint) + public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint) { - RigidBody body = pBody as RigidBody; - TypedConstraint constraint = pConstraint as TypedConstraint; - body.RemoveConstraintRef(constraint); + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + TypedConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain; + world.RemoveConstraint(constraint); return true; } - public override bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high) + public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); constraint.SetLinearLowerLimit(lowlimit); @@ -313,9 +470,9 @@ public sealed class BSAPIXNA : BSAPITemplate return true; } - public override bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high) + public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); constraint.SetAngularLowerLimit(lowlimit); @@ -323,32 +480,33 @@ public sealed class BSAPIXNA : BSAPITemplate return true; } - public override void SetConstraintNumSolverIterations2(object pConstraint, float cnt) + public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt) { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; constraint.SetOverrideNumSolverIterations((int)cnt); } - public override void CalculateTransforms2(object pConstraint) + public override bool CalculateTransforms(BulletConstraint pConstraint) { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; constraint.CalculateTransforms(); + return true; } - public override void SetConstraintEnable2(object pConstraint, float p_2) + public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2) { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; constraint.SetEnabled((p_2 == 0) ? false : true); } - //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - public override object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + //BulletSimAPI.Create6DofConstraint(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); + public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - RigidBody body1 = pBody1 as RigidBody; - RigidBody body2 = pBody2 as RigidBody; + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody; + RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody; IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); @@ -364,7 +522,7 @@ public sealed class BSAPIXNA : BSAPITemplate consttr.CalculateTransforms(); world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); - return consttr; + return new BulletConstraintXNA(consttr); } @@ -378,11 +536,11 @@ public sealed class BSAPIXNA : BSAPITemplate /// /// /// - public override object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - RigidBody body1 = pBody1 as RigidBody; - RigidBody body2 = pBody2 as RigidBody; + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody; + RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody; IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); @@ -396,12 +554,12 @@ public sealed class BSAPIXNA : BSAPITemplate consttr.CalculateTransforms(); world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies); - return consttr; + return new BulletConstraintXNA(consttr); } - //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); - public override void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) + //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); + public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); @@ -412,163 +570,279 @@ public sealed class BSAPIXNA : BSAPITemplate IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); frame2._origin = frame1v; constraint.SetFrames(ref frame1, ref frame2); + return true; } + public override Vector3 GetLinearVelocity(BulletBody pBody) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + IndexedVector3 iv3 = body.GetLinearVelocity(); + return new Vector3(iv3.X, iv3.Y, iv3.Z); + } + public override Vector3 GetAngularVelocity(BulletBody pBody) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + IndexedVector3 iv3 = body.GetAngularVelocity(); + return new Vector3(iv3.X, iv3.Y, iv3.Z); + } + public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); + IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3); + return new Vector3(iv3.X, iv3.Y, iv3.Z); + } + public override void Translate(BulletBody pBody, Vector3 trans) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + } + public override void UpdateDeactivation(BulletBody pBody, float timeStep) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + body.UpdateDeactivation(timeStep); + } - + public override bool WantsSleeping(BulletBody pBody) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + return body.WantsSleeping(); + } + + public override void SetAngularFactor(BulletBody pBody, float factor) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + body.SetAngularFactor(factor); + } + + public override Vector3 GetAngularFactor(BulletBody pBody) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + IndexedVector3 iv3 = body.GetAngularFactor(); + return new Vector3(iv3.X, iv3.Y, iv3.Z); + } + + public override bool IsInWorld(BulletWorld pWorld, BulletBody pBody) + { + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + CollisionObject body = ((BulletBodyXNA)pBody).body; + return world.IsInWorld(body); + } + + public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstrain) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain; + body.AddConstraintRef(constrain); + } + + public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstrain) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain; + body.RemoveConstraintRef(constrain); + } + + public override BulletConstraint GetConstraintRef(BulletBody pBody, int index) + { + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + return new BulletConstraintXNA(body.GetConstraintRef(index)); + } - public override bool IsInWorld2(object pWorld, object pShapeObj) + public override int GetNumConstraintRefs(BulletBody pBody) { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - CollisionObject shape = pShapeObj as CollisionObject; - return world.IsInWorld(shape); + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + return body.GetNumConstraintRefs(); } - public override void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity) + public override void SetInterpolationLinearVelocity(BulletBody pBody, Vector3 VehicleVelocity) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); body.SetInterpolationLinearVelocity(ref velocity); } - public override bool UseFrameOffset2(object pConstraint, float onOff) + public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff) { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; constraint.SetUseFrameOffset((onOff == 0) ? false : true); return true; } - //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); - public override bool SetBreakingImpulseThreshold2(object pConstraint, float threshold) + //SetBreakingImpulseThreshold(m_constraint.ptr, threshold); + public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold) { - Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint; + Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; constraint.SetBreakingImpulseThreshold(threshold); return true; } - //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); - public override void SetAngularDamping2(object pBody, float angularDamping) + //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); + public override void SetAngularDamping(BulletBody pBody, float angularDamping) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; float lineardamping = body.GetLinearDamping(); body.SetDamping(lineardamping, angularDamping); } - public override void UpdateInertiaTensor2(object pBody) + public override void UpdateInertiaTensor(BulletBody pBody) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.UpdateInertiaTensor(); } - public override void RecalculateCompoundShapeLocalAabb2( object pCompoundShape) + public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape) { - - CompoundShape shape = pCompoundShape as CompoundShape; + CompoundShape shape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape; shape.RecalculateLocalAabb(); } - //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr) - public override CollisionFlags GetCollisionFlags2(object pBody) + //BulletSimAPI.GetCollisionFlags(PhysBody.ptr) + public override CollisionFlags GetCollisionFlags(BulletBody pBody) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; uint flags = (uint)body.GetCollisionFlags(); return (CollisionFlags) flags; } - public override void SetDamping2(object pBody, float pLinear, float pAngular) + public override void SetDamping(BulletBody pBody, float pLinear, float pAngular) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.SetDamping(pLinear, pAngular); } //PhysBody.ptr, PhysicsScene.Params.deactivationTime); - public override void SetDeactivationTime2(object pBody, float pDeactivationTime) + public override void SetDeactivationTime(BulletBody pBody, float pDeactivationTime) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.SetDeactivationTime(pDeactivationTime); } - //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); - public override void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) + //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); + public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); } - public override CollisionObjectTypes GetBodyType2(object pBody) + public override CollisionObjectTypes GetBodyType(BulletBody pBody) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; return (CollisionObjectTypes)(int) body.GetInternalType(); } - //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); - public override void ApplyCentralForce2(object pBody, Vector3 pfSum) + public override void ApplyGravity(BulletBody obj) { /* TODO */ } + + public override Vector3 GetGravity(BulletBody obj) { /* TODO */ return Vector3.Zero; } + + public override void SetLinearDamping(BulletBody obj, float lin_damping) { /* TODO */ } + + public override float GetLinearDamping(BulletBody obj) { /* TODO */ return 0f; } + + public override float GetAngularDamping(BulletBody obj) { /* TODO */ return 0f; } + + public override float GetLinearSleepingThreshold(BulletBody obj) { /* TODO */ return 0f; } + + public override void ApplyDamping(BulletBody obj, float timeStep) { /* TODO */ } + + public override Vector3 GetLinearFactor(BulletBody obj) { /* TODO */ return Vector3.Zero; } + + public override void SetLinearFactor(BulletBody obj, Vector3 factor) { /* TODO */ } + + public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { /* TODO */ } + + //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum); + public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); body.ApplyCentralForce(ref fSum); } - public override void ApplyCentralImpulse2(object pBody, Vector3 pfSum) + public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); body.ApplyCentralImpulse(ref fSum); } - public override void ApplyTorque2(object pBody, Vector3 pfSum) + public override void ApplyTorque(BulletBody pBody, Vector3 pfSum) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); body.ApplyTorque(ref fSum); } - public override void ApplyTorqueImpulse2(object pBody, Vector3 pfSum) + public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); body.ApplyTorqueImpulse(ref fSum); } - public override void DumpRigidBody2(object p, object p_2) + public override void DumpRigidBody(BulletWorld p, BulletBody p_2) + { + //TODO: + } + + public override void DumpCollisionShape(BulletWorld p, BulletShape p_2) + { + //TODO: + } + public override void DumpConstraint(BulletWorld world, BulletConstraint constrain) + { + //TODO: + } + + public override void DumpActivationInfo(BulletWorld world) + { + //TODO: + } + + public override void DumpAllInfo(BulletWorld world) { //TODO: } - public override void DumpCollisionShape2(object p, object p_2) + public override void DumpPhysicsStatistics(BulletWorld world) { //TODO: } - public override void DestroyObject2(object p, object p_2) + public override void DestroyObject(BulletWorld p, BulletBody p_2) { //TODO: } - public override void Shutdown2(object pWorld) + public override void Shutdown(BulletWorld pWorld) { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; world.Cleanup(); } - public override void DeleteCollisionShape2(object p, object p_2) + public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id) + { + return null; + } + + public override bool DeleteCollisionShape(BulletWorld p, BulletShape p_2) { //TODO: + return false; } //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); - public override object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) + public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) { - CollisionWorld world = pWorld as CollisionWorld; + CollisionWorld world = ((BulletWorldXNA)pWorld).world; IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, pRawOrientation.Z, pRawOrientation.W)); mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); - CollisionShape shape = pShape as CollisionShape; - //UpdateSingleAabb2(world, shape); + CollisionShape shape = ((BulletShapeXNA)pShape).shape; + //UpdateSingleAabb(world, shape); // TODO: Feed Update array into null RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero); body.SetUserPointer(pLocalID); - return body; + return new BulletBodyXNA(pLocalID, body); } - public override object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) + public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) { IndexedMatrix mat = @@ -576,39 +850,71 @@ public sealed class BSAPIXNA : BSAPITemplate pRawOrientation.Z, pRawOrientation.W)); mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); - CollisionShape shape = pShape as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; // TODO: Feed Update array into null RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); body.SetWorldTransform(mat); body.SetUserPointer(pLocalID); - return body; + return new BulletBodyXNA(pLocalID, body); } //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - public override void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags) + public override CollisionFlags SetCollisionFlags(BulletBody pBody, CollisionFlags collisionFlags) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); - } + return (CollisionFlags)body.GetCollisionFlags(); + } + + public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return Vector3.Zero; } + public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } + public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; } + public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; } + public override bool IsStaticObject(BulletBody pBody) { /* TODO */ return false; } + public override bool IsKinematicObject(BulletBody pBody) { /* TODO */ return false; } + public override bool IsStaticOrKinematicObject(BulletBody pBody) { /* TODO */ return false; } + public override bool HasContactResponse(BulletBody pBody) { /* TODO */ return false; } + public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; } + public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ } + public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; } + public override bool IsActive(BulletBody pBody) { /* TODO */ return false; } + public override float GetRestitution(BulletBody pBody) { /* TODO */ return 0f; } + public override float GetFriction(BulletBody pBody) { /* TODO */ return 0f; } + public override void SetInterpolationVelocity(BulletBody pBody, Vector3 linearVel, Vector3 angularVel) { /* TODO */ } + public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; } + //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - public override void SetHitFraction2(object pBody, float pHitFraction) + public override void SetHitFraction(BulletBody pBody, float pHitFraction) { - RigidBody body = pBody as RigidBody; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; body.SetHitFraction(pHitFraction); } - //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale); - public override object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale) + //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale); + public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale) { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); capsuleShapeZ.SetLocalScaling(ref scale); - - return capsuleShapeZ; + + return new BulletShapeXNA(capsuleShapeZ, BSPhysicsShapeType.SHAPE_CAPSULE); ; + } + + public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, + int maxCollisions, ref CollisionDesc[] collisionArray, + int maxUpdates, ref EntityProperties[] updateArray + ) + { + /* TODO */ + return new BulletWorldXNA(1, null, null); } - public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List collisionArray, int mMaxUpdatesPerFrame, ref List updateArray, object mDebugLogCallbackHandle) + private static object Initialize2(Vector3 worldExtent, + ConfigurationParameters[] o, + int mMaxCollisionsPerFrame, ref List collisionArray, + int mMaxUpdatesPerFrame, ref List updateArray, + object mDebugLogCallbackHandle) { CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); @@ -728,9 +1034,9 @@ public sealed class BSAPIXNA : BSAPITemplate return world; } //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL - public override bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) + public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) { - Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; + Generic6DofConstraint constrain = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) { constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); @@ -750,10 +1056,10 @@ public sealed class BSAPIXNA : BSAPITemplate return true; } - public override bool PushUpdate2(object pCollisionObject) + public override bool PushUpdate(BulletBody pCollisionObject) { bool ret = false; - RigidBody rb = pCollisionObject as RigidBody; + RigidBody rb = ((BulletBodyXNA)pCollisionObject).rigidBody; if (rb != null) { SimMotionState sms = rb.GetMotionState() as SimMotionState; @@ -769,44 +1075,59 @@ public sealed class BSAPIXNA : BSAPITemplate } - public override bool IsCompound2(object pShape) + public override float GetAngularMotionDisc(BulletShape pShape) { - CollisionShape shape = pShape as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; + return shape.GetAngularMotionDisc(); + } + public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor) + { + CollisionShape shape = ((BulletShapeXNA)pShape).shape; + return shape.GetContactBreakingThreshold(defaultFactor); + } + public override bool IsCompound(BulletShape pShape) + { + CollisionShape shape = ((BulletShapeXNA)pShape).shape; return shape.IsCompound(); } - public override bool IsPloyhedral2(object pShape) + public override bool IsSoftBody(BulletShape pShape) + { + CollisionShape shape = ((BulletShapeXNA)pShape).shape; + return shape.IsSoftBody(); + } + public override bool IsPolyhedral(BulletShape pShape) { - CollisionShape shape = pShape as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; return shape.IsPolyhedral(); } - public override bool IsConvex2d2(object pShape) + public override bool IsConvex2d(BulletShape pShape) { - CollisionShape shape = pShape as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; return shape.IsConvex2d(); } - public override bool IsConvex2(object pShape) + public override bool IsConvex(BulletShape pShape) { - CollisionShape shape = pShape as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; return shape.IsConvex(); } - public override bool IsNonMoving2(object pShape) + public override bool IsNonMoving(BulletShape pShape) { - CollisionShape shape = pShape as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; return shape.IsNonMoving(); } - public override bool IsConcave2(object pShape) + public override bool IsConcave(BulletShape pShape) { - CollisionShape shape = pShape as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; return shape.IsConcave(); } - public override bool IsInfinite2(object pShape) + public override bool IsInfinite(BulletShape pShape) { - CollisionShape shape = pShape as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; return shape.IsInfinite(); } - public override bool IsNativeShape2(object pShape) + public override bool IsNativeShape(BulletShape pShape) { - CollisionShape shape = pShape as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; bool ret; switch (shape.GetShapeType()) { @@ -822,33 +1143,39 @@ public sealed class BSAPIXNA : BSAPITemplate } return ret; } + + public override void SetShapeCollisionMargin(BulletShape shape, float margin) { /* TODO */ } + //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation - public override object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) + public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) { + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; IndexedMatrix bodyTransform = new IndexedMatrix(); bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); GhostObject gObj = new PairCachingGhostObject(); gObj.SetWorldTransform(bodyTransform); - CollisionShape shape = pShape as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; gObj.SetCollisionShape(shape); gObj.SetUserPointer(pLocalID); // TODO: Add to Special CollisionObjects! - return gObj; + return new BulletBodyXNA(pLocalID, gObj); } - public static void SetCollisionShape2(object pWorld, object pObj, object pShape) + public override void SetCollisionShape(BulletWorld pWorld, BulletBody pObj, BulletShape pShape) { - var world = pWorld as DiscreteDynamicsWorld; - var obj = pObj as CollisionObject; - var shape = pShape as CollisionShape; + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + CollisionObject obj = ((BulletBodyXNA)pObj).body; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; obj.SetCollisionShape(shape); } + public override BulletShape GetCollisionShape(BulletBody obj) { /* TODO */ return null; } + //(PhysicsScene.World.ptr, nativeShapeData) - public override object BuildNativeShape2(object pWorld, ShapeData pShapeData) + public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData) { - var world = pWorld as DiscreteDynamicsWorld; + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; CollisionShape shape = null; switch (pShapeData.Type) { @@ -873,25 +1200,25 @@ public sealed class BSAPIXNA : BSAPITemplate shape.SetLocalScaling(ref scaling); } - return shape; + return new BulletShapeXNA(shape, pShapeData.Type); } //PhysicsScene.World.ptr, false - public override object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree) + public override BulletShape CreateCompoundShape(BulletWorld pWorld, bool enableDynamicAabbTree) { - return new CompoundShape(enableDynamicAabbTree); + return new BulletShapeXNA(new CompoundShape(enableDynamicAabbTree), BSPhysicsShapeType.SHAPE_COMPOUND); } - public override int GetNumberOfCompoundChildren2(object pCompoundShape) + public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape) { - var compoundshape = pCompoundShape as CompoundShape; + CompoundShape compoundshape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape; return compoundshape.GetNumChildShapes(); } //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot - public override void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot) + public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot) { IndexedMatrix relativeTransform = new IndexedMatrix(); - var compoundshape = pCShape as CompoundShape; - var addshape = paddShape as CollisionShape; + CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape; + CollisionShape addshape = ((BulletShapeXNA)paddShape).shape; relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); @@ -899,58 +1226,47 @@ public sealed class BSAPIXNA : BSAPITemplate } - public override object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii) + public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii) { - var compoundshape = pCShape as CompoundShape; + CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape; CollisionShape ret = null; ret = compoundshape.GetChildShape(pii); compoundshape.RemoveChildShapeByIndex(pii); - return ret; + return new BulletShapeXNA(ret, BSPhysicsShapeType.SHAPE_UNKNOWN); } - public override object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin) + public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { /* TODO */ return null; } + public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ } + + public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin) { StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight ); m_planeshape.SetMargin(pcollisionMargin); m_planeshape.SetUserPointer(pLocalId); - return m_planeshape; + return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); } - public override object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) { HingeConstraint constrain = null; - var rb1 = pBody1 as RigidBody; - var rb2 = ppBody2 as RigidBody; + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + RigidBody rb1 = ((BulletBodyXNA)pBody1).rigidBody; + RigidBody rb2 = ((BulletBodyXNA)ppBody2).rigidBody; if (rb1 != null && rb2 != null) { IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); - var world = pWorld as DiscreteDynamicsWorld; world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); } - return constrain; - } - - public override bool ReleaseHeightMapInfo2(object pMapInfo) - { - if (pMapInfo != null) - { - BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo; - if (mapinfo.heightMap != null) - mapinfo.heightMap = null; - - - } - return true; + return new BulletConstraintXNA(constrain); } - public override object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls) + public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls) { + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; CompoundShape compoundshape = new CompoundShape(false); - var world = pWorld as DiscreteDynamicsWorld; - compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); int ii = 1; @@ -975,12 +1291,13 @@ public sealed class BSAPIXNA : BSAPITemplate compoundshape.AddChildShape(ref childTrans, convexShape); ii += (vertexCount*3 + 4); } - - return compoundshape; + return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); } - public override object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) + public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { /* TODO */ return null; } + + public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) { //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); @@ -993,7 +1310,7 @@ public sealed class BSAPIXNA : BSAPITemplate ObjectArray indicesarr = new ObjectArray(indices); ObjectArray vertices = new ObjectArray(verticesAsFloats); DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); - var world = pWorld as DiscreteDynamicsWorld; + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; IndexedMesh mesh = new IndexedMesh(); mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; mesh.m_numTriangles = pIndicesCount/3; @@ -1009,7 +1326,7 @@ public sealed class BSAPIXNA : BSAPITemplate BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); meshShape.SetMargin(world.WorldSettings.Params.collisionMargin); // world.UpdateSingleAabb(meshShape); - return meshShape; + return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH); } public static void DumpRaw(ObjectArrayindices, ObjectArray vertices, int pIndicesCount,int pVerticesCount ) @@ -1092,52 +1409,31 @@ public sealed class BSAPIXNA : BSAPITemplate sw.Close(); } - //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin - public override object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin) - { - BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null); - mapInfo.heightMap = null; - mapInfo.minCoords = pminCoords; - mapInfo.maxCoords = pmaxCoords; - mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X); - mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y); - mapInfo.ID = pId; - mapInfo.minZ = pminCoords.Z; - mapInfo.maxZ = pmaxCoords.Z; - mapInfo.collisionMargin = pCollisionMargin; - if (mapInfo.minZ == mapInfo.maxZ) - mapInfo.minZ -= 0.2f; - mapInfo.heightMap = pheightMap; - - return mapInfo; - - } - public override object CreateTerrainShape2(object pMapInfo) + public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, + float scaleFactor, float collisionMargin) { - BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo; const int upAxis = 2; - const float scaleFactor = 1.0f; - HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY, - mapinfo.heightMap, scaleFactor, - mapinfo.minZ, mapinfo.maxZ, upAxis, + HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)size.X, (int)size.Y, + heightMap, scaleFactor, + minHeight, maxHeight, upAxis, false); - terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f); + terrainShape.SetMargin(collisionMargin + 0.5f); terrainShape.SetUseDiamondSubdivision(true); - terrainShape.SetUserPointer(mapinfo.ID); - return terrainShape; + terrainShape.SetUserPointer(id); + return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN); } - public override bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce) + public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce) { - TypedConstraint tconstrain = pConstraint as TypedConstraint; + TypedConstraint tconstrain = ((BulletConstraintXNA)pConstraint).constrain; bool onOff = ponOff != 0; bool ret = false; switch (tconstrain.GetConstraintType()) { case TypedConstraintType.D6_CONSTRAINT_TYPE: - Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint; + Generic6DofConstraint constrain = tconstrain as Generic6DofConstraint; constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff; constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity; constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce; @@ -1150,14 +1446,25 @@ public sealed class BSAPIXNA : BSAPITemplate } - public override int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out Listcolliders) + public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, out int collidersCount) + { + /* TODO */ + updatedEntityCount = 0; + collidersCount = 0; + return 1; + } + + private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, + out int updatedEntityCount, out List updatedEntities, + out int collidersCount, out Listcolliders) { - int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, + int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, out collidersCount, out colliders); return epic; } - private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out List colliders) + private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out List colliders) { int numSimSteps = 0; @@ -1169,9 +1476,9 @@ public sealed class BSAPIXNA : BSAPITemplate // colliders = new List(); - if (pWorld is DiscreteDynamicsWorld) + if (pWorld is BulletWorldXNA) { - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); int updates = 0; @@ -1224,7 +1531,7 @@ public sealed class BSAPIXNA : BSAPITemplate return numSimSteps; } - private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) + private static void RecordCollision(CollisionWorld world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) { IndexedVector3 contactNormal = norm; @@ -1257,11 +1564,11 @@ public sealed class BSAPIXNA : BSAPITemplate } - private static EntityProperties GetDebugProperties(object pWorld, object pBody) + private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pBody) { EntityProperties ent = new EntityProperties(); - DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld; - RigidBody body = pBody as RigidBody; + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; IndexedMatrix transform = body.GetWorldTransform(); IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity(); IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity(); @@ -1275,34 +1582,35 @@ public sealed class BSAPIXNA : BSAPITemplate return ent; } - public override Vector3 GetLocalScaling2(object pBody) + public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ return false; } + + public override Vector3 GetLocalScaling(BulletShape pShape) { - CollisionShape shape = pBody as CollisionShape; + CollisionShape shape = ((BulletShapeXNA)pShape).shape; IndexedVector3 scale = shape.GetLocalScaling(); return new Vector3(scale.X,scale.Y,scale.Z); } - public override bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe) + public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe) { - DynamicsWorld world = pWorld as DynamicsWorld; + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; if (world != null) { - if (NotMe is CollisionObject || NotMe is RigidBody) + if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) { - CollisionObject AvoidBody = NotMe as CollisionObject; + CollisionObject AvoidBody = ((BulletBodyXNA)NotMe).body; IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); using ( - ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin, - rEnd, AvoidBody) + ClosestNotMeRayResultCallback rayCallback = + new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody) ) { world.RayTest(ref rOrigin, ref rEnd, rayCallback); if (rayCallback.HasHit()) { IndexedVector3 hitLocation = rayCallback.m_hitPointWorld; - } return rayCallback.HasHit(); } @@ -1311,5 +1619,4 @@ public sealed class BSAPIXNA : BSAPITemplate return false; } } -*/ } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 2350f59..1735be2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -346,10 +346,9 @@ public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape); public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id); - public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape); -public abstract int GetBodyType(BulletBody obj); +public abstract CollisionObjectTypes GetBodyType(BulletBody obj); public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); @@ -416,6 +415,7 @@ public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force); // ===================================================================================== // btDynamicsWorld entries +// public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj, Vector3 pos, Quaternion rot); public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj); public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj); @@ -597,7 +597,7 @@ public abstract void SetAngularFactorV(BulletBody obj, Vector3 factor); public abstract Vector3 GetAngularFactor(BulletBody obj); -public abstract bool IsInWorld(BulletBody obj); +public abstract bool IsInWorld(BulletWorld world, BulletBody obj); public abstract void AddConstraintRef(BulletBody obj, BulletConstraint constrain); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d4e2e87..826261c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -898,17 +898,6 @@ public sealed class BSPrim : BSPhysObject if (PhysBody.HasPhysicalBody) { PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); - - // TODO: Fix this. Total kludge because adding object to world resets its gravity to default. - // Replace this when the new AddObjectToWorld function is complete. - PhysicsScene.PE.SetGravity(PhysBody, ComputeGravity()); - - // Collision filter can be set only when the object is in the world - if (!PhysBody.ApplyCollisionMask(PhysicsScene)) - { - m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID); - DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType); - } } else { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 258b72f..3340cda 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -309,7 +309,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters ret = new BSAPIUnman(engineName, this); break; case "bulletxna": - // ret = new BSAPIXNA(engineName, this); + ret = new BSAPIXNA(engineName, this); break; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 2b652f5..d361f18 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -141,7 +141,7 @@ public sealed class BSShapeCollection : IDisposable if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() { - if (!PhysicsScene.PE.IsInWorld(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); @@ -166,7 +166,7 @@ public sealed class BSShapeCollection : IDisposable // If the caller needs to know the old body is going away, pass the event up. if (bodyCallback != null) bodyCallback(body); - if (PhysicsScene.PE.IsInWorld(body)) + if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body)) { PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body); if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 114c0aa..e4fecc3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -92,8 +92,8 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys private void BuildHeightmapTerrain() { // Create the terrain shape from the mapInfo - m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID, - new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ, + m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID, + new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ, m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin); -- cgit v1.1 From b14b65ea9518e02e518f2a75795385a3c0306495 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 1 Jan 2013 17:01:17 -0800 Subject: BulletSim: move selection of the unmanaged Bullet DLL from BSPlugin into the unmanaged Bullet interface class. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 8 ++++++++ OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs | 6 ------ 2 files changed, 8 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 83e12ba..8c6e7d6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -31,6 +31,8 @@ using System.Runtime.InteropServices; using System.Security; using System.Text; +using OpenSim.Framework; + using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin @@ -141,8 +143,14 @@ public override string BulletEngineVersion { get; protected set; } public BSAPIUnman(string paramName, BSScene physScene) { PhysicsScene = physScene; + // Do something fancy with the paramName to get the right DLL implementation // like "Bullet-2.80-OpenCL-Intel" loading the version for Intel based OpenCL implementation, etc. + if (Util.IsWindows()) + Util.LoadArchSpecificWindowsDll("BulletSim.dll"); + // If not Windows, loading is performed by the + // Mono loader as specified in + // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config". } // Initialization and simulation diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs index 20f5180..65be52a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs @@ -59,12 +59,6 @@ public class BSPlugin : IPhysicsPlugin { if (_mScene == null) { - if (Util.IsWindows()) - Util.LoadArchSpecificWindowsDll("BulletSim.dll"); - // If not Windows, loading is performed by the - // Mono loader as specified in - // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config". - _mScene = new BSScene(sceneIdentifier); } return (_mScene); -- cgit v1.1 From aa236b2020a16c464a854be2b02ca49ea637cb27 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 1 Jan 2013 17:25:41 -0800 Subject: BulletSim: add parameter to have Bullet output performance statistics every so many frames. Default to off. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 8 ++++---- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++++ 4 files changed, 11 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index aea10ee..30a7bee 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -970,7 +970,7 @@ private sealed class BulletConstraintXNA : BulletConstraint p.linkConstraintERP = o[0].XlinkConstraintERP; p.linkConstraintCFM = o[0].XlinkConstraintCFM; p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations; - p.physicsLoggingFrames = o[0].physicsLoggingFrames; + p.physicsLoggingFrames = o[0].XphysicsLoggingFrames; DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 1735be2..8ad78ca 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -198,7 +198,7 @@ public struct ConfigurationParameters public float XlinkConstraintCFM; public float XlinkConstraintSolverIterations; - public float physicsLoggingFrames; + public float XphysicsLoggingFrames; public const float numericTrue = 1f; public const float numericFalse = 0f; @@ -415,7 +415,7 @@ public abstract void SetForceUpdateAllAabbs(BulletWorld world, bool force); // ===================================================================================== // btDynamicsWorld entries -// public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj, Vector3 pos, Quaternion rot); +// public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj, Vector3 pos, Quaternion rot); public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj); public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 339722e..69ac8cd 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -492,11 +492,11 @@ public static class BSParam (s) => { return LinkConstraintSolverIterations; }, (s,p,l,v) => { LinkConstraintSolverIterations = v; } ), - new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)", + new ParameterDefn("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)", 0f, - (s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; }, - (s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ), + (s,cf,p,v) => { s.PhysicsMetricDumpFrames = cf.GetFloat(p, (int)v); }, + (s) => { return (float)s.PhysicsMetricDumpFrames; }, + (s,p,l,v) => { s.PhysicsMetricDumpFrames = (int)v; } ), }; // Convert a boolean to our numeric true and false values diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 3340cda..7017194 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -161,6 +161,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters private int m_physicsLoggingFileMinutes; private bool m_physicsLoggingDoFlush; private bool m_physicsPhysicalDumpEnabled; + public float PhysicsMetricDumpFrames { get; set; } // 'true' of the vehicle code is to log lots of details public bool VehicleLoggingEnabled { get; private set; } public bool VehiclePhysicalLoggingEnabled { get; private set; } @@ -526,6 +527,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters collidersCount = 0; } + if ((m_simulationStep % PhysicsMetricDumpFrames) == 0) + PE.DumpPhysicsStatistics(World); + // Get a value for 'now' so all the collision and update routines don't have to get their own. SimulationNowTime = Util.EnvironmentTickCount(); -- cgit v1.1 From 2eda385f5e72e165150d0925c56b1188c77cafe8 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 1 Jan 2013 20:26:31 -0800 Subject: BulletSim: add ResetBroadphasePool and ResetConstraintSolver diagnostic functions. If values set from console, the functions are called. Looking for why the collision pools fill up with unnecessary stuff. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 22 +++++++-- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 57 ++++++---------------- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 16 +++--- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 28 +++++++++++ 4 files changed, 73 insertions(+), 50 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 8c6e7d6..45ecf56 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -530,12 +530,12 @@ public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) // btDynamicsWorld entries public override bool AddObjectToWorld(BulletWorld world, BulletBody obj) { - // Bullet resets several variables when an object is added to the world. - // Gravity is reset to world default depending on the static/dynamic - // type. Of course, the collision flags in the broadphase proxy are initialized to default. BulletWorldUnman worldu = world as BulletWorldUnman; BulletBodyUnman bodyu = obj as BulletBodyUnman; + // Bullet resets several variables when an object is added to the world. + // Gravity is reset to world default depending on the static/dynamic + // type. Of course, the collision flags in the broadphase proxy are initialized to default. Vector3 origGrav = BSAPICPP.GetGravity2(bodyu.ptr); bool ret = BSAPICPP.AddObjectToWorld2(worldu.ptr, bodyu.ptr); @@ -1259,6 +1259,16 @@ public override void DumpPhysicsStatistics(BulletWorld world) BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.DumpPhysicsStatistics2(worldu.ptr); } +public override void ResetBroadphasePool(BulletWorld world) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.ResetBroadphasePool(worldu.ptr); +} +public override void ResetConstraintSolver(BulletWorld world) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BSAPICPP.ResetConstraintSolver(worldu.ptr); +} // ===================================================================================== // ===================================================================================== @@ -1832,6 +1842,12 @@ public static extern void DumpAllInfo2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpPhysicsStatistics2(IntPtr sim); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ResetBroadphasePool(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void ResetConstraintSolver(IntPtr sim); + } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 30a7bee..0c7f315 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -232,21 +232,25 @@ private sealed class BulletConstraintXNA : BulletConstraint public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody) { + DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + CollisionObject cbody = ((BulletBodyXNA)pBody).body; + RigidBody rbody = cbody as RigidBody; + // Bullet resets several variables when an object is added to the world. In particular, // BulletXNA resets position and rotation. Gravity is also reset depending on the static/dynamic // type. Of course, the collision flags in the broadphase proxy are initialized to default. - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - - IndexedMatrix origPos = body.GetWorldTransform(); - IndexedVector3 origGrav = body.GetGravity(); - - //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE)) - - world.AddRigidBody(body); - - body.SetWorldTransform(origPos); - body.SetGravity(origGrav); + IndexedMatrix origPos = cbody.GetWorldTransform(); + if (rbody != null) + { + IndexedVector3 origGrav = rbody.GetGravity(); + world.AddRigidBody(rbody); + rbody.SetGravity(origGrav); + } + else + { + world.AddCollisionObject(rbody); + } + cbody.SetWorldTransform(origPos); pBody.ApplyCollisionMask(pWorld.physicsScene); @@ -773,35 +777,6 @@ private sealed class BulletConstraintXNA : BulletConstraint body.ApplyTorqueImpulse(ref fSum); } - public override void DumpRigidBody(BulletWorld p, BulletBody p_2) - { - //TODO: - } - - public override void DumpCollisionShape(BulletWorld p, BulletShape p_2) - { - //TODO: - } - public override void DumpConstraint(BulletWorld world, BulletConstraint constrain) - { - //TODO: - } - - public override void DumpActivationInfo(BulletWorld world) - { - //TODO: - } - - public override void DumpAllInfo(BulletWorld world) - { - //TODO: - } - - public override void DumpPhysicsStatistics(BulletWorld world) - { - //TODO: - } - public override void DestroyObject(BulletWorld p, BulletBody p_2) { //TODO: diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 8ad78ca..befb076 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -646,17 +646,21 @@ public abstract float GetMargin(BulletShape shape); // ===================================================================================== // Debugging -public abstract void DumpRigidBody(BulletWorld sim, BulletBody collisionObject); +public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) { } -public abstract void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape); +public virtual void DumpCollisionShape(BulletWorld sim, BulletShape collisionShape) { } -public abstract void DumpConstraint(BulletWorld sim, BulletConstraint constrain); +public virtual void DumpConstraint(BulletWorld sim, BulletConstraint constrain) { } -public abstract void DumpActivationInfo(BulletWorld sim); +public virtual void DumpActivationInfo(BulletWorld sim) { } -public abstract void DumpAllInfo(BulletWorld sim); +public virtual void DumpAllInfo(BulletWorld sim) { } -public abstract void DumpPhysicsStatistics(BulletWorld sim); +public virtual void DumpPhysicsStatistics(BulletWorld sim) { } + +public virtual void ResetBroadphasePool(BulletWorld sim) { } + +public virtual void ResetConstraintSolver(BulletWorld sim) { } }; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 69ac8cd..b9bd0bf 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -497,6 +497,16 @@ public static class BSParam (s,cf,p,v) => { s.PhysicsMetricDumpFrames = cf.GetFloat(p, (int)v); }, (s) => { return (float)s.PhysicsMetricDumpFrames; }, (s,p,l,v) => { s.PhysicsMetricDumpFrames = (int)v; } ), + new ParameterDefn("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool", + 0f, + (s,cf,p,v) => { ; }, + (s) => { return 0f; }, + (s,p,l,v) => { BSParam.ResetBroadphasePoolTainted(s, v); } ), + new ParameterDefn("ResetConstraintSolver", "Setting this is any value resets the constraint solver", + 0f, + (s,cf,p,v) => { ; }, + (s) => { return 0f; }, + (s,p,l,v) => { BSParam.ResetConstraintSolverTainted(s, v); } ), }; // Convert a boolean to our numeric true and false values @@ -511,6 +521,24 @@ public static class BSParam return (b == ConfigurationParameters.numericTrue ? true : false); } + private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v) + { + BSScene physScene = pPhysScene; + physScene.TaintedObject("BSParam.ResetBroadphasePoolTainted", delegate() + { + physScene.PE.ResetBroadphasePool(physScene.World); + }); + } + + private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v) + { + BSScene physScene = pPhysScene; + physScene.TaintedObject("BSParam.ResetConstraintSolver", delegate() + { + physScene.PE.ResetConstraintSolver(physScene.World); + }); + } + // Search through the parameter definitions and return the matching // ParameterDefn structure. // Case does not matter as names are compared after converting to lower case. -- cgit v1.1 From 92a6958b6d56293693b92c082595f46e7c9b1119 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 3 Jan 2013 19:34:14 -0800 Subject: BulletSim: fix problem where pre-step actions would not replaced by new registrations thus causing multiple instances of an action. --- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 ++++ 1 file changed, 4 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index e7cb3e0..534f929 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -343,6 +343,10 @@ public abstract class BSPhysObject : PhysicsActor protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn) { string identifier = op + "-" + id.ToString(); + + // Clean out any existing action + UnRegisterPreStepAction(op, id); + RegisteredActions[identifier] = actn; PhysicsScene.BeforeStep += actn; DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); -- cgit v1.1 From 44492b3a4995651cd1d0d508b879d24e4d8f5707 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 3 Jan 2013 19:35:38 -0800 Subject: BulletSim: add comments to force and impulse setting functions so it is clear what Bullet is actually doing with the set values. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 8 ++++++++ 1 file changed, 8 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 45ecf56..14de2eb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -921,6 +921,7 @@ public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quater } // Add a force to the object as if its mass is one. +// Deep down in Bullet: m_totalForce += force*m_linearFactor; public override void ApplyCentralForce(BulletBody obj, Vector3 force) { BulletBodyUnman bodyu = obj as BulletBodyUnman; @@ -964,6 +965,7 @@ public override void SetSleepingThresholds(BulletBody obj, float lin_threshold, BSAPICPP.SetSleepingThresholds2(bodyu.ptr, lin_threshold, ang_threshold); } +// Deep down in Bullet: m_totalTorque += torque*m_angularFactor; public override void ApplyTorque(BulletBody obj, Vector3 torque) { BulletBodyUnman bodyu = obj as BulletBodyUnman; @@ -971,6 +973,8 @@ public override void ApplyTorque(BulletBody obj, Vector3 torque) } // Apply force at the given point. Will add torque to the object. +// Deep down in Bullet: applyCentralForce(force); +// applyTorque(rel_pos.cross(force*m_linearFactor)); public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos) { BulletBodyUnman bodyu = obj as BulletBodyUnman; @@ -978,6 +982,7 @@ public override void ApplyForce(BulletBody obj, Vector3 force, Vector3 pos) } // Apply impulse to the object. Same as "ApplycentralForce" but force scaled by object's mass. +// Deep down in Bullet: m_linearVelocity += impulse *m_linearFactor * m_inverseMass; public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp) { BulletBodyUnman bodyu = obj as BulletBodyUnman; @@ -985,6 +990,7 @@ public override void ApplyCentralImpulse(BulletBody obj, Vector3 imp) } // Apply impulse to the object's torque. Force is scaled by object's mass. +// Deep down in Bullet: m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor; public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp) { BulletBodyUnman bodyu = obj as BulletBodyUnman; @@ -992,6 +998,8 @@ public override void ApplyTorqueImpulse(BulletBody obj, Vector3 imp) } // Apply impulse at the point given. For is scaled by object's mass and effects both linear and angular forces. +// Deep down in Bullet: applyCentralImpulse(impulse); +// applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor)); public override void ApplyImpulse(BulletBody obj, Vector3 imp, Vector3 pos) { BulletBodyUnman bodyu = obj as BulletBodyUnman; -- cgit v1.1 From 54321800277b683d76e80b12334900c82e3c6b50 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 3 Jan 2013 19:37:01 -0800 Subject: BulletSim: reorganize motor code a little to pull together common functions. Add BSFMotor. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 147 ++++++++++++++++++++--- 1 file changed, 129 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 817a5f7..91255bd 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -59,10 +59,7 @@ public abstract class BSMotor { if (PhysicsScene != null) { - if (PhysicsScene.VehicleLoggingEnabled) - { - PhysicsScene.DetailLog(msg, parms); - } + PhysicsScene.DetailLog(msg, parms); } } } @@ -100,10 +97,13 @@ public class BSVMotor : BSMotor public virtual Vector3 CurrentValue { get; protected set; } public virtual Vector3 LastError { get; protected set; } - public virtual bool ErrorIsZero - { get { - return (LastError == Vector3.Zero || LastError.LengthSquared() <= ErrorZeroThreshold); - } + public virtual bool ErrorIsZero() + { + return ErrorIsZero(LastError); + } + public virtual bool ErrorIsZero(Vector3 err) + { + return (err == Vector3.Zero || err.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)); } public BSVMotor(string useName) @@ -148,7 +148,7 @@ public class BSVMotor : BSMotor Vector3 correction = Vector3.Zero; Vector3 error = TargetValue - CurrentValue; - if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) + if (!ErrorIsZero(error)) { correction = Step(timeStep, error); @@ -200,7 +200,7 @@ public class BSVMotor : BSMotor LastError = error; Vector3 returnCorrection = Vector3.Zero; - if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) + if (!ErrorIsZero()) { // correction = error / secondsItShouldTakeToCorrect Vector3 correctionAmount; @@ -246,32 +246,139 @@ public class BSVMotor : BSMotor } } +// ============================================================================ +// ============================================================================ public class BSFMotor : BSMotor { - public float TimeScale { get; set; } - public float DecayTimeScale { get; set; } - public float Friction { get; set; } - public float Efficiency { get; set; } + public virtual float TimeScale { get; set; } + public virtual float TargetValueDecayTimeScale { get; set; } + public virtual float FrictionTimescale { get; set; } + public virtual float Efficiency { get; set; } + + public virtual float ErrorZeroThreshold { get; set; } + + public virtual float TargetValue { get; protected set; } + public virtual float CurrentValue { get; protected set; } + public virtual float LastError { get; protected set; } - public float Target { get; private set; } - public float CurrentValue { get; private set; } + public virtual bool ErrorIsZero() + { + return ErrorIsZero(LastError); + } + public virtual bool ErrorIsZero(float err) + { + return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold); + } public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency) : base(useName) { + TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite; + Efficiency = 1f; + FrictionTimescale = BSMotor.Infinite; + CurrentValue = TargetValue = 0f; + ErrorZeroThreshold = 0.01f; } - public void SetCurrent(float target) + public void SetCurrent(float current) { + CurrentValue = current; } public void SetTarget(float target) { + TargetValue = target; + } + public override void Zero() + { + base.Zero(); + CurrentValue = TargetValue = 0f; } + public virtual float Step(float timeStep) { - return 0f; + if (!Enabled) return TargetValue; + + float origTarget = TargetValue; // DEBUG + float origCurrVal = CurrentValue; // DEBUG + + float correction = 0f; + float error = TargetValue - CurrentValue; + if (!ErrorIsZero(error)) + { + correction = Step(timeStep, error); + + CurrentValue += correction; + + // The desired value reduces to zero which also reduces the difference with current. + // If the decay time is infinite, don't decay at all. + float decayFactor = 0f; + if (TargetValueDecayTimeScale != BSMotor.Infinite) + { + decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep; + TargetValue *= (1f - decayFactor); + } + + // The amount we can correct the error is reduced by the friction + float frictionFactor = 0f; + if (FrictionTimescale != BSMotor.Infinite) + { + // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; + // Individual friction components can be 'infinite' so compute each separately. + frictionFactor = 1f / FrictionTimescale; + frictionFactor *= timeStep; + CurrentValue *= (1f - frictionFactor); + } + + MDetailLog("{0}, BSFMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}", + BSScene.DetailLogZero, UseName, origCurrVal, origTarget, + timeStep, error, correction); + MDetailLog("{0}, BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}", + BSScene.DetailLogZero, UseName, + TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor, + TargetValue, CurrentValue); + } + else + { + // Difference between what we have and target is small. Motor is done. + CurrentValue = TargetValue; + MDetailLog("{0}, BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", + BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); + } + + return CurrentValue; + } + + public virtual float Step(float timeStep, float error) + { + if (!Enabled) return 0f; + + LastError = error; + float returnCorrection = 0f; + if (!ErrorIsZero()) + { + // correction = error / secondsItShouldTakeToCorrect + float correctionAmount; + if (TimeScale == 0f || TimeScale == BSMotor.Infinite) + correctionAmount = error * timeStep; + else + correctionAmount = error / TimeScale * timeStep; + + returnCorrection = correctionAmount; + MDetailLog("{0}, BSFMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}", + BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount); + } + return returnCorrection; + } + + public override string ToString() + { + return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>", + UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale); } + } +// ============================================================================ +// ============================================================================ // Proportional, Integral, Derivitive Motor // Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors. public class BSPIDVMotor : BSVMotor @@ -319,6 +426,7 @@ public class BSPIDVMotor : BSVMotor proportionFactor = new Vector3(factor, factor, factor); integralFactor = new Vector3(factor, factor, factor); derivFactor = new Vector3(factor, factor, factor); + MDetailLog("{0},BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor); } } @@ -341,6 +449,9 @@ public class BSPIDVMotor : BSVMotor + derivFactor * derivFactor ); + MDetailLog("{0},BSPIDVMotor.step,ts={1},err={2},runnInt={3},derivFact={4},ret={5}", + BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivFactor, ret); + return ret; } } -- cgit v1.1 From 2c6b269b6e53cae70e6de0c4380a9a4183c4f32d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 3 Jan 2013 19:38:30 -0800 Subject: BulletSim: add initial implementation of llMoveToTarget and hover height. Not all there yet. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 157 +++++++++++++++++++++++-- 1 file changed, 147 insertions(+), 10 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 826261c..1904ddd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -66,9 +66,6 @@ public sealed class BSPrim : BSPhysObject private float _restitution; private bool _setAlwaysRun; private bool _throttleUpdates; - private bool _isColliding; - private bool _collidingGround; - private bool _collidingObj; private bool _floatOnWater; private OMV.Vector3 _rotationalVelocity; private bool _kinematic; @@ -76,13 +73,14 @@ public sealed class BSPrim : BSPhysObject private BSDynamics _vehicle; + private BSVMotor _targetMotor; private OMV.Vector3 _PIDTarget; - private bool _usePID; private float _PIDTau; - private bool _useHoverPID; + + private BSFMotor _hoverMotor; private float _PIDHoverHeight; private PIDHoverType _PIDHoverType; - private float _PIDHoverTao; + private float _PIDHoverTau; public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) @@ -564,6 +562,11 @@ public sealed class BSPrim : BSPhysObject } return; } + public OMV.Vector3 RawVelocity + { + get { return _velocity; } + set { _velocity = value; } + } public override OMV.Vector3 Velocity { get { return _velocity; } set { @@ -1004,13 +1007,120 @@ public sealed class BSPrim : BSPhysObject set { _PIDTau = value; } } public override bool PIDActive { - set { _usePID = value; } + set { + if (value) + { + // Turning the target on + /* + _targetMotor = new BSVMotor("BSPrim.PIDTarget", + _PIDTau, // timeScale + BSMotor.Infinite, // decay time scale + BSMotor.InfiniteVector, // friction timescale + 1f // efficiency + ); + _targetMotor.SetTarget(_PIDTarget); + _targetMotor.SetCurrent(RawPosition); + */ + _targetMotor = new BSPIDVMotor("BSPrim.PIDTarget"); + _targetMotor.SetTarget(_PIDTarget); + _targetMotor.SetCurrent(RawPosition); + _targetMotor.Efficiency = 1f; + + _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. + + RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep) + { + // How far are we away from the target + OMV.Vector3 distance = _PIDTarget - RawPosition; + + // The amount of that distance we should cover per second + OMV.Vector3 movementPerSecond = distance / _PIDTau; + + OMV.Vector3 adjustedVelocity = movementPerSecond - RawVelocity; + + // Apply force to overcome current velocity + AddForce(-RawVelocity * Mass, false, true); + // Get it moving to the point + AddForce(movementPerSecond * Mass, false, true); + + // Apply enough force to get to the speed needed to get to the point + // The physics engine will do only a timestep's worth. + // AddForce(adjustedVelocity * Mass, false, true); + // PhysicsScene.PE.ApplyCentralImpulse(PhysBody, adjustedVelocity); + + DetailLog("{0},BSPrim.PIDTarget,move,tgt={1},pos={2},vel={3},dist={4},tau={5},mvmt={6},newVel={7}", + LocalID, _PIDTarget, RawPosition, RawVelocity, distance, _PIDTau, movementPerSecond, adjustedVelocity); + + /* + OMV.Vector3 movePosition = _targetMotor.Step(timeStep); + + // 'movePosition' is where we'd like the prim to be at this moment. + // Compute the amount of force to push us there. + OMV.Vector3 moveForce = (movePosition - RawPosition) * Mass; + + // If we are very close to our target, turn off the movement motor. + if (_targetMotor.ErrorIsZero()) + { + DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3},moveForce={4}", + LocalID, movePosition, RawPosition, Mass, moveForce); + moveForce = OMV.Vector3.Zero; + ForcePosition = _targetMotor.TargetValue; + _targetMotor.Enabled = false; + } + else + { + AddForce(moveForce, false, true); + } + DetailLog("{0},BSPrim.PIDTarget,move,movePos={1},moveForce={2},mass={3}", LocalID, movePosition, moveForce, Mass); + */ + }); + } + else + { + // Stop any targetting + UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID); + } + } } // Used for llSetHoverHeight and maybe vehicle height // Hover Height will override MoveTo target's Z public override bool PIDHoverActive { - set { _useHoverPID = value; } + set { + if (value) + { + // Turning the target on + _hoverMotor = new BSFMotor("BSPrim.Hover", + _PIDHoverTau, // timeScale + BSMotor.Infinite, // decay time scale + BSMotor.Infinite, // friction timescale + 1f // efficiency + ); + _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight()); + _hoverMotor.SetCurrent(RawPosition.Z); + _hoverMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. + + RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep) + { + // TODO: Decide if the step parameters should be changed depending on the avatar's + // state (flying, colliding, ...). There is code in ODE to do this. + + _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight()); + float targetHeight = _hoverMotor.Step(timeStep); + + // 'targetHeight' is where we'd like the Z of the prim to be at this moment. + // Compute the amount of force to push us there. + float moveForce = (targetHeight - RawPosition.Z) * Mass / PhysicsScene.LastTimeStep; + + AddForce(new OMV.Vector3(0f, 0f, moveForce), false, true); + DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", LocalID, targetHeight, moveForce, Mass); + }); + } + else + { + UnRegisterPreStepAction("BSPrim.Hover", LocalID); + } + } } public override float PIDHoverHeight { set { _PIDHoverHeight = value; } @@ -1019,8 +1129,35 @@ public sealed class BSPrim : BSPhysObject set { _PIDHoverType = value; } } public override float PIDHoverTau { - set { _PIDHoverTao = value; } + set { _PIDHoverTau = value; } } + // Based on current position, determine what we should be hovering at now. + // Must recompute often. What if we walked offa cliff> + private float ComputeCurrentPIDHoverHeight() + { + float ret = _PIDHoverHeight; + float groundHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); + + switch (_PIDHoverType) + { + case PIDHoverType.Ground: + ret = groundHeight + _PIDHoverHeight; + break; + case PIDHoverType.GroundAndWater: + float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition); + if (groundHeight > waterHeight) + { + ret = groundHeight + _PIDHoverHeight; + } + else + { + ret = waterHeight + _PIDHoverHeight; + } + break; + } + return ret; + } + // For RotLookAt public override OMV.Quaternion APIDTarget { set { return; } } @@ -1047,7 +1184,7 @@ public sealed class BSPrim : BSPhysObject } OMV.Vector3 addForce = force; - DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); + // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() { -- cgit v1.1 From 613f516007f8f1c0cd978fec7ec40f579af35d65 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 4 Jan 2013 16:45:34 -0800 Subject: BulletSim: convert avatar movement from a force to an impulse. Shouldn't change functionality but removes an oddity in computing the force. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 103d8fc..c215e3a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -214,7 +214,7 @@ public sealed class BSCharacter : BSPhysObject } // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. - OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass / PhysicsScene.LastTimeStep; + OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass; /* // If moveForce is very small, zero things so we don't keep sending microscopic updates to the user @@ -231,7 +231,7 @@ public sealed class BSCharacter : BSPhysObject } */ // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); - AddForce(moveForce, false, true); + PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce); }); } -- cgit v1.1 From d0c7f7f0502b6a5543bb47f734951405f978747b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 4 Jan 2013 16:46:30 -0800 Subject: BulletSim: add some features to the PID motor to make it more flexible. --- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 27 ++++++++++++++++-------- 1 file changed, 18 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 91255bd..6d0db2e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -388,6 +388,12 @@ public class BSPIDVMotor : BSVMotor public Vector3 integralFactor { get; set; } public Vector3 derivFactor { get; set; } + // The factors are vectors for the three dimensions. This is the proportional of each + // that is applied. This could be multiplied through the actual factors but it + // is sometimes easier to manipulate the factors and their mix separately. + // to + public Vector3 FactorMix; + // Arbritrary factor range. // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct. public float EfficiencyHigh = 0.4f; @@ -402,6 +408,7 @@ public class BSPIDVMotor : BSVMotor proportionFactor = new Vector3(1.00f, 1.00f, 1.00f); integralFactor = new Vector3(1.00f, 1.00f, 1.00f); derivFactor = new Vector3(1.00f, 1.00f, 1.00f); + FactorMix = new Vector3(0.5f, 0.25f, 0.25f); RunningIntegration = Vector3.Zero; LastError = Vector3.Zero; } @@ -417,15 +424,18 @@ public class BSPIDVMotor : BSVMotor set { base.Efficiency = Util.Clamp(value, 0f, 1f); + // Compute factors based on efficiency. // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot. // If efficiency is low (0f), use a factor value that overcorrects. // TODO: might want to vary contribution of different factor depending on efficiency. float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f; // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow; + proportionFactor = new Vector3(factor, factor, factor); integralFactor = new Vector3(factor, factor, factor); derivFactor = new Vector3(factor, factor, factor); + MDetailLog("{0},BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor); } } @@ -439,18 +449,17 @@ public class BSPIDVMotor : BSVMotor RunningIntegration += error * timeStep; // A simple derivitive is the rate of change from the last error. - Vector3 derivFactor = (error - LastError) * timeStep; + Vector3 derivitive = (error - LastError) * timeStep; LastError = error; - // Correction = -(proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError) - Vector3 ret = -( - error * proportionFactor - + RunningIntegration * integralFactor - + derivFactor * derivFactor - ); + // Correction = (proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError) + Vector3 ret = error * timeStep * proportionFactor * FactorMix.X + + RunningIntegration * integralFactor * FactorMix.Y + + derivitive * derivFactor * FactorMix.Z + ; - MDetailLog("{0},BSPIDVMotor.step,ts={1},err={2},runnInt={3},derivFact={4},ret={5}", - BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivFactor, ret); + MDetailLog("{0},BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}", + BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret); return ret; } -- cgit v1.1 From 48cfc6d089ae47795d99bf56382c3d1a867e7d03 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 4 Jan 2013 16:47:04 -0800 Subject: BulletSim: implement llMoveToTarget by adding PIDActive, etc. Implementation of non-vehicle hover but haven't tested it a lot. Update TODO list. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 63 ++++++++-------------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 20 ++++--- 2 files changed, 33 insertions(+), 50 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 1904ddd..94b63e5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1010,69 +1010,48 @@ public sealed class BSPrim : BSPhysObject set { if (value) { - // Turning the target on - /* + // We're taking over after this. + ZeroMotion(true); + _targetMotor = new BSVMotor("BSPrim.PIDTarget", _PIDTau, // timeScale BSMotor.Infinite, // decay time scale BSMotor.InfiniteVector, // friction timescale 1f // efficiency ); + _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. _targetMotor.SetTarget(_PIDTarget); _targetMotor.SetCurrent(RawPosition); - */ + /* _targetMotor = new BSPIDVMotor("BSPrim.PIDTarget"); + _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. + _targetMotor.SetTarget(_PIDTarget); _targetMotor.SetCurrent(RawPosition); + _targetMotor.TimeScale = _PIDTau; _targetMotor.Efficiency = 1f; - - _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. + */ RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep) { - // How far are we away from the target - OMV.Vector3 distance = _PIDTarget - RawPosition; - - // The amount of that distance we should cover per second - OMV.Vector3 movementPerSecond = distance / _PIDTau; - - OMV.Vector3 adjustedVelocity = movementPerSecond - RawVelocity; - - // Apply force to overcome current velocity - AddForce(-RawVelocity * Mass, false, true); - // Get it moving to the point - AddForce(movementPerSecond * Mass, false, true); - - // Apply enough force to get to the speed needed to get to the point - // The physics engine will do only a timestep's worth. - // AddForce(adjustedVelocity * Mass, false, true); - // PhysicsScene.PE.ApplyCentralImpulse(PhysBody, adjustedVelocity); - - DetailLog("{0},BSPrim.PIDTarget,move,tgt={1},pos={2},vel={3},dist={4},tau={5},mvmt={6},newVel={7}", - LocalID, _PIDTarget, RawPosition, RawVelocity, distance, _PIDTau, movementPerSecond, adjustedVelocity); - - /* - OMV.Vector3 movePosition = _targetMotor.Step(timeStep); + OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below) // 'movePosition' is where we'd like the prim to be at this moment. - // Compute the amount of force to push us there. - OMV.Vector3 moveForce = (movePosition - RawPosition) * Mass; + OMV.Vector3 movePosition = _targetMotor.Step(timeStep); // If we are very close to our target, turn off the movement motor. if (_targetMotor.ErrorIsZero()) { - DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3},moveForce={4}", - LocalID, movePosition, RawPosition, Mass, moveForce); - moveForce = OMV.Vector3.Zero; + DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}", + LocalID, movePosition, RawPosition, Mass); ForcePosition = _targetMotor.TargetValue; _targetMotor.Enabled = false; } else { - AddForce(moveForce, false, true); + ForcePosition = movePosition; } - DetailLog("{0},BSPrim.PIDTarget,move,movePos={1},moveForce={2},mass={3}", LocalID, movePosition, moveForce, Mass); - */ + DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition); }); } else @@ -1102,17 +1081,17 @@ public sealed class BSPrim : BSPhysObject RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep) { - // TODO: Decide if the step parameters should be changed depending on the avatar's - // state (flying, colliding, ...). There is code in ODE to do this. - + _hoverMotor.SetCurrent(RawPosition.Z); _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight()); float targetHeight = _hoverMotor.Step(timeStep); // 'targetHeight' is where we'd like the Z of the prim to be at this moment. // Compute the amount of force to push us there. - float moveForce = (targetHeight - RawPosition.Z) * Mass / PhysicsScene.LastTimeStep; + float moveForce = (targetHeight - RawPosition.Z) * Mass; + // Undo anything the object thinks it's doing at the moment + moveForce = -RawVelocity.Z * Mass; - AddForce(new OMV.Vector3(0f, 0f, moveForce), false, true); + PhysicsScene.PE.ApplyCentralImpulse(PhysBody, new OMV.Vector3(0f, 0f, moveForce)); DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", LocalID, targetHeight, moveForce, Mass); }); } @@ -1174,7 +1153,7 @@ public sealed class BSPrim : BSPhysObject // This added force will only last the next simulation tick. public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { // for an object, doesn't matter if force is a pushforce or not - if (force.IsFinite()) + if (!IsStatic && force.IsFinite()) { float magnitude = force.Length(); if (magnitude > BSParam.MaxAddForceMagnitude) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index a8a4ff5..facf720 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,22 +1,26 @@ CURRENT PRIORITIES ================================================= -Redo BulletSimAPI to allow native C# implementation of Bullet option. +Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE) +Meshes rendering as bounding boxes +llMoveToTarget +Vehicle movement on terrain smoothness +limitMotorUp calibration (more down?) +Preferred orientatino angular correction fix +Surfboard go wonky when turning + Angular motor direction is global coordinates rather than local coordinates? +Boats float low in the water Avatar movement - flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle + flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) walking up stairs is not calibrated correctly (stairs out of Kepler cabin) - avatar capsule rotation completed -llMoveToTarget + avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution) Enable vehicle border crossings (at least as poorly as ODE) Terrain skirts Avatar created in previous region and not new region when crossing border Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) -Vehicle movement on terrain smoothness Vehicle script tuning/debugging Avanti speed script Weapon shooter script -limitMotorUp calibration (more down?) -Boats float low in the water -Add material densities to the material types. +Add material densities to the material types CRASHES ================================================= -- cgit v1.1 From 2eba80a8cd254721956bcdc9f7e3b681d415dfed Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 4 Jan 2013 17:05:56 -0800 Subject: BulletSim: fix problem where mesh shapes were physically just their bounding box and not the complete mesh. Fill mesh physical objects are back. --- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 1 + 1 file changed, 1 insertion(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index d361f18..f0c6b99 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -453,6 +453,7 @@ public sealed class BSShapeCollection : IDisposable // If the prim attributes are simple, this could be a simple Bullet native shape if (!haveShape && pbs != null + && !pbs.SculptEntry && nativeShapePossible && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 -- cgit v1.1 From 939340325396c80e8798ec43361ffd983ce325c9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 6 Jan 2013 14:01:15 -0800 Subject: BulletSim: update DLLs and SOs with better debugging output. Add definition of hand crafted avatar mesh. Not used yet. Comments and cleanup. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 145 +++++++++++++++++++-- .../Region/Physics/BulletSPlugin/BulletSimData.cs | 2 + .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 12 +- 4 files changed, 151 insertions(+), 12 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 13c2539..a9fbc8b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -137,6 +137,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; } } + #region Vehicle parameter setting internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); @@ -546,6 +547,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f); m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) } + #endregion // Vehicle parameter setting // Some of the properties of this prim may have changed. // Do any updating needed for a vehicle @@ -925,7 +927,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // TODO: Consider taking the rotated size of the object or possibly casting a ray. if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition)) { - // TODO: correct position by applying force rather than forcing position. + // Force position because applying force won't get the vehicle through the terrain Vector3 newPosition = VehiclePosition; newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f; VehiclePosition = newPosition; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index c75eb9b..cc725e8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -27,24 +27,19 @@ using System; using System.Collections.Generic; -using System.Linq; using System.Text; +using OMV = OpenMetaverse; + namespace OpenSim.Region.Physics.BulletSPlugin { public abstract class BSShape { - public IntPtr ptr { get; set; } - public BSPhysicsShapeType type { get; set; } - public System.UInt64 key { get; set; } public int referenceCount { get; set; } public DateTime lastReferenced { get; set; } public BSShape() { - ptr = IntPtr.Zero; - type = BSPhysicsShapeType.SHAPE_UNKNOWN; - key = 0; referenceCount = 0; lastReferenced = DateTime.Now; } @@ -63,7 +58,7 @@ public abstract class BSShape } // 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 already been created. + // 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 @@ -71,6 +66,14 @@ public abstract class BSShape 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); @@ -228,5 +231,131 @@ public class BSShapeAvatar : BSShape return new BSShapeNull(); } public override void Dereference(BSScene physicsScene) { } + + // From the front: + // A---A + // / \ + // B-------B + // / \ +Z + // C-----------C | + // \ / -Y --+-- +Y + // \ / | + // \ / -Z + // D-----D + // \ / + // E-E + + // From the top A and E are just lines. + // B, C and D are hexagons: + // + // C1--C2 +X + // / \ | + // C0 C3 -Y --+-- +Y + // \ / | + // C5--C4 -X + + // Zero goes directly through the middle so the offsets are from that middle axis + // and up and down from a middle horizon (A and E are the same distance from the zero). + // The height, width and depth is one. All scaling is done by the simulator. + + // Z component -- how far the level is from the middle zero + private const float Aup = 0.5f; + private const float Bup = 0.4f; + private const float Cup = 0.3f; + private const float Dup = -0.4f; + private const float Eup = -0.5f; + + // Y component -- distance from center to x0 and x3 + private const float Awid = 0.25f; + private const float Bwid = 0.3f; + private const float Cwid = 0.5f; + private const float Dwid = 0.3f; + private const float Ewid = 0.2f; + + // Y component -- distance from center to x1, x2, x4 and x5 + private const float Afwid = 0.0f; + private const float Bfwid = 0.2f; + private const float Cfwid = 0.4f; + private const float Dfwid = 0.2f; + private const float Efwid = 0.0f; + + // X component -- distance from zero to the front or back of a level + private const float Adep = 0f; + private const float Bdep = 0.3f; + private const float Cdep = 0.5f; + private const float Ddep = 0.2f; + private const float Edep = 0f; + + private OMV.Vector3[] avatarVertices = { + new OMV.Vector3( 0.0f, -Awid, Aup), // A0 + new OMV.Vector3( 0.0f, +Awid, Aup), // A3 + + new OMV.Vector3( 0.0f, -Bwid, Bup), // B0 + new OMV.Vector3(+Bdep, -Bfwid, Bup), // B1 + new OMV.Vector3(+Bdep, +Bfwid, Bup), // B2 + new OMV.Vector3( 0.0f, +Bwid, Bup), // B3 + new OMV.Vector3(-Bdep, +Bfwid, Bup), // B4 + new OMV.Vector3(-Bdep, -Bfwid, Bup), // B5 + + new OMV.Vector3( 0.0f, -Cwid, Cup), // C0 + new OMV.Vector3(+Cdep, -Cfwid, Cup), // C1 + new OMV.Vector3(+Cdep, +Cfwid, Cup), // C2 + new OMV.Vector3( 0.0f, +Cwid, Cup), // C3 + new OMV.Vector3(-Cdep, +Cfwid, Cup), // C4 + new OMV.Vector3(-Cdep, -Cfwid, Cup), // C5 + + new OMV.Vector3( 0.0f, -Dwid, Dup), // D0 + new OMV.Vector3(+Ddep, -Dfwid, Dup), // D1 + new OMV.Vector3(+Ddep, +Dfwid, Dup), // D2 + new OMV.Vector3( 0.0f, +Dwid, Dup), // D3 + new OMV.Vector3(-Ddep, +Dfwid, Dup), // D4 + new OMV.Vector3(-Ddep, -Dfwid, Dup), // D5 + + new OMV.Vector3( 0.0f, -Ewid, Eup), // E0 + new OMV.Vector3( 0.0f, +Ewid, Eup), // E3 + }; + + // Offsets of the vertices in the vertices array + private enum Ind : int + { + A0, A3, + B0, B1, B2, B3, B4, B5, + C0, C1, C2, C3, C4, C5, + D0, D1, D2, D3, D4, D5, + E0, E3 + } + + // Comments specify trianges and quads in clockwise direction + private Ind[] avatarIndices = { + Ind.A0, Ind.B0, Ind.B1, // A0,B0,B1 + Ind.A0, Ind.B1, Ind.B2, Ind.B2, Ind.A3, Ind.A0, // A0,B1,B2,A3 + Ind.A3, Ind.B2, Ind.B3, // A3,B2,B3 + Ind.A3, Ind.B3, Ind.B4, // A3,B3,B4 + Ind.A3, Ind.B4, Ind.B5, Ind.B5, Ind.A0, Ind.A3, // A3,B4,B5,A0 + Ind.A0, Ind.B5, Ind.B0, // A0,B5,B0 + + Ind.B0, Ind.C0, Ind.C1, Ind.C1, Ind.B1, Ind.B0, // B0,C0,C1,B1 + Ind.B1, Ind.C1, Ind.C2, Ind.C2, Ind.B2, Ind.B1, // B1,C1,C2,B2 + Ind.B2, Ind.C2, Ind.C3, Ind.C3, Ind.B3, Ind.B2, // B2,C2,C3,B3 + Ind.B3, Ind.C3, Ind.C4, Ind.C4, Ind.B4, Ind.B3, // B3,C3,C4,B4 + Ind.B4, Ind.C4, Ind.C5, Ind.C5, Ind.B5, Ind.B4, // B4,C4,C5,B5 + Ind.B5, Ind.C5, Ind.C0, Ind.C0, Ind.B0, Ind.B5, // B5,C5,C0,B0 + + Ind.C0, Ind.D0, Ind.D1, Ind.D1, Ind.C1, Ind.C0, // C0,D0,D1,C1 + Ind.C1, Ind.D1, Ind.D2, Ind.D2, Ind.C2, Ind.C1, // C1,D1,D2,C2 + Ind.C2, Ind.D2, Ind.D3, Ind.D3, Ind.C3, Ind.C2, // C2,D2,D3,C3 + Ind.C3, Ind.D3, Ind.D4, Ind.D4, Ind.C4, Ind.C3, // C3,D3,D4,C4 + Ind.C4, Ind.D4, Ind.D5, Ind.D5, Ind.C5, Ind.C4, // C4,D4,D5,C5 + Ind.C5, Ind.D5, Ind.D0, Ind.D0, Ind.C0, Ind.C5, // C5,D5,D0,C0 + + Ind.E0, Ind.D0, Ind.D1, // E0,D0,D1 + Ind.E0, Ind.D1, Ind.D2, Ind.D2, Ind.E3, Ind.E0, // E0,D1,D2,E3 + Ind.E3, Ind.D2, Ind.D3, // E3,D2,D3 + Ind.E3, Ind.D3, Ind.D4, // E3,D3,D4 + Ind.E3, Ind.D4, Ind.D5, Ind.D5, Ind.E0, Ind.E3, // E3,D4,D5,E0 + Ind.E0, Ind.D5, Ind.D0, // E0,D5,D0 + + }; + } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 662dd68..c7a2f7e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -114,8 +114,10 @@ public class BulletShape public virtual void Clear() { } public virtual bool HasPhysicalShape { get { return false; } } + // Make another reference to this physical object. public virtual BulletShape Clone() { return new BulletShape(); } + // Return 'true' if this and other refer to the same physical object public virtual bool ReferenceSame(BulletShape xx) { return false; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index facf720..7b59e60 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,8 +1,6 @@ CURRENT PRIORITIES ================================================= -Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE) -Meshes rendering as bounding boxes -llMoveToTarget +Avatars walking up stairs Vehicle movement on terrain smoothness limitMotorUp calibration (more down?) Preferred orientatino angular correction fix @@ -135,6 +133,9 @@ Eliminate collisions between objects in a linkset. (LinksetConstraint) MORE ====================================================== +Use the HACD convex hull routine in Bullet rather than the C# version. +Do we need to do convex hulls all the time? Can complex meshes be left meshes? + There is some problem with meshes and collisions Test avatar walking up stairs. How does compare with SL. Radius of the capsule affects ability to climb edges. Debounce avatar contact so legs don't keep folding up when standing. @@ -274,3 +275,8 @@ llSetBuoyancy() (DONE) (Resolution: Bullet resets object gravity when added to world. Moved set gravity) Avatar density is WAY off. Compare and calibrate with what's in SL. (DONE) (Resolution: set default density to 3.5 (from 60) which is closer to SL) +Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE) + (Resolution: added BSAPITemplate and then interfaces for C++ Bullet and C# BulletXNA +Meshes rendering as bounding boxes (DONE) + (Resolution: Added test for mesh/sculpties in native shapes so it didn't think it was a box) +llMoveToTarget (Resolution: added simple motor to update the position.) -- cgit v1.1 From 2e5222055ffa1e721221753c26faba342b920712 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 6 Jan 2013 22:56:16 -0800 Subject: BulletSim: comments and removing small compile errors introduced in last commit. --- OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 2 -- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 8 ++------ 3 files changed, 3 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index befb076..794ee17 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -6,7 +6,7 @@ * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD + * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the name of the OpenSimulator Project nor the diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index c215e3a..fe48166 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -58,8 +58,6 @@ public sealed class BSCharacter : BSPhysObject private bool _flying; private bool _setAlwaysRun; private bool _throttleUpdates; - private bool _isColliding; - private bool _collidingObj; private bool _floatOnWater; private OMV.Vector3 _rotationalVelocity; private bool _kinematic; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index cc725e8..ee18379 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -95,9 +95,9 @@ public abstract class BSShape // protected abstract static BSShape GetReference(); // Returns a string for debugging that uniquily identifies the memory used by this instance - public string AddrString + public virtual string AddrString { - get { return ptr.ToString("X"); } + get { return "unknown"; } } public override string ToString() @@ -105,10 +105,6 @@ public abstract class BSShape StringBuilder buff = new StringBuilder(); buff.Append(""); -- cgit v1.1 From 599dbc3d9556b7e2693ba61d7e234ef943ebad6d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 7 Jan 2013 16:04:21 -0800 Subject: BulletSim: fix exception when re-creating the terrain when loading an OAR file --- OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 2 ++ 1 file changed, 2 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 1d55ce3..8244f02 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -142,6 +142,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_terrainBody); // Frees both the body and the shape. PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody); + m_terrainBody.Clear(); + m_terrainShape.Clear(); } } -- cgit v1.1 From 8452c0a8702ccf7ea045740dd829c69a6f509845 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 7 Jan 2013 16:05:02 -0800 Subject: BulletSim: add function to push avatar up when hitting stairs. It looks like BulletSim and ODE rely on penetration correction to cause the avatar to move up and thus allowing walking up stairs. Object penetration was minimized for walking and flying (so one doesn't go through walls) and this stopped stairs from working. This commit introduces avatar movement code to check for collisions at the feet while walking and attempts to raise the avatar for the steps. Not yet perfect but movement is better. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 97 ++++++++++++++++------ OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 18 ++++ .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 27 ++++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 2 + 5 files changed, 119 insertions(+), 27 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index fe48166..939d38a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -184,10 +184,6 @@ public sealed class BSCharacter : BSPhysObject // standing as well as moving. Destruction of the avatar will destroy the pre-step action. private void SetupMovementMotor() { - - // Someday, use a PID motor for asymmetric speed up and slow down - // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f); - // Infinite decay and timescale values so motor only changes current to target values. _velocityMotor = new BSVMotor("BSCharacter.Velocity", 0.2f, // time scale @@ -214,25 +210,68 @@ public sealed class BSCharacter : BSPhysObject // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass; - /* - // If moveForce is very small, zero things so we don't keep sending microscopic updates to the user - float moveForceMagnitudeSquared = moveForce.LengthSquared(); - if (moveForceMagnitudeSquared < 0.0001) - { - DetailLog("{0},BSCharacter.MoveMotor,zeroMovement,stepVel={1},vel={2},mass={3},magSq={4},moveForce={5}", - LocalID, stepVelocity, _velocity, Mass, moveForceMagnitudeSquared, moveForce); - ForceVelocity = OMV.Vector3.Zero; - } - else - { - AddForce(moveForce, false, true); - } - */ - // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); + // Should we check for move force being small and forcing velocity to zero? + + // Add special movement force to allow avatars to walk up stepped surfaces. + moveForce += WalkUpStairs(); + + DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce); }); } + // Decide of the character is colliding with a low object and compute a force to pop the + // avatar up so it has a chance of walking up and over the low object. + private OMV.Vector3 WalkUpStairs() + { + OMV.Vector3 ret = OMV.Vector3.Zero; + + // This test is done if moving forward, not flying and is colliding with something. + // DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}", + // LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count); + if (IsColliding && !Flying && TargetSpeed > 0.1f /* && ForwardSpeed < 0.1f */) + { + // The range near the character's feet where we will consider stairs + float nearFeetHeightMin = RawPosition.Z - (Size.Z / 2f) + 0.05f; + float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight; + + // Look for a collision point that is near the character's feet and is oriented the same as the charactor is + foreach (KeyValuePair kvp in CollisionsLastTick.m_objCollisionList) + { + // Don't care about collisions with the terrain + if (kvp.Key > PhysicsScene.TerrainManager.HighestTerrainID) + { + OMV.Vector3 touchPosition = kvp.Value.Position; + // DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}", + // LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition); + if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax) + { + // This contact is within the 'near the feet' range. + // The normal should be our contact point to the object so it is pointing away + // thus the difference between our facing orientation and the normal should be small. + OMV.Vector3 directionFacing = OMV.Vector3.UnitX * RawOrientation; + OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal); + float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)); + if (diff < BSParam.AvatarStepApproachFactor) + { + // Found the stairs contact point. Push up a little to raise the character. + float upForce = (touchPosition.Z - nearFeetHeightMin) * Mass * BSParam.AvatarStepForceFactor; + ret = new OMV.Vector3(0f, 0f, upForce); + + // Also move the avatar up for the new height + OMV.Vector3 displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight / 2f); + ForcePosition = RawPosition + displacement; + } + DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},faceDir={3},norm={4},diff={5},ret={6}", + LocalID, touchPosition, nearFeetHeightMin, directionFacing, touchNormal, diff, ret); + } + } + } + } + + return ret; + } + public override void RequestPhysicsterseUpdate() { base.RequestPhysicsterseUpdate(); @@ -342,13 +381,11 @@ public sealed class BSCharacter : BSPhysObject } set { _position = value; - PositionSanityCheck(); PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + ForcePosition = _position; }); } } @@ -359,8 +396,11 @@ public sealed class BSCharacter : BSPhysObject } set { _position = value; - PositionSanityCheck(); - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + if (PhysBody.HasPhysicalBody) + { + PositionSanityCheck(); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + } } } @@ -373,7 +413,7 @@ public sealed class BSCharacter : BSPhysObject bool ret = false; // TODO: check for out of bounds - if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position)) + if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) { // The character is out of the known/simulated area. // Upper levels of code will handle the transition to other areas so, for @@ -382,7 +422,7 @@ public sealed class BSCharacter : BSPhysObject } // If below the ground, move the avatar up - float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); + float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); if (Position.Z < terrainHeight) { DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); @@ -485,6 +525,11 @@ public sealed class BSCharacter : BSPhysObject }); } } + public override OMV.Vector3 RawVelocity + { + get { return _velocity; } + set { _velocity = value; } + } // Directly setting velocity means this is what the user really wants now. public override OMV.Vector3 Velocity { get { return _velocity; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index b9bd0bf..23d573f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -75,6 +75,9 @@ public static class BSParam public static float AvatarCapsuleDepth { get; private set; } public static float AvatarCapsuleHeight { get; private set; } public static float AvatarContactProcessingThreshold { get; private set; } + public static float AvatarStepHeight { get; private set; } + public static float AvatarStepApproachFactor { get; private set; } + public static float AvatarStepForceFactor { get; private set; } public static float VehicleAngularDamping { get; private set; } @@ -403,6 +406,21 @@ public static class BSParam (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return AvatarContactProcessingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ), + new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction", + 0.3f, + (s,cf,p,v) => { AvatarStepHeight = cf.GetFloat(p, v); }, + (s) => { return AvatarStepHeight; }, + (s,p,l,v) => { AvatarStepHeight = v; } ), + new ParameterDefn("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)", + 0.6f, + (s,cf,p,v) => { AvatarStepApproachFactor = cf.GetFloat(p, v); }, + (s) => { return AvatarStepApproachFactor; }, + (s,p,l,v) => { AvatarStepApproachFactor = v; } ), + new ParameterDefn("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step", + 2.0f, + (s,cf,p,v) => { AvatarStepForceFactor = cf.GetFloat(p, v); }, + (s) => { return AvatarStepForceFactor; }, + (s,p,l,v) => { AvatarStepForceFactor = v; } ), new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", 0.95f, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 534f929..e8575f6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -79,6 +79,7 @@ public abstract class BSPhysObject : PhysicsActor Material = MaterialAttributes.Material.Wood; CollisionCollection = new CollisionEventUpdate(); + CollisionsLastTick = CollisionCollection; SubscribedEventsMs = 0; CollidingStep = 0; CollidingGroundStep = 0; @@ -159,6 +160,7 @@ public abstract class BSPhysObject : PhysicsActor public abstract OMV.Quaternion ForceOrientation { get; set; } // The system is telling us the velocity it wants to move at. + // Velocity in world coordinates. // protected OMV.Vector3 m_targetVelocity; // use the definition in PhysicsActor public override OMV.Vector3 TargetVelocity { @@ -169,6 +171,15 @@ public abstract class BSPhysObject : PhysicsActor Velocity = value; } } + public virtual float TargetSpeed + { + get + { + OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation)); + return characterOrientedVelocity.X; + } + } + public abstract OMV.Vector3 RawVelocity { get; set; } public abstract OMV.Vector3 ForceVelocity { get; set; } public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } @@ -177,6 +188,15 @@ public abstract class BSPhysObject : PhysicsActor public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } + public virtual float ForwardSpeed + { + get + { + OMV.Vector3 characterOrientedVelocity = RawVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation)); + return characterOrientedVelocity.X; + } + } + #region Collisions // Requested number of milliseconds between collision events. Zero means disabled. @@ -223,9 +243,13 @@ public abstract class BSPhysObject : PhysicsActor // The collisions that have been collected this tick protected CollisionEventUpdate CollisionCollection; + // Remember collisions from last tick for fancy collision based actions + // (like a BSCharacter walking up stairs). + protected CollisionEventUpdate CollisionsLastTick; // The simulation step is telling this object about a collision. // Return 'true' if a collision was processed and should be sent up. + // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision. // Called at taint time from within the Step() function public virtual bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) @@ -286,6 +310,9 @@ public abstract class BSPhysObject : PhysicsActor // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); base.SendCollisionUpdate(CollisionCollection); + // Remember the collisions from this tick for some collision specific processing. + CollisionsLastTick = CollisionCollection; + // The CollisionCollection instance is passed around in the simulator. // Make sure we don't have a handle to that one and that a new one is used for next time. // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 94b63e5..400d5d6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -562,7 +562,7 @@ public sealed class BSPrim : BSPhysObject } return; } - public OMV.Vector3 RawVelocity + public override OMV.Vector3 RawVelocity { get { return _velocity; } set { _velocity = value; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 7b59e60..794a6af 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -88,6 +88,8 @@ setForce should set a constant force. Different than AddImpulse. Implement raycast. Implement ShapeCollection.Dispose() Implement water as a plain so raycasting and collisions can happen with same. +Add collision penetration return + Add field passed back by BulletSim.dll and fill with info in ManifoldConstact.GetDistance() Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE Also osGetPhysicsEngineVerion() maybe. Linkset.Position and Linkset.Orientation requre rewrite to properly return -- cgit v1.1 From 1603606f1d8bd62574cf98e051877d836cbeb012 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 7 Jan 2013 22:00:50 -0800 Subject: BulletSim: improve vehicle angular banking and deflection computation. Rotate angular correction forces to be world relative rather than vehicle relative. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 37 +++++++++++----------- 1 file changed, 18 insertions(+), 19 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index a9fbc8b..eb695d9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1111,6 +1111,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin + deflectionContribution + bankingContribution; + // Add of the above computation are made relative to vehicle coordinates. + // Convert to world coordinates. + m_lastAngularVelocity *= VehicleOrientation; + // ================================================================== // Apply the correction velocity. // TODO: Should this be applied as an angular force (torque)? @@ -1222,14 +1226,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin public Vector3 ComputeAngularDeflection() { Vector3 ret = Vector3.Zero; - return ret; // DEBUG DEBUG DEBUG - // Disable angular deflection for the moment. + // Since angularMotorUp and angularDeflection are computed independently, they will calculate // approximately the same X or Y correction. When added together (when contributions are combined) // this creates an over-correction and then wabbling as the target is overshot. // TODO: rethink how the different correction computations inter-relate. - if (m_angularDeflectionEfficiency != 0) + if (m_angularDeflectionEfficiency != 0 && VehicleVelocity != Vector3.Zero) { // The direction the vehicle is moving Vector3 movingDirection = VehicleVelocity; @@ -1298,33 +1301,29 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { - // This works by rotating a unit vector to the orientation of the vehicle. The - // roll (tilt) will be Y component of a tilting Z vector (zero for no tilt - // up to one for full over). + // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented. + // As the vehicle rolls to the right or left, the Y value will increase from + // zero (straight up) to 1 or -1 (full tilt right or left) Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; - + // Figure out the yaw value for this much roll. - float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency; - // Keep the sign - if (rollComponents.Y < 0f) - turnComponent = -turnComponent; - - // TODO: there must be a better computation of the banking force. - float bankingTurnForce = turnComponent; + // Squared because that seems to give a good value + float yawAngle = (float)Math.Asin(rollComponents.Y * rollComponents.Y) * m_bankingEfficiency; // actual error = static turn error + dynamic turn error - float mixedBankingError = bankingTurnForce * (1f - m_bankingMix) + bankingTurnForce * m_bankingMix * VehicleForwardSpeed; + float mixedYawAngle = yawAngle * (1f - m_bankingMix) + yawAngle * m_bankingMix * VehicleForwardSpeed; + // TODO: the banking effect should not go to infinity but what to limit it to? - mixedBankingError = ClampInRange(-20f, mixedBankingError, 20f); + mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f); // Build the force vector to change rotation from what it is to what it should be - ret.Z = -mixedBankingError; + ret.Z = -mixedYawAngle; // Don't do it all at once. ret /= m_bankingTimescale; - VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},turnComp={3},bankErr={4},mixedBankErr={5},ret={6}", - Prim.LocalID, rollComponents, VehicleForwardSpeed, turnComponent, bankingTurnForce, mixedBankingError, ret); + VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", + Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, ret); } return ret; } -- cgit v1.1 From df1d7414adbf329e139201cdb7578c7b64bb50c8 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 8 Jan 2013 16:09:15 -0800 Subject: BulletSim: Fix hover height (boats float at the correct level). Fix problem of vehicles going crazy when backing up. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 16 ++++++++++------ OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 4 ++-- 2 files changed, 12 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index eb695d9..c34c05a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -856,6 +856,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // The movement computed in the linear motor is relative to the vehicle // coordinates. Rotate the movement to world coordinates. linearMotorContribution *= VehicleOrientation; + // All the contributions after this are world relative (mostly Z modifications) // ================================================================== // Buoyancy: force to overcome gravity. @@ -982,14 +983,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; // TODO: implement m_VhoverEfficiency correctly - if (Math.Abs(verticalError) > m_VhoverEfficiency) - { - ret = new Vector3(0f, 0f, verticalCorrectionVelocity); - } + ret = new Vector3(0f, 0f, verticalCorrectionVelocity); } - VDetailLog("{0}, MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}", - Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight); + VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},ret={6}", + Prim.LocalID, VehiclePosition, m_VhoverEfficiency, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight, ret); } return ret; @@ -1238,6 +1236,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 movingDirection = VehicleVelocity; movingDirection.Normalize(); + // If the vehicle is going backward, it is still pointing forward + movingDirection *= Math.Sign(VehicleForwardSpeed); + // The direction the vehicle is pointing Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; pointingDirection.Normalize(); @@ -1246,6 +1247,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 deflectionError = movingDirection - pointingDirection; // Don't try to correct very large errors (not our job) + // if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X); + // if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = PIOverTwo * Math.Sign(deflectionError.Y); + // if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = PIOverTwo * Math.Sign(deflectionError.Z); if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f; if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f; if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 794a6af..29bd4e4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,9 +1,9 @@ CURRENT PRIORITIES ================================================= -Avatars walking up stairs +Avatars walking up stairs (HALF DONE) Vehicle movement on terrain smoothness limitMotorUp calibration (more down?) -Preferred orientatino angular correction fix +Preferred orientation angular correction fix Surfboard go wonky when turning Angular motor direction is global coordinates rather than local coordinates? Boats float low in the water -- cgit v1.1 From b592ec265b6f5928804baff868165f10eee6f5ed Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 11 Jan 2013 16:44:34 -0800 Subject: BulletSim: fix the 'No recognised physics mesh found ...' error spew by remembering that the last asset fetch failed until the simulator resets the shape parameters. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 400d5d6..8fd054f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -169,6 +169,7 @@ public sealed class BSPrim : BSPhysObject public override PrimitiveBaseShape Shape { set { BaseShape = value; + LastAssetBuildFailed = false; ForceBodyShapeRebuild(false); } } @@ -178,7 +179,6 @@ public sealed class BSPrim : BSPhysObject public override bool ForceBodyShapeRebuild(bool inTaintTime) { - LastAssetBuildFailed = false; PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() { _mass = CalculateMass(); // changing the shape changes the mass -- cgit v1.1 From 98168edc29c7c761121e453d82bf1fab52814b58 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 9 Jan 2013 11:06:49 -0800 Subject: BulletSim: remove double application of buoyancy. Centralize computation of buoyancy. Add motor angular debugging controls. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 42 +++++++++------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 23 ++------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 + .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 58 ++++++++++++---------- 4 files changed, 59 insertions(+), 65 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index c34c05a..47f2759 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -124,6 +124,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin static readonly float PIOverFour = ((float)Math.PI) / 4f; static readonly float PIOverTwo = ((float)Math.PI) / 2f; + // For debugging, flags to turn on and off individual corrections. + private bool enableAngularVerticalAttraction = true; + private bool enableAngularDeflection = true; + private bool enableAngularBanking = true; + public BSDynamics(BSScene myScene, BSPrim myPrim) { PhysicsScene = myScene; @@ -575,11 +580,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, localInertia); PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody); - Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy); + // Set the gravity for the vehicle depending on the buoyancy + // TODO: what should be done if prim and vehicle buoyancy differ? + Vector3 grav = Prim.ComputeGravity(m_VehicleBuoyancy); PhysicsScene.PE.SetGravity(Prim.PhysBody, grav); - VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", - Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); + VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}", + Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping, grav); } else { @@ -858,12 +865,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin linearMotorContribution *= VehicleOrientation; // All the contributions after this are world relative (mostly Z modifications) - // ================================================================== - // Buoyancy: force to overcome gravity. - // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - // So, if zero, don't change anything (let gravity happen). If one, negate the effect of gravity. - Vector3 buoyancyContribution = Prim.PhysicsScene.DefaultGravity * m_VehicleBuoyancy; - Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep); Vector3 hoverContribution = ComputeLinearHover(pTimestep); @@ -873,12 +874,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep); // ================================================================== + // Select between velocities and forces. Forces will happen over time and + // will take into account inertia, collisions, etc. Velocities are + // raw updates to the velocity of the vehicle. Vector3 newVelocity = linearMotorContribution + terrainHeightContribution + hoverContribution + limitMotorUpContribution; - Vector3 newForce = buoyancyContribution; + Vector3 newForce = Vector3.Zero; // If not changing some axis, reduce out velocity if ((m_flags & (VehicleFlag.NO_X)) != 0) @@ -902,6 +906,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== // Stuff new linear velocity into the vehicle. // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us. + // Also not scaled by mass since this is a super-physical setting of velocity. VehicleVelocity = newVelocity; // Other linear forces are applied as forces. @@ -911,13 +916,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleAddForce(totalDownForce); } - VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},IsColliding={3}", - Prim.LocalID, newVelocity, totalDownForce, Prim.IsColliding); - VDetailLog("{0}, MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},buoyContrib={5}", + VDetailLog("{0}, MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},totDown={5},isColl={6},newVel={7}", Prim.LocalID, - linearMotorContribution, terrainHeightContribution, hoverContribution, - limitMotorUpContribution, buoyancyContribution - ); + linearMotorContribution, terrainHeightContribution, hoverContribution, limitMotorUpContribution, + totalDownForce, Prim.IsColliding, newVelocity ); } // end MoveLinear() @@ -1088,6 +1090,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // for preventing ground vehicles with large linear deflection, like bumper cars, // from climbing their linear deflection into the sky. // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement + // TODO: This is here because this is where ODE put it but documentation says it + // is a linear effect. Where should this check go? if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) { angularMotorContribution.X = 0f; @@ -1179,7 +1183,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 ret = Vector3.Zero; // If vertical attaction timescale is reasonable - if (m_verticalAttractionTimescale < m_verticalAttractionCutoff) + if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { // Take a vector pointing up and convert it from world to vehicle relative coords. Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; @@ -1230,7 +1234,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // this creates an over-correction and then wabbling as the target is overshot. // TODO: rethink how the different correction computations inter-relate. - if (m_angularDeflectionEfficiency != 0 && VehicleVelocity != Vector3.Zero) + if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleVelocity != Vector3.Zero) { // The direction the vehicle is moving Vector3 movingDirection = VehicleVelocity; @@ -1303,7 +1307,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { Vector3 ret = Vector3.Zero; - if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) + if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented. // As the vehicle rolls to the right or left, the Y value will increase from diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 8fd054f..50ba343 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -410,7 +410,7 @@ public sealed class BSPrim : BSPhysObject } else { - OMV.Vector3 grav = ComputeGravity(); + OMV.Vector3 grav = ComputeGravity(Buoyancy); if (inWorld) { @@ -445,12 +445,12 @@ public sealed class BSPrim : BSPhysObject } // Return what gravity should be set to this very moment - private OMV.Vector3 ComputeGravity() + public OMV.Vector3 ComputeGravity(float buoyancy) { OMV.Vector3 ret = PhysicsScene.DefaultGravity; if (!IsStatic) - ret *= (1f - Buoyancy); + ret *= (1f - buoyancy); return ret; } @@ -1561,21 +1561,6 @@ public sealed class BSPrim : BSPhysObject // The physics engine says that properties have updated. Update same and inform // the world that things have changed. - // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate() - enum UpdatedProperties { - Position = 1 << 0, - Rotation = 1 << 1, - Velocity = 1 << 2, - Acceleration = 1 << 3, - RotationalVel = 1 << 4 - } - - const float ROTATION_TOLERANCE = 0.01f; - const float VELOCITY_TOLERANCE = 0.001f; - const float POSITION_TOLERANCE = 0.05f; - const float ACCELERATION_TOLERANCE = 0.01f; - const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; - public override void UpdateProperties(EntityProperties entprop) { // Updates only for individual prims and for the root object of a linkset. @@ -1588,7 +1573,7 @@ public sealed class BSPrim : BSPhysObject entprop.RotationalVelocity = OMV.Vector3.Zero; } - // Assign directly to the local variables so the normal set action does not happen + // Assign directly to the local variables so the normal set actions do not happen _position = entprop.Position; _orientation = entprop.Rotation; _velocity = entprop.Velocity; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7017194..4a6cebd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -486,6 +486,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters ProcessTaints(); // Some of the physical objects requre individual, pre-step calls + // (vehicles and avatar movement, in particular) TriggerPreStepEvent(timeStep); // the prestep actions might have added taints diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 29bd4e4..1540dbb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,12 +1,17 @@ CURRENT PRIORITIES ================================================= +Nebadon vehicles turning funny in arena +limitMotorUp calibration (more down?) +Vehicle angular vertical attraction +Vehicle angular deflection + Preferred orientation angular correction fix +vehicle angular banking Avatars walking up stairs (HALF DONE) + Radius of the capsule affects ability to climb edges. Vehicle movement on terrain smoothness -limitMotorUp calibration (more down?) -Preferred orientation angular correction fix Surfboard go wonky when turning Angular motor direction is global coordinates rather than local coordinates? -Boats float low in the water +Boats float low in the water (DONE) Avatar movement flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) walking up stairs is not calibrated correctly (stairs out of Kepler cabin) @@ -33,19 +38,15 @@ CRASHES VEHICLES TODO LIST: ================================================= -Angular motor direction is global coordinates rather than local coordinates Border crossing with linked vehicle causes crash Vehicles (Move smoothly) -Add vehicle collisions so IsColliding is properly reported. - Needed for banking, limitMotorUp, movementLimiting, ... -VehicleAddForce is not scaled by the simulation step but it is only - applied for one step. Should it be scaled? Some vehicles should not be able to turn if no speed or off ground. Cannot edit/move a vehicle being ridden: it jumps back to the origional position. Neb car jiggling left and right Happens on terrain and any other mesh object. Flat cubes are much smoother. This has been reduced but not eliminated. Implement referenceFrame for all the motion routines. +For limitMotorUp, use raycast down to find if vehicle is in the air. Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. Verify that angular motion specified around Z moves in the vehicle coordinates. Verify llGetVel() is returning a smooth and good value for vehicle movement. @@ -54,14 +55,13 @@ Implement function efficiency for lineaar and angular motion. After getting off a vehicle, the root prim is phantom (can be walked through) Need to force a position update for the root prim after compound shape destruction Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint) -For limitMotorUp, use raycast down to find if vehicle is in the air. Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties(). A kludge that isn't fixing the real problem of Bullet adding extra motion. Incorporate inter-relationship of angular corrections. For instance, angularDeflection and angularMotorUp will compute same X or Y correction. When added together creates over-correction and over-shoot and wabbling. -BULLETSIM TODO LIST: +GENERAL TODO LIST: ================================================= Implement an avatar mesh shape. The Bullet capsule is way too limited. Consider just hand creating a vertex/index array in a new BSShapeAvatar. @@ -121,11 +121,9 @@ LinksetCompound: when one of the children changes orientation (like tires Verify/think through scripts in children of linksets. What do they reference and return when getting position, velocity, ... Confirm constraint linksets still work after making all the changes for compound linksets. +Use PostTaint callback to do rebuilds for constraint linksets to reduce rebuilding Add 'changed' flag or similar to reduce the number of times a linkset is rebuilt. For compound linksets, add ability to remove or reposition individual child shapes. -Disable activity of passive linkset children. - Since the linkset is a compound object, the old prims are left lying - around and need to be phantomized so they don't collide, ... Speed up creation of large physical linksets For instance, sitting in Neb's car (130 prims) takes several seconds to become physical. REALLY bad for very large physical linksets (freezes the sim for many seconds). @@ -138,25 +136,21 @@ MORE Use the HACD convex hull routine in Bullet rather than the C# version. Do we need to do convex hulls all the time? Can complex meshes be left meshes? There is some problem with meshes and collisions -Test avatar walking up stairs. How does compare with SL. - Radius of the capsule affects ability to climb edges. + Hulls are not as detailed as meshes. Hulled vehicles insides are different shape. Debounce avatar contact so legs don't keep folding up when standing. Implement LSL physics controls. Like STATUS_ROTATE_X. Add border extensions to terrain to help region crossings and objects leaving region. Use a different capsule shape for avatar when sitting LL uses a pyrimidal shape scaled by the avatar's bounding box http://wiki.secondlife.com/wiki/File:Avmeshforms.png - Performance test with lots of avatars. Can BulletSim support a thousand? Optimize collisions in C++: only send up to the object subscribed to collisions. Use collision subscription and remove the collsion(A,B) and collision(B,A) Check whether SimMotionState needs large if statement (see TODO). - Implement 'top colliders' info. Avatar jump Performance measurement and changes to make quicker. Implement detailed physics stats (GetStats()). - Measure performance improvement from hulls Test not using ghost objects for volume detect implementation. Performance of closures and delegates for taint processing @@ -164,9 +158,7 @@ Performance of closures and delegates for taint processing Is any slowdown introduced by the existing implementation significant? Is there are more efficient method of implementing pre and post step actions? See http://www.codeproject.com/Articles/29922/Weak-Events-in-C - Physics Arena central pyramid: why is one side permiable? - In SL, perfect spheres don't seem to have rolling friction. Add special case. Enforce physical parameter min/max: Gravity: [-1, 28] @@ -197,22 +189,19 @@ Generalize Dynamics and PID with standardized motors. Generalize Linkset and vehicles into PropertyManagers Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies Potentially add events for shape destruction, etc. -Complete implemention of preStepActions - Replace vehicle step call with prestep event. - Is there a need for postStepActions? postStepTaints? +Better mechanism for resetting linkset set and vehicle parameters when body rebuilt. + BSPrim.CreateGeomAndObject is kludgy with the callbacks, etc. Implement linkset by setting position of children when root updated. (LinksetManual) Linkset implementation using manual prim movement. LinkablePrim class? Would that simplify/centralize the linkset logic? BSScene.UpdateParameterSet() is broken. How to set params on objects? -Remove HeightmapInfo from terrain specification - Since C++ code does not need terrain height, this structure et al are not needed. Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will - bob at the water level. BSPrim.PositionSanityCheck(). + bob at the water level. BSPrim.PositionSanityCheck() Should taints check for existance or activeness of target? When destroying linksets/etc, taints can be generated for objects that are actually gone when the taint happens. Crashes don't happen because the taint closure keeps the object from being freed, but that is just an accident. - Possibly have and 'active' flag that is checked by the taint processor? + Possibly have an 'active' flag that is checked by the taint processor? Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones) Can some of the physical wrapper classes (BulletBody, BulletWorld, BulletShape) be 'sealed'? There are TOO MANY interfaces from BulletSim core to Bullet itself @@ -282,3 +271,18 @@ Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE) Meshes rendering as bounding boxes (DONE) (Resolution: Added test for mesh/sculpties in native shapes so it didn't think it was a box) llMoveToTarget (Resolution: added simple motor to update the position.) +Angular motor direction is global coordinates rather than local coordinates (DONE) +Add vehicle collisions so IsColliding is properly reported. (DONE) + Needed for banking, limitMotorUp, movementLimiting, ... + (Resolution: added CollisionFlags.BS_VEHICLE_COLLISION and code to use it) +VehicleAddForce is not scaled by the simulation step but it is only + applied for one step. Should it be scaled? (DONE) + (Resolution: use force for timed things, Impulse for immediate, non-timed things) +Complete implemention of preStepActions (DONE) + Replace vehicle step call with prestep event. + Is there a need for postStepActions? postStepTaints? +Disable activity of passive linkset children. (DONE) + Since the linkset is a compound object, the old prims are left lying + around and need to be phantomized so they don't collide, ... +Remove HeightmapInfo from terrain specification (DONE) + Since C++ code does not need terrain height, this structure et al are not needed. \ No newline at end of file -- cgit v1.1 From 7e58bbaac6c5ebb5bf0d6a7a875a8316ac264128 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 9 Jan 2013 16:27:06 -0800 Subject: BulletSim: Redo linear function coding so they can better interact. New algorithm for limitMotorUp that relies on going up when not colliding rather than distance from ground. Add parameter for turning on and off embedded source vehicle debugging. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 147 ++++++++++++--------- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 + 2 files changed, 91 insertions(+), 62 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 47f2759..2e44ab6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -134,6 +134,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin PhysicsScene = myScene; Prim = myPrim; Type = Vehicle.TYPE_NONE; + SetupVehicleDebugging(); + } + + // Stopgap debugging enablement. Allows source level debugging but still checking + // in changes by making enablement of debugging flags from INI file. + public void SetupVehicleDebugging() + { + enableAngularVerticalAttraction = true; + enableAngularDeflection = true; + enableAngularBanking = true; + if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse) + { + enableAngularVerticalAttraction = false; + enableAngularDeflection = false; + enableAngularBanking = false; + VDetailLog("{0},BSDynamics.SetupVehicleDebugging,settingDebugMode"); + } } // Return 'true' if this vehicle is doing vehicle things @@ -576,8 +593,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Vehicles report collision events so we know when it's on the ground PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); - Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass); - PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, localInertia); + Prim.Inertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass); + PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, Prim.Inertia); PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody); // Set the gravity for the vehicle depending on the buoyancy @@ -586,7 +603,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin PhysicsScene.PE.SetGravity(Prim.PhysBody, grav); VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}", - Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping, grav); + Prim.LocalID, m_vehicleMass, friction, Prim.Inertia, angularDamping, grav); } else { @@ -863,69 +880,47 @@ namespace OpenSim.Region.Physics.BulletSPlugin // The movement computed in the linear motor is relative to the vehicle // coordinates. Rotate the movement to world coordinates. linearMotorContribution *= VehicleOrientation; - // All the contributions after this are world relative (mostly Z modifications) - Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep); + VehicleVelocity = linearMotorContribution; - Vector3 hoverContribution = ComputeLinearHover(pTimestep); + ComputeLinearTerrainHeightCorrection(pTimestep); - ComputeLinearBlockingEndPoint(pTimestep); - - Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep); + ComputeLinearHover(pTimestep); - // ================================================================== - // Select between velocities and forces. Forces will happen over time and - // will take into account inertia, collisions, etc. Velocities are - // raw updates to the velocity of the vehicle. - Vector3 newVelocity = linearMotorContribution - + terrainHeightContribution - + hoverContribution - + limitMotorUpContribution; + ComputeLinearBlockingEndPoint(pTimestep); - Vector3 newForce = Vector3.Zero; + ComputeLinearMotorUp(pTimestep); // If not changing some axis, reduce out velocity - if ((m_flags & (VehicleFlag.NO_X)) != 0) - newVelocity.X = 0; - if ((m_flags & (VehicleFlag.NO_Y)) != 0) - newVelocity.Y = 0; - if ((m_flags & (VehicleFlag.NO_Z)) != 0) - newVelocity.Z = 0; + if ((m_flags & (VehicleFlag.NO_X | VehicleFlag.NO_Y | VehicleFlag.NO_Z)) != 0) + { + Vector3 vel = VehicleVelocity; + if ((m_flags & (VehicleFlag.NO_X)) != 0) + vel.X = 0; + if ((m_flags & (VehicleFlag.NO_Y)) != 0) + vel.Y = 0; + if ((m_flags & (VehicleFlag.NO_Z)) != 0) + vel.Z = 0; + VehicleVelocity = vel; + } // ================================================================== // Clamp high or low velocities - float newVelocityLengthSq = newVelocity.LengthSquared(); + float newVelocityLengthSq = VehicleVelocity.LengthSquared(); if (newVelocityLengthSq > 1000f) { - newVelocity /= newVelocity.Length(); - newVelocity *= 1000f; + VehicleVelocity /= VehicleVelocity.Length(); + VehicleVelocity *= 1000f; } else if (newVelocityLengthSq < 0.001f) - newVelocity = Vector3.Zero; - - // ================================================================== - // Stuff new linear velocity into the vehicle. - // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us. - // Also not scaled by mass since this is a super-physical setting of velocity. - VehicleVelocity = newVelocity; - - // Other linear forces are applied as forces. - Vector3 totalDownForce = newForce * m_vehicleMass; - if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f)) - { - VehicleAddForce(totalDownForce); - } + VehicleVelocity = Vector3.Zero; - VDetailLog("{0}, MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},totDown={5},isColl={6},newVel={7}", - Prim.LocalID, - linearMotorContribution, terrainHeightContribution, hoverContribution, limitMotorUpContribution, - totalDownForce, Prim.IsColliding, newVelocity ); + VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", Prim.LocalID, Prim.IsColliding, VehicleVelocity ); } // end MoveLinear() - public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep) + public void ComputeLinearTerrainHeightCorrection(float pTimestep) { - Vector3 ret = Vector3.Zero; // If below the terrain, move us above the ground a little. // TODO: Consider taking the rotated size of the object or possibly casting a ray. if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition)) @@ -937,13 +932,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); } - return ret; } - public Vector3 ComputeLinearHover(float pTimestep) + public void ComputeLinearHover(float pTimestep) { - Vector3 ret = Vector3.Zero; - // m_VhoverEfficiency: 0=bouncy, 1=totally damped // m_VhoverTimescale: time to achieve height if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) @@ -976,6 +968,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 pos = VehiclePosition; pos.Z = m_VhoverTargetHeight; VehiclePosition = pos; + + VDetailLog("{0}, MoveLinear,hover,pos={1},lockHoverHeight", Prim.LocalID, pos); } } else @@ -985,14 +979,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; // TODO: implement m_VhoverEfficiency correctly - ret = new Vector3(0f, 0f, verticalCorrectionVelocity); + VehicleVelocity += new Vector3(0f, 0f, verticalCorrectionVelocity); + + VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corrVel={7}", + Prim.LocalID, VehiclePosition, m_VhoverEfficiency, + m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight, + verticalError, verticalCorrectionVelocity); } - VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},ret={6}", - Prim.LocalID, VehiclePosition, m_VhoverEfficiency, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight, ret); } - - return ret; } public bool ComputeLinearBlockingEndPoint(float pTimestep) @@ -1047,30 +1042,58 @@ namespace OpenSim.Region.Physics.BulletSPlugin // TODO: this code is wrong. Also, what should it do for boats (height from water)? // This is just using the ground and a general collision check. Should really be using // a downward raycast to find what is below. - public Vector3 ComputeLinearMotorUp(float pTimestep) + public void ComputeLinearMotorUp(float pTimestep) { Vector3 ret = Vector3.Zero; - float distanceAboveGround = 0f; if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { + // This code tries to decide if the object is not on the ground and then pushing down + /* float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition); distanceAboveGround = VehiclePosition.Z - targetHeight; // Not colliding if the vehicle is off the ground if (!Prim.IsColliding) { // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); - ret = new Vector3(0, 0, -distanceAboveGround); + VehicleVelocity += new Vector3(0, 0, -distanceAboveGround); } // TODO: this calculation is wrong. From the description at // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce // has a decay factor. This says this force should // be computed with a motor. // TODO: add interaction with banking. - } - VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", + VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); - return ret; + */ + + // Another approach is to measure if we're going up. If going up and not colliding, + // the vehicle is in the air. Fix that by pushing down. + if (!Prim.IsColliding && VehicleVelocity.Z > 0.1) + { + // Get rid of any of the velocity vector that is pushing us up. + VehicleVelocity += new Vector3(0, 0, -VehicleVelocity.Z); + + // If we're pointed up into the air, we should nose down + Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; + // The rotation around the Y axis is pitch up or down + if (pointingDirection.Y > 0.01f) + { + float angularCorrectionForce = -(float)Math.Asin(pointingDirection.Y); + Vector3 angularCorrectionVector = new Vector3(0f, angularCorrectionForce, 0f); + // Rotate into world coordinates and apply to vehicle + angularCorrectionVector *= VehicleOrientation; + VehicleAddAngularForce(angularCorrectionVector); + VDetailLog("{0}, MoveLinear,limitMotorUp,newVel={1},pntDir={2},corrFrc={3},aCorr={4}", + Prim.LocalID, VehicleVelocity, pointingDirection, angularCorrectionForce, angularCorrectionVector); + } + else + { + VDetailLog("{0}, MoveLinear,limitMotorUp,newVel={1},pntDir={2}", + Prim.LocalID, VehicleVelocity, pointingDirection); + } + } + } } // ======================================================================= diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 23d573f..27ff047 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -80,6 +80,7 @@ public static class BSParam public static float AvatarStepForceFactor { get; private set; } public static float VehicleAngularDamping { get; private set; } + public static float VehicleDebuggingEnabled { get; private set; } public static float LinksetImplementation { get; private set; } public static float LinkConstraintUseFrameOffset { get; private set; } @@ -427,6 +428,11 @@ public static class BSParam (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, (s) => { return VehicleAngularDamping; }, (s,p,l,v) => { VehicleAngularDamping = v; } ), + new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { VehicleDebuggingEnabled = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return VehicleDebuggingEnabled; }, + (s,p,l,v) => { VehicleDebuggingEnabled = v; } ), new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 0f, -- cgit v1.1 From 93adc4cb6689b156db4db315d44b5ba0ddcd65ac Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 9 Jan 2013 22:45:01 -0800 Subject: BulletSim: Add IsSelected attribute to physical objects. Have vehicles check to see if physical before trying to step. Replace vehicle gravity application. Previously relying on Bullet to apply gravity but since vehicles over-ride the velocity calculation, gravity never had a chance to accelerate the body down. Added AddForceImpulse as well as AddForce for those who need to apply immediate velocity updates. Use the impulse to apply the linear motion. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 4 + OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 126 ++++++++++++++++----- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 81 +++++++++---- 4 files changed, 162 insertions(+), 50 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 939d38a..aadb583 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -328,6 +328,10 @@ public sealed class BSCharacter : BSPhysObject public override bool Selected { set { _selected = value; } } + public override bool IsSelected + { + get { return _selected; } + } public override void CrossingFailure() { return; } public override void link(PhysicsActor obj) { return; } public override void delink() { return; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 2e44ab6..80fdfb9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -108,10 +108,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_VhoverEfficiency = 0f; private float m_VhoverTimescale = 0f; private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height - private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. - // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) - // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. - // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. + // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) + private float m_VehicleBuoyancy = 0f; + private Vector3 m_VehicleGravity = Vector3.Zero; // Gravity computed when buoyancy set //Attractor properties private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction"); @@ -149,14 +148,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin enableAngularVerticalAttraction = false; enableAngularDeflection = false; enableAngularBanking = false; - VDetailLog("{0},BSDynamics.SetupVehicleDebugging,settingDebugMode"); + VDetailLog("{0},BSDynamics.SetupVehicleDebugging,settingDebugMode", Prim.LocalID); } } // Return 'true' if this vehicle is doing vehicle things public bool IsActive { - get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; } + get { return (Type != Vehicle.TYPE_NONE && !Prim.IsStatic); } } #region Vehicle parameter setting @@ -190,6 +189,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.BUOYANCY: m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f); + m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy); break; case Vehicle.HOVER_EFFICIENCY: m_VhoverEfficiency = ClampInRange(0f, pValue, 1f); @@ -562,12 +562,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin 1f); m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) + /* Not implemented m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale, BSMotor.Infinite, BSMotor.InfiniteVector, m_verticalAttractionEfficiency); // Z goes away and we keep X and Y m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f); m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) + */ } #endregion // Vehicle parameter setting @@ -599,11 +601,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Set the gravity for the vehicle depending on the buoyancy // TODO: what should be done if prim and vehicle buoyancy differ? - Vector3 grav = Prim.ComputeGravity(m_VehicleBuoyancy); - PhysicsScene.PE.SetGravity(Prim.PhysBody, grav); + m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy); + // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same. + PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero); VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}", - Prim.LocalID, m_vehicleMass, friction, Prim.Inertia, angularDamping, grav); + Prim.LocalID, m_vehicleMass, friction, Prim.Inertia, angularDamping, m_VehicleGravity); } else { @@ -643,6 +646,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Vector3 m_knownPosition; private Vector3 m_knownVelocity; private Vector3 m_knownForce; + private Vector3 m_knownForceImpulse; private Quaternion m_knownOrientation; private Vector3 m_knownRotationalVelocity; private Vector3 m_knownRotationalForce; @@ -651,12 +655,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin private const int m_knownChangedPosition = 1 << 0; private const int m_knownChangedVelocity = 1 << 1; private const int m_knownChangedForce = 1 << 2; - private const int m_knownChangedOrientation = 1 << 3; - private const int m_knownChangedRotationalVelocity = 1 << 4; - private const int m_knownChangedRotationalForce = 1 << 5; - private const int m_knownChangedTerrainHeight = 1 << 6; - private const int m_knownChangedWaterLevel = 1 << 7; - private const int m_knownChangedForwardVelocity = 1 << 8; + private const int m_knownChangedForceImpulse = 1 << 3; + private const int m_knownChangedOrientation = 1 << 4; + private const int m_knownChangedRotationalVelocity = 1 << 5; + private const int m_knownChangedRotationalForce = 1 << 6; + private const int m_knownChangedTerrainHeight = 1 << 7; + private const int m_knownChangedWaterLevel = 1 << 8; + private const int m_knownChangedForwardVelocity = 1 << 9; private void ForgetKnownVehicleProperties() { @@ -677,21 +682,29 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_knownChanged & m_knownChangedVelocity) != 0) { Prim.ForceVelocity = m_knownVelocity; - PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, VehicleVelocity); + // Fake out Bullet by making it think the velocity is the same as last time. + // Bullet does a bunch of smoothing for changing parameters. + // Since the vehicle is demanding this setting, we override Bullet's smoothing + // by telling Bullet the value was the same last time. + PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity); } if ((m_knownChanged & m_knownChangedForce) != 0) Prim.AddForce((Vector3)m_knownForce, false, true); + if ((m_knownChanged & m_knownChangedForceImpulse) != 0) + Prim.AddForceImpulse((Vector3)m_knownForceImpulse, false, true); + if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) { Prim.ForceRotationalVelocity = m_knownRotationalVelocity; - // Fake out Bullet by making it think the velocity is the same as last time. PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity); } if ((m_knownChanged & m_knownChangedRotationalForce) != 0) + { Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true); + } // If we set one of the values (ie, the physics engine didn't do it) we must force // an UpdateProperties event to send the changes up to the simulator. @@ -781,15 +794,26 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } - private void VehicleAddForce(Vector3 aForce) + private void VehicleAddForce(Vector3 pForce) { if ((m_knownHas & m_knownChangedForce) == 0) { m_knownForce = Vector3.Zero; + m_knownHas |= m_knownChangedForce; } - m_knownForce += aForce; + m_knownForce += pForce; m_knownChanged |= m_knownChangedForce; - m_knownHas |= m_knownChangedForce; + } + + private void VehicleAddForceImpulse(Vector3 pImpulse) + { + if ((m_knownHas & m_knownChangedForceImpulse) == 0) + { + m_knownForceImpulse = Vector3.Zero; + m_knownHas |= m_knownChangedForceImpulse; + } + m_knownForceImpulse += pImpulse; + m_knownChanged |= m_knownChangedForceImpulse; } private Vector3 VehicleRotationalVelocity @@ -868,20 +892,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (PhysicsScene.VehiclePhysicalLoggingEnabled) PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody); - VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", - Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity); + VDetailLog("{0},BSDynamics.Step,done,pos={1}, force={2},velocity={3},angvel={4}", + Prim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity); } // Apply the effect of the linear motor and other linear motions (like hover and float). private void MoveLinear(float pTimestep) { - Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep); - - // The movement computed in the linear motor is relative to the vehicle - // coordinates. Rotate the movement to world coordinates. - linearMotorContribution *= VehicleOrientation; - - VehicleVelocity = linearMotorContribution; + ComputeLinearVelocity(pTimestep); ComputeLinearTerrainHeightCorrection(pTimestep); @@ -891,6 +909,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin ComputeLinearMotorUp(pTimestep); + ApplyGravity(pTimestep); + // If not changing some axis, reduce out velocity if ((m_flags & (VehicleFlag.NO_X | VehicleFlag.NO_Y | VehicleFlag.NO_Z)) != 0) { @@ -919,6 +939,43 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // end MoveLinear() + public void ComputeLinearVelocity(float pTimestep) + { + Vector3 linearMotorStep = m_linearMotor.Step(pTimestep); + + // The movement computed in the linear motor is relative to the vehicle + // coordinates. Rotate the movement to world coordinates. + Vector3 linearMotorVelocity = linearMotorStep * VehicleOrientation; + + // If we're a ground vehicle, don't loose any Z action (like gravity acceleration). + float mixFactor = 1f; // 1 means use all linear motor Z value, 0 means use all existing Z + if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) + { + if (!Prim.IsColliding) + { + // If a ground vehicle and not on the ground, I want gravity effect + mixFactor = 0.2f; + } + } + else + { + // I'm not a ground vehicle but don't totally loose the effect of the environment + mixFactor = 0.8f; + } + linearMotorVelocity.Z = mixFactor * linearMotorVelocity.Z + (1f - mixFactor) * VehicleVelocity.Z; + + // What we want to contribute to the vehicle's existing velocity + Vector3 linearMotorForce = linearMotorVelocity - VehicleVelocity; + + // Act against the inertia of the vehicle + linearMotorForce *= m_vehicleMass; + + VehicleAddForceImpulse(linearMotorForce); + + VDetailLog("{0}, MoveLinear,velocity,vehVel={1},step={2},stepVel={3},mix={4},force={5}", + Prim.LocalID, VehicleVelocity, linearMotorStep, linearMotorVelocity, mixFactor, linearMotorForce); + } + public void ComputeLinearTerrainHeightCorrection(float pTimestep) { // If below the terrain, move us above the ground a little. @@ -979,7 +1036,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; // TODO: implement m_VhoverEfficiency correctly - VehicleVelocity += new Vector3(0f, 0f, verticalCorrectionVelocity); + VehicleAddForceImpulse(new Vector3(0f, 0f, verticalCorrectionVelocity)); VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corrVel={7}", Prim.LocalID, VehiclePosition, m_VhoverEfficiency, @@ -1096,6 +1153,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } + private void ApplyGravity(float pTimeStep) + { + Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass; + VehicleAddForce(appliedGravity); + + VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},appliedForce-{2}", + Prim.LocalID, m_VehicleGravity, appliedGravity); + } + // ======================================================================= // ======================================================================= // Apply the effect of the angular motor. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index e8575f6..2c84293 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -135,6 +135,7 @@ public abstract class BSPhysObject : PhysicsActor public virtual OMV.Vector3 Scale { get; set; } public abstract bool IsSolid { get; } public abstract bool IsStatic { get; } + public abstract bool IsSelected { get; } // Materialness public MaterialAttributes.Material Material { get; private set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 50ba343..02d06b4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -204,6 +204,10 @@ public sealed class BSPrim : BSPhysObject } } } + public override bool IsSelected + { + get { return _isSelected; } + } public override void CrossingFailure() { return; } // link me to the specified parent @@ -1153,33 +1157,70 @@ public sealed class BSPrim : BSPhysObject // This added force will only last the next simulation tick. public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { // for an object, doesn't matter if force is a pushforce or not - if (!IsStatic && force.IsFinite()) + if (!IsStatic) { - float magnitude = force.Length(); - if (magnitude > BSParam.MaxAddForceMagnitude) + if (force.IsFinite()) { - // Force has a limit - force = force / magnitude * BSParam.MaxAddForceMagnitude; - } + float magnitude = force.Length(); + if (magnitude > BSParam.MaxAddForceMagnitude) + { + // Force has a limit + force = force / magnitude * BSParam.MaxAddForceMagnitude; + } - OMV.Vector3 addForce = force; - // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); + OMV.Vector3 addForce = force; + // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() - { - // Bullet adds this central force to the total force for this tick - DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); - if (PhysBody.HasPhysicalBody) + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() { - PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); - ActivateIfPhysical(false); - } - }); + // Bullet adds this central force to the total force for this tick + DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); + if (PhysBody.HasPhysicalBody) + { + PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); + ActivateIfPhysical(false); + } + }); + } + else + { + m_log.WarnFormat("{0}: AddForce: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); + return; + } } - else + } + + public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) { + // for an object, doesn't matter if force is a pushforce or not + if (!IsStatic) { - m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); - return; + if (impulse.IsFinite()) + { + float magnitude = impulse.Length(); + if (magnitude > BSParam.MaxAddForceMagnitude) + { + // Force has a limit + impulse = impulse / magnitude * BSParam.MaxAddForceMagnitude; + } + + // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse); + OMV.Vector3 addImpulse = impulse; + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate() + { + // Bullet adds this impulse immediately to the velocity + DetailLog("{0},BSPrim.addForceImpulse,taint,impulseforce={1}", LocalID, addImpulse); + if (PhysBody.HasPhysicalBody) + { + PhysicsScene.PE.ApplyCentralImpulse(PhysBody, addImpulse); + ActivateIfPhysical(false); + } + }); + } + else + { + m_log.WarnFormat("{0}: AddForceImpulse: Got a NaN impulse applied to a prim. LocalID={1}", LogHeader, LocalID); + return; + } } } -- cgit v1.1 From eacc2561d14dbe9cba6966e3b32bfd776e044f8a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 10 Jan 2013 17:03:19 -0800 Subject: BulletSim: add osGetPhysicsEngineType() LSL function and update the physics engines to return the name that is specified in the INI file ("physics = XXX") as the type of engine. This os function is a little different than the others in that it does not throw an exception of one is not privilaged to use it. It merely returns an empty string. --- OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 9 +++++++-- 2 files changed, 8 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs index 65be52a..9442854 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs @@ -59,7 +59,7 @@ public class BSPlugin : IPhysicsPlugin { if (_mScene == null) { - _mScene = new BSScene(sceneIdentifier); + _mScene = new BSScene(GetName(), sceneIdentifier); } return (_mScene); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 4a6cebd..a5bdc07 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -167,11 +167,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public bool VehiclePhysicalLoggingEnabled { get; private set; } #region Construction and Initialization - public BSScene(string identifier) + public BSScene(string engineType, string identifier) { m_initialized = false; - // we are passed the name of the region we're working for. + + // The name of the region we're working for is passed to us. Keep for identification. RegionName = identifier; + + // Set identifying variables in the PhysicsScene interface. + EngineType = engineType; + Name = EngineType + "/" + RegionName; } public override void Initialise(IMesher meshmerizer, IConfigSource config) -- cgit v1.1 From 459fcd81c9d6e7c92738b40f1b4b4fe746699379 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 11 Jan 2013 16:36:34 -0800 Subject: BulletSim: move center of gravity of linkset to its geometric center. Necessitated allowing simulator and physical position of a body to get out of sync since Bullet assumes that <0,0,0> is the center of mass. Update DLLs and SOs for the UpdateChildTransform so positions of individual prim in a linkset can be implemented. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 9 ++++ OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 1 + .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 2 + OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 13 +++-- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 4 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 55 +++++++++++++++++----- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 ++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 40 ++++++++++++---- .../Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 2 + 10 files changed, 106 insertions(+), 32 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 14de2eb..0fef67c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -327,6 +327,12 @@ public override void RemoveChildShapeFromCompoundShape(BulletShape shape, Bullet BSAPICPP.RemoveChildShapeFromCompoundShape2(shapeu.ptr, removeShapeu.ptr); } +public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) +{ + BulletShapeUnman shapeu = pShape as BulletShapeUnman; + BSAPICPP.UpdateChildTransform2(shapeu.ptr, childIndex, pos, rot, shouldRecalculateLocalAabb); +} + public override void RecalculateCompoundShapeLocalAabb(BulletShape shape) { BulletShapeUnman shapeu = shape as BulletShapeUnman; @@ -1357,6 +1363,9 @@ public static extern IntPtr RemoveChildShapeFromCompoundShapeIndex2(IntPtr cShap public static extern void RemoveChildShapeFromCompoundShape2(IntPtr cShape, IntPtr removeShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void UpdateChildTransform2(IntPtr pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void RecalculateCompoundShapeLocalAabb2(IntPtr cShape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 0c7f315..b6ff52b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -1212,6 +1212,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { /* TODO */ return null; } public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ } + public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) { /* TODO */ } public override BulletShape CreateGroundPlaneShape(uint pLocalId, float pheight, float pcollisionMargin) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 794ee17..bc163eb 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -342,6 +342,8 @@ public abstract BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape c public abstract void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape); +public abstract void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb); + public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape); public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 80fdfb9..bcebaec 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -148,7 +148,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin enableAngularVerticalAttraction = false; enableAngularDeflection = false; enableAngularBanking = false; - VDetailLog("{0},BSDynamics.SetupVehicleDebugging,settingDebugMode", Prim.LocalID); } } @@ -690,10 +689,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin } if ((m_knownChanged & m_knownChangedForce) != 0) - Prim.AddForce((Vector3)m_knownForce, false, true); + Prim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/); if ((m_knownChanged & m_knownChangedForceImpulse) != 0) - Prim.AddForceImpulse((Vector3)m_knownForceImpulse, false, true); + Prim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/); if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) { @@ -703,7 +702,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_knownChanged & m_knownChangedRotationalForce) != 0) { - Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true); + Prim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/); } // If we set one of the values (ie, the physics engine didn't do it) we must force @@ -970,7 +969,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Act against the inertia of the vehicle linearMotorForce *= m_vehicleMass; - VehicleAddForceImpulse(linearMotorForce); + VehicleAddForceImpulse(linearMotorForce * pTimestep); VDetailLog("{0}, MoveLinear,velocity,vehVel={1},step={2},stepVel={3},mix={4},force={5}", Prim.LocalID, VehicleVelocity, linearMotorStep, linearMotorVelocity, mixFactor, linearMotorForce); @@ -1033,7 +1032,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // Error is positive if below the target and negative if above. float verticalError = m_VhoverTargetHeight - VehiclePosition.Z; - float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; + float verticalCorrectionVelocity = verticalError / m_VhoverTimescale * pTimestep; // TODO: implement m_VhoverEfficiency correctly VehicleAddForceImpulse(new Vector3(0f, 0f, verticalCorrectionVelocity)); @@ -1323,7 +1322,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // this creates an over-correction and then wabbling as the target is overshot. // TODO: rethink how the different correction computations inter-relate. - if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleVelocity != Vector3.Zero) + if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2) { // The direction the vehicle is moving Vector3 movingDirection = VehicleVelocity; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 756faed..cbd160f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -152,6 +152,7 @@ public abstract class BSLinkset if (IsRoot(child)) { // Cannot remove the root from a linkset. + child.PositionDisplacement = OMV.Vector3.Zero; return this; } RemoveChildFromLinkset(child); @@ -159,6 +160,7 @@ public abstract class BSLinkset } // The child is down to a linkset of just itself + child.PositionDisplacement = OMV.Vector3.Zero; return BSLinkset.Factory(PhysicsScene, child); } @@ -310,7 +312,7 @@ public abstract class BSLinkset foreach (BSPhysObject bp in m_children) { - com += bp.Position * bp.RawMass; + com += bp.Position; } com /= (m_children.Count + 1); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index bd03d31..ad8024c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -40,23 +40,33 @@ namespace OpenSim.Region.Physics.BulletSPlugin // removed from the linkset. sealed class BSLinksetCompoundInfo : BSLinksetInfo { - public OMV.Vector3 OffsetPos; + public int Index; + public OMV.Vector3 OffsetFromRoot; + public OMV.Vector3 OffsetFromCenterOfMass; public OMV.Quaternion OffsetRot; - public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r) + public BSLinksetCompoundInfo(int indx, OMV.Vector3 p, OMV.Quaternion r) { - OffsetPos = p; + Index = indx; + OffsetFromRoot = p; + OffsetFromCenterOfMass = p; OffsetRot = r; } public override void Clear() { - OffsetPos = OMV.Vector3.Zero; + Index = 0; + OffsetFromRoot = OMV.Vector3.Zero; + OffsetFromCenterOfMass = OMV.Vector3.Zero; OffsetRot = OMV.Quaternion.Identity; } public override string ToString() { StringBuilder buff = new StringBuilder(); - buff.Append(""); @@ -170,6 +180,8 @@ public sealed class BSLinksetCompound : BSLinkset return ret; } + // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then. + // Called at taint-time. public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate) { // The user moving a child around requires the rebuilding of the linkset compound shape @@ -182,6 +194,7 @@ public sealed class BSLinksetCompound : BSLinkset && !physicalUpdate && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) { + // TODO: replace this with are calculation of the child prim's orientation and pos. updated.LinksetInfo = null; ScheduleRebuild(updated); } @@ -230,7 +243,7 @@ public sealed class BSLinksetCompound : BSLinkset if (inTaintTime) { OMV.Vector3 oldPos = child.RawPosition; - child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos; + child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetFromRoot; child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot; DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}", child.LocalID, oldPos, lci, child.RawPosition); @@ -238,7 +251,7 @@ public sealed class BSLinksetCompound : BSLinkset else { // TaintedObject is not used here so the raw position is set now and not at taint-time. - child.Position = LinksetRoot.RawPosition + lci.OffsetPos; + child.Position = LinksetRoot.RawPosition + lci.OffsetFromRoot; child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot; } } @@ -316,10 +329,23 @@ public sealed class BSLinksetCompound : BSLinkset // Cause the root shape to be rebuilt as a compound object with just the root in it LinksetRoot.ForceBodyShapeRebuild(true); + // 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. + OMV.Vector3 centerOfMass = ComputeLinksetGeometricCenter(); + OMV.Vector3 centerDisplacement = centerOfMass - LinksetRoot.RawPosition; + + // Since we're displacing the center of the shape, we need to move the body in the world + LinksetRoot.PositionDisplacement = centerDisplacement * LinksetRoot.RawOrientation; + + PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", + LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); // Add a shape for each of the other children in the linkset + int memberIndex = 1; ForEachMember(delegate(BSPhysObject cPrim) { if (!IsRoot(cPrim)) @@ -337,13 +363,14 @@ public sealed class BSLinksetCompound : BSLinkset OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; // Save relative position for recomputing child's world position after moving linkset. - lci = new BSLinksetCompoundInfo(displacementPos, displacementRot); + lci = new BSLinksetCompoundInfo(memberIndex, displacementPos, displacementRot); + lci.OffsetFromCenterOfMass = displacementPos - centerDisplacement; cPrim.LinksetInfo = lci; DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); } - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", - LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},lci={3}", + LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci); if (cPrim.PhysShape.isNativeShape) { @@ -359,7 +386,7 @@ public sealed class BSLinksetCompound : BSLinkset PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); BulletShape newShape = cPrim.PhysShape; cPrim.PhysShape = saveShape; - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, lci.OffsetPos, lci.OffsetRot); + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, lci.OffsetFromCenterOfMass, lci.OffsetRot); } else { @@ -371,8 +398,10 @@ public sealed class BSLinksetCompound : BSLinkset PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); } - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetFromCenterOfMass, lci.OffsetRot); } + lci.Index = memberIndex; + memberIndex++; } return false; // 'false' says to move onto the next child in the list }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 2c84293..185f111 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -73,6 +73,8 @@ public abstract class BSPhysObject : PhysicsActor // A linkset of just me Linkset = BSLinkset.Factory(PhysicsScene, this); + PositionDisplacement = OMV.Vector3.Zero; + LastAssetBuildFailed = false; // Default material type @@ -157,6 +159,14 @@ public abstract class BSPhysObject : PhysicsActor public abstract OMV.Vector3 RawPosition { get; set; } public abstract OMV.Vector3 ForcePosition { get; set; } + // Position is what the simulator thinks the positions of the prim is. + // Because Bullet needs the zero coordinate to be the center of mass of the linkset, + // sometimes it is necessary to displace the position the physics engine thinks + // the position is. PositionDisplacement must be added and removed from the + // position as the simulator position is stored and fetched from the physics + // engine. + public virtual OMV.Vector3 PositionDisplacement { get; set; } + public abstract OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 02d06b4..003dc54 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -50,7 +50,10 @@ public sealed class BSPrim : BSPhysObject private bool _grabbed; private bool _isSelected; private bool _isVolumeDetect; + + // _position is what the simulator thinks the positions of the prim is. private OMV.Vector3 _position; + private float _mass; // the mass of this object private float _density; private OMV.Vector3 _force; @@ -320,18 +323,37 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Vector3 ForcePosition { get { - _position = PhysicsScene.PE.GetPosition(PhysBody); + _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement; return _position; } set { _position = value; if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation); ActivateIfPhysical(false); } } } + // Override to have position displacement immediately update the physical position. + // A feeble attempt to keep the sim and physical positions in sync + // Must be called at taint time. + public override OMV.Vector3 PositionDisplacement + { + get + { + return base.PositionDisplacement; + } + set + { + base.PositionDisplacement = value; + PhysicsScene.TaintedObject(PhysicsScene.InTaintTime, "BSPrim.setPosition", delegate() + { + if (PhysBody.HasPhysicalBody) + PhysicsScene.PE.SetTranslation(PhysBody, _position + base.PositionDisplacement, _orientation); + }); + } + } // Check that the current position is sane and, if not, modify the position to make it so. // Check for being below terrain and being out of bounds. @@ -590,6 +612,7 @@ public sealed class BSPrim : BSPhysObject _velocity = value; if (PhysBody.HasPhysicalBody) { + DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, _velocity); PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); ActivateIfPhysical(false); } @@ -654,12 +677,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() { - if (PhysBody.HasPhysicalBody) - { - // _position = PhysicsScene.PE.GetObjectPosition(PhysicsScene.World, BSBody); - // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); - } + ForceOrientation = _orientation; }); } } @@ -674,7 +692,8 @@ public sealed class BSPrim : BSPhysObject set { _orientation = value; - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + if (PhysBody.HasPhysicalBody) + PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation); } } public override int PhysicsActorType { @@ -813,7 +832,7 @@ public sealed class BSPrim : BSPhysObject // PhysicsScene.PE.ClearAllForces(BSBody); // For good measure, make sure the transform is set through to the motion state - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation); // Center of mass is at the center of the object // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation); @@ -1615,6 +1634,7 @@ public sealed class BSPrim : BSPhysObject } // Assign directly to the local variables so the normal set actions do not happen + entprop.Position -= PositionDisplacement; _position = entprop.Position; _orientation = entprop.Rotation; _velocity = entprop.Velocity; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index f0c6b99..addab29 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -906,7 +906,7 @@ public sealed class BSShapeCollection : IDisposable } } - // While we figure out the real problem, stick a simple native shape on the object. + // While we figure out the real problem, stick in a simple box for the object. BulletShape fillinShape = BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 1540dbb..59cbab9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -170,6 +170,8 @@ Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/3179 INTERNAL IMPROVEMENT/CLEANUP ================================================= +Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to + BSScene.TaintedObject() could immediately execute the callback if already in taint time. Create the physical wrapper classes (BulletBody, BulletShape) by methods on BSAPITemplate and make their actual implementation Bullet engine specific. For the short term, just call the existing functions in ShapeCollection. -- cgit v1.1 From 8bf0a9f85dda4b1831630b65620d5c6868196c11 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 13 Jan 2013 22:32:31 -0800 Subject: BulletSim: disable center-of-mass computation for linksets until debugged. Move physical prim above ground if it is underground. Previously tried to correct by applying and up force but the prim would never go through the ground. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 35 +++++++++++++++------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 26 ++++++++-------- 2 files changed, 36 insertions(+), 25 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index ad8024c..5a1b5c7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -319,6 +319,7 @@ public sealed class BSLinksetCompound : BSLinkset // Constraint linksets are rebuilt every time. // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! + private bool disableCOM = true; // disable until we get this debugged private void RecomputeLinksetCompound() { try @@ -331,15 +332,26 @@ public sealed class BSLinksetCompound : BSLinkset // 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. - OMV.Vector3 centerOfMass = ComputeLinksetGeometricCenter(); - OMV.Vector3 centerDisplacement = centerOfMass - LinksetRoot.RawPosition; + // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass + OMV.Vector3 centerOfMass; + OMV.Vector3 centerDisplacement = OMV.Vector3.Zero; + if (disableCOM) // DEBUG DEBUG + { // DEBUG DEBUG + centerOfMass = LinksetRoot.RawPosition; // DEBUG DEBUG + LinksetRoot.PositionDisplacement = OMV.Vector3.Zero; + } // DEBUG DEBUG + else + { + centerOfMass = ComputeLinksetGeometricCenter(); + centerDisplacement = centerOfMass - LinksetRoot.RawPosition; - // Since we're displacing the center of the shape, we need to move the body in the world - LinksetRoot.PositionDisplacement = centerDisplacement * LinksetRoot.RawOrientation; + // Since we're displacing the center of the shape, we need to move the body in the world + LinksetRoot.PositionDisplacement = centerDisplacement; - PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", - LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement); + PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", + LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement); + } DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); @@ -357,14 +369,15 @@ public sealed class BSLinksetCompound : BSLinkset BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; if (lci == null) { - // Each child position and rotation is given relative to the root. + // Each child position and rotation is given relative to the center-of-mass. OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); - OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; + OMV.Vector3 displacementFromRoot = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; + OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement; OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; // Save relative position for recomputing child's world position after moving linkset. - lci = new BSLinksetCompoundInfo(memberIndex, displacementPos, displacementRot); - lci.OffsetFromCenterOfMass = displacementPos - centerDisplacement; + lci = new BSLinksetCompoundInfo(memberIndex, displacementFromCOM, displacementRot); + lci.OffsetFromRoot = displacementFromRoot; cPrim.LinksetInfo = lci; DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 003dc54..e5f7ab7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -297,7 +297,7 @@ public sealed class BSPrim : BSPhysObject */ // don't do the GetObjectPosition for root elements because this function is called a zillion times. - // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody); + // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody) - PositionDisplacement; return _position; } set { @@ -362,7 +362,7 @@ public sealed class BSPrim : BSPhysObject { bool ret = false; - if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position)) + if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) { // The physical object is out of the known/simulated area. // Upper levels of code will handle the transition to other areas so, for @@ -376,8 +376,11 @@ public sealed class BSPrim : BSPhysObject { DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); float targetHeight = terrainHeight + (Size.Z / 2f); - // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec. - upForce.Z = (terrainHeight - RawPosition.Z) * 1f; + // If the object is below ground it just has to be moved up because pushing will + // not get it through the terrain + _position.Z = targetHeight; + if (!inTaintTime) + ForcePosition = _position; ret = true; } @@ -389,20 +392,15 @@ public sealed class BSPrim : BSPhysObject { // Upforce proportional to the distance away from the water. Correct the error in 1 sec. upForce.Z = (waterHeight - RawPosition.Z) * 1f; + + // Apply upforce and overcome gravity. + OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity; + DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); + AddForce(correctionForce, false, inTaintTime); ret = true; } } - // The above code computes a force to apply to correct any out-of-bounds problems. Apply same. - // TODO: This should be intergrated with a geneal physics action mechanism. - // TODO: This should be moderated with PID'ness. - if (ret) - { - // Apply upforce and overcome gravity. - OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity; - DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); - AddForce(correctionForce, false, inTaintTime); - } return ret; } -- cgit v1.1 From 4e1ca890c2d41bf244ed7d4847c0d0a4fc7f6c51 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 14 Jan 2013 15:46:46 -0800 Subject: BulletSim: fix not moving physical objects below terrain to over terrain. Add locking on register prestep action list preventing potential race conditions. Little comment and formatting changes. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 2 +- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 4 +-- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 29 ++++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 17 ++++++++++--- 5 files changed, 36 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 0fef67c..9ff7084 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -202,7 +202,7 @@ private void BulletLoggerPhysLog(string msg) } public override int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, - out int updatedEntityCount, out int collidersCount) + out int updatedEntityCount, out int collidersCount) { BulletWorldUnman worldu = world as BulletWorldUnman; return BSAPICPP.PhysicsStep2(worldu.ptr, timeStep, maxSubSteps, fixedTimeStep, out updatedEntityCount, out collidersCount); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index aadb583..a5fec87 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -126,9 +126,9 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.Destroy", LocalID); PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() { - PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); + PhysicsScene.Shapes.DereferenceBody(PhysBody, true /* inTaintTime */, null /* bodyCallback */); PhysBody.Clear(); - PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); + PhysicsScene.Shapes.DereferenceShape(PhysShape, true /* inTaintTime */, null /* bodyCallback */); PhysShape.Clear(); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 185f111..821f470 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -382,10 +382,13 @@ public abstract class BSPhysObject : PhysicsActor { string identifier = op + "-" + id.ToString(); - // Clean out any existing action - UnRegisterPreStepAction(op, id); + lock (RegisteredActions) + { + // Clean out any existing action + UnRegisterPreStepAction(op, id); - RegisteredActions[identifier] = actn; + RegisteredActions[identifier] = actn; + } PhysicsScene.BeforeStep += actn; DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); } @@ -395,22 +398,28 @@ public abstract class BSPhysObject : PhysicsActor { string identifier = op + "-" + id.ToString(); bool removed = false; - if (RegisteredActions.ContainsKey(identifier)) + lock (RegisteredActions) { - PhysicsScene.BeforeStep -= RegisteredActions[identifier]; - RegisteredActions.Remove(identifier); - removed = true; + if (RegisteredActions.ContainsKey(identifier)) + { + PhysicsScene.BeforeStep -= RegisteredActions[identifier]; + RegisteredActions.Remove(identifier); + removed = true; + } } DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed); } protected void UnRegisterAllPreStepActions() { - foreach (KeyValuePair kvp in RegisteredActions) + lock (RegisteredActions) { - PhysicsScene.BeforeStep -= kvp.Value; + foreach (KeyValuePair kvp in RegisteredActions) + { + PhysicsScene.BeforeStep -= kvp.Value; + } + RegisteredActions.Clear(); } - RegisteredActions.Clear(); DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e5f7ab7..79fe632 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -379,7 +379,7 @@ public sealed class BSPrim : BSPhysObject // If the object is below ground it just has to be moved up because pushing will // not get it through the terrain _position.Z = targetHeight; - if (!inTaintTime) + if (inTaintTime) ForcePosition = _position; ret = true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index a5bdc07..e0b4992 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -387,12 +387,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return null; BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying); - lock (PhysObjects) PhysObjects.Add(localID, actor); + lock (PhysObjects) + PhysObjects.Add(localID, actor); // TODO: Remove kludge someday. // We must generate a collision for avatars whether they collide or not. // This is required by OpenSim to update avatar animations, etc. - lock (m_avatars) m_avatars.Add(actor); + lock (m_avatars) + m_avatars.Add(actor); return actor; } @@ -408,9 +410,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { try { - lock (PhysObjects) PhysObjects.Remove(actor.LocalID); + lock (PhysObjects) + PhysObjects.Remove(bsactor.LocalID); // Remove kludge someday - lock (m_avatars) m_avatars.Remove(bsactor); + lock (m_avatars) + m_avatars.Remove(bsactor); } catch (Exception e) { @@ -419,6 +423,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters bsactor.Destroy(); // bsactor.dispose(); } + else + { + m_log.ErrorFormat("{0}: Requested to remove avatar that is not a BSCharacter. ID={1}, type={2}", + LogHeader, actor.LocalID, actor.GetType().Name); + } } public override void RemovePrim(PhysicsActor prim) -- cgit v1.1 From 13778c895ae8adca907781c9d8c3a9ada30814e0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 01:44:34 -0800 Subject: BulletSim: by default, turn on continuious collision detection (CCD) and enable friction computation caching. Remove dangerous BulletSim settings from OpenSimDefaults.ini. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 27ff047..862dbf6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -318,13 +318,13 @@ public static class BSParam (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , - 0f, // set to zero to disable + 0.3f, // set to zero to disable (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, (s) => { return CcdMotionThreshold; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); }, (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ), new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , - 0f, + 0.2f, (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); }, (s) => { return CcdSweptSphereRadius; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); }, @@ -465,7 +465,7 @@ public static class BSParam (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; }, (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ), new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", - ConfigurationParameters.numericFalse, + ConfigurationParameters.numericTrue, (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; }, (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ), -- cgit v1.1 From 0374b2a0b4a88706f5269a55bac7aa2640f82256 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 02:21:38 -0800 Subject: BulletSim: fix logic for enabling unmanaged code debug messages. Free pinned memory when physics engine is unloaded. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 9ff7084..ae54499 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -166,7 +166,7 @@ public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet // If Debug logging level, enable logging from the unmanaged code m_DebugLogCallbackHandle = null; - if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled) + if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled) { BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader); if (PhysicsScene.PhysicsLogging.Enabled) @@ -212,6 +212,19 @@ public override void Shutdown(BulletWorld world) { BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.Shutdown2(worldu.ptr); + + if (m_paramsHandle.IsAllocated) + { + m_paramsHandle.Free(); + } + if (m_collisionArrayPinnedHandle.IsAllocated) + { + m_collisionArrayPinnedHandle.Free(); + } + if (m_updateArrayPinnedHandle.IsAllocated) + { + m_updateArrayPinnedHandle.Free(); + } } public override bool PushUpdate(BulletBody obj) -- cgit v1.1 From 181d4c6fcbf1560fcf100b5a6ec98d15ad2fe5cc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 02:58:14 -0800 Subject: BulletSim: temporarily disable banking and direction deflection because the computations are wrong. Add VehicleTorqueImpulse routines. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 32 ++++++++++++++++------ .../Physics/BulletSPlugin/BSLinksetCompound.cs | 7 +++-- 2 files changed, 29 insertions(+), 10 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index bcebaec..f5826bc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -124,9 +124,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin static readonly float PIOverTwo = ((float)Math.PI) / 2f; // For debugging, flags to turn on and off individual corrections. - private bool enableAngularVerticalAttraction = true; - private bool enableAngularDeflection = true; - private bool enableAngularBanking = true; + private bool enableAngularVerticalAttraction; + private bool enableAngularDeflection; + private bool enableAngularBanking; public BSDynamics(BSScene myScene, BSPrim myPrim) { @@ -141,8 +141,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin public void SetupVehicleDebugging() { enableAngularVerticalAttraction = true; - enableAngularDeflection = true; - enableAngularBanking = true; + enableAngularDeflection = false; + enableAngularBanking = false; if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse) { enableAngularVerticalAttraction = false; @@ -649,6 +649,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Quaternion m_knownOrientation; private Vector3 m_knownRotationalVelocity; private Vector3 m_knownRotationalForce; + private Vector3 m_knownRotationalImpulse; private Vector3 m_knownForwardVelocity; // vehicle relative forward speed private const int m_knownChangedPosition = 1 << 0; @@ -658,9 +659,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin private const int m_knownChangedOrientation = 1 << 4; private const int m_knownChangedRotationalVelocity = 1 << 5; private const int m_knownChangedRotationalForce = 1 << 6; - private const int m_knownChangedTerrainHeight = 1 << 7; - private const int m_knownChangedWaterLevel = 1 << 8; - private const int m_knownChangedForwardVelocity = 1 << 9; + private const int m_knownChangedRotationalImpulse = 1 << 7; + private const int m_knownChangedTerrainHeight = 1 << 8; + private const int m_knownChangedWaterLevel = 1 << 9; + private const int m_knownChangedForwardVelocity = 1 <<10; private void ForgetKnownVehicleProperties() { @@ -700,6 +702,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity); } + if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0) + Prim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/); + if ((m_knownChanged & m_knownChangedRotationalForce) != 0) { Prim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/); @@ -843,6 +848,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownChanged |= m_knownChangedRotationalForce; m_knownHas |= m_knownChangedRotationalForce; } + private void VehicleAddRotationalImpulse(Vector3 pImpulse) + { + if ((m_knownHas & m_knownChangedRotationalImpulse) == 0) + { + m_knownRotationalImpulse = Vector3.Zero; + m_knownHas |= m_knownChangedRotationalImpulse; + } + m_knownRotationalImpulse += pImpulse; + m_knownChanged |= m_knownChangedRotationalImpulse; + } + // Vehicle relative forward velocity private Vector3 VehicleForwardVelocity { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 5a1b5c7..2dc89b5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -195,8 +195,11 @@ public sealed class BSLinksetCompound : BSLinkset && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) { // TODO: replace this with are calculation of the child prim's orientation and pos. - updated.LinksetInfo = null; - ScheduleRebuild(updated); + // TODO: for the moment, don't rebuild the compound shape. + // This is often just the car turning its wheels. When we can just reorient the one + // member shape of the compound shape, the overhead of rebuilding won't be a problem. + // updated.LinksetInfo = null; + // ScheduleRebuild(updated); } } -- cgit v1.1 From 021964c6e0648cf0e75b46864bef55afb7ff0a1f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 04:24:24 -0800 Subject: BulletSim: tweeks to improve hover. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 26 +++++++++++++++++----- 1 file changed, 21 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index f5826bc..e434412 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1047,16 +1047,32 @@ namespace OpenSim.Region.Physics.BulletSPlugin else { // Error is positive if below the target and negative if above. - float verticalError = m_VhoverTargetHeight - VehiclePosition.Z; - float verticalCorrectionVelocity = verticalError / m_VhoverTimescale * pTimestep; + Vector3 hpos = VehiclePosition; + float verticalError = m_VhoverTargetHeight - hpos.Z; + float verticalCorrection = verticalError / m_VhoverTimescale; + verticalCorrection *= m_VhoverEfficiency; + + hpos.Z += verticalCorrection; + VehiclePosition = hpos; + + // Since we are hovering, we need to do the opposite of falling -- get rid of world Z + Vector3 vel = VehicleVelocity; + vel.Z = 0f; + VehicleVelocity = vel; + + /* + float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; + Vector3 verticalCorrection = new Vector3(0f, 0f, verticalCorrectionVelocity); + verticalCorrection *= m_vehicleMass; // TODO: implement m_VhoverEfficiency correctly - VehicleAddForceImpulse(new Vector3(0f, 0f, verticalCorrectionVelocity)); + VehicleAddForceImpulse(verticalCorrection); + */ - VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corrVel={7}", + VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}", Prim.LocalID, VehiclePosition, m_VhoverEfficiency, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight, - verticalError, verticalCorrectionVelocity); + verticalError, verticalCorrection); } } -- cgit v1.1 From daef2b8d87300f02bef7edf01ae67c8c6a50af46 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 12:55:55 -0800 Subject: BulletSim: reduce maximum force a script can apply (like in llApplyImpulse) to the documented maximum from the outragious number previously. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 862dbf6..3e80aa4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -94,16 +94,16 @@ public static class BSParam public static float PID_D { get; private set; } // derivative public static float PID_P { get; private set; } // proportional - // Various constants that come from that other virtual world that shall not be named + // Various constants that come from that other virtual world that shall not be named. public const float MinGravityZ = -1f; public const float MaxGravityZ = 28f; public const float MinFriction = 0f; public const float MaxFriction = 255f; - public const float MinDensity = 0f; + public const float MinDensity = 0.01f; public const float MaxDensity = 22587f; public const float MinRestitution = 0f; public const float MaxRestitution = 1f; - public const float MaxAddForceMagnitude = 20000f; + public const float MaxAddForceMagnitude = 20f; // =========================================================================== public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); -- cgit v1.1 From 61ff79587bea373278771f9529b582db2e05afdd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 12:57:12 -0800 Subject: BulletSim: add debugging messages to know when assets for physical objects have been fetched. Update TODO list with more work. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 5 ++- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 4 +-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 42 ++++++++++++++-------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 17 +++++++++ 4 files changed, 51 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index a5fec87..2e900b3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -855,7 +855,10 @@ public sealed class BSCharacter : BSPhysObject _rotationalVelocity = entprop.RotationalVelocity; // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. - PositionSanityCheck(true); + if (PositionSanityCheck(true)) + { + entprop.Position = _position; + } // remember the current and last set values LastEntityProperties = CurrentEntityProperties; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 2dc89b5..eff909c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -108,8 +108,8 @@ public sealed class BSLinksetCompound : BSLinkset // Schedule a refresh to happen after all the other taint processing. private void ScheduleRebuild(BSPhysObject requestor) { - DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2}", - requestor.LocalID, Rebuilding, HasAnyChildren); + DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", + requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index addab29..4f0d345 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -513,6 +513,7 @@ public sealed class BSShapeCollection : IDisposable return ret; } + // return 'true' if the shape was changed public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { @@ -872,8 +873,7 @@ public sealed class BSShapeCollection : IDisposable { prim.LastAssetBuildFailed = true; BSPhysObject xprim = prim; - DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}", - LogHeader, prim.LocalID, prim.LastAssetBuildFailed); + DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lastFailed={1}", prim.LocalID, prim.LastAssetBuildFailed); Util.FireAndForget(delegate { RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod; @@ -882,19 +882,34 @@ public sealed class BSShapeCollection : IDisposable BSPhysObject yprim = xprim; // probably not necessary, but, just in case. assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) { - if (!yprim.BaseShape.SculptEntry) - return; - if (yprim.BaseShape.SculptTexture.ToString() != asset.ID) - return; - - 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); + bool assetFound = false; // DEBUG DEBUG + string mismatchIDs = String.Empty; // DEBUG DEBUG + if (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; + } + } + DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}", + yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs ); }); } + else + { + PhysicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}", + LogHeader, PhysicsScene.Name); + } }); } else @@ -907,8 +922,7 @@ public sealed class BSShapeCollection : IDisposable } // While we figure out the real problem, stick in a simple box for the object. - BulletShape fillinShape = - BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); + BulletShape fillinShape = BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); return fillinShape; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 59cbab9..067e64a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,7 +1,23 @@ CURRENT PRIORITIES ================================================= +Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim + m1:logs/20130115.0934/physics-BulletSim-20130115083613.log + Creation of Neb's terrain made the terrain "disappear". Everything started to fall + and then get restored to be above terrain. +Create tests for different interface components + Have test objects/scripts measure themselves and turn color if correct/bad + Test functions in SL and calibrate correctness there + Create auto rezzer and tracker to run through the tests +Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 + Msg Kayaker on OSGrid when working +Teravus llMoveToTarget script debug + Mixing of hover, buoyancy/gravity, moveToTarget, into one force +Surf board debugging +Boats floating at proper level Nebadon vehicles turning funny in arena limitMotorUp calibration (more down?) +llRotLookAt +llLookAt Vehicle angular vertical attraction Vehicle angular deflection Preferred orientation angular correction fix @@ -167,6 +183,7 @@ Enforce physical parameter min/max: Restitution [0, 1] http://wiki.secondlife.com/wiki/Physics_Material_Settings_test Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/31796/1.html +Keep avatar scaling correct. http://pennycow.blogspot.fr/2011/07/matter-of-scale.html INTERNAL IMPROVEMENT/CLEANUP ================================================= -- cgit v1.1 From 5d098d8f17fe24d9ad2999ddce819787d02989ce Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 15:07:38 -0800 Subject: BulletSim: don't modify angular parameters when doing LIMIT_MOTOR_UP. It was a dumb idea to try and do a nose over feature for jumping cars anyway. Add better logging of native shape creation/reuse so can tell the difference. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 12 +++++------ .../Physics/BulletSPlugin/BSLinksetCompound.cs | 2 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 18 ++++++++-------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 24 +++++++++++----------- 5 files changed, 30 insertions(+), 28 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 2e900b3..87a06c1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -215,7 +215,7 @@ public sealed class BSCharacter : BSPhysObject // Add special movement force to allow avatars to walk up stepped surfaces. moveForce += WalkUpStairs(); - DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); + // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index e434412..6601479 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1160,8 +1160,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (!Prim.IsColliding && VehicleVelocity.Z > 0.1) { // Get rid of any of the velocity vector that is pushing us up. - VehicleVelocity += new Vector3(0, 0, -VehicleVelocity.Z); + float upVelocity = VehicleVelocity.Z; + VehicleVelocity += new Vector3(0, 0, -upVelocity); + /* // If we're pointed up into the air, we should nose down Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; // The rotation around the Y axis is pitch up or down @@ -1175,11 +1177,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0}, MoveLinear,limitMotorUp,newVel={1},pntDir={2},corrFrc={3},aCorr={4}", Prim.LocalID, VehicleVelocity, pointingDirection, angularCorrectionForce, angularCorrectionVector); } - else - { - VDetailLog("{0}, MoveLinear,limitMotorUp,newVel={1},pntDir={2}", - Prim.LocalID, VehicleVelocity, pointingDirection); - } + */ + VDetailLog("{0}, MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}", + Prim.LocalID, Prim.IsColliding, upVelocity, VehicleVelocity); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index eff909c..8c9a774 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -311,7 +311,7 @@ public sealed class BSLinksetCompound : BSLinkset else { // Rebuild the compound shape with the child removed - ScheduleRebuild(child); + ScheduleRebuild(LinksetRoot); } } return; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 4f0d345..9fbfcdc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -442,7 +442,8 @@ public sealed class BSShapeCollection : IDisposable return ret; } - // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'. + // 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) { bool ret = false; @@ -472,7 +473,7 @@ public sealed class BSShapeCollection : IDisposable 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); - // It doesn't look like Bullet scales spheres so make sure the scales are all equal + // 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) && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z) { @@ -484,9 +485,9 @@ public sealed class BSShapeCollection : IDisposable { ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_SPHERE, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", - prim.LocalID, forceRebuild, prim.PhysShape); } + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},rebuilt={2},shape={3}", + prim.LocalID, forceRebuild, ret, prim.PhysShape); } if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) { @@ -498,9 +499,9 @@ public sealed class BSShapeCollection : IDisposable { ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", - prim.LocalID, forceRebuild, prim.PhysShape); } + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},rebuilt={2},shape={3}", + prim.LocalID, forceRebuild, ret, prim.PhysShape); } } @@ -513,7 +514,7 @@ public sealed class BSShapeCollection : IDisposable return ret; } - // return 'true' if the shape was changed + // return 'true' if the prim's shape was changed. public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { @@ -921,8 +922,9 @@ public sealed class BSShapeCollection : IDisposable } } - // While we figure out the real problem, stick in a simple box for the object. + // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object. BulletShape fillinShape = BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); + DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID); return fillinShape; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 067e64a..53b5530 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,18 +1,9 @@ CURRENT PRIORITIES ================================================= -Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim - m1:logs/20130115.0934/physics-BulletSim-20130115083613.log - Creation of Neb's terrain made the terrain "disappear". Everything started to fall - and then get restored to be above terrain. -Create tests for different interface components - Have test objects/scripts measure themselves and turn color if correct/bad - Test functions in SL and calibrate correctness there - Create auto rezzer and tracker to run through the tests Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 Msg Kayaker on OSGrid when working Teravus llMoveToTarget script debug Mixing of hover, buoyancy/gravity, moveToTarget, into one force -Surf board debugging Boats floating at proper level Nebadon vehicles turning funny in arena limitMotorUp calibration (more down?) @@ -25,8 +16,6 @@ vehicle angular banking Avatars walking up stairs (HALF DONE) Radius of the capsule affects ability to climb edges. Vehicle movement on terrain smoothness -Surfboard go wonky when turning - Angular motor direction is global coordinates rather than local coordinates? Boats float low in the water (DONE) Avatar movement flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) @@ -43,6 +32,10 @@ Add material densities to the material types CRASHES ================================================= +Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim + m1:logs/20130115.0934/physics-BulletSim-20130115083613.log + Creation of Neb's terrain made the terrain "disappear". Everything started to fall + and then get restored to be above terrain. 20121129.1411: editting/moving phys object across region boundries causes crash getPos-> btRigidBody::upcast -> getBodyType -> BOOM 20121128.1600: mesh object not rezzing (no physics mesh). @@ -149,6 +142,10 @@ Eliminate collisions between objects in a linkset. (LinksetConstraint) MORE ====================================================== +Create tests for different interface components + Have test objects/scripts measure themselves and turn color if correct/bad + Test functions in SL and calibrate correctness there + Create auto rezzer and tracker to run through the tests Use the HACD convex hull routine in Bullet rather than the C# version. Do we need to do convex hulls all the time? Can complex meshes be left meshes? There is some problem with meshes and collisions @@ -304,4 +301,7 @@ Disable activity of passive linkset children. (DONE) Since the linkset is a compound object, the old prims are left lying around and need to be phantomized so they don't collide, ... Remove HeightmapInfo from terrain specification (DONE) - Since C++ code does not need terrain height, this structure et al are not needed. \ No newline at end of file + Since C++ code does not need terrain height, this structure et al are not needed. +Surfboard go wonky when turning (DONE) + Angular motor direction is global coordinates rather than local coordinates? + (Resolution: made angular motor direction correct coordinate system) \ No newline at end of file -- cgit v1.1 From 8ee9daa121440ad550676814fe60e6b6c0c5d701 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 21:08:11 -0800 Subject: BulletSim: add the editting children in linkset going phantom bug to TODO list. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 2 ++ 1 file changed, 2 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 53b5530..d4545f7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -120,6 +120,8 @@ Physical and phantom will drop through the terrain LINKSETS ====================================================== +Editing a child of a linkset causes the child to go phantom + Move a child prim once when it is physical and can never move it again without it going phantom Offset the center of the linkset to be the geometric center of all the prims Not quite the same as the center-of-gravity Linksets should allow collisions to individual children -- cgit v1.1 From 75f710f1e70a3c9d3459d549eb4334a445aca834 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 17 Jan 2013 14:47:35 -0800 Subject: BulletSim: Add one function that all actors who act on the physical can use to know if the object is currently active. Code cleaning including use of Util.ClampV function. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 3 ++ OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 3 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 +++++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 33 +++++++++------------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 6 +++- 5 files changed, 31 insertions(+), 24 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 87a06c1..6d5e23f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -652,6 +652,9 @@ public sealed class BSCharacter : BSPhysObject public override bool IsStatic { get { return false; } } + public override bool IsPhysicallyActive { + get { return true; } + } public override bool Flying { get { return _flying; } set { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 6601479..f2c7cec 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -35,6 +35,7 @@ using System.Collections.Generic; using System.Reflection; using System.Runtime.InteropServices; using OpenMetaverse; +using OpenSim.Framework; using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.BulletSPlugin @@ -154,7 +155,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Return 'true' if this vehicle is doing vehicle things public bool IsActive { - get { return (Type != Vehicle.TYPE_NONE && !Prim.IsStatic); } + get { return (Type != Vehicle.TYPE_NONE && Prim.IsPhysicallyActive); } } #region Vehicle parameter setting diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 821f470..bac0427 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -139,6 +139,11 @@ public abstract class BSPhysObject : PhysicsActor public abstract bool IsStatic { get; } public abstract bool IsSelected { get; } + // It can be confusing for an actor to know if it should move or update an object + // depeneding on the setting of 'selected', 'physical, ... + // This flag is the true test -- if true, the object is being acted on in the physical world + public abstract bool IsPhysicallyActive { get; } + // Materialness public MaterialAttributes.Material Material { get; private set; } public override void SetMaterial(int material) @@ -302,8 +307,9 @@ public abstract class BSPhysObject : PhysicsActor public virtual bool SendCollisions() { bool ret = true; + // If the 'no collision' call, force it to happen right now so quick collision_end - bool force = (CollisionCollection.Count == 0); + bool force = (CollisionCollection.Count == 0 && CollisionsLastTick.Count != 0); // throttle the collisions to the number of milliseconds specified in the subscription if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) @@ -318,7 +324,7 @@ public abstract class BSPhysObject : PhysicsActor ret = false; } - // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); + DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); base.SendCollisionUpdate(CollisionCollection); // Remember the collisions from this tick for some collision specific processing. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 79fe632..7aa2d92 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -132,8 +132,8 @@ public sealed class BSPrim : BSPhysObject base.Destroy(); // Undo any links between me and any other object - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; + BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG DEBUG + int childrenBefore = Linkset.NumberOfChildren; // DEBUG DEBUG Linkset = Linkset.RemoveMeFromLinkset(this); @@ -727,6 +727,12 @@ public sealed class BSPrim : BSPhysObject get { return !IsPhantom && !_isVolumeDetect; } } + // The object is moving and is actively being dynamic in the physical world + public override bool IsPhysicallyActive + { + get { return !_isSelected && IsPhysical; } + } + // Make gravity work if the object is physical and not selected // Called at taint-time!! private void SetObjectDynamic(bool forceRebuild) @@ -1174,18 +1180,11 @@ public sealed class BSPrim : BSPhysObject // This added force will only last the next simulation tick. public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { // for an object, doesn't matter if force is a pushforce or not - if (!IsStatic) + if (IsPhysicallyActive) { if (force.IsFinite()) { - float magnitude = force.Length(); - if (magnitude > BSParam.MaxAddForceMagnitude) - { - // Force has a limit - force = force / magnitude * BSParam.MaxAddForceMagnitude; - } - - OMV.Vector3 addForce = force; + OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() @@ -1209,19 +1208,13 @@ public sealed class BSPrim : BSPhysObject public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) { // for an object, doesn't matter if force is a pushforce or not - if (!IsStatic) + if (!IsPhysicallyActive) { if (impulse.IsFinite()) { - float magnitude = impulse.Length(); - if (magnitude > BSParam.MaxAddForceMagnitude) - { - // Force has a limit - impulse = impulse / magnitude * BSParam.MaxAddForceMagnitude; - } - + OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude); // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse); - OMV.Vector3 addImpulse = impulse; + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate() { // Bullet adds this impulse immediately to the velocity diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index d4545f7..9bfec19 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -16,6 +16,7 @@ vehicle angular banking Avatars walking up stairs (HALF DONE) Radius of the capsule affects ability to climb edges. Vehicle movement on terrain smoothness +When is force introduced by SetForce removed? The prestep action could go forever. Boats float low in the water (DONE) Avatar movement flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) @@ -72,8 +73,11 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl GENERAL TODO LIST: ================================================= +Implement llSetPhysicalMaterial. +Implement llSetForceAndTorque. Implement an avatar mesh shape. The Bullet capsule is way too limited. Consider just hand creating a vertex/index array in a new BSShapeAvatar. +Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain. Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. Duplicating a physical prim causes old prim to jump away Dup a phys prim and the original become unselected and thus interacts w/ selected prim. @@ -121,7 +125,7 @@ Physical and phantom will drop through the terrain LINKSETS ====================================================== Editing a child of a linkset causes the child to go phantom - Move a child prim once when it is physical and can never move it again without it going phantom + Move a child prim once when it is physical and can never move it again without it going phantom Offset the center of the linkset to be the geometric center of all the prims Not quite the same as the center-of-gravity Linksets should allow collisions to individual children -- cgit v1.1 From 482c7b5368faa034b73b3434fd90ce3702644cb8 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 18 Jan 2013 11:37:36 -0800 Subject: BulletSim: add logic to turn off pre-step actions when object goes non-active. This turns off 'setForce', 'setTorque' and 'moveToTarget' when the object is selected or made non-physical. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 7aa2d92..aaa6fe5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -502,6 +502,12 @@ public sealed class BSPrim : BSPhysObject RegisterPreStepAction("BSPrim.setForce", LocalID, delegate(float timeStep) { + if (!IsPhysicallyActive) + { + UnRegisterPreStepAction("BSPrim.setForce", LocalID); + return; + } + DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force); if (PhysBody.HasPhysicalBody) { @@ -627,6 +633,12 @@ public sealed class BSPrim : BSPhysObject RegisterPreStepAction("BSPrim.setTorque", LocalID, delegate(float timeStep) { + if (!IsPhysicallyActive) + { + UnRegisterPreStepAction("BSPrim.setTorque", LocalID); + return; + } + if (PhysBody.HasPhysicalBody) AddAngularForce(_torque, false, true); } @@ -1061,6 +1073,12 @@ public sealed class BSPrim : BSPhysObject RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep) { + if (!IsPhysicallyActive) + { + UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID); + return; + } + OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below) // 'movePosition' is where we'd like the prim to be at this moment. @@ -1108,6 +1126,9 @@ public sealed class BSPrim : BSPhysObject RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep) { + if (!IsPhysicallyActive) + return; + _hoverMotor.SetCurrent(RawPosition.Z); _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight()); float targetHeight = _hoverMotor.Step(timeStep); -- cgit v1.1 From c6b6c94ccbbbd5226a377a510a988bedec7a418c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 18 Jan 2013 11:39:24 -0800 Subject: BulletSim: reduce jitter in avatar velocity when walking or flying. OpenSimulator is VERY sensitive to changes in avatar velocity and will send an avatar update message when velocity changes more than 0.001m/s. This significantly reduces the number of avatar update messages by smoothing the avatar velocity returned by Bullet. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 9 ++++++++- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +- 2 files changed, 9 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 6d5e23f..478aeab 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -853,7 +853,14 @@ public sealed class BSCharacter : BSPhysObject { _position = entprop.Position; _orientation = entprop.Rotation; - _velocity = entprop.Velocity; + + // Smooth velocity. OpenSimulator is very sensitive to changes in velocity of the avatar + // and will send agent updates to the clients if velocity changes by more than + // 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many + // extra updates. + if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f)) + _velocity = entprop.Velocity; + _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index bac0427..5353c75 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -141,7 +141,7 @@ public abstract class BSPhysObject : PhysicsActor // It can be confusing for an actor to know if it should move or update an object // depeneding on the setting of 'selected', 'physical, ... - // This flag is the true test -- if true, the object is being acted on in the physical world + // This flag is the true test -- if true, the object is being acted on in the physical world public abstract bool IsPhysicallyActive { get; } // Materialness -- cgit v1.1 From 2c517d792f0440c2705458e01a5067628b6b2c7c Mon Sep 17 00:00:00 2001 From: teravus Date: Sun, 20 Jan 2013 08:18:16 -0500 Subject: This updates prebuild to remove BulletSimN, implements the BulletSim API in BulletSPlugin using the BulletXNA Bullet physics engine. It also updates the BulletXNA library to be compatible with the changes. OpenSimDefaults has been updated to describe how to switch engines and terrain implementations. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 885 ++++++++++++++++------- 1 file changed, 623 insertions(+), 262 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index b6ff52b..49b1730 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -129,7 +129,12 @@ private sealed class BulletConstraintXNA : BulletConstraint get { return "XNAConstraint"; } } } + internal int m_maxCollisions; + internal CollisionDesc[] m_collisionArray; + internal int m_maxUpdatesPerFrame; + internal EntityProperties[] m_updateArray; + private static int m_collisionsThisFrame; private BSScene PhysicsScene { get; set; } @@ -148,92 +153,98 @@ private sealed class BulletConstraintXNA : BulletConstraint /// public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; RigidBody body = ((BulletBodyXNA)pBody).rigidBody; world.RemoveRigidBody(body); return true; } - public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) + public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects) { - /* TODO */ - return false; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; + world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects); + + return true; + } - public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain) + public override bool RemoveConstraintFromWorld(BulletWorld pWorld, BulletConstraint pConstraint) { - /* TODO */ - return false; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; + world.RemoveConstraint(constraint); + return true; } - public override void SetRestitution(BulletBody pBody, float pRestitution) + public override void SetRestitution(BulletBody pCollisionObject, float pRestitution) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetRestitution(pRestitution); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + collisionObject.SetRestitution(pRestitution); } public override int GetShapeType(BulletShape pShape) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; return (int)shape.GetShapeType(); } public override void SetMargin(BulletShape pShape, float pMargin) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; shape.SetMargin(pMargin); } public override float GetMargin(BulletShape pShape) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; return shape.GetMargin(); } public override void SetLocalScaling(BulletShape pShape, Vector3 pScale) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); shape.SetLocalScaling(ref vec); } - public override void SetContactProcessingThreshold(BulletBody pBody, float contactprocessingthreshold) + public override void SetContactProcessingThreshold(BulletBody pCollisionObject, float contactprocessingthreshold) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetContactProcessingThreshold(contactprocessingthreshold); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + collisionObject.SetContactProcessingThreshold(contactprocessingthreshold); } - public override void SetCcdMotionThreshold(BulletBody pBody, float pccdMotionThreashold) + public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetCcdMotionThreshold(pccdMotionThreashold); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + collisionObject.SetCcdMotionThreshold(pccdMotionThreashold); } - public override void SetCcdSweptSphereRadius(BulletBody pBody, float pCcdSweptSphereRadius) + public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); } public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z)); } - public override CollisionFlags AddToCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags) + public override CollisionFlags AddToCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags) { - CollisionObject body = ((BulletBodyXNA)pBody).body; - CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; + CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags(); existingcollisionFlags |= pcollisionFlags; - body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); + collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); return (CollisionFlags) (uint) existingcollisionFlags; } public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - CollisionObject cbody = ((BulletBodyXNA)pBody).body; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + CollisionObject cbody = (pBody as BulletBodyXNA).body; RigidBody rbody = cbody as RigidBody; // Bullet resets several variables when an object is added to the world. In particular, @@ -259,99 +270,110 @@ private sealed class BulletConstraintXNA : BulletConstraint return true; } - public override void ForceActivationState(BulletBody pBody, ActivationState pActivationState) + public override void ForceActivationState(BulletBody pCollisionObject, ActivationState pActivationState) { - CollisionObject body = ((BulletBodyXNA)pBody).body; - body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; + collisionObject.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState); } - public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pBody) + public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pCollisionObject) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - CollisionObject body = ((BulletBodyXNA)pBody).body; - world.UpdateSingleAabb(body); + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; + world.UpdateSingleAabb(collisionObject); } - public override void UpdateAabbs(BulletWorld world) { /* TODO */ } - public override bool GetForceUpdateAllAabbs(BulletWorld world) { /* TODO */ return false; } - public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { /* TODO */ } + public override void UpdateAabbs(BulletWorld pWorld) { + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + world.UpdateAabbs(); + } + public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) { + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + return world.GetForceUpdateAllAabbs(); + + } + public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce) + { + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + world.SetForceUpdateAllAabbs(pForce); + } - public override bool SetCollisionGroupMask(BulletBody pBody, uint pGroup, uint pMask) + public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; - body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; - if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0) + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; + collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; + if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0) return false; return true; } - public override void ClearAllForces(BulletBody pBody) + public override void ClearAllForces(BulletBody pCollisionObject) { - CollisionObject body = ((BulletBodyXNA)pBody).body; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0); - body.SetInterpolationLinearVelocity(ref zeroVector); - body.SetInterpolationAngularVelocity(ref zeroVector); - IndexedMatrix bodytransform = body.GetWorldTransform(); + collisionObject.SetInterpolationLinearVelocity(ref zeroVector); + collisionObject.SetInterpolationAngularVelocity(ref zeroVector); + IndexedMatrix bodytransform = collisionObject.GetWorldTransform(); - body.SetInterpolationWorldTransform(ref bodytransform); + collisionObject.SetInterpolationWorldTransform(ref bodytransform); - if (body is RigidBody) + if (collisionObject is RigidBody) { - RigidBody rigidbody = body as RigidBody; + RigidBody rigidbody = collisionObject as RigidBody; rigidbody.SetLinearVelocity(zeroVector); rigidbody.SetAngularVelocity(zeroVector); rigidbody.ClearForces(); } } - public override void SetInterpolationAngularVelocity(BulletBody pBody, Vector3 pVector3) + public override void SetInterpolationAngularVelocity(BulletBody pCollisionObject, Vector3 pVector3) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); - body.SetInterpolationAngularVelocity(ref vec); + collisionObject.SetInterpolationAngularVelocity(ref vec); } public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z); body.SetAngularVelocity(ref vec); } public override Vector3 GetTotalForce(BulletBody pBody) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 iv3 = body.GetTotalForce(); return new Vector3(iv3.X, iv3.Y, iv3.Z); } public override Vector3 GetTotalTorque(BulletBody pBody) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 iv3 = body.GetTotalTorque(); return new Vector3(iv3.X, iv3.Y, iv3.Z); } public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 iv3 = body.GetInvInertiaDiagLocal(); return new Vector3(iv3.X, iv3.Y, iv3.Z); } public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z); body.SetInvInertiaDiagLocal(ref iv3); } public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z); IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); body.ApplyForce(ref forceiv3, ref posiv3); } public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z); IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); body.ApplyImpulse(ref impiv3, ref posiv3); @@ -359,32 +381,32 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void ClearForces(BulletBody pBody) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; body.ClearForces(); } - public override void SetTranslation(BulletBody pBody, Vector3 _position, Quaternion _orientation) + public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W); IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); mat._origin = vposition; - body.SetWorldTransform(mat); + collisionObject.SetWorldTransform(mat); } - public override Vector3 GetPosition(BulletBody pBody) + public override Vector3 GetPosition(BulletBody pCollisionObject) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + IndexedVector3 pos = collisionObject.GetInterpolationWorldTransform()._origin; return new Vector3(pos.X, pos.Y, pos.Z); } public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; IndexedVector3 inertia = IndexedVector3.Zero; shape.CalculateLocalInertia(pphysMass, out inertia); return new Vector3(inertia.X, inertia.Y, inertia.Z); @@ -392,7 +414,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); body.SetMassProps(pphysMass, inertia); } @@ -400,73 +422,90 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetObjectForce(BulletBody pBody, Vector3 _force) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z); body.SetTotalForce(ref force); } - public override void SetFriction(BulletBody pBody, float _currentFriction) + public override void SetFriction(BulletBody pCollisionObject, float _currentFriction) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetFriction(_currentFriction); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + collisionObject.SetFriction(_currentFriction); } public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z); body.SetLinearVelocity(velocity); } - public override void Activate(BulletBody pBody, bool pforceactivation) + public override void Activate(BulletBody pCollisionObject, bool pforceactivation) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.Activate(pforceactivation); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + collisionObject.Activate(pforceactivation); } - public override Quaternion GetOrientation(BulletBody pBody) + public override Quaternion GetOrientation(BulletBody pCollisionObject) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation(); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + IndexedQuaternion mat = collisionObject.GetInterpolationWorldTransform().GetRotation(); return new Quaternion(mat.X, mat.Y, mat.Z, mat.W); } - public override CollisionFlags RemoveFromCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags) + public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags(); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags(); existingcollisionFlags &= ~pcollisionFlags; - body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); + collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); return (CollisionFlags)(uint)existingcollisionFlags; } - public override float GetCcdMotionThreshold(BulletBody obj) { /* TODO */ return 0f; } + public override float GetCcdMotionThreshold(BulletBody pCollisionObject) + { + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + return collisionObject.GetCcdSquareMotionThreshold(); + } - public override float GetCcdSweptSphereRadius(BulletBody obj) { /* TODO */ return 0f; } + public override float GetCcdSweptSphereRadius(BulletBody pCollisionObject) + { + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + return collisionObject.GetCcdSweptSphereRadius(); + + } - public override IntPtr GetUserPointer(BulletBody obj) { /* TODO */ return IntPtr.Zero; } + public override IntPtr GetUserPointer(BulletBody pCollisionObject) + { + CollisionObject shape = (pCollisionObject as BulletBodyXNA).body; + return (IntPtr)shape.GetUserPointer(); + } - public override void SetUserPointer(BulletBody obj, IntPtr val) { /* TODO */ } + public override void SetUserPointer(BulletBody pCollisionObject, IntPtr val) + { + CollisionObject shape = (pCollisionObject as BulletBodyXNA).body; + shape.SetUserPointer(val); + } public override void SetGravity(BulletBody pBody, Vector3 pGravity) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); body.SetGravity(gravity); } public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - TypedConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; world.RemoveConstraint(constraint); return true; } public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; + Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); constraint.SetLinearLowerLimit(lowlimit); @@ -476,7 +515,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high) { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; + Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z); IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z); constraint.SetAngularLowerLimit(lowlimit); @@ -486,20 +525,20 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt) { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; + Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; constraint.SetOverrideNumSolverIterations((int)cnt); } public override bool CalculateTransforms(BulletConstraint pConstraint) { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; + Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; constraint.CalculateTransforms(); return true; } public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2) { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; + Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; constraint.SetEnabled((p_2 == 0) ? false : true); } @@ -508,9 +547,9 @@ private sealed class BulletConstraintXNA : BulletConstraint public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody; - RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; + RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); @@ -542,9 +581,9 @@ private sealed class BulletConstraintXNA : BulletConstraint /// public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody; - RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; + RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0)); @@ -563,7 +602,7 @@ private sealed class BulletConstraintXNA : BulletConstraint //SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot) { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; + Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); @@ -579,109 +618,110 @@ private sealed class BulletConstraintXNA : BulletConstraint public override Vector3 GetLinearVelocity(BulletBody pBody) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 iv3 = body.GetLinearVelocity(); return new Vector3(iv3.X, iv3.Y, iv3.Z); } public override Vector3 GetAngularVelocity(BulletBody pBody) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 iv3 = body.GetAngularVelocity(); return new Vector3(iv3.X, iv3.Y, iv3.Z); } public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z); IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3); return new Vector3(iv3.X, iv3.Y, iv3.Z); } - public override void Translate(BulletBody pBody, Vector3 trans) + public override void Translate(BulletBody pCollisionObject, Vector3 trans) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + collisionObject.Translate(new IndexedVector3(trans.X,trans.Y,trans.Z)); } public override void UpdateDeactivation(BulletBody pBody, float timeStep) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; body.UpdateDeactivation(timeStep); } public override bool WantsSleeping(BulletBody pBody) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; return body.WantsSleeping(); } public override void SetAngularFactor(BulletBody pBody, float factor) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; body.SetAngularFactor(factor); } public override Vector3 GetAngularFactor(BulletBody pBody) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 iv3 = body.GetAngularFactor(); return new Vector3(iv3.X, iv3.Y, iv3.Z); } - public override bool IsInWorld(BulletWorld pWorld, BulletBody pBody) + public override bool IsInWorld(BulletWorld pWorld, BulletBody pCollisionObject) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - CollisionObject body = ((BulletBodyXNA)pBody).body; - return world.IsInWorld(body); + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; + return world.IsInWorld(collisionObject); } - public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstrain) + public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; + TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain; body.AddConstraintRef(constrain); } - public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstrain) + public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstraint) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; + TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain; body.RemoveConstraintRef(constrain); } public override BulletConstraint GetConstraintRef(BulletBody pBody, int index) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; return new BulletConstraintXNA(body.GetConstraintRef(index)); } public override int GetNumConstraintRefs(BulletBody pBody) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; return body.GetNumConstraintRefs(); } - public override void SetInterpolationLinearVelocity(BulletBody pBody, Vector3 VehicleVelocity) + public override void SetInterpolationLinearVelocity(BulletBody pCollisionObject, Vector3 VehicleVelocity) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z); - body.SetInterpolationLinearVelocity(ref velocity); + collisionObject.SetInterpolationLinearVelocity(ref velocity); } public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff) { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; + Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; constraint.SetUseFrameOffset((onOff == 0) ? false : true); return true; } //SetBreakingImpulseThreshold(m_constraint.ptr, threshold); public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold) { - Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; + Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; constraint.SetBreakingImpulseThreshold(threshold); return true; } //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); public override void SetAngularDamping(BulletBody pBody, float angularDamping) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; float lineardamping = body.GetLinearDamping(); body.SetDamping(lineardamping, angularDamping); @@ -689,111 +729,183 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void UpdateInertiaTensor(BulletBody pBody) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; body.UpdateInertiaTensor(); } public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape) { - CompoundShape shape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape; + CompoundShape shape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape; shape.RecalculateLocalAabb(); } //BulletSimAPI.GetCollisionFlags(PhysBody.ptr) - public override CollisionFlags GetCollisionFlags(BulletBody pBody) + public override CollisionFlags GetCollisionFlags(BulletBody pCollisionObject) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - uint flags = (uint)body.GetCollisionFlags(); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + uint flags = (uint)collisionObject.GetCollisionFlags(); return (CollisionFlags) flags; } public override void SetDamping(BulletBody pBody, float pLinear, float pAngular) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; body.SetDamping(pLinear, pAngular); } //PhysBody.ptr, PhysicsScene.Params.deactivationTime); - public override void SetDeactivationTime(BulletBody pBody, float pDeactivationTime) + public override void SetDeactivationTime(BulletBody pCollisionObject, float pDeactivationTime) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetDeactivationTime(pDeactivationTime); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + collisionObject.SetDeactivationTime(pDeactivationTime); } //SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold); } - public override CollisionObjectTypes GetBodyType(BulletBody pBody) + public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - return (CollisionObjectTypes)(int) body.GetInternalType(); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + return (CollisionObjectTypes)(int) collisionObject.GetInternalType(); } - public override void ApplyGravity(BulletBody obj) { /* TODO */ } + public override void ApplyGravity(BulletBody pBody) + { - public override Vector3 GetGravity(BulletBody obj) { /* TODO */ return Vector3.Zero; } + RigidBody body = (pBody as BulletBodyXNA).rigidBody; + body.ApplyGravity(); + } - public override void SetLinearDamping(BulletBody obj, float lin_damping) { /* TODO */ } + public override Vector3 GetGravity(BulletBody pBody) + { + RigidBody body = (pBody as BulletBodyXNA).rigidBody; + IndexedVector3 gravity = body.GetGravity(); + return new Vector3(gravity.X, gravity.Y, gravity.Z); + } - public override float GetLinearDamping(BulletBody obj) { /* TODO */ return 0f; } + public override void SetLinearDamping(BulletBody pBody, float lin_damping) + { + RigidBody body = (pBody as BulletBodyXNA).rigidBody; + float angularDamping = body.GetAngularDamping(); + body.SetDamping(lin_damping, angularDamping); + } - public override float GetAngularDamping(BulletBody obj) { /* TODO */ return 0f; } + public override float GetLinearDamping(BulletBody pBody) + { + RigidBody body = (pBody as BulletBodyXNA).rigidBody; + return body.GetLinearDamping(); + } + + public override float GetAngularDamping(BulletBody pBody) + { + RigidBody body = (pBody as BulletBodyXNA).rigidBody; + return body.GetAngularDamping(); + } - public override float GetLinearSleepingThreshold(BulletBody obj) { /* TODO */ return 0f; } + public override float GetLinearSleepingThreshold(BulletBody pBody) + { + RigidBody body = (pBody as BulletBodyXNA).rigidBody; + return body.GetLinearSleepingThreshold(); + } - public override void ApplyDamping(BulletBody obj, float timeStep) { /* TODO */ } + public override void ApplyDamping(BulletBody pBody, float timeStep) + { + RigidBody body = (pBody as BulletBodyXNA).rigidBody; + body.ApplyDamping(timeStep); + } - public override Vector3 GetLinearFactor(BulletBody obj) { /* TODO */ return Vector3.Zero; } + public override Vector3 GetLinearFactor(BulletBody pBody) + { + RigidBody body = (pBody as BulletBodyXNA).rigidBody; + IndexedVector3 linearFactor = body.GetLinearFactor(); + return new Vector3(linearFactor.X, linearFactor.Y, linearFactor.Z); + } - public override void SetLinearFactor(BulletBody obj, Vector3 factor) { /* TODO */ } + public override void SetLinearFactor(BulletBody pBody, Vector3 factor) + { + RigidBody body = (pBody as BulletBodyXNA).rigidBody; + body.SetLinearFactor(new IndexedVector3(factor.X, factor.Y, factor.Z)); + } - public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { /* TODO */ } + public override void SetCenterOfMassByPosRot(BulletBody pBody, Vector3 pos, Quaternion rot) + { + RigidBody body = (pBody as BulletBodyXNA).rigidBody; + IndexedQuaternion quat = new IndexedQuaternion(rot.X, rot.Y, rot.Z,rot.W); + IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(quat); + mat._origin = new IndexedVector3(pos.X, pos.Y, pos.Z); + body.SetCenterOfMassTransform( ref mat); + /* TODO: double check this */ + } //BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum); public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); body.ApplyCentralForce(ref fSum); } public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); body.ApplyCentralImpulse(ref fSum); } public override void ApplyTorque(BulletBody pBody, Vector3 pfSum) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); body.ApplyTorque(ref fSum); } public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + RigidBody body = (pBody as BulletBodyXNA).rigidBody; IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z); body.ApplyTorqueImpulse(ref fSum); } - public override void DestroyObject(BulletWorld p, BulletBody p_2) + public override void DestroyObject(BulletWorld pWorld, BulletBody pBody) { - //TODO: + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + CollisionObject co = (pBody as BulletBodyXNA).rigidBody; + RigidBody bo = co as RigidBody; + if (bo == null) + { + + if (world.IsInWorld(co)) + { + world.RemoveCollisionObject(co); + } + } + else + { + + if (world.IsInWorld(bo)) + { + world.RemoveRigidBody(bo); + } + } + } public override void Shutdown(BulletWorld pWorld) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; world.Cleanup(); } - public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id) + public override BulletShape DuplicateCollisionShape(BulletWorld pWorld, BulletShape pShape, uint id) { - return null; + CollisionShape shape1 = (pShape as BulletShapeXNA).shape; + + // TODO: Turn this from a reference copy to a Value Copy. + BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSPhysicsShapeType.SHAPE_UNKNOWN); + + return shape2; } - public override bool DeleteCollisionShape(BulletWorld p, BulletShape p_2) + public override bool DeleteCollisionShape(BulletWorld pWorld, BulletShape pShape) { //TODO: return false; @@ -802,17 +914,40 @@ private sealed class BulletConstraintXNA : BulletConstraint public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) { - CollisionWorld world = ((BulletWorldXNA)pWorld).world; + CollisionWorld world = (pWorld as BulletWorldXNA).world; IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y, pRawOrientation.Z, pRawOrientation.W)); mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; //UpdateSingleAabb(world, shape); // TODO: Feed Update array into null - RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero); - + SimMotionState motionState = new SimMotionState(world, pLocalID, mat, null); + RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero); + RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, new SimMotionState(world, pLocalID, mat, null),shape,IndexedVector3.Zero) + { + m_mass = 0 + }; + /* + m_mass = mass; + m_motionState =motionState; + m_collisionShape = collisionShape; + m_localInertia = localInertia; + m_linearDamping = 0f; + m_angularDamping = 0f; + m_friction = 0.5f; + m_restitution = 0f; + m_linearSleepingThreshold = 0.8f; + m_angularSleepingThreshold = 1f; + m_additionalDamping = false; + m_additionalDampingFactor = 0.005f; + m_additionalLinearDampingThresholdSqr = 0.01f; + m_additionalAngularDampingThresholdSqr = 0.01f; + m_additionalAngularDampingFactor = 0.01f; + m_startWorldTransform = IndexedMatrix.Identity; + */ body.SetUserPointer(pLocalID); + return new BulletBodyXNA(pLocalID, body); } @@ -825,7 +960,7 @@ private sealed class BulletConstraintXNA : BulletConstraint pRawOrientation.Z, pRawOrientation.W)); mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; // TODO: Feed Update array into null RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero); @@ -834,21 +969,43 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletBodyXNA(pLocalID, body); } //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - public override CollisionFlags SetCollisionFlags(BulletBody pBody, CollisionFlags collisionFlags) + public override CollisionFlags SetCollisionFlags(BulletBody pCollisionObject, CollisionFlags collisionFlags) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); - return (CollisionFlags)body.GetCollisionFlags(); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags); + return (CollisionFlags)collisionObject.GetCollisionFlags(); } - public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return Vector3.Zero; } + public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) + { + + /* TODO */ + return Vector3.Zero; + } public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; } public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; } - public override bool IsStaticObject(BulletBody pBody) { /* TODO */ return false; } - public override bool IsKinematicObject(BulletBody pBody) { /* TODO */ return false; } - public override bool IsStaticOrKinematicObject(BulletBody pBody) { /* TODO */ return false; } - public override bool HasContactResponse(BulletBody pBody) { /* TODO */ return false; } + public override bool IsStaticObject(BulletBody pCollisionObject) + { + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + return collisionObject.IsStaticObject(); + + } + public override bool IsKinematicObject(BulletBody pCollisionObject) + { + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + return collisionObject.IsKinematicObject(); + } + public override bool IsStaticOrKinematicObject(BulletBody pCollisionObject) + { + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + return collisionObject.IsStaticOrKinematicObject(); + } + public override bool HasContactResponse(BulletBody pCollisionObject) + { + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + return collisionObject.HasContactResponse(); + } public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; } public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ } public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; } @@ -859,15 +1016,15 @@ private sealed class BulletConstraintXNA : BulletConstraint public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; } //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); - public override void SetHitFraction(BulletBody pBody, float pHitFraction) + public override void SetHitFraction(BulletBody pCollisionObject, float pHitFraction) { - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - body.SetHitFraction(pHitFraction); + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + collisionObject.SetHitFraction(pHitFraction); } //BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale); public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z); CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight); capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin); @@ -881,14 +1038,24 @@ private sealed class BulletConstraintXNA : BulletConstraint int maxUpdates, ref EntityProperties[] updateArray ) { + + m_updateArray = updateArray; + m_collisionArray = collisionArray; /* TODO */ - return new BulletWorldXNA(1, null, null); + ConfigurationParameters[] configparms = new ConfigurationParameters[1]; + configparms[0] = parms; + Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); + m_maxCollisions = maxCollisions; + m_maxUpdatesPerFrame = maxUpdates; + + + return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); } - private static object Initialize2(Vector3 worldExtent, + private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, - int mMaxCollisionsPerFrame, ref List collisionArray, - int mMaxUpdatesPerFrame, ref List updateArray, + int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray, + int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, object mDebugLogCallbackHandle) { CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); @@ -968,8 +1135,13 @@ private sealed class BulletConstraintXNA : BulletConstraint SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); - world.UpdatedObjects = updateArray; - world.UpdatedCollisions = collisionArray; + + + world.UpdatedObjects = BSAPIXNA.GetBulletXNAEntityStruct(BSAPIXNA.BulletSimEntityStructToByteArray(updateArray, updateArray.Length)); + world.UpdatedCollisions = BSAPIXNA.GetBulletXNACollisionStruct(BSAPIXNA.BulletSimCollisionStructToByteArray(collisionArray, collisionArray.Length)); + world.LastCollisionDesc = 0; + world.LastEntityProperty = 0; + world.WorldSettings.Params = p; world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0); world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD; @@ -1003,7 +1175,7 @@ private sealed class BulletConstraintXNA : BulletConstraint world.GetSolverInfo().m_restingContactRestitutionThreshold = 2; world.SetForceUpdateAllAabbs(true); - + //BSParam.TerrainImplementation = 0; world.SetGravity(new IndexedVector3(0,0,p.gravity)); return world; @@ -1011,7 +1183,7 @@ private sealed class BulletConstraintXNA : BulletConstraint //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis) { - Generic6DofConstraint constrain = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint; + Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint; if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL) { constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0); @@ -1034,7 +1206,8 @@ private sealed class BulletConstraintXNA : BulletConstraint public override bool PushUpdate(BulletBody pCollisionObject) { bool ret = false; - RigidBody rb = ((BulletBodyXNA)pCollisionObject).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + RigidBody rb = collisionObject as RigidBody; if (rb != null) { SimMotionState sms = rb.GetMotionState() as SimMotionState; @@ -1052,57 +1225,57 @@ private sealed class BulletConstraintXNA : BulletConstraint public override float GetAngularMotionDisc(BulletShape pShape) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; return shape.GetAngularMotionDisc(); } public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; return shape.GetContactBreakingThreshold(defaultFactor); } public override bool IsCompound(BulletShape pShape) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; return shape.IsCompound(); } public override bool IsSoftBody(BulletShape pShape) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; return shape.IsSoftBody(); } public override bool IsPolyhedral(BulletShape pShape) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; return shape.IsPolyhedral(); } public override bool IsConvex2d(BulletShape pShape) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; return shape.IsConvex2d(); } public override bool IsConvex(BulletShape pShape) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; return shape.IsConvex(); } public override bool IsNonMoving(BulletShape pShape) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; return shape.IsNonMoving(); } public override bool IsConcave(BulletShape pShape) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; return shape.IsConcave(); } public override bool IsInfinite(BulletShape pShape) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; return shape.IsInfinite(); } public override bool IsNativeShape(BulletShape pShape) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; bool ret; switch (shape.GetShapeType()) { @@ -1119,38 +1292,53 @@ private sealed class BulletConstraintXNA : BulletConstraint return ret; } - public override void SetShapeCollisionMargin(BulletShape shape, float margin) { /* TODO */ } + public override void SetShapeCollisionMargin(BulletShape pShape, float pMargin) + { + CollisionShape shape = (pShape as BulletShapeXNA).shape; + shape.SetMargin(pMargin); + } //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; IndexedMatrix bodyTransform = new IndexedMatrix(); bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z); bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W)); GhostObject gObj = new PairCachingGhostObject(); gObj.SetWorldTransform(bodyTransform); - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; gObj.SetCollisionShape(shape); gObj.SetUserPointer(pLocalID); // TODO: Add to Special CollisionObjects! return new BulletBodyXNA(pLocalID, gObj); } - public override void SetCollisionShape(BulletWorld pWorld, BulletBody pObj, BulletShape pShape) + public override void SetCollisionShape(BulletWorld pWorld, BulletBody pCollisionObject, BulletShape pShape) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - CollisionObject obj = ((BulletBodyXNA)pObj).body; - CollisionShape shape = ((BulletShapeXNA)pShape).shape; - obj.SetCollisionShape(shape); - + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; + if (pShape == null) + { + collisionObject.SetCollisionShape(new EmptyShape()); + } + else + { + CollisionShape shape = (pShape as BulletShapeXNA).shape; + collisionObject.SetCollisionShape(shape); + } + } + public override BulletShape GetCollisionShape(BulletBody pCollisionObject) + { + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionShape shape = collisionObject.GetCollisionShape(); + return new BulletShapeXNA(shape,BSPhysicsShapeType.SHAPE_UNKNOWN); } - public override BulletShape GetCollisionShape(BulletBody obj) { /* TODO */ return null; } //(PhysicsScene.World.ptr, nativeShapeData) public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; CollisionShape shape = null; switch (pShapeData.Type) { @@ -1185,15 +1373,15 @@ private sealed class BulletConstraintXNA : BulletConstraint public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape) { - CompoundShape compoundshape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape; + CompoundShape compoundshape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape; return compoundshape.GetNumChildShapes(); } //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot) { IndexedMatrix relativeTransform = new IndexedMatrix(); - CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape; - CollisionShape addshape = ((BulletShapeXNA)paddShape).shape; + CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape; + CollisionShape addshape = (paddShape as BulletShapeXNA).shape; relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z); relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W)); @@ -1203,7 +1391,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii) { - CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape; + CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape; CollisionShape ret = null; ret = compoundshape.GetChildShape(pii); compoundshape.RemoveChildShapeByIndex(pii); @@ -1222,12 +1410,12 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); } - public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) { HingeConstraint constrain = null; - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - RigidBody rb1 = ((BulletBodyXNA)pBody1).rigidBody; - RigidBody rb2 = ((BulletBodyXNA)ppBody2).rigidBody; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; + RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; if (rb1 != null && rb2 != null) { IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); @@ -1241,7 +1429,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; CompoundShape compoundshape = new CompoundShape(false); compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); @@ -1271,7 +1459,11 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); } - public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { /* TODO */ return null; } + public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) + { + /* TODO */ return null; + + } public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) { @@ -1286,7 +1478,7 @@ private sealed class BulletConstraintXNA : BulletConstraint ObjectArray indicesarr = new ObjectArray(indices); ObjectArray vertices = new ObjectArray(verticesAsFloats); DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; IndexedMesh mesh = new IndexedMesh(); mesh.m_indexType = PHY_ScalarType.PHY_INTEGER; mesh.m_numTriangles = pIndicesCount/3; @@ -1402,7 +1594,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce) { - TypedConstraint tconstrain = ((BulletConstraintXNA)pConstraint).constrain; + TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain; bool onOff = ponOff != 0; bool ret = false; @@ -1428,47 +1620,45 @@ private sealed class BulletConstraintXNA : BulletConstraint /* TODO */ updatedEntityCount = 0; collidersCount = 0; - return 1; + + + int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray); + + return ret; } private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, - out int updatedEntityCount, out List updatedEntities, - out int collidersCount, out Listcolliders) + out int updatedEntityCount, out EntityProperties[] updatedEntities, + out int collidersCount, out CollisionDesc[] colliders) { int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities, - out collidersCount, out colliders); + out collidersCount, out colliders, m_maxCollisions, m_maxUpdatesPerFrame); return epic; } - private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List updatedEntities, out int collidersCount, out List colliders) + private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, + out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates) { int numSimSteps = 0; - - //if (updatedEntities is null) - // updatedEntities = new List(); - - //if (colliders is null) - // colliders = new List(); + updatedEntityCount = 0; + collidersCount = 0; if (pWorld is BulletWorldXNA) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + world.LastCollisionDesc = 0; + world.LastEntityProperty = 0; + world.UpdatedObjects = new BulletXNA.EntityProperties[maxUpdates]; + world.UpdatedCollisions = new BulletXNA.CollisionDesc[maxCollisions]; numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); int updates = 0; - updatedEntityCount = world.UpdatedObjects.Count; - updatedEntities = new List(world.UpdatedObjects); - updatedEntityCount = updatedEntities.Count; - world.UpdatedObjects.Clear(); + - collidersCount = world.UpdatedCollisions.Count; - colliders = new List(world.UpdatedCollisions); - - world.UpdatedCollisions.Clear(); m_collisionsThisFrame = 0; int numManifolds = world.GetDispatcher().GetNumManifolds(); for (int j = 0; j < numManifolds; j++) @@ -1493,16 +1683,31 @@ private sealed class BulletConstraintXNA : BulletConstraint } + updatedEntityCount = world.LastEntityProperty; + updatedEntities = GetBulletSimEntityStruct(BulletXNAEntityStructToByteArray(world.UpdatedObjects, world.LastEntityProperty)); + + + + + collidersCount = world.LastCollisionDesc; + colliders = + GetBulletSimCollisionStruct(BulletXNACollisionStructToByteArray(world.UpdatedCollisions, world.LastCollisionDesc));//new List(world.UpdatedCollisions); } else { //if (updatedEntities is null) - updatedEntities = new List(); - updatedEntityCount = 0; + //updatedEntities = new List(); + //updatedEntityCount = 0; //if (colliders is null) - colliders = new List(); - collidersCount = 0; + //colliders = new List(); + //collidersCount = 0; + + updatedEntities = new EntityProperties[0]; + + + colliders = new CollisionDesc[0]; + } return numSimSteps; } @@ -1535,22 +1740,23 @@ private sealed class BulletConstraintXNA : BulletConstraint point = contact, normal = contactNormal }; - world.UpdatedCollisions.Add(cDesc); + if (world.LastCollisionDesc < world.UpdatedCollisions.Length) + world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc); m_collisionsThisFrame++; } - private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pBody) + private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pCollisionObject) { EntityProperties ent = new EntityProperties(); - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; - RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - IndexedMatrix transform = body.GetWorldTransform(); - IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity(); - IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity(); + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + IndexedMatrix transform = collisionObject.GetWorldTransform(); + IndexedVector3 LinearVelocity = collisionObject.GetInterpolationLinearVelocity(); + IndexedVector3 AngularVelocity = collisionObject.GetInterpolationAngularVelocity(); IndexedQuaternion rotation = transform.GetRotation(); ent.Acceleration = Vector3.Zero; - ent.ID = (uint)body.GetUserPointer(); + ent.ID = (uint)collisionObject.GetUserPointer(); ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z); ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W); ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z); @@ -1562,19 +1768,19 @@ private sealed class BulletConstraintXNA : BulletConstraint public override Vector3 GetLocalScaling(BulletShape pShape) { - CollisionShape shape = ((BulletShapeXNA)pShape).shape; + CollisionShape shape = (pShape as BulletShapeXNA).shape; IndexedVector3 scale = shape.GetLocalScaling(); return new Vector3(scale.X,scale.Y,scale.Z); } public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe) { - DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; if (world != null) { if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) { - CollisionObject AvoidBody = ((BulletBodyXNA)NotMe).body; + CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body; IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); @@ -1594,5 +1800,160 @@ private sealed class BulletConstraintXNA : BulletConstraint } return false; } + + public static unsafe BulletXNA.CollisionDesc[] GetBulletXNACollisionStruct(byte[] buffer) + { + int count = buffer.Length/sizeof (BulletXNA.CollisionDesc); + BulletXNA.CollisionDesc[] result = new BulletXNA.CollisionDesc[count]; + BulletXNA.CollisionDesc* ptr; + fixed (byte* localBytes = new byte[buffer.Length]) + { + for (int i = 0; i < buffer.Length; i++) + { + localBytes[i] = buffer[i]; + } + for (int i=0;i count ? count : CollisionDescArray.Length; + byte[] byteArray = new byte[sizeof(CollisionDesc) * arrayLength]; + fixed (CollisionDesc* floatPointer = CollisionDescArray) + { + fixed (byte* bytePointer = byteArray) + { + CollisionDesc* read = floatPointer; + CollisionDesc* write = (CollisionDesc*)bytePointer; + for (int i = 0; i < arrayLength; i++) + { + *write++ = *read++; + } + } + } + return byteArray; + } + public static unsafe byte[] BulletXNACollisionStructToByteArray(BulletXNA.CollisionDesc[] CollisionDescArray, int count) + { + int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length; + byte[] byteArray = new byte[sizeof(BulletXNA.CollisionDesc) * arrayLength]; + fixed (BulletXNA.CollisionDesc* floatPointer = CollisionDescArray) + { + fixed (byte* bytePointer = byteArray) + { + BulletXNA.CollisionDesc* read = floatPointer; + BulletXNA.CollisionDesc* write = (BulletXNA.CollisionDesc*)bytePointer; + for (int i = 0; i < arrayLength; i++) + { + *write++ = *read++; + } + } + } + return byteArray; + } + public static unsafe BulletXNA.EntityProperties[] GetBulletXNAEntityStruct(byte[] buffer) + { + int count = buffer.Length / sizeof(BulletXNA.EntityProperties); + BulletXNA.EntityProperties[] result = new BulletXNA.EntityProperties[count]; + BulletXNA.EntityProperties* ptr; + fixed (byte* localBytes = new byte[buffer.Length]) + { + for (int i = 0; i < buffer.Length; i++) + { + localBytes[i] = buffer[i]; + } + for (int i = 0; i < count; i++) + { + ptr = (BulletXNA.EntityProperties*)(localBytes + sizeof(BulletXNA.EntityProperties) * i); + result[i] = new BulletXNA.EntityProperties(); + result[i] = *ptr; + } + } + return result; + } + + public static unsafe EntityProperties[] GetBulletSimEntityStruct(byte[] buffer) + { + int count = buffer.Length / sizeof(EntityProperties); + EntityProperties[] result = new EntityProperties[count]; + EntityProperties* ptr; + fixed (byte* localBytes = new byte[buffer.Length]) + { + for (int i = 0; i < buffer.Length; i++) + { + localBytes[i] = buffer[i]; + } + for (int i = 0; i < count; i++) + { + ptr = (EntityProperties*)(localBytes + sizeof(EntityProperties) * i); + result[i] = new EntityProperties(); + result[i] = *ptr; + } + } + return result; + } + public static unsafe byte[] BulletSimEntityStructToByteArray(EntityProperties[] CollisionDescArray, int count) + { + int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length; + byte[] byteArray = new byte[sizeof(EntityProperties) * arrayLength]; + fixed (EntityProperties* floatPointer = CollisionDescArray) + { + fixed (byte* bytePointer = byteArray) + { + EntityProperties* read = floatPointer; + EntityProperties* write = (EntityProperties*)bytePointer; + for (int i = 0; i < arrayLength; i++) + { + *write++ = *read++; + } + } + } + return byteArray; + } + public static unsafe byte[] BulletXNAEntityStructToByteArray(BulletXNA.EntityProperties[] CollisionDescArray, int count) + { + int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length; + byte[] byteArray = new byte[sizeof(BulletXNA.EntityProperties) * arrayLength]; + fixed (BulletXNA.EntityProperties* floatPointer = CollisionDescArray) + { + fixed (byte* bytePointer = byteArray) + { + BulletXNA.EntityProperties* read = floatPointer; + BulletXNA.EntityProperties* write = (BulletXNA.EntityProperties*)bytePointer; + for (int i = 0; i < arrayLength; i++) + { + *write++ = *read++; + } + } + } + return byteArray; + } } } -- cgit v1.1 From 3b0df52d10c157cd2711d64ef9007d2afccbd468 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 20 Jan 2013 09:33:13 -0800 Subject: BulletSim: modify motors to return correction rather than current value to better use them for incremental updates. Modify prim and character to use the new motors. Simplify the vehicle linear movement code to just update the velocity directly or the basic movement. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 3 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 41 ++++++++-------------- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 25 ++++++++----- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 3 ++ 5 files changed, 36 insertions(+), 38 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 478aeab..696c4bd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -198,7 +198,8 @@ public sealed class BSCharacter : BSPhysObject // TODO: Decide if the step parameters should be changed depending on the avatar's // state (flying, colliding, ...). There is code in ODE to do this. - OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep); + _velocityMotor.Step(timeStep); + OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue; // If falling, we keep the world's downward vector no matter what the other axis specify. if (!Flying && !IsColliding) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index f2c7cec..7c9b83b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -957,39 +957,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin public void ComputeLinearVelocity(float pTimestep) { - Vector3 linearMotorStep = m_linearMotor.Step(pTimestep); + // Step the motor from the current value. Get the correction needed this step. + Vector3 currentVel = VehicleVelocity * Quaternion.Inverse(VehicleOrientation); + Vector3 linearMotorCorrection = m_linearMotor.Step(pTimestep, currentVel); - // The movement computed in the linear motor is relative to the vehicle - // coordinates. Rotate the movement to world coordinates. - Vector3 linearMotorVelocity = linearMotorStep * VehicleOrientation; + // Motor is vehicle coordinates. Rotate it to world coordinates + Vector3 linearMotorVelocity = linearMotorCorrection * VehicleOrientation; - // If we're a ground vehicle, don't loose any Z action (like gravity acceleration). - float mixFactor = 1f; // 1 means use all linear motor Z value, 0 means use all existing Z + // If we're a ground vehicle, don't add any upward Z movement if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) { - if (!Prim.IsColliding) - { - // If a ground vehicle and not on the ground, I want gravity effect - mixFactor = 0.2f; - } - } - else - { - // I'm not a ground vehicle but don't totally loose the effect of the environment - mixFactor = 0.8f; + if (linearMotorVelocity.Z > 0f) + linearMotorVelocity.Z = 0f; } - linearMotorVelocity.Z = mixFactor * linearMotorVelocity.Z + (1f - mixFactor) * VehicleVelocity.Z; - - // What we want to contribute to the vehicle's existing velocity - Vector3 linearMotorForce = linearMotorVelocity - VehicleVelocity; - - // Act against the inertia of the vehicle - linearMotorForce *= m_vehicleMass; - VehicleAddForceImpulse(linearMotorForce * pTimestep); + // Add this correction to the velocity to make it faster/slower. + VehicleVelocity += linearMotorVelocity; - VDetailLog("{0}, MoveLinear,velocity,vehVel={1},step={2},stepVel={3},mix={4},force={5}", - Prim.LocalID, VehicleVelocity, linearMotorStep, linearMotorVelocity, mixFactor, linearMotorForce); + VDetailLog("{0}, MoveLinear,velocity,vehVel={1},correction={2},force={3}", + Prim.LocalID, VehicleVelocity, linearMotorCorrection, linearMotorVelocity); } public void ComputeLinearTerrainHeightCorrection(float pTimestep) @@ -1204,6 +1190,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // The user wants this many radians per second angular change? Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); + angularMotorContribution = m_angularMotor.CurrentValue; // ================================================================== // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : @@ -1234,7 +1221,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin + deflectionContribution + bankingContribution; - // Add of the above computation are made relative to vehicle coordinates. + // All of the above computation are made relative to vehicle coordinates. // Convert to world coordinates. m_lastAngularVelocity *= VehicleOrientation; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 6d0db2e..82fd2d2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -138,7 +138,8 @@ public class BSVMotor : BSMotor CurrentValue = TargetValue = Vector3.Zero; } - // Compute the next step and return the new current value + // Compute the next step and return the new current value. + // Returns the correction needed to move 'current' to 'target'. public virtual Vector3 Step(float timeStep) { if (!Enabled) return TargetValue; @@ -150,7 +151,7 @@ public class BSVMotor : BSMotor Vector3 error = TargetValue - CurrentValue; if (!ErrorIsZero(error)) { - correction = Step(timeStep, error); + correction = StepError(timeStep, error); CurrentValue += correction; @@ -187,14 +188,20 @@ public class BSVMotor : BSMotor else { // Difference between what we have and target is small. Motor is done. - CurrentValue = TargetValue; + CurrentValue = TargetValue = Vector3.Zero; MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); } - return CurrentValue; + return correction; + } + // version of step that sets the current value before doing the step + public virtual Vector3 Step(float timeStep, Vector3 current) + { + CurrentValue = current; + return Step(timeStep); } - public virtual Vector3 Step(float timeStep, Vector3 error) + public virtual Vector3 StepError(float timeStep, Vector3 error) { if (!Enabled) return Vector3.Zero; @@ -304,7 +311,7 @@ public class BSFMotor : BSMotor float error = TargetValue - CurrentValue; if (!ErrorIsZero(error)) { - correction = Step(timeStep, error); + correction = StepError(timeStep, error); CurrentValue += correction; @@ -347,7 +354,7 @@ public class BSFMotor : BSMotor return CurrentValue; } - public virtual float Step(float timeStep, float error) + public virtual float StepError(float timeStep, float error) { if (!Enabled) return 0f; @@ -440,8 +447,8 @@ public class BSPIDVMotor : BSVMotor } } - // Ignore Current and Target Values and just advance the PID computation on this error. - public override Vector3 Step(float timeStep, Vector3 error) + // Advance the PID computation on this error. + public override Vector3 StepError(float timeStep, Vector3 error) { if (!Enabled) return Vector3.Zero; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index aaa6fe5..22afdc9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1082,7 +1082,7 @@ public sealed class BSPrim : BSPhysObject OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below) // 'movePosition' is where we'd like the prim to be at this moment. - OMV.Vector3 movePosition = _targetMotor.Step(timeStep); + OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep); // If we are very close to our target, turn off the movement motor. if (_targetMotor.ErrorIsZero()) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 9bfec19..23b7ca8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -74,7 +74,10 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl GENERAL TODO LIST: ================================================= Implement llSetPhysicalMaterial. + extend it with Center-of-mass, rolling friction, density Implement llSetForceAndTorque. +Change BSPrim.moveToTarget to used forces rather than changing position + Changing position allows one to move through walls Implement an avatar mesh shape. The Bullet capsule is way too limited. Consider just hand creating a vertex/index array in a new BSShapeAvatar. Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain. -- cgit v1.1 From 2cb1d5240e41639b9c84aa6607aab0df49f353a7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 20 Jan 2013 13:11:00 -0800 Subject: BulletSim: small fix making sure terrain height is calculated properly if the vehicle moves during vehicle actions. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 7c9b83b..388d4f9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -720,10 +720,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Since the computation of terrain height can be a little involved, this routine // is used to fetch the height only once for each vehicle simulation step. + Vector3 lastRememberedHeightPos; private float GetTerrainHeight(Vector3 pos) { - if ((m_knownHas & m_knownChangedTerrainHeight) == 0) + if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos) { + lastRememberedHeightPos = pos; m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); m_knownHas |= m_knownChangedTerrainHeight; } -- cgit v1.1 From 3c4868f61362c2c86cef9f98e197362f57ca627b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 20 Jan 2013 19:13:18 -0800 Subject: BulletSim: fix problem of avatar sliding very slowly occasionally after stopping walking. Consolidate movement tests into the one prestep motion action --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 75 ++++++++++++---------- 1 file changed, 41 insertions(+), 34 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 696c4bd..cd279e3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -56,6 +56,7 @@ public sealed class BSCharacter : BSPhysObject private int _physicsActorType; private bool _isPhysical; private bool _flying; + private bool _wasWalking; // 'true' if the avatar was walking/moving last frame private bool _setAlwaysRun; private bool _throttleUpdates; private bool _floatOnWater; @@ -83,6 +84,7 @@ public sealed class BSCharacter : BSPhysObject _position = pos; _flying = isFlying; + _wasWalking = true; // causes first step to initialize standing _orientation = OMV.Quaternion.Identity; _velocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); @@ -199,25 +201,51 @@ public sealed class BSCharacter : BSPhysObject // state (flying, colliding, ...). There is code in ODE to do this. _velocityMotor.Step(timeStep); - OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue; - // If falling, we keep the world's downward vector no matter what the other axis specify. - if (!Flying && !IsColliding) + // If we're not supposed to be moving, make sure things are zero. + if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f)) { - stepVelocity.Z = _velocity.Z; - // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); + if (_wasWalking) + { + _velocityMotor.Zero(); + _velocity = OMV.Vector3.Zero; + PhysicsScene.PE.SetLinearVelocity(PhysBody, OMV.Vector3.Zero); + _currentFriction = BSParam.AvatarStandingFriction; + PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); + // DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue); + } + _wasWalking = false; } + else + { + OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue; + + if (_currentFriction != BSParam.AvatarFriction) + { + // Probably starting up walking. Set friction to moving friction. + _currentFriction = BSParam.AvatarFriction; + PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); + } - // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. - OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass; + // If falling, we keep the world's downward vector no matter what the other axis specify. + if (!Flying && !IsColliding) + { + stepVelocity.Z = _velocity.Z; + // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); + } + + // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. + OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass; - // Should we check for move force being small and forcing velocity to zero? + // Should we check for move force being small and forcing velocity to zero? - // Add special movement force to allow avatars to walk up stepped surfaces. - moveForce += WalkUpStairs(); + // Add special movement force to allow avatars to walk up stepped surfaces. + moveForce += WalkUpStairs(); - // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); - PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce); + // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); + PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce); + _wasWalking = true; + } }); } @@ -560,27 +588,6 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); _velocity = value; - // Depending on whether the avatar is moving or not, change the friction - // to keep the avatar from slipping around - if (_velocity.Length() == 0) - { - if (_currentFriction != BSParam.AvatarStandingFriction) - { - _currentFriction = BSParam.AvatarStandingFriction; - if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); - } - } - else - { - if (_currentFriction != BSParam.AvatarFriction) - { - _currentFriction = BSParam.AvatarFriction; - if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); - } - } - PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); PhysicsScene.PE.Activate(PhysBody, true); } @@ -855,7 +862,7 @@ public sealed class BSCharacter : BSPhysObject _position = entprop.Position; _orientation = entprop.Rotation; - // Smooth velocity. OpenSimulator is very sensitive to changes in velocity of the avatar + // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar // and will send agent updates to the clients if velocity changes by more than // 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many // extra updates. -- cgit v1.1 From 52b341e2e24384395fddc7d32fd66358f5062468 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 20 Jan 2013 22:35:42 -0800 Subject: BulletSim: More aggressive as setting character velocity to zero when should be standing. Modify angular force routines to be the same pattern as linear force routines. BulletSim vehicle turning is scaled like SL and is DIFFERENT THAN ODE!! Fix some bugs in BSMotor dealing with the motor going to zero. Add a bunch of parameters: MaxLinearVelocity, MaxAngularVelocity, MaxAddForceMagnitude, VehicleMaxLinearVelocity, VehicleMaxAngularVelocity, and most of the values are defaulted to values that are larger than in SL. Use the new parameters in BSPrim, BSCharacter and BSDynamic. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 30 ++++- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 143 ++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 26 +++- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 32 ++++- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 13 +- 5 files changed, 153 insertions(+), 91 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index cd279e3..a9e16e6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -200,20 +200,36 @@ public sealed class BSCharacter : BSPhysObject // TODO: Decide if the step parameters should be changed depending on the avatar's // state (flying, colliding, ...). There is code in ODE to do this. + // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity + // specified for the avatar is the one that should be used. For falling, if the avatar + // is not flying and is not colliding then it is presumed to be falling and the Z + // component is not fooled with (thus allowing gravity to do its thing). + // When the avatar is standing, though, the user has specified a velocity of zero and + // the avatar should be standing. But if the avatar is pushed by something in the world + // (raising elevator platform, moving vehicle, ...) the avatar should be allowed to + // move. Thus, the velocity cannot be forced to zero. The problem is that small velocity + // errors can creap in and the avatar will slowly float off in some direction. + // So, the problem is that, when an avatar is standing, we cannot tell creaping error + // from real pushing.OMV.Vector3.Zero; + // The code below keeps setting the velocity to zero hoping the world will keep pushing. + _velocityMotor.Step(timeStep); // If we're not supposed to be moving, make sure things are zero. - if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f)) + if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero && IsColliding) { - if (_wasWalking) + // The avatar shouldn't be moving + _velocityMotor.Zero(); + ZeroMotion(true /* inTaintTime */); + + // Standing has more friction on the ground + if (_currentFriction != BSParam.AvatarStandingFriction) { - _velocityMotor.Zero(); - _velocity = OMV.Vector3.Zero; - PhysicsScene.PE.SetLinearVelocity(PhysBody, OMV.Vector3.Zero); _currentFriction = BSParam.AvatarStandingFriction; PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); - // DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue); } + DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue); + _wasWalking = false; } else @@ -242,7 +258,7 @@ public sealed class BSCharacter : BSPhysObject // Add special movement force to allow avatars to walk up stepped surfaces. moveForce += WalkUpStairs(); - // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); + DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce); _wasWalking = true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 388d4f9..f8fc3de 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -231,6 +231,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.ANGULAR_MOTOR_DIRECTION: m_angularMotorDirection = new Vector3(pValue, pValue, pValue); + m_angularMotor.Zero(); m_angularMotor.SetTarget(m_angularMotorDirection); break; case Vehicle.LINEAR_FRICTION_TIMESCALE: @@ -264,6 +265,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f); pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f); m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); + m_angularMotor.Zero(); m_angularMotor.SetTarget(m_angularMotorDirection); break; case Vehicle.LINEAR_FRICTION_TIMESCALE: @@ -945,10 +947,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== // Clamp high or low velocities float newVelocityLengthSq = VehicleVelocity.LengthSquared(); - if (newVelocityLengthSq > 1000f) + if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocity) { VehicleVelocity /= VehicleVelocity.Length(); - VehicleVelocity *= 1000f; + VehicleVelocity *= BSParam.VehicleMaxLinearVelocity; } else if (newVelocityLengthSq < 0.001f) VehicleVelocity = Vector3.Zero; @@ -1190,63 +1192,33 @@ namespace OpenSim.Region.Physics.BulletSPlugin // set directly on the vehicle. private void MoveAngular(float pTimestep) { - // The user wants this many radians per second angular change? - Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); - angularMotorContribution = m_angularMotor.CurrentValue; + VehicleRotationalVelocity = Vector3.Zero; - // ================================================================== - // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : - // This flag prevents linear deflection parallel to world z-axis. This is useful - // for preventing ground vehicles with large linear deflection, like bumper cars, - // from climbing their linear deflection into the sky. - // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement - // TODO: This is here because this is where ODE put it but documentation says it - // is a linear effect. Where should this check go? - if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) - { - angularMotorContribution.X = 0f; - angularMotorContribution.Y = 0f; - VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); - } + ComputeAngularTurning(pTimestep); - Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(); + ComputeAngularVerticalAttraction(); - Vector3 deflectionContribution = ComputeAngularDeflection(); + ComputeAngularDeflection(); - Vector3 bankingContribution = ComputeAngularBanking(); + ComputeAngularBanking(); // ================================================================== - m_lastVertAttractor = verticalAttractionContribution; - - m_lastAngularVelocity = angularMotorContribution - + verticalAttractionContribution - + deflectionContribution - + bankingContribution; - // All of the above computation are made relative to vehicle coordinates. // Convert to world coordinates. - m_lastAngularVelocity *= VehicleOrientation; + // TODO: Should this be applied as an angular force (torque)? + VehicleRotationalVelocity *= VehicleOrientation; // ================================================================== - // Apply the correction velocity. - // TODO: Should this be applied as an angular force (torque)? - if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) - { - VehicleRotationalVelocity = m_lastAngularVelocity; - - VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}", - Prim.LocalID, - angularMotorContribution, verticalAttractionContribution, - bankingContribution, deflectionContribution, - m_lastAngularVelocity - ); - } - else + if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { // The vehicle is not adding anything angular wise. VehicleRotationalVelocity = Vector3.Zero; VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); } + else + { + VDetailLog("{0}, MoveAngular,done,nonZero,angVel={1}", Prim.LocalID, VehicleRotationalVelocity); + } // ================================================================== //Offset section @@ -1280,6 +1252,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } + + private void ComputeAngularTurning(float pTimestep) + { + // The user wants this many radians per second angular change? + Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); + + // ================================================================== + // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : + // This flag prevents linear deflection parallel to world z-axis. This is useful + // for preventing ground vehicles with large linear deflection, like bumper cars, + // from climbing their linear deflection into the sky. + // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement + // TODO: This is here because this is where ODE put it but documentation says it + // is a linear effect. Where should this check go? + if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) + { + angularMotorContribution.X = 0f; + angularMotorContribution.Y = 0f; + } + + VehicleRotationalVelocity += angularMotorContribution; + VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); + } + // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: // Some vehicles, like boats, should always keep their up-side up. This can be done by // enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to @@ -1288,13 +1284,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An // efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay. - public Vector3 ComputeAngularVerticalAttraction() + public void ComputeAngularVerticalAttraction() { - Vector3 ret = Vector3.Zero; - // If vertical attaction timescale is reasonable if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { + Vector3 vertContribution = Vector3.Zero; + // Take a vector pointing up and convert it from world to vehicle relative coords. Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; @@ -1308,37 +1304,36 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Y error means needed rotation around X axis and visa versa. // Since the error goes from zero to one, the asin is the corresponding angle. - ret.X = (float)Math.Asin(verticalError.Y); + vertContribution.X = (float)Math.Asin(verticalError.Y); // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.) - ret.Y = -(float)Math.Asin(verticalError.X); + vertContribution.Y = -(float)Math.Asin(verticalError.X); // If verticalError.Z is negative, the vehicle is upside down. Add additional push. if (verticalError.Z < 0f) { - ret.X += PIOverFour; - ret.Y += PIOverFour; + vertContribution.X += PIOverFour; + vertContribution.Y += PIOverFour; } - // 'ret' is now the necessary velocity to correct tilt in one second. + // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. // Correction happens over a number of seconds. - Vector3 unscaledContrib = ret; - ret /= m_verticalAttractionTimescale; + Vector3 unscaledContrib = vertContribution; // DEBUG DEBUG + vertContribution /= m_verticalAttractionTimescale; + + VehicleRotationalVelocity += vertContribution; VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", - Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret); + Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContribution); } - return ret; } - // Return the angular correction to correct the direction the vehicle is pointing to be + // Angular correction to correct the direction the vehicle is pointing to be // the direction is should want to be pointing. // The vehicle is moving in some direction and correct its orientation to it is pointing // in that direction. // TODO: implement reference frame. - public Vector3 ComputeAngularDeflection() + public void ComputeAngularDeflection() { - Vector3 ret = Vector3.Zero; - // Since angularMotorUp and angularDeflection are computed independently, they will calculate // approximately the same X or Y correction. When added together (when contributions are combined) // this creates an over-correction and then wabbling as the target is overshot. @@ -1346,6 +1341,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2) { + Vector3 deflectContribution = Vector3.Zero; + // The direction the vehicle is moving Vector3 movingDirection = VehicleVelocity; movingDirection.Normalize(); @@ -1371,18 +1368,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError); // Scale the correction by recovery timescale and efficiency - ret = (-deflectionError) * m_angularDeflectionEfficiency; - ret /= m_angularDeflectionTimescale; + deflectContribution = (-deflectionError) * m_angularDeflectionEfficiency; + deflectContribution /= m_angularDeflectionTimescale; + + VehicleRotationalVelocity += deflectContribution; VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", - Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret); + Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContribution); VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); } - return ret; } - // Return an angular change to rotate the vehicle around the Z axis when the vehicle + // Angular change to rotate the vehicle around the Z axis when the vehicle // is tipped around the X axis. // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: // The vertical attractor feature must be enabled in order for the banking behavior to @@ -1413,12 +1411,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to // bank quickly then give it a banking timescale of about a second or less, otherwise you can // make a sluggish vehicle by giving it a timescale of several seconds. - public Vector3 ComputeAngularBanking() + public void ComputeAngularBanking() { - Vector3 ret = Vector3.Zero; - if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { + Vector3 bankingContribution = Vector3.Zero; + // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented. // As the vehicle rolls to the right or left, the Y value will increase from // zero (straight up) to 1 or -1 (full tilt right or left) @@ -1435,15 +1433,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f); // Build the force vector to change rotation from what it is to what it should be - ret.Z = -mixedYawAngle; + bankingContribution.Z = -mixedYawAngle; // Don't do it all at once. - ret /= m_bankingTimescale; + bankingContribution /= m_bankingTimescale; + + VehicleRotationalVelocity += bankingContribution; VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", - Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, ret); + Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContribution); } - return ret; } // This is from previous instantiations of XXXDynamics.cs. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 82fd2d2..9501e2d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -149,6 +149,7 @@ public class BSVMotor : BSMotor Vector3 correction = Vector3.Zero; Vector3 error = TargetValue - CurrentValue; + LastError = error; if (!ErrorIsZero(error)) { correction = StepError(timeStep, error); @@ -188,9 +189,15 @@ public class BSVMotor : BSMotor else { // Difference between what we have and target is small. Motor is done. - CurrentValue = TargetValue = Vector3.Zero; - MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", - BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); + if (TargetValue.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) + { + // The target can step down to nearly zero but not get there. If close to zero + // it is really zero. + TargetValue = Vector3.Zero; + } + CurrentValue = TargetValue; + MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}", + BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue); } return correction; @@ -205,9 +212,8 @@ public class BSVMotor : BSMotor { if (!Enabled) return Vector3.Zero; - LastError = error; Vector3 returnCorrection = Vector3.Zero; - if (!ErrorIsZero()) + if (!ErrorIsZero(error)) { // correction = error / secondsItShouldTakeToCorrect Vector3 correctionAmount; @@ -309,6 +315,7 @@ public class BSFMotor : BSMotor float correction = 0f; float error = TargetValue - CurrentValue; + LastError = error; if (!ErrorIsZero(error)) { correction = StepError(timeStep, error); @@ -346,6 +353,12 @@ public class BSFMotor : BSMotor else { // Difference between what we have and target is small. Motor is done. + if (Util.InRange(TargetValue, -ErrorZeroThreshold, ErrorZeroThreshold)) + { + // The target can step down to nearly zero but not get there. If close to zero + // it is really zero. + TargetValue = 0f; + } CurrentValue = TargetValue; MDetailLog("{0}, BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); @@ -358,9 +371,8 @@ public class BSFMotor : BSMotor { if (!Enabled) return 0f; - LastError = error; float returnCorrection = 0f; - if (!ErrorIsZero()) + if (!ErrorIsZero(error)) { // correction = error / secondsItShouldTakeToCorrect float correctionAmount; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 3e80aa4..6a92365 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -45,6 +45,9 @@ public static class BSParam public static float MinimumObjectMass { get; private set; } public static float MaximumObjectMass { get; private set; } + public static float MaxLinearVelocity { get; private set; } + public static float MaxAngularVelocity { get; private set; } + public static float MaxAddForceMagnitude { get; private set; } public static float LinearDamping { get; private set; } public static float AngularDamping { get; private set; } @@ -79,6 +82,8 @@ public static class BSParam public static float AvatarStepApproachFactor { get; private set; } public static float AvatarStepForceFactor { get; private set; } + public static float VehicleMaxLinearVelocity { get; private set; } + public static float VehicleMaxAngularVelocity { get; private set; } public static float VehicleAngularDamping { get; private set; } public static float VehicleDebuggingEnabled { get; private set; } @@ -103,7 +108,6 @@ public static class BSParam public const float MaxDensity = 22587f; public const float MinRestitution = 0f; public const float MaxRestitution = 1f; - public const float MaxAddForceMagnitude = 20f; // =========================================================================== public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); @@ -247,6 +251,22 @@ public static class BSParam (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); }, (s) => { return (float)MaximumObjectMass; }, (s,p,l,v) => { MaximumObjectMass = v; } ), + new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object", + 1000.0f, + (s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); }, + (s) => { return (float)MaxLinearVelocity; }, + (s,p,l,v) => { MaxLinearVelocity = v; } ), + new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object", + 1000.0f, + (s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); }, + (s) => { return (float)MaxAngularVelocity; }, + (s,p,l,v) => { MaxAngularVelocity = v; } ), + // LL documentation says thie number should be 20f + new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)", + 200.0f, + (s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); }, + (s) => { return (float)MaxAddForceMagnitude; }, + (s,p,l,v) => { MaxAddForceMagnitude = v; } ), new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", 2200f, @@ -423,6 +443,16 @@ public static class BSParam (s) => { return AvatarStepForceFactor; }, (s,p,l,v) => { AvatarStepForceFactor = v; } ), + new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle", + 1000.0f, + (s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); }, + (s) => { return (float)VehicleMaxLinearVelocity; }, + (s,p,l,v) => { VehicleMaxLinearVelocity = v; } ), + new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle", + 12.0f, + (s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); }, + (s) => { return (float)VehicleMaxAngularVelocity; }, + (s,p,l,v) => { VehicleMaxAngularVelocity = v; } ), new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", 0.95f, (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 22afdc9..b63523c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -989,10 +989,10 @@ public sealed class BSPrim : BSPhysObject } set { _rotationalVelocity = value; + Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity); // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { - DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); ForceRotationalVelocity = _rotationalVelocity; }); } @@ -1005,6 +1005,7 @@ public sealed class BSPrim : BSPhysObject _rotationalVelocity = value; if (PhysBody.HasPhysicalBody) { + DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); ActivateIfPhysical(false); } @@ -1193,10 +1194,14 @@ public sealed class BSPrim : BSPhysObject public override float APIDDamping { set { return; } } public override void AddForce(OMV.Vector3 force, bool pushforce) { + // Per documentation, max force is limited. + OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); + // Since this force is being applied in only one step, make this a force per second. - OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; - AddForce(addForce, pushforce, false); + addForce /= PhysicsScene.LastTimeStep; + AddForce(addForce, pushforce, false /* inTaintTime */); } + // Applying a force just adds this to the total force on the object. // This added force will only last the next simulation tick. public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { @@ -1205,9 +1210,9 @@ public sealed class BSPrim : BSPhysObject { if (force.IsFinite()) { - OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); + OMV.Vector3 addForce = force; PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() { // Bullet adds this central force to the total force for this tick -- cgit v1.1 From 3f6698a595593edc4027ff58cbebf947a6b5ac1f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 21 Jan 2013 09:19:09 -0800 Subject: BulletSim: remove unused MaxTaintsToProcessPerStep parameter --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 10 +++------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 - OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 2 ++ 3 files changed, 5 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 6a92365..2b4488a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -236,11 +236,7 @@ public static class BSParam (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, (s) => { return (float)s.m_maxUpdatesPerFrame; }, (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), - new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step", - 500f, - (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_taintsToProcessPerStep; }, - (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ), + new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)", 0.0001f, (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); }, @@ -261,9 +257,9 @@ public static class BSParam (s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); }, (s) => { return (float)MaxAngularVelocity; }, (s,p,l,v) => { MaxAngularVelocity = v; } ), - // LL documentation says thie number should be 20f + // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)", - 200.0f, + 20000.0f, (s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); }, (s) => { return (float)MaxAddForceMagnitude; }, (s,p,l,v) => { MaxAddForceMagnitude = v; } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e0b4992..12b1ef1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -81,7 +81,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters internal long m_simulationStep = 0; internal float NominalFrameRate { get; set; } public long SimulationStep { get { return m_simulationStep; } } - internal int m_taintsToProcessPerStep; internal float LastTimeStep { get; private set; } // Physical objects can register for prestep or poststep events diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 23b7ca8..c1bf766 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -2,6 +2,8 @@ CURRENT PRIORITIES ================================================= Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 Msg Kayaker on OSGrid when working +when should angular and linear motor targets be zeroed? when selected? + Need a vehicle.clear()? Or an 'else' in prestep if not physical. Teravus llMoveToTarget script debug Mixing of hover, buoyancy/gravity, moveToTarget, into one force Boats floating at proper level -- cgit v1.1 From 471c4778639aec60078e6cee7c964682c959f033 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 21 Jan 2013 15:58:22 -0800 Subject: BulletSim: allow changing position and rotation of a child of a linkset without rebuilding the whole compound shape. Should make vehicles move smoother. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 94 +++++++++++++++++----- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 2 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 +++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 16 ++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 - .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 28 ++++--- 8 files changed, 112 insertions(+), 46 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index a9e16e6..7603254 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -899,7 +899,7 @@ public sealed class BSCharacter : BSPhysObject CurrentEntityProperties = entprop; // Tell the linkset about value changes - Linkset.UpdateProperties(this, true); + Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index cbd160f..580ea4e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -252,7 +252,7 @@ public abstract class BSLinkset // of the linkset is received. // Passed flag is update came from physics engine (true) or the user (false). // Called at taint-time!! - public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate); + public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject physObject); // Routine used when rebuilding the body of the root of the linkset // Destroy all the constraints have have been made to root. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 8c9a774..27d8ad0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -51,6 +51,21 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo OffsetFromCenterOfMass = p; OffsetRot = r; } + // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape) + public BSLinksetCompoundInfo(int indx, BSPhysObject root, BSPhysObject child, OMV.Vector3 centerDisplacement) + { + // Each child position and rotation is given relative to the center-of-mass. + OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation); + OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation; + OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement; + OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation; + + // Save relative position for recomputing child's world position after moving linkset. + Index = indx; + OffsetFromRoot = displacementFromRoot; + OffsetFromCenterOfMass = displacementFromCOM; + OffsetRot = displacementRot; + } public override void Clear() { Index = 0; @@ -182,24 +197,71 @@ public sealed class BSLinksetCompound : BSLinkset // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then. // Called at taint-time. - public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate) + public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject updated) { // The user moving a child around requires the rebuilding of the linkset compound shape // One problem is this happens when a border is crossed -- the simulator implementation - // is to store the position into the group which causes the move of the object + // stores the position into the group which causes the move of the object // but it also means all the child positions get updated. // What would cause an unnecessary rebuild so we make sure the linkset is in a // region before bothering to do a rebuild. - if (!IsRoot(updated) - && !physicalUpdate - && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) + if (!IsRoot(updated) && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) { - // TODO: replace this with are calculation of the child prim's orientation and pos. - // TODO: for the moment, don't rebuild the compound shape. - // This is often just the car turning its wheels. When we can just reorient the one - // member shape of the compound shape, the overhead of rebuilding won't be a problem. - // updated.LinksetInfo = null; - // ScheduleRebuild(updated); + // If a child of the linkset is updating only the position or rotation, that can be done + // without rebuilding the linkset. + // If a handle for the child can be fetch, we update the child here. If a rebuild was + // scheduled by someone else, the rebuild will just replace this setting. + + bool updatedChild = false; + // Anything other than updating position or orientation usually means a physical update + // and that is caused by us updating the object. + if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0) + { + // Gather the child info. It might not be there if the linkset is in transition. + BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo; + if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null) + { + if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape)) + { + BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index); + if (linksetChildShape.HasPhysicalShape) + { + // Compute the offset from the center-of-gravity + BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement); + PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index, + newLsi.OffsetFromCenterOfMass, + newLsi.OffsetRot, + true /* shouldRecalculateLocalAabb */); + DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1}newLsi={2}", + updated.LocalID, whichUpdated, newLsi); + updated.LinksetInfo = newLsi; + updatedChild = true; + } + else // DEBUG DEBUG + { // DEBUG DEBUG + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}", + updated.LocalID, linksetChildShape); + } // DEBUG DEBUG + } + else // DEBUG DEBUG + { // DEBUG DEBUG + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,notCompound", updated.LocalID); + } // DEBUG DEBUG + } + else // DEBUG DEBUG + { // DEBUG DEBUG + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,rootPhysShape={1},lsi={2}", + updated.LocalID, LinksetRoot.PhysShape, lsi == null ? "NULL" : lsi.ToString()); + } // DEBUG DEBUG + if (!updatedChild) + { + // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info. + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}", + updated.LocalID, whichUpdated); + updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed. + ScheduleRebuild(updated); + } + } } } @@ -372,15 +434,7 @@ public sealed class BSLinksetCompound : BSLinkset BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; if (lci == null) { - // Each child position and rotation is given relative to the center-of-mass. - OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); - OMV.Vector3 displacementFromRoot = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; - OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement; - OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; - - // Save relative position for recomputing child's world position after moving linkset. - lci = new BSLinksetCompoundInfo(memberIndex, displacementFromCOM, displacementRot); - lci.OffsetFromRoot = displacementFromRoot; + lci = new BSLinksetCompoundInfo(memberIndex, LinksetRoot, cPrim, centerDisplacement); cPrim.LinksetInfo = lci; DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index d0b2a56..89f186c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -83,7 +83,7 @@ public sealed class BSLinksetConstraints : BSLinkset } // Called at taint-time!! - public override void UpdateProperties(BSPhysObject updated, bool inTaintTime) + public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject pObj) { // Nothing to do for constraints on property updates } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 5353c75..027c786 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -55,6 +55,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin * BS.ApplyCentralForce BS.ApplyTorque */ +// Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc. +public enum UpdatedProperties : uint +{ + Position = 1 << 0, + Orientation = 1 << 1, + Velocity = 1 << 2, + Acceleration = 1 << 3, + RotationalVelocity = 1 << 4, + EntPropUpdates = Position | Orientation | Velocity | Acceleration | RotationalVelocity, +} public abstract class BSPhysObject : PhysicsActor { protected BSPhysObject() diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b63523c..468ff40 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -311,13 +311,14 @@ public sealed class BSPrim : BSPhysObject _position = value; PositionSanityCheck(false); - // A linkset might need to know if a component information changed. - Linkset.UpdateProperties(this, false); - PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); ForcePosition = _position; + + // A linkset might need to know if a component information changed. + Linkset.UpdateProperties(UpdatedProperties.Position, this); + }); } } @@ -682,12 +683,13 @@ public sealed class BSPrim : BSPhysObject return; _orientation = value; - // A linkset might need to know if a component information changed. - Linkset.UpdateProperties(this, false); - PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() { ForceOrientation = _orientation; + + // A linkset might need to know if a component information changed. + Linkset.UpdateProperties(UpdatedProperties.Orientation, this); + }); } } @@ -1686,7 +1688,7 @@ public sealed class BSPrim : BSPhysObject */ // The linkset implimentation might want to know about this. - Linkset.UpdateProperties(this, true); + Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 12b1ef1..8075b73 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -846,8 +846,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #endregion // Taints - #region INI and command line parameter processing - #region IPhysicsParameters // Get the list of parameters this physics engine supports public PhysParameterEntry[] GetParameterList() @@ -944,8 +942,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #endregion IPhysicsParameters - #endregion Runtime settable parameters - // Invoke the detailed logger and output something if it's enabled. public void DetailLog(string msg, params Object[] args) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index c1bf766..41bab26 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,25 +1,20 @@ CURRENT PRIORITIES ================================================= -Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 - Msg Kayaker on OSGrid when working +Child movement in linkset (don't rebuild linkset) +Vehicle angular vertical attraction +vehicle angular banking +Center-of-gravity +Vehicle angular deflection + Preferred orientation angular correction fix when should angular and linear motor targets be zeroed? when selected? Need a vehicle.clear()? Or an 'else' in prestep if not physical. Teravus llMoveToTarget script debug Mixing of hover, buoyancy/gravity, moveToTarget, into one force -Boats floating at proper level Nebadon vehicles turning funny in arena limitMotorUp calibration (more down?) llRotLookAt llLookAt -Vehicle angular vertical attraction -Vehicle angular deflection - Preferred orientation angular correction fix -vehicle angular banking Avatars walking up stairs (HALF DONE) - Radius of the capsule affects ability to climb edges. -Vehicle movement on terrain smoothness -When is force introduced by SetForce removed? The prestep action could go forever. -Boats float low in the water (DONE) Avatar movement flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) walking up stairs is not calibrated correctly (stairs out of Kepler cabin) @@ -75,6 +70,7 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl GENERAL TODO LIST: ================================================= +llMoveToTarget objects are not effected by gravity until target is removed. Implement llSetPhysicalMaterial. extend it with Center-of-mass, rolling friction, density Implement llSetForceAndTorque. @@ -315,4 +311,12 @@ Remove HeightmapInfo from terrain specification (DONE) Since C++ code does not need terrain height, this structure et al are not needed. Surfboard go wonky when turning (DONE) Angular motor direction is global coordinates rather than local coordinates? - (Resolution: made angular motor direction correct coordinate system) \ No newline at end of file + (Resolution: made angular motor direction correct coordinate system) +Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE) + Msg Kayaker on OSGrid when working + (Resolution: LINEAR_DIRECTION is in vehicle coords. Test script does the + same in SL as in OS/BulletSim) +Boats float low in the water (DONE) +Boats floating at proper level (DONE) +When is force introduced by SetForce removed? The prestep action could go forever. (DONE) + (Resolution: setForce registers a prestep action which keeps applying the force) \ No newline at end of file -- cgit v1.1 From 80b1e32bfa00a2d3354f0d7e0df83a5b0b3e2c49 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 21 Jan 2013 23:43:24 -0800 Subject: BulletSim: Tweeks to vehicle motion. Pass through old angular velocity making for smoother transitions. Remove some old kludges for angular motion (damping and rotvel suppression). --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 21 ++++++++------------- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 3 ++- 3 files changed, 11 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index f8fc3de..dbe44de 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1192,7 +1192,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // set directly on the vehicle. private void MoveAngular(float pTimestep) { - VehicleRotationalVelocity = Vector3.Zero; + // VehicleRotationalVelocity = Vector3.Zero; ComputeAngularTurning(pTimestep); @@ -1203,12 +1203,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin ComputeAngularBanking(); // ================================================================== - // All of the above computation are made relative to vehicle coordinates. - // Convert to world coordinates. - // TODO: Should this be applied as an angular force (torque)? - VehicleRotationalVelocity *= VehicleOrientation; - - // ================================================================== if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { // The vehicle is not adding anything angular wise. @@ -1256,7 +1250,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin private void ComputeAngularTurning(float pTimestep) { // The user wants this many radians per second angular change? - Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); + Vector3 currentAngular = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation); + Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep, currentAngular); // ================================================================== // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : @@ -1272,7 +1267,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin angularMotorContribution.Y = 0f; } - VehicleRotationalVelocity += angularMotorContribution; + VehicleRotationalVelocity += angularMotorContribution * VehicleOrientation; VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); } @@ -1312,7 +1307,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (verticalError.Z < 0f) { vertContribution.X += PIOverFour; - vertContribution.Y += PIOverFour; + // vertContribution.Y -= PIOverFour; } // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. @@ -1320,7 +1315,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 unscaledContrib = vertContribution; // DEBUG DEBUG vertContribution /= m_verticalAttractionTimescale; - VehicleRotationalVelocity += vertContribution; + VehicleRotationalVelocity += vertContribution * VehicleOrientation; VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContribution); @@ -1371,7 +1366,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin deflectContribution = (-deflectionError) * m_angularDeflectionEfficiency; deflectContribution /= m_angularDeflectionTimescale; - VehicleRotationalVelocity += deflectContribution; + VehicleRotationalVelocity += deflectContribution * VehicleOrientation; VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContribution); @@ -1438,7 +1433,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Don't do it all at once. bankingContribution /= m_bankingTimescale; - VehicleRotationalVelocity += bankingContribution; + VehicleRotationalVelocity += bankingContribution * VehicleOrientation; VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContribution); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 2b4488a..da7438a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -450,7 +450,7 @@ public static class BSParam (s) => { return (float)VehicleMaxAngularVelocity; }, (s,p,l,v) => { VehicleMaxAngularVelocity = v; } ), new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", - 0.95f, + 0.0f, (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, (s) => { return VehicleAngularDamping; }, (s,p,l,v) => { VehicleAngularDamping = v; } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 468ff40..e6b8507 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1009,6 +1009,7 @@ public sealed class BSPrim : BSPhysObject { DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); + // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); ActivateIfPhysical(false); } } @@ -1649,7 +1650,7 @@ public sealed class BSPrim : BSPhysObject // TODO: handle physics introduced by Bullet with computed vehicle physics. if (_vehicle.IsActive) { - entprop.RotationalVelocity = OMV.Vector3.Zero; + // entprop.RotationalVelocity = OMV.Vector3.Zero; } // Assign directly to the local variables so the normal set actions do not happen -- cgit v1.1 From a0d460e6bfa64a6c43ff327dcf19b696cc380fbb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 18 Jan 2013 12:10:03 -0800 Subject: BulletSim: remove the unused RestoreBodyDependencies used by linksets and vehicles and clean up code by removing their kludgyness. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 7 ------- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 8 -------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 20 ++------------------ 3 files changed, 2 insertions(+), 33 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 27d8ad0..0077da7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -290,13 +290,6 @@ public sealed class BSLinksetCompound : BSLinkset return ret; } - // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', - // this routine will restore the removed constraints. - // Called at taint-time!! - public override void RestoreBodyDependencies(BSPrim child) - { - } - // When the linkset is built, the child shape is added to the compound shape relative to the // root shape. The linkset then moves around but this does not move the actual child // prim. The child prim's location must be recomputed based on the location of the root shape. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 89f186c..3011465 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -110,14 +110,6 @@ public sealed class BSLinksetConstraints : BSLinkset return ret; } - // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', - // this routine will restore the removed constraints. - // Called at taint-time!! - public override void RestoreBodyDependencies(BSPrim child) - { - // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints. - } - // ================================================================ // Add a new child to the linkset. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e6b8507..b37a1f8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1606,11 +1606,6 @@ public sealed class BSPrim : BSPhysObject // Called at taint-time!!! public void CreateGeomAndObject(bool forceRebuild) { - // If this prim is part of a linkset, we must remove and restore the physical - // links if the body is rebuilt. - bool needToRestoreLinkset = false; - bool needToRestoreVehicle = false; - // Create the correct physical representation for this type of object. // Updates PhysBody and PhysShape with the new information. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. @@ -1619,21 +1614,10 @@ public sealed class BSPrim : BSPhysObject // 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, ...) - needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); - needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this); + Linkset.RemoveBodyDependencies(this); + _vehicle.RemoveBodyDependencies(this); }); - if (needToRestoreLinkset) - { - // If physical body dependencies were removed, restore them - Linkset.RestoreBodyDependencies(this); - } - if (needToRestoreVehicle) - { - // If physical body dependencies were removed, restore them - _vehicle.RestoreBodyDependencies(this); - } - // Make sure the properties are set on the new object UpdatePhysicalParameters(); return; -- cgit v1.1 From 775fd6f8cc27c80974b59a79be477a99950a7095 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 18 Jan 2013 12:12:45 -0800 Subject: BulletSim: fix build break introduced by previous commit --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 5 ----- 1 file changed, 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 580ea4e..1e3e5d8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -261,11 +261,6 @@ public abstract class BSLinkset // Called at taint-time!! public abstract bool RemoveBodyDependencies(BSPrim child); - // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', - // this routine will restore the removed constraints. - // Called at taint-time!! - public abstract void RestoreBodyDependencies(BSPrim child); - // ================================================================ protected virtual float ComputeLinksetMass() { -- cgit v1.1 From c1371ab786a699ce91693e6e575bb81144a79c57 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 23 Jan 2013 08:28:36 -0800 Subject: BulletSim: working on COM --- OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 19 +++++++++++++++++++ .../Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 7 ++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 15 +++++++++++---- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 2 ++ 4 files changed, 36 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index bc163eb..2828cab 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -140,6 +140,25 @@ public struct EntityProperties public Vector3 Velocity; public Vector3 Acceleration; public Vector3 RotationalVelocity; + + public override string ToString() + { + StringBuilder buff = new StringBuilder(); + buff.Append(""); + return buff.ToString(); + } } // Format of this structure must match the definition in the C++ code diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 0077da7..d8e4028 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -377,7 +377,7 @@ public sealed class BSLinksetCompound : BSLinkset // Constraint linksets are rebuilt every time. // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! - private bool disableCOM = true; // disable until we get this debugged + private bool disableCOM = false; // disable until we get this debugged private void RecomputeLinksetCompound() { try @@ -400,8 +400,9 @@ public sealed class BSLinksetCompound : BSLinkset } // DEBUG DEBUG else { - centerOfMass = ComputeLinksetGeometricCenter(); - centerDisplacement = centerOfMass - LinksetRoot.RawPosition; + centerOfMass = ComputeLinksetCenterOfMass(); + // 'centerDisplacement' is the value to *add* to all the shape offsets + centerDisplacement = LinksetRoot.RawPosition - centerOfMass; // Since we're displacing the center of the shape, we need to move the body in the world LinksetRoot.PositionDisplacement = centerDisplacement; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b37a1f8..dad7250 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -336,6 +336,7 @@ public sealed class BSPrim : BSPhysObject } } } + /* Disable. Presume whoever is setting displacement is already adjusting position, etc. // Override to have position displacement immediately update the physical position. // A feeble attempt to keep the sim and physical positions in sync // Must be called at taint time. @@ -355,6 +356,7 @@ public sealed class BSPrim : BSPhysObject }); } } + */ // Check that the current position is sane and, if not, modify the position to make it so. // Check for being below terrain and being out of bounds. @@ -371,11 +373,11 @@ public sealed class BSPrim : BSPhysObject return ret; } - float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); + float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); OMV.Vector3 upForce = OMV.Vector3.Zero; if (RawPosition.Z < terrainHeight) { - DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); + DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight); float targetHeight = terrainHeight + (Size.Z / 2f); // If the object is below ground it just has to be moved up because pushing will // not get it through the terrain @@ -1637,7 +1639,11 @@ public sealed class BSPrim : BSPhysObject // entprop.RotationalVelocity = OMV.Vector3.Zero; } + DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG + // Assign directly to the local variables so the normal set actions do not happen + + // Undo any center-of-mass displacement that might have been done. entprop.Position -= PositionDisplacement; _position = entprop.Position; _orientation = entprop.Rotation; @@ -1645,6 +1651,8 @@ public sealed class BSPrim : BSPhysObject _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; + DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG + // The sanity check can change the velocity and/or position. if (IsPhysical && PositionSanityCheck(true)) { @@ -1653,8 +1661,7 @@ public sealed class BSPrim : BSPhysObject } OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG - DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", - LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); + DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction); // remember the current and last set values LastEntityProperties = CurrentEntityProperties; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 41bab26..801f690 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,5 +1,7 @@ CURRENT PRIORITIES ================================================= +Deleting a linkset while standing on the root will leave the physical shape of the root behind. + Not sure if it is because standing on it. Done with large prim linksets. Child movement in linkset (don't rebuild linkset) Vehicle angular vertical attraction vehicle angular banking -- cgit v1.1 From a5e9c665f08059fef16d0b0875697cb08e16351e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 23 Jan 2013 09:09:17 -0800 Subject: BulletSim: center-of-gravity linkset changes. Not working yet. Conflicts: OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 5 ++++- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 7 ++----- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 22 +--------------------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- 4 files changed, 9 insertions(+), 29 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index d8e4028..2c8dd23 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -407,6 +407,9 @@ public sealed class BSLinksetCompound : BSLinkset // Since we're displacing the center of the shape, we need to move the body in the world LinksetRoot.PositionDisplacement = centerDisplacement; + // This causes the root prim position to be set properly based on the new PositionDisplacement + 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, -centerDisplacement, OMV.Quaternion.Identity, false); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement); @@ -438,7 +441,7 @@ public sealed class BSLinksetCompound : BSLinkset if (cPrim.PhysShape.isNativeShape) { - // A native shape is turning into a hull collision shape because native + // A native shape is turned into a hull collision shape because native // shapes are not shared so we have to hullify it so it will be tracked // and freed at the correct time. This also solves the scaling problem // (native shapes scaled but hull/meshes are assumed to not be). diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index da7438a..9460daf 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -645,11 +645,8 @@ public static class BSParam entries.Add(new PhysParameterEntry(pd.name, pd.desc)); } - // make the list in alphabetical order for estetic reasons - entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2) - { - return ppe1.name.CompareTo(ppe2.name); - }); + // make the list alphabetical for estetic reasons + entries.Sort((ppe1, ppe2) => { return ppe1.name.CompareTo(ppe2.name); }); SettableParameters = entries.ToArray(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index dad7250..ee2bfa0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -322,6 +322,7 @@ public sealed class BSPrim : BSPhysObject }); } } + public override OMV.Vector3 ForcePosition { get { _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement; @@ -336,27 +337,6 @@ public sealed class BSPrim : BSPhysObject } } } - /* Disable. Presume whoever is setting displacement is already adjusting position, etc. - // Override to have position displacement immediately update the physical position. - // A feeble attempt to keep the sim and physical positions in sync - // Must be called at taint time. - public override OMV.Vector3 PositionDisplacement - { - get - { - return base.PositionDisplacement; - } - set - { - base.PositionDisplacement = value; - PhysicsScene.TaintedObject(PhysicsScene.InTaintTime, "BSPrim.setPosition", delegate() - { - if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetTranslation(PhysBody, _position + base.PositionDisplacement, _orientation); - }); - } - } - */ // Check that the current position is sane and, if not, modify the position to make it so. // Check for being below terrain and being out of bounds. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 8075b73..34fd2a0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -708,8 +708,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // TriggerPreStepEvent // DoOneTimeTaints // Step() - // ProcessAndForwardCollisions - // ProcessAndForwardPropertyUpdates + // ProcessAndSendToSimulatorCollisions + // ProcessAndSendToSimulatorPropertyUpdates // TriggerPostStepEvent // Calls to the PhysicsActors can't directly call into the physics engine -- cgit v1.1 From 13182904da897be1dad0bb86d8099bd0956ffac4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 23 Jan 2013 09:11:01 -0800 Subject: BulletSim: small change to center-of-mass computation left out last commit --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index ee2bfa0..731ab7b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1621,10 +1621,15 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG - // Assign directly to the local variables so the normal set actions do not happen - // Undo any center-of-mass displacement that might have been done. - entprop.Position -= PositionDisplacement; + if (PositionDisplacement != OMV.Vector3.Zero) + { + // Correct for any rotation around the center-of-mass + // TODO!!! + entprop.Position -= PositionDisplacement; + } + + // Assign directly to the local variables so the normal set actions do not happen _position = entprop.Position; _orientation = entprop.Rotation; _velocity = entprop.Velocity; -- cgit v1.1 From a7b810ddeebda8b13af3ab9fbeb24bef1a8094c6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 23 Jan 2013 14:21:52 -0800 Subject: BulletSim: remove setting of vehicle InterpolationRotationalVelocity. This doesn't seem to help the vehicle stability. Rename vehicle internal variables adding a "V" or "W" so it is clear when coordinates are vehicle or world relative. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 66 +++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +- 2 files changed, 34 insertions(+), 36 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index dbe44de..fe7891e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -690,7 +690,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Bullet does a bunch of smoothing for changing parameters. // Since the vehicle is demanding this setting, we override Bullet's smoothing // by telling Bullet the value was the same last time. - PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity); + // PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity); } if ((m_knownChanged & m_knownChangedForce) != 0) @@ -702,7 +702,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) { Prim.ForceRotationalVelocity = m_knownRotationalVelocity; - PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity); + // PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity); } if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0) @@ -963,23 +963,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // Step the motor from the current value. Get the correction needed this step. Vector3 currentVel = VehicleVelocity * Quaternion.Inverse(VehicleOrientation); - Vector3 linearMotorCorrection = m_linearMotor.Step(pTimestep, currentVel); + Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVel); // Motor is vehicle coordinates. Rotate it to world coordinates - Vector3 linearMotorVelocity = linearMotorCorrection * VehicleOrientation; + Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation; // If we're a ground vehicle, don't add any upward Z movement if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) { - if (linearMotorVelocity.Z > 0f) - linearMotorVelocity.Z = 0f; + if (linearMotorVelocityW.Z > 0f) + linearMotorVelocityW.Z = 0f; } // Add this correction to the velocity to make it faster/slower. - VehicleVelocity += linearMotorVelocity; + VehicleVelocity += linearMotorVelocityW; VDetailLog("{0}, MoveLinear,velocity,vehVel={1},correction={2},force={3}", - Prim.LocalID, VehicleVelocity, linearMotorCorrection, linearMotorVelocity); + Prim.LocalID, VehicleVelocity, linearMotorCorrectionV, linearMotorVelocityW); } public void ComputeLinearTerrainHeightCorrection(float pTimestep) @@ -1123,8 +1123,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // a downward raycast to find what is below. public void ComputeLinearMotorUp(float pTimestep) { - Vector3 ret = Vector3.Zero; - if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { // This code tries to decide if the object is not on the ground and then pushing down @@ -1250,8 +1248,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin private void ComputeAngularTurning(float pTimestep) { // The user wants this many radians per second angular change? - Vector3 currentAngular = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation); - Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep, currentAngular); + Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation); + Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV); // ================================================================== // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : @@ -1263,12 +1261,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // is a linear effect. Where should this check go? if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) { - angularMotorContribution.X = 0f; - angularMotorContribution.Y = 0f; + angularMotorContributionV.X = 0f; + angularMotorContributionV.Y = 0f; } - VehicleRotationalVelocity += angularMotorContribution * VehicleOrientation; - VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); + VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; + VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContributionV); } // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: @@ -1284,7 +1282,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // If vertical attaction timescale is reasonable if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { - Vector3 vertContribution = Vector3.Zero; + Vector3 vertContributionV = Vector3.Zero; // Take a vector pointing up and convert it from world to vehicle relative coords. Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; @@ -1299,26 +1297,26 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Y error means needed rotation around X axis and visa versa. // Since the error goes from zero to one, the asin is the corresponding angle. - vertContribution.X = (float)Math.Asin(verticalError.Y); + vertContributionV.X = (float)Math.Asin(verticalError.Y); // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.) - vertContribution.Y = -(float)Math.Asin(verticalError.X); + vertContributionV.Y = -(float)Math.Asin(verticalError.X); // If verticalError.Z is negative, the vehicle is upside down. Add additional push. if (verticalError.Z < 0f) { - vertContribution.X += PIOverFour; + vertContributionV.X += PIOverFour; // vertContribution.Y -= PIOverFour; } // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. // Correction happens over a number of seconds. - Vector3 unscaledContrib = vertContribution; // DEBUG DEBUG - vertContribution /= m_verticalAttractionTimescale; + Vector3 unscaledContrib = vertContributionV; // DEBUG DEBUG + vertContributionV /= m_verticalAttractionTimescale; - VehicleRotationalVelocity += vertContribution * VehicleOrientation; + VehicleRotationalVelocity += vertContributionV * VehicleOrientation; VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", - Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContribution); + Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV); } } @@ -1336,7 +1334,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2) { - Vector3 deflectContribution = Vector3.Zero; + Vector3 deflectContributionV = Vector3.Zero; // The direction the vehicle is moving Vector3 movingDirection = VehicleVelocity; @@ -1363,13 +1361,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError); // Scale the correction by recovery timescale and efficiency - deflectContribution = (-deflectionError) * m_angularDeflectionEfficiency; - deflectContribution /= m_angularDeflectionTimescale; + deflectContributionV = (-deflectionError) * m_angularDeflectionEfficiency; + deflectContributionV /= m_angularDeflectionTimescale; - VehicleRotationalVelocity += deflectContribution * VehicleOrientation; + VehicleRotationalVelocity += deflectContributionV * VehicleOrientation; VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", - Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContribution); + Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV); VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); } @@ -1410,7 +1408,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { - Vector3 bankingContribution = Vector3.Zero; + Vector3 bankingContributionV = Vector3.Zero; // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented. // As the vehicle rolls to the right or left, the Y value will increase from @@ -1428,15 +1426,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f); // Build the force vector to change rotation from what it is to what it should be - bankingContribution.Z = -mixedYawAngle; + bankingContributionV.Z = -mixedYawAngle; // Don't do it all at once. - bankingContribution /= m_bankingTimescale; + bankingContributionV /= m_bankingTimescale; - VehicleRotationalVelocity += bankingContribution * VehicleOrientation; + VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", - Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContribution); + Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 731ab7b..f80084a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1619,7 +1619,7 @@ public sealed class BSPrim : BSPhysObject // entprop.RotationalVelocity = OMV.Vector3.Zero; } - DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG + // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG // Undo any center-of-mass displacement that might have been done. if (PositionDisplacement != OMV.Vector3.Zero) @@ -1636,7 +1636,7 @@ public sealed class BSPrim : BSPhysObject _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; - DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG + // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG // The sanity check can change the velocity and/or position. if (IsPhysical && PositionSanityCheck(true)) -- cgit v1.1 From 1c3d84fe03811aad3896031a6391bd37e140f80c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 23 Jan 2013 16:14:15 -0800 Subject: BulletSim: pass up and report the real collision penetration. --- OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 5 +++-- 2 files changed, 4 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 2828cab..f25b447 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -130,6 +130,7 @@ public struct CollisionDesc public uint bID; public Vector3 point; public Vector3 normal; + public float penetration; } [StructLayout(LayoutKind.Sequential)] public struct EntityProperties diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 34fd2a0..35dba9b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -557,8 +557,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters uint cB = m_collisionArray[ii].bID; Vector3 point = m_collisionArray[ii].point; Vector3 normal = m_collisionArray[ii].normal; - SendCollision(cA, cB, point, normal, 0.01f); - SendCollision(cB, cA, point, -normal, 0.01f); + float penetration = m_collisionArray[ii].penetration; + SendCollision(cA, cB, point, normal, penetration); + SendCollision(cB, cA, point, -normal, penetration); } } -- cgit v1.1 From ba9d6b7337d7e95a9c8d3bd7f2e98c323f1a00be Mon Sep 17 00:00:00 2001 From: teravus Date: Thu, 24 Jan 2013 07:11:32 -0500 Subject: * Repairs the Object updates, Collision updates, and Child Prim methods making the bulletXNA engine work again. * The only thing that had an issue was when creating a new RigidBody, BulletXNA didn't know the type SimMotionState and the upcast type is unknown in the constructor. Therefore, I had to update the IMotionState with a new method 'SetBody'. All of the duplicated type information has been removed and BulletXNA is not relying on any non-standard types external to the library. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 446 ++++++++++++++--------- 1 file changed, 282 insertions(+), 164 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 49b1730..57c1308 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -27,6 +27,7 @@ using System; using System.Collections.Generic; using System.IO; +using System.Runtime.InteropServices; using System.Text; using OpenSim.Framework; @@ -130,10 +131,12 @@ private sealed class BulletConstraintXNA : BulletConstraint } } internal int m_maxCollisions; - internal CollisionDesc[] m_collisionArray; - + internal CollisionDesc[] UpdatedCollisions; + internal int LastCollisionDesc = 0; internal int m_maxUpdatesPerFrame; - internal EntityProperties[] m_updateArray; + internal int LastEntityProperty = 0; + + internal EntityProperties[] UpdatedObjects; private static int m_collisionsThisFrame; private BSScene PhysicsScene { get; set; } @@ -900,7 +903,7 @@ private sealed class BulletConstraintXNA : BulletConstraint CollisionShape shape1 = (pShape as BulletShapeXNA).shape; // TODO: Turn this from a reference copy to a Value Copy. - BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSPhysicsShapeType.SHAPE_UNKNOWN); + BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType())); return shape2; } @@ -922,9 +925,9 @@ private sealed class BulletConstraintXNA : BulletConstraint CollisionShape shape = (pShape as BulletShapeXNA).shape; //UpdateSingleAabb(world, shape); // TODO: Feed Update array into null - SimMotionState motionState = new SimMotionState(world, pLocalID, mat, null); + SimMotionState motionState = new SimMotionState(this, pLocalID, mat, null); RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero); - RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, new SimMotionState(world, pLocalID, mat, null),shape,IndexedVector3.Zero) + RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, motionState, shape, IndexedVector3.Zero) { m_mass = 0 }; @@ -1039,8 +1042,8 @@ private sealed class BulletConstraintXNA : BulletConstraint ) { - m_updateArray = updateArray; - m_collisionArray = collisionArray; + UpdatedObjects = updateArray; + UpdatedCollisions = collisionArray; /* TODO */ ConfigurationParameters[] configparms = new ConfigurationParameters[1]; configparms[0] = parms; @@ -1135,10 +1138,7 @@ private sealed class BulletConstraintXNA : BulletConstraint SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver(); DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci); - - - world.UpdatedObjects = BSAPIXNA.GetBulletXNAEntityStruct(BSAPIXNA.BulletSimEntityStructToByteArray(updateArray, updateArray.Length)); - world.UpdatedCollisions = BSAPIXNA.GetBulletXNACollisionStruct(BSAPIXNA.BulletSimCollisionStructToByteArray(collisionArray, collisionArray.Length)); + world.LastCollisionDesc = 0; world.LastEntityProperty = 0; @@ -1332,7 +1332,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; CollisionShape shape = collisionObject.GetCollisionShape(); - return new BulletShapeXNA(shape,BSPhysicsShapeType.SHAPE_UNKNOWN); + return new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); } //(PhysicsScene.World.ptr, nativeShapeData) @@ -1395,10 +1395,148 @@ private sealed class BulletConstraintXNA : BulletConstraint CollisionShape ret = null; ret = compoundshape.GetChildShape(pii); compoundshape.RemoveChildShapeByIndex(pii); - return new BulletShapeXNA(ret, BSPhysicsShapeType.SHAPE_UNKNOWN); + return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType())); + } + + public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { + /* TODO */ + if (cShape == null) + return null; + CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape; + CollisionShape shape = compoundShape.GetChildShape(indx); + BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); + + + return null; + } + + public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) + { + switch (pin) + { + case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_BOX; + break; + case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + + case BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_MESH; + break; + case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_HULL; + break; + case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.CUSTOM_POLYHEDRAL_SHAPE_TYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + //implicit convex shapes + case BroadphaseNativeTypes.IMPLICIT_CONVEX_SHAPES_START_HERE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_SPHERE; + break; + case BroadphaseNativeTypes.MULTI_SPHERE_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_CAPSULE; + break; + case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_CONE; + break; + case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_CYLINDER; + break; + case BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.MINKOWSKI_SUM_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.CUSTOM_CONVEX_SHAPE_TYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + //concave shape + case BroadphaseNativeTypes.CONCAVE_SHAPES_START_HERE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy! + case BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_MESH; + break; + case BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_MESH; + break; + ///used for demo integration FAST/Swift collision library and Bullet + case BroadphaseNativeTypes.FAST_CONCAVE_MESH_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_MESH; + break; + //terrain + case BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_HEIGHTMAP; + break; + ///Used for GIMPACT Trimesh integration + case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_MESH; + break; + ///Multimaterial mesh + case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_MESH; + break; + + case BroadphaseNativeTypes.EMPTY_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_GROUNDPLANE; + break; + case BroadphaseNativeTypes.CUSTOM_CONCAVE_SHAPE_TYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.CONCAVE_SHAPES_END_HERE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + + case BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_COMPOUND; + break; + + case BroadphaseNativeTypes.SOFTBODY_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_MESH; + break; + case BroadphaseNativeTypes.HFFLUID_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + case BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE: + return BSPhysicsShapeType.SHAPE_UNKNOWN; + break; + } + return BSPhysicsShapeType.SHAPE_UNKNOWN; } - public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { /* TODO */ return null; } public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ } public override void UpdateChildTransform(BulletShape pShape, int childIndex, Vector3 pos, Quaternion rot, bool shouldRecalculateLocalAabb) { /* TODO */ } @@ -1636,11 +1774,21 @@ private sealed class BulletConstraintXNA : BulletConstraint return epic; } - private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, + private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates) { int numSimSteps = 0; + Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length); + Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length); + LastEntityProperty=0; + + + + + + LastCollisionDesc=0; + updatedEntityCount = 0; collidersCount = 0; @@ -1651,8 +1799,6 @@ private sealed class BulletConstraintXNA : BulletConstraint world.LastCollisionDesc = 0; world.LastEntityProperty = 0; - world.UpdatedObjects = new BulletXNA.EntityProperties[maxUpdates]; - world.UpdatedCollisions = new BulletXNA.CollisionDesc[maxCollisions]; numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); int updates = 0; @@ -1675,7 +1821,7 @@ private sealed class BulletConstraintXNA : BulletConstraint IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A - RecordCollision(world, objA, objB, contactPoint, contactNormal); + RecordCollision(this, objA, objB, contactPoint, contactNormal); m_collisionsThisFrame ++; if (m_collisionsThisFrame >= 9999999) break; @@ -1683,15 +1829,16 @@ private sealed class BulletConstraintXNA : BulletConstraint } - updatedEntityCount = world.LastEntityProperty; - updatedEntities = GetBulletSimEntityStruct(BulletXNAEntityStructToByteArray(world.UpdatedObjects, world.LastEntityProperty)); + updatedEntityCount = LastEntityProperty; + updatedEntities = UpdatedObjects; + - collidersCount = world.LastCollisionDesc; - colliders = - GetBulletSimCollisionStruct(BulletXNACollisionStructToByteArray(world.UpdatedCollisions, world.LastCollisionDesc));//new List(world.UpdatedCollisions); + collidersCount = LastCollisionDesc; + colliders = UpdatedCollisions; + } else @@ -1699,8 +1846,8 @@ private sealed class BulletConstraintXNA : BulletConstraint //if (updatedEntities is null) //updatedEntities = new List(); //updatedEntityCount = 0; - //if (colliders is null) - //colliders = new List(); + + //collidersCount = 0; updatedEntities = new EntityProperties[0]; @@ -1712,7 +1859,7 @@ private sealed class BulletConstraintXNA : BulletConstraint return numSimSteps; } - private static void RecordCollision(CollisionWorld world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) + private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) { IndexedVector3 contactNormal = norm; @@ -1733,12 +1880,12 @@ private sealed class BulletConstraintXNA : BulletConstraint ulong collisionID = ((ulong) idA << 32) | idB; - BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc() + CollisionDesc cDesc = new CollisionDesc() { aID = idA, bID = idB, - point = contact, - normal = contactNormal + point = new Vector3(contact.X,contact.Y,contact.Z), + normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z) }; if (world.LastCollisionDesc < world.UpdatedCollisions.Length) world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc); @@ -1800,160 +1947,131 @@ private sealed class BulletConstraintXNA : BulletConstraint } return false; } - - public static unsafe BulletXNA.CollisionDesc[] GetBulletXNACollisionStruct(byte[] buffer) +} + + + + + public class SimMotionState : DefaultMotionState { - int count = buffer.Length/sizeof (BulletXNA.CollisionDesc); - BulletXNA.CollisionDesc[] result = new BulletXNA.CollisionDesc[count]; - BulletXNA.CollisionDesc* ptr; - fixed (byte* localBytes = new byte[buffer.Length]) + public RigidBody Rigidbody; + public Vector3 ZeroVect; + + private IndexedMatrix m_xform; + + private EntityProperties m_properties; + private EntityProperties m_lastProperties; + private BSAPIXNA m_world; + + const float POSITION_TOLERANCE = 0.05f; + const float VELOCITY_TOLERANCE = 0.001f; + const float ROTATION_TOLERANCE = 0.01f; + const float ANGULARVELOCITY_TOLERANCE = 0.01f; + + public SimMotionState(BSAPIXNA pWorld, uint id, IndexedMatrix starTransform, object frameUpdates) { - for (int i = 0; i < buffer.Length; i++) + IndexedQuaternion OrientationQuaterion = starTransform.GetRotation(); + m_properties = new EntityProperties() + { + ID = id, + Position = new Vector3(starTransform._origin.X, starTransform._origin.Y,starTransform._origin.Z), + Rotation = new Quaternion(OrientationQuaterion.X,OrientationQuaterion.Y,OrientationQuaterion.Z,OrientationQuaterion.W) + }; + m_lastProperties = new EntityProperties() { - localBytes[i] = buffer[i]; - } - for (int i=0;i count ? count : CollisionDescArray.Length; - byte[] byteArray = new byte[sizeof(CollisionDesc) * arrayLength]; - fixed (CollisionDesc* floatPointer = CollisionDescArray) + + public override void SetWorldTransform(IndexedMatrix worldTrans) { - fixed (byte* bytePointer = byteArray) - { - CollisionDesc* read = floatPointer; - CollisionDesc* write = (CollisionDesc*)bytePointer; - for (int i = 0; i < arrayLength; i++) - { - *write++ = *read++; - } - } + SetWorldTransform(ref worldTrans); } - return byteArray; - } - public static unsafe byte[] BulletXNACollisionStructToByteArray(BulletXNA.CollisionDesc[] CollisionDescArray, int count) - { - int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length; - byte[] byteArray = new byte[sizeof(BulletXNA.CollisionDesc) * arrayLength]; - fixed (BulletXNA.CollisionDesc* floatPointer = CollisionDescArray) + + public override void SetWorldTransform(ref IndexedMatrix worldTrans) { - fixed (byte* bytePointer = byteArray) - { - BulletXNA.CollisionDesc* read = floatPointer; - BulletXNA.CollisionDesc* write = (BulletXNA.CollisionDesc*)bytePointer; - for (int i = 0; i < arrayLength; i++) - { - *write++ = *read++; - } - } + SetWorldTransform(ref worldTrans, false); } - return byteArray; - } - public static unsafe BulletXNA.EntityProperties[] GetBulletXNAEntityStruct(byte[] buffer) - { - int count = buffer.Length / sizeof(BulletXNA.EntityProperties); - BulletXNA.EntityProperties[] result = new BulletXNA.EntityProperties[count]; - BulletXNA.EntityProperties* ptr; - fixed (byte* localBytes = new byte[buffer.Length]) + public void SetWorldTransform(ref IndexedMatrix worldTrans, bool force) { - for (int i = 0; i < buffer.Length; i++) - { - localBytes[i] = buffer[i]; - } - for (int i = 0; i < count; i++) + m_xform = worldTrans; + // Put the new transform into m_properties + IndexedQuaternion OrientationQuaternion = m_xform.GetRotation(); + IndexedVector3 LinearVelocityVector = Rigidbody.GetLinearVelocity(); + IndexedVector3 AngularVelocityVector = Rigidbody.GetAngularVelocity(); + m_properties.Position = new Vector3(m_xform._origin.X, m_xform._origin.Y, m_xform._origin.Z); + m_properties.Rotation = new Quaternion(OrientationQuaternion.X, OrientationQuaternion.Y, + OrientationQuaternion.Z, OrientationQuaternion.W); + // A problem with stock Bullet is that we don't get an event when an object is deactivated. + // This means that the last non-zero values for linear and angular velocity + // are left in the viewer who does dead reconning and the objects look like + // they float off. + // BulletSim ships with a patch to Bullet which creates such an event. + m_properties.Velocity = new Vector3(LinearVelocityVector.X, LinearVelocityVector.Y, LinearVelocityVector.Z); + m_properties.RotationalVelocity = new Vector3(AngularVelocityVector.X, AngularVelocityVector.Y, AngularVelocityVector.Z); + + if (force + + || !AlmostEqual(ref m_lastProperties.Position, ref m_properties.Position, POSITION_TOLERANCE) + || !AlmostEqual(ref m_properties.Rotation, ref m_lastProperties.Rotation, ROTATION_TOLERANCE) + // If the Velocity and AngularVelocity are zero, most likely the object has + // been deactivated. If they both are zero and they have become zero recently, + // make sure a property update is sent so the zeros make it to the viewer. + || ((m_properties.Velocity == ZeroVect && m_properties.RotationalVelocity == ZeroVect) + && + (m_properties.Velocity != m_lastProperties.Velocity || + m_properties.RotationalVelocity != m_lastProperties.RotationalVelocity)) + // If Velocity and AngularVelocity are non-zero but have changed, send an update. + || !AlmostEqual(ref m_properties.Velocity, ref m_lastProperties.Velocity, VELOCITY_TOLERANCE) + || + !AlmostEqual(ref m_properties.RotationalVelocity, ref m_lastProperties.RotationalVelocity, + ANGULARVELOCITY_TOLERANCE) + ) + + { - ptr = (BulletXNA.EntityProperties*)(localBytes + sizeof(BulletXNA.EntityProperties) * i); - result[i] = new BulletXNA.EntityProperties(); - result[i] = *ptr; + // Add this update to the list of updates for this frame. + m_lastProperties = m_properties; + if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length) + m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties); + + //(*m_updatesThisFrame)[m_properties.ID] = &m_properties; } - } - return result; - } + + + - public static unsafe EntityProperties[] GetBulletSimEntityStruct(byte[] buffer) - { - int count = buffer.Length / sizeof(EntityProperties); - EntityProperties[] result = new EntityProperties[count]; - EntityProperties* ptr; - fixed (byte* localBytes = new byte[buffer.Length]) + } + public override void SetRigidBody(RigidBody body) { - for (int i = 0; i < buffer.Length; i++) - { - localBytes[i] = buffer[i]; - } - for (int i = 0; i < count; i++) - { - ptr = (EntityProperties*)(localBytes + sizeof(EntityProperties) * i); - result[i] = new EntityProperties(); - result[i] = *ptr; - } + Rigidbody = body; } - return result; - } - public static unsafe byte[] BulletSimEntityStructToByteArray(EntityProperties[] CollisionDescArray, int count) - { - int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length; - byte[] byteArray = new byte[sizeof(EntityProperties) * arrayLength]; - fixed (EntityProperties* floatPointer = CollisionDescArray) + internal static bool AlmostEqual(ref Vector3 v1, ref Vector3 v2, float nEpsilon) { - fixed (byte* bytePointer = byteArray) - { - EntityProperties* read = floatPointer; - EntityProperties* write = (EntityProperties*)bytePointer; - for (int i = 0; i < arrayLength; i++) - { - *write++ = *read++; - } - } + return + (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) && + (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) && + (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))); } - return byteArray; - } - public static unsafe byte[] BulletXNAEntityStructToByteArray(BulletXNA.EntityProperties[] CollisionDescArray, int count) - { - int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length; - byte[] byteArray = new byte[sizeof(BulletXNA.EntityProperties) * arrayLength]; - fixed (BulletXNA.EntityProperties* floatPointer = CollisionDescArray) + + internal static bool AlmostEqual(ref Quaternion v1, ref Quaternion v2, float nEpsilon) { - fixed (byte* bytePointer = byteArray) - { - BulletXNA.EntityProperties* read = floatPointer; - BulletXNA.EntityProperties* write = (BulletXNA.EntityProperties*)bytePointer; - for (int i = 0; i < arrayLength; i++) - { - *write++ = *read++; - } - } + return + (((v1.X - nEpsilon) < v2.X) && (v2.X < (v1.X + nEpsilon))) && + (((v1.Y - nEpsilon) < v2.Y) && (v2.Y < (v1.Y + nEpsilon))) && + (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) && + (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon))); } - return byteArray; + } } -} + -- cgit v1.1 From d5b950633d1fea8c868dd21fbdbc548553b1b13c Mon Sep 17 00:00:00 2001 From: teravus Date: Thu, 24 Jan 2013 07:36:24 -0500 Subject: * Added in the manifold point dept on collision desc. In BulletSim engine BulletXNA. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 69 ++++++++++++++++++++++-- 1 file changed, 64 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 57c1308..f63d83c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -1821,7 +1821,7 @@ private sealed class BulletConstraintXNA : BulletConstraint IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A - RecordCollision(this, objA, objB, contactPoint, contactNormal); + RecordCollision(this, objA, objB, contactPoint, contactNormal,manifoldPoint.GetDistance()); m_collisionsThisFrame ++; if (m_collisionsThisFrame >= 9999999) break; @@ -1858,8 +1858,64 @@ private sealed class BulletConstraintXNA : BulletConstraint } return numSimSteps; } - - private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm) + public void RecordGhostCollisions(PairCachingGhostObject obj) + { + /* + *void BulletSim::RecordGhostCollisions(btPairCachingGhostObject* obj) +{ + btManifoldArray manifoldArray; + btBroadphasePairArray& pairArray = obj->getOverlappingPairCache()->getOverlappingPairArray(); + int numPairs = pairArray.size(); + + // For all the pairs of sets of contact points + for (int i=0; i < numPairs; i++) + { + if (m_collisionsThisFrame >= m_maxCollisionsPerFrame) + break; + + manifoldArray.clear(); + const btBroadphasePair& pair = pairArray[i]; + + // The real representation is over in the world pair cache + btBroadphasePair* collisionPair = m_worldData.dynamicsWorld->getPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1); + if (!collisionPair) + continue; + + if (collisionPair->m_algorithm) + collisionPair->m_algorithm->getAllContactManifolds(manifoldArray); + + // The collision pair has sets of collision points (manifolds) + for (int j=0; j < manifoldArray.size(); j++) + { + btPersistentManifold* contactManifold = manifoldArray[j]; + int numContacts = contactManifold->getNumContacts(); + + const btCollisionObject* objA = static_cast(contactManifold->getBody0()); + const btCollisionObject* objB = static_cast(contactManifold->getBody1()); + + // TODO: this is a more thurough check than the regular collision code -- + // here we find the penetrating contact in the manifold but for regular + // collisions we assume the first point in the manifold is good enough. + // Decide of this extra checking is required or if first point is good enough. + for (int p=0; p < numContacts; p++) + { + const btManifoldPoint& pt = contactManifold->getContactPoint(p); + // If a penetrating contact, this is a hit + if (pt.getDistance()<0.f) + { + const btVector3& contactPoint = pt.getPositionWorldOnA(); + const btVector3& normalOnA = -pt.m_normalWorldOnB; + RecordCollision(objA, objB, contactPoint, normalOnA, pt.getDistance()); + // Only one contact point for each set of colliding objects + break; + } + } + } + } +} + */ + } + private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration) { IndexedVector3 contactNormal = norm; @@ -1885,7 +1941,9 @@ private sealed class BulletConstraintXNA : BulletConstraint aID = idA, bID = idB, point = new Vector3(contact.X,contact.Y,contact.Z), - normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z) + normal = new Vector3(contactNormal.X,contactNormal.Y,contactNormal.Z), + penetration = penetration + }; if (world.LastCollisionDesc < world.UpdatedCollisions.Length) world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc); @@ -1911,7 +1969,8 @@ private sealed class BulletConstraintXNA : BulletConstraint return ent; } - public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ return false; } + public override bool UpdateParameter(BulletWorld world, uint localID, String parm, float value) { /* TODO */ + return false; } public override Vector3 GetLocalScaling(BulletShape pShape) { -- cgit v1.1 From 3ecfddd791e7159723e4d9af89091e84a8f6f710 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 24 Jan 2013 12:22:49 -0800 Subject: BulletSim: remove exception that can happen when setting physics parameters from the console. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 35dba9b..cb304b6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -917,8 +917,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters foreach (uint lID in xlIDs) { BSPhysObject theObject = null; - PhysObjects.TryGetValue(lID, out theObject); - thisParam.onObject(this, theObject, xval); + if (PhysObjects.TryGetValue(lID, out theObject)) + thisParam.onObject(this, theObject, xval); } } } -- cgit v1.1 From 2cf29c87bccb5b359fc74e1a0520bfd394d86d15 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 24 Jan 2013 14:26:11 -0800 Subject: BulletSim: zero motion on an object that we pop up because it is below terrain. If the position is being corrected because it is out of bounds, all other movement rules are out the window. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index f80084a..8b00a33 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -363,7 +363,11 @@ public sealed class BSPrim : BSPhysObject // not get it through the terrain _position.Z = targetHeight; if (inTaintTime) + { ForcePosition = _position; + } + // If we are throwing the object around, zero its other forces + ZeroMotion(inTaintTime); ret = true; } @@ -1639,10 +1643,12 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG // The sanity check can change the velocity and/or position. - if (IsPhysical && PositionSanityCheck(true)) + if (IsPhysical && PositionSanityCheck(true /* inTaintTime */ )) { entprop.Position = _position; entprop.Velocity = _velocity; + entprop.RotationalVelocity = _rotationalVelocity; + entprop.Acceleration = _acceleration; } OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG -- cgit v1.1 From 591faac3ac236ea676ebd2787d824abd9f30c2b6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 24 Jan 2013 14:28:25 -0800 Subject: BulletSim: disable CCD (continuious collision detection) and contact processing threshold since the first didn't solve tunneling problems but used resources and the latter caused instabilities. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 9460daf..06186b0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -334,7 +334,7 @@ public static class BSParam (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , - 0.3f, // set to zero to disable + 0.0f, // set to zero to disable (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, (s) => { return CcdMotionThreshold; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); }, @@ -345,8 +345,8 @@ public static class BSParam (s) => { return CcdSweptSphereRadius; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); }, (s,o,v) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, v); } ), - new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , - 0.1f, + new ParameterDefn("ContactProcessingThreshold", "Distance above which contacts can be discarded (0 means no discard)" , + 0.0f, (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return ContactProcessingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); }, -- cgit v1.1 From a2a32fc8448e9cfb1292f7ff781875aec6d684cc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 24 Jan 2013 14:30:12 -0800 Subject: BulletSim: reduce the zeroing threshold for rotational velocity. Sometimes settling of a vehicle from gravity introduces small velocities that need to be kept. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index fe7891e..f1ef449 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1190,8 +1190,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // set directly on the vehicle. private void MoveAngular(float pTimestep) { - // VehicleRotationalVelocity = Vector3.Zero; - ComputeAngularTurning(pTimestep); ComputeAngularVerticalAttraction(); @@ -1201,7 +1199,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin ComputeAngularBanking(); // ================================================================== - if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.01f)) + if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.0001f)) { // The vehicle is not adding anything angular wise. VehicleRotationalVelocity = Vector3.Zero; -- cgit v1.1 From 6a5d08819725a836a4072dec3bd3f84a1bd39ffb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 24 Jan 2013 16:26:04 -0800 Subject: BulletSim: reduce the force of gravity on ground vehicles when they are on the ground. Makes them a little more stable. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 11 +++++++++++ 1 file changed, 11 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index f1ef449..7ad7c89 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -158,6 +158,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin get { return (Type != Vehicle.TYPE_NONE && Prim.IsPhysicallyActive); } } + // Return 'true' if this a vehicle that should be sitting on the ground + public bool IsGroundVehicle + { + get { return (Type == Vehicle.TYPE_CAR || Type == Vehicle.TYPE_SLED); } + } + #region Vehicle parameter setting internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { @@ -1176,6 +1182,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin private void ApplyGravity(float pTimeStep) { Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass; + + // Hack to reduce downward force if the vehicle is probably sitting on the ground + if (Prim.IsColliding && IsGroundVehicle) + appliedGravity *= 0.2f; + VehicleAddForce(appliedGravity); VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},appliedForce-{2}", -- cgit v1.1 From 5128ae7b8685a583b3d53428f5bbba5ba5e65549 Mon Sep 17 00:00:00 2001 From: teravus Date: Fri, 25 Jan 2013 20:15:37 -0500 Subject: * This adds llVolumeDetect functionality to the C# implementation of BulletSim. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 202 +++++++++++++---------- 1 file changed, 116 insertions(+), 86 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index f63d83c..04e77b8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -137,6 +137,7 @@ private sealed class BulletConstraintXNA : BulletConstraint internal int LastEntityProperty = 0; internal EntityProperties[] UpdatedObjects; + internal Dictionary specialCollisionObjects; private static int m_collisionsThisFrame; private BSScene PhysicsScene { get; set; } @@ -158,7 +159,13 @@ private sealed class BulletConstraintXNA : BulletConstraint { DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - world.RemoveRigidBody(body); + CollisionObject collisionObject = ((BulletBodyXNA)pBody).body; + if (body != null) + world.RemoveRigidBody(body); + else if (collisionObject != null) + world.RemoveCollisionObject(collisionObject); + else + return false; return true; } @@ -182,7 +189,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetRestitution(BulletBody pCollisionObject, float pRestitution) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; collisionObject.SetRestitution(pRestitution); } @@ -219,13 +226,13 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; collisionObject.SetCcdMotionThreshold(pccdMotionThreashold); } public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); } @@ -262,7 +269,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } else { - world.AddCollisionObject(rbody); + world.AddCollisionObject(cbody); } cbody.SetWorldTransform(origPos); @@ -303,7 +310,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0) @@ -390,7 +397,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W); @@ -418,8 +425,11 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia) { RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); - body.SetMassProps(pphysMass, inertia); + if (body != null) // Can't set mass props on collision object. + { + IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); + body.SetMassProps(pphysMass, inertia); + } } @@ -432,7 +442,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetFriction(BulletBody pCollisionObject, float _currentFriction) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; collisionObject.SetFriction(_currentFriction); } @@ -459,7 +469,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags(); existingcollisionFlags &= ~pcollisionFlags; collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); @@ -494,8 +504,11 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetGravity(BulletBody pBody, Vector3 pGravity) { RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); - body.SetGravity(gravity); + if (body != null) // Can't set collisionobject.set gravity + { + IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); + body.SetGravity(gravity); + } } public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint) @@ -733,7 +746,8 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void UpdateInertiaTensor(BulletBody pBody) { RigidBody body = (pBody as BulletBodyXNA).rigidBody; - body.UpdateInertiaTensor(); + if (body != null) // can't update inertia tensor on CollisionObject + body.UpdateInertiaTensor(); } public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape) @@ -770,7 +784,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; return (CollisionObjectTypes)(int) collisionObject.GetInternalType(); } @@ -889,7 +903,18 @@ private sealed class BulletConstraintXNA : BulletConstraint world.RemoveRigidBody(bo); } } - + if (co != null) + { + if (co.GetUserPointer() != null) + { + uint localId = (uint) co.GetUserPointer(); + if (specialCollisionObjects.ContainsKey(localId)) + { + specialCollisionObjects.Remove(localId); + } + } + } + } public override void Shutdown(BulletWorld pWorld) @@ -1050,7 +1075,7 @@ private sealed class BulletConstraintXNA : BulletConstraint Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); m_maxCollisions = maxCollisions; m_maxUpdatesPerFrame = maxUpdates; - + specialCollisionObjects = new Dictionary(); return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); } @@ -1310,6 +1335,12 @@ private sealed class BulletConstraintXNA : BulletConstraint CollisionShape shape = (pShape as BulletShapeXNA).shape; gObj.SetCollisionShape(shape); gObj.SetUserPointer(pLocalID); + + if (specialCollisionObjects.ContainsKey(pLocalID)) + specialCollisionObjects[pLocalID] = gObj; + else + specialCollisionObjects.Add(pLocalID, gObj); + // TODO: Add to Special CollisionObjects! return new BulletBodyXNA(pLocalID, gObj); } @@ -1399,7 +1430,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { - /* TODO */ + if (cShape == null) return null; CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape; @@ -1407,7 +1438,7 @@ private sealed class BulletConstraintXNA : BulletConstraint BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); - return null; + return retShape; } public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) @@ -1802,26 +1833,29 @@ private sealed class BulletConstraintXNA : BulletConstraint numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); int updates = 0; - - + PersistentManifold contactManifold; + CollisionObject objA; + CollisionObject objB; + ManifoldPoint manifoldPoint; + PairCachingGhostObject pairCachingGhostObject; m_collisionsThisFrame = 0; int numManifolds = world.GetDispatcher().GetNumManifolds(); for (int j = 0; j < numManifolds; j++) { - PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); + contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); int numContacts = contactManifold.GetNumContacts(); if (numContacts == 0) continue; - CollisionObject objA = contactManifold.GetBody0() as CollisionObject; - CollisionObject objB = contactManifold.GetBody1() as CollisionObject; + objA = contactManifold.GetBody0() as CollisionObject; + objB = contactManifold.GetBody1() as CollisionObject; - ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0); - IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); - IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A + manifoldPoint = contactManifold.GetContactPoint(0); + //IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); + // IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A - RecordCollision(this, objA, objB, contactPoint, contactNormal,manifoldPoint.GetDistance()); + RecordCollision(this, objA, objB, manifoldPoint.GetPositionWorldOnB(), -manifoldPoint.m_normalWorldOnB, manifoldPoint.GetDistance()); m_collisionsThisFrame ++; if (m_collisionsThisFrame >= 9999999) break; @@ -1829,12 +1863,19 @@ private sealed class BulletConstraintXNA : BulletConstraint } - updatedEntityCount = LastEntityProperty; - updatedEntities = UpdatedObjects; - + foreach (GhostObject ghostObject in specialCollisionObjects.Values) + { + pairCachingGhostObject = ghostObject as PairCachingGhostObject; + if (pairCachingGhostObject != null) + { + RecordGhostCollisions(pairCachingGhostObject); + } + } + updatedEntityCount = LastEntityProperty; + updatedEntities = UpdatedObjects; collidersCount = LastCollisionDesc; colliders = UpdatedCollisions; @@ -1860,60 +1901,49 @@ private sealed class BulletConstraintXNA : BulletConstraint } public void RecordGhostCollisions(PairCachingGhostObject obj) { - /* - *void BulletSim::RecordGhostCollisions(btPairCachingGhostObject* obj) -{ - btManifoldArray manifoldArray; - btBroadphasePairArray& pairArray = obj->getOverlappingPairCache()->getOverlappingPairArray(); - int numPairs = pairArray.size(); - - // For all the pairs of sets of contact points - for (int i=0; i < numPairs; i++) - { - if (m_collisionsThisFrame >= m_maxCollisionsPerFrame) - break; - - manifoldArray.clear(); - const btBroadphasePair& pair = pairArray[i]; - - // The real representation is over in the world pair cache - btBroadphasePair* collisionPair = m_worldData.dynamicsWorld->getPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1); - if (!collisionPair) - continue; - - if (collisionPair->m_algorithm) - collisionPair->m_algorithm->getAllContactManifolds(manifoldArray); - - // The collision pair has sets of collision points (manifolds) - for (int j=0; j < manifoldArray.size(); j++) - { - btPersistentManifold* contactManifold = manifoldArray[j]; - int numContacts = contactManifold->getNumContacts(); - - const btCollisionObject* objA = static_cast(contactManifold->getBody0()); - const btCollisionObject* objB = static_cast(contactManifold->getBody1()); - - // TODO: this is a more thurough check than the regular collision code -- - // here we find the penetrating contact in the manifold but for regular - // collisions we assume the first point in the manifold is good enough. - // Decide of this extra checking is required or if first point is good enough. - for (int p=0; p < numContacts; p++) - { - const btManifoldPoint& pt = contactManifold->getContactPoint(p); - // If a penetrating contact, this is a hit - if (pt.getDistance()<0.f) - { - const btVector3& contactPoint = pt.getPositionWorldOnA(); - const btVector3& normalOnA = -pt.m_normalWorldOnB; - RecordCollision(objA, objB, contactPoint, normalOnA, pt.getDistance()); - // Only one contact point for each set of colliding objects - break; - } - } - } - } -} - */ + IOverlappingPairCache cache = obj.GetOverlappingPairCache(); + ObjectArray pairs = cache.GetOverlappingPairArray(); + + DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world; + PersistentManifoldArray manifoldArray = new PersistentManifoldArray(); + BroadphasePair collisionPair; + PersistentManifold contactManifold; + + CollisionObject objA; + CollisionObject objB; + + ManifoldPoint pt; + + int numPairs = pairs.Count; + + for (int i = 0; i < numPairs; i++) + { + manifoldArray.Clear(); + if (LastCollisionDesc < UpdatedCollisions.Length) + break; + collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1); + if (collisionPair == null) + continue; + + collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray); + for (int j = 0; j < manifoldArray.Count; j++) + { + contactManifold = manifoldArray[j]; + int numContacts = contactManifold.GetNumContacts(); + objA = contactManifold.GetBody0() as CollisionObject; + objB = contactManifold.GetBody1() as CollisionObject; + for (int p = 0; p < numContacts; p++) + { + pt = contactManifold.GetContactPoint(p); + if (pt.GetDistance() < 0.0f) + { + RecordCollision(this, objA, objB, pt.GetPositionWorldOnA(), -pt.m_normalWorldOnB,pt.GetDistance()); + break; + } + } + } + } + } private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration) { @@ -1934,7 +1964,7 @@ private sealed class BulletConstraintXNA : BulletConstraint contactNormal = -contactNormal; } - ulong collisionID = ((ulong) idA << 32) | idB; + //ulong collisionID = ((ulong) idA << 32) | idB; CollisionDesc cDesc = new CollisionDesc() { -- cgit v1.1 From c44a8e9f925c0195c4754c5e763af06dae657b53 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 25 Jan 2013 10:17:20 -0800 Subject: BulletSim: finish the post step event for physical object actions. Modify vehicle to use post step event for logging. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 14 ++++- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 66 ++++++++++++++++++---- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 ++ 3 files changed, 73 insertions(+), 13 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 7ad7c89..a369c1f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -583,6 +583,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Some of the properties of this prim may have changed. // Do any updating needed for a vehicle + Vector3 m_physicsLinearFactor = new Vector3(0.2f, 0.2f, 0.2f); // DEBUG DEBUG + Vector3 m_physicsAngularFactor = new Vector3(0.2f, 0.2f, 0.2f); // DEBUG DEBUG public void Refresh() { if (IsActive) @@ -599,6 +601,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Maybe compute linear and angular factor and damping from params. float angularDamping = BSParam.VehicleAngularDamping; PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping); + PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, m_physicsLinearFactor); // DEBUG DEBUG + PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, m_physicsAngularFactor); // DEBUG DEBUG // Vehicles report collision events so we know when it's on the ground PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); @@ -898,9 +902,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (!IsActive) return; - if (PhysicsScene.VehiclePhysicalLoggingEnabled) - PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody); - ForgetKnownVehicleProperties(); MoveLinear(pTimestep); @@ -922,6 +923,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin Prim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity); } + // Called after the simulation step + internal void PostStep(float pTimestep) + { + if (PhysicsScene.VehiclePhysicalLoggingEnabled) + PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody); + } + // Apply the effect of the linear motor and other linear motions (like hover and float). private void MoveLinear(float pTimestep) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 027c786..285d4a2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -101,6 +101,7 @@ public abstract class BSPhysObject : PhysicsActor public virtual void Destroy() { UnRegisterAllPreStepActions(); + UnRegisterAllPostStepActions(); } public BSScene PhysicsScene { get; protected set; } @@ -393,17 +394,18 @@ public abstract class BSPhysObject : PhysicsActor // These actions are optional so, rather than scanning all the physical objects and asking them // if they have anything to do, a physical object registers for an event call before the step is performed. // This bookkeeping makes it easy to add, remove and clean up after all these registrations. - private Dictionary RegisteredActions = new Dictionary(); + private Dictionary RegisteredPrestepActions = new Dictionary(); + private Dictionary RegisteredPoststepActions = new Dictionary(); protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn) { string identifier = op + "-" + id.ToString(); - lock (RegisteredActions) + lock (RegisteredPrestepActions) { // Clean out any existing action UnRegisterPreStepAction(op, id); - RegisteredActions[identifier] = actn; + RegisteredPrestepActions[identifier] = actn; } PhysicsScene.BeforeStep += actn; DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); @@ -414,12 +416,12 @@ public abstract class BSPhysObject : PhysicsActor { string identifier = op + "-" + id.ToString(); bool removed = false; - lock (RegisteredActions) + lock (RegisteredPrestepActions) { - if (RegisteredActions.ContainsKey(identifier)) + if (RegisteredPrestepActions.ContainsKey(identifier)) { - PhysicsScene.BeforeStep -= RegisteredActions[identifier]; - RegisteredActions.Remove(identifier); + PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier]; + RegisteredPrestepActions.Remove(identifier); removed = true; } } @@ -428,17 +430,61 @@ public abstract class BSPhysObject : PhysicsActor protected void UnRegisterAllPreStepActions() { - lock (RegisteredActions) + lock (RegisteredPrestepActions) { - foreach (KeyValuePair kvp in RegisteredActions) + foreach (KeyValuePair kvp in RegisteredPrestepActions) { PhysicsScene.BeforeStep -= kvp.Value; } - RegisteredActions.Clear(); + RegisteredPrestepActions.Clear(); } DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID); } + + protected void RegisterPostStepAction(string op, uint id, BSScene.PostStepAction actn) + { + string identifier = op + "-" + id.ToString(); + + lock (RegisteredPoststepActions) + { + // Clean out any existing action + UnRegisterPostStepAction(op, id); + + RegisteredPoststepActions[identifier] = actn; + } + PhysicsScene.AfterStep += actn; + DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier); + } + + // Unregister a pre step action. Safe to call if the action has not been registered. + protected void UnRegisterPostStepAction(string op, uint id) + { + string identifier = op + "-" + id.ToString(); + bool removed = false; + lock (RegisteredPoststepActions) + { + if (RegisteredPoststepActions.ContainsKey(identifier)) + { + PhysicsScene.AfterStep -= RegisteredPoststepActions[identifier]; + RegisteredPoststepActions.Remove(identifier); + removed = true; + } + } + DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed); + } + protected void UnRegisterAllPostStepActions() + { + lock (RegisteredPoststepActions) + { + foreach (KeyValuePair kvp in RegisteredPoststepActions) + { + PhysicsScene.AfterStep -= kvp.Value; + } + RegisteredPoststepActions.Clear(); + } + DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID); + } #endregion // Per Simulation Step actions diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 8b00a33..99903f5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -527,9 +527,15 @@ public sealed class BSPrim : BSPhysObject // If an active vehicle, register the vehicle code to be called before each step if (_vehicle.Type == Vehicle.TYPE_NONE) + { UnRegisterPreStepAction("BSPrim.Vehicle", LocalID); + PhysicsScene.AfterStep -= _vehicle.PostStep; + } else + { RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step); + PhysicsScene.AfterStep += _vehicle.PostStep; + } }); } } -- cgit v1.1 From dd08e1fba6e154002a7fe8f46c8c01e6e61d39db Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 25 Jan 2013 12:00:19 -0800 Subject: BulletSim: parameterize several vehicle debugging values: physical linear and angular force factors now default to less than 1 (0.2) vehicle friction and restitution now default to low values --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 12 +++--- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 45 ++++++++++++++++++++++ .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 9 ++++- 3 files changed, 57 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index a369c1f..5c531fc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -583,8 +583,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Some of the properties of this prim may have changed. // Do any updating needed for a vehicle - Vector3 m_physicsLinearFactor = new Vector3(0.2f, 0.2f, 0.2f); // DEBUG DEBUG - Vector3 m_physicsAngularFactor = new Vector3(0.2f, 0.2f, 0.2f); // DEBUG DEBUG public void Refresh() { if (IsActive) @@ -593,16 +591,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_vehicleMass = Prim.Linkset.LinksetMass; // Friction affects are handled by this vehicle code - float friction = 0f; - PhysicsScene.PE.SetFriction(Prim.PhysBody, friction); + PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction); + PhysicsScene.PE.SetRestitution(Prim.PhysBody, BSParam.VehicleRestitution); // Moderate angular movement introduced by Bullet. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. // Maybe compute linear and angular factor and damping from params. float angularDamping = BSParam.VehicleAngularDamping; PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping); - PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, m_physicsLinearFactor); // DEBUG DEBUG - PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, m_physicsAngularFactor); // DEBUG DEBUG + PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, BSParam.VehicleLinearFactorV); + PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, BSParam.VehicleAngularFactorV); // Vehicles report collision events so we know when it's on the ground PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); @@ -618,7 +616,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero); VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}", - Prim.LocalID, m_vehicleMass, friction, Prim.Inertia, angularDamping, m_VehicleGravity); + Prim.LocalID, m_vehicleMass, Prim.Inertia, angularDamping, m_VehicleGravity); } else { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 06186b0..8de8905 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -82,9 +82,34 @@ public static class BSParam public static float AvatarStepApproachFactor { get; private set; } public static float AvatarStepForceFactor { get; private set; } + // Vehicle parameters public static float VehicleMaxLinearVelocity { get; private set; } public static float VehicleMaxAngularVelocity { get; private set; } public static float VehicleAngularDamping { get; private set; } + public static float VehicleFriction { get; private set; } + public static float VehicleRestitution { get; private set; } + public static float VehicleLinearFactor { get; private set; } + private static Vector3? vehicleLinearFactorV; + public static Vector3 VehicleLinearFactorV + { + get + { + if (!vehicleLinearFactorV.HasValue) + vehicleLinearFactorV = new Vector3(VehicleLinearFactor, VehicleLinearFactor, VehicleLinearFactor); + return (Vector3)vehicleLinearFactorV; + } + } + public static float VehicleAngularFactor { get; private set; } + private static Vector3? vehicleAngularFactorV; + public static Vector3 VehicleAngularFactorV + { + get + { + if (!vehicleAngularFactorV.HasValue) + vehicleAngularFactorV = new Vector3(VehicleAngularFactor, VehicleAngularFactor, VehicleAngularFactor); + return (Vector3)vehicleAngularFactorV; + } + } public static float VehicleDebuggingEnabled { get; private set; } public static float LinksetImplementation { get; private set; } @@ -454,6 +479,26 @@ public static class BSParam (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, (s) => { return VehicleAngularDamping; }, (s,p,l,v) => { VehicleAngularDamping = v; } ), + new ParameterDefn("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (0.0 - 1.0)", + 0.2f, + (s,cf,p,v) => { VehicleLinearFactor = cf.GetFloat(p, v); }, + (s) => { return VehicleLinearFactor; }, + (s,p,l,v) => { VehicleLinearFactor = v; } ), + new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (0.0 - 1.0)", + 0.2f, + (s,cf,p,v) => { VehicleAngularFactor = cf.GetFloat(p, v); }, + (s) => { return VehicleAngularFactor; }, + (s,p,l,v) => { VehicleAngularFactor = v; } ), + new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)", + 0.0f, + (s,cf,p,v) => { VehicleFriction = cf.GetFloat(p, v); }, + (s) => { return VehicleFriction; }, + (s,p,l,v) => { VehicleFriction = v; } ), + new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", + 0.0f, + (s,cf,p,v) => { VehicleRestitution = cf.GetFloat(p, v); }, + (s) => { return VehicleRestitution; }, + (s,p,l,v) => { VehicleRestitution = v; } ), new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging", ConfigurationParameters.numericFalse, (s,cf,p,v) => { VehicleDebuggingEnabled = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 801f690..7917795 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -2,7 +2,6 @@ CURRENT PRIORITIES ================================================= Deleting a linkset while standing on the root will leave the physical shape of the root behind. Not sure if it is because standing on it. Done with large prim linksets. -Child movement in linkset (don't rebuild linkset) Vehicle angular vertical attraction vehicle angular banking Center-of-gravity @@ -12,6 +11,7 @@ when should angular and linear motor targets be zeroed? when selected? Need a vehicle.clear()? Or an 'else' in prestep if not physical. Teravus llMoveToTarget script debug Mixing of hover, buoyancy/gravity, moveToTarget, into one force + Setting hover height to zero disables hover even if hover flags are on (from SL wiki) Nebadon vehicles turning funny in arena limitMotorUp calibration (more down?) llRotLookAt @@ -72,7 +72,11 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl GENERAL TODO LIST: ================================================= +Avatar standing on a moving object should start to move with the object. llMoveToTarget objects are not effected by gravity until target is removed. +Compute CCD parameters based on body size +Can solver iterations be changed per body/shape? Can be for constraints but what + about regular vehicles? Implement llSetPhysicalMaterial. extend it with Center-of-mass, rolling friction, density Implement llSetForceAndTorque. @@ -321,4 +325,5 @@ Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE) Boats float low in the water (DONE) Boats floating at proper level (DONE) When is force introduced by SetForce removed? The prestep action could go forever. (DONE) - (Resolution: setForce registers a prestep action which keeps applying the force) \ No newline at end of file + (Resolution: setForce registers a prestep action which keeps applying the force) +Child movement in linkset (don't rebuild linkset) (DONE 20130122)) \ No newline at end of file -- cgit v1.1 From ddef8f16e58471d19baa63f14134b25309cf2570 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 25 Jan 2013 16:00:17 -0800 Subject: BulletSim: first attempt at reporting top colliders --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 10 ++++++---- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 17 +++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 ------ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 17 ++++++++++++++++- OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 4 ++++ 5 files changed, 43 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 5c531fc..06b4620 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -597,8 +597,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Moderate angular movement introduced by Bullet. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. // Maybe compute linear and angular factor and damping from params. - float angularDamping = BSParam.VehicleAngularDamping; - PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping); + PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, BSParam.VehicleAngularDamping); PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, BSParam.VehicleLinearFactorV); PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, BSParam.VehicleAngularFactorV); @@ -615,8 +614,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same. PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero); - VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}", - Prim.LocalID, m_vehicleMass, Prim.Inertia, angularDamping, m_VehicleGravity); + VDetailLog("{0},BSDynamics.Refresh,mass={1},inert={2},grav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}", + Prim.LocalID, m_vehicleMass, Prim.Inertia, m_VehicleGravity, + BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution, + BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor + ); } else { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 285d4a2..5e8143c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -95,6 +95,8 @@ public abstract class BSPhysObject : PhysicsActor SubscribedEventsMs = 0; CollidingStep = 0; CollidingGroundStep = 0; + CollisionAccumulation = 0; + CollisionScore = 0; } // Tell the object to clean up. @@ -239,6 +241,9 @@ public abstract class BSPhysObject : PhysicsActor // The collision flags we think are set in Bullet protected CollisionFlags CurrentCollisionFlags { get; set; } + // Count of collisions for this object + protected long CollisionAccumulation { get; set; } + public override bool IsColliding { get { return (CollidingStep == PhysicsScene.SimulationStep); } set { @@ -300,6 +305,8 @@ public abstract class BSPhysObject : PhysicsActor return ret; } + CollisionAccumulation++; + // if someone has subscribed for collision events.... if (SubscribedEvents()) { CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); @@ -386,6 +393,16 @@ public abstract class BSPhysObject : PhysicsActor public override bool SubscribedEvents() { return (SubscribedEventsMs > 0); } + // Because 'CollisionScore' is calls many times while sorting it should not be recomputed + // each time called. So this is built to be light weight for each collision and to do + // all the processing when the user asks for the info. + public void ComputeCollisionScore() + { + // Scale the collision count by the time since the last collision + long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1; + CollisionScore = CollisionAccumulation / timeAgo; + } + public override float CollisionScore { get; set; } #endregion // Collisions diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 99903f5..17fddd7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -59,7 +59,6 @@ public sealed class BSPrim : BSPhysObject private OMV.Vector3 _force; private OMV.Vector3 _velocity; private OMV.Vector3 _torque; - private float _collisionScore; private OMV.Vector3 _acceleration; private OMV.Quaternion _orientation; private int _physicsActorType; @@ -644,11 +643,6 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); } } - public override float CollisionScore { - get { return _collisionScore; } - set { _collisionScore = value; - } - } public override OMV.Vector3 Acceleration { get { return _acceleration; } set { _acceleration = value; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index cb304b6..4442650 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -26,6 +26,7 @@ */ using System; using System.Collections.Generic; +using System.Linq; using System.Reflection; using System.Runtime.InteropServices; using System.Text; @@ -697,7 +698,21 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public override Dictionary GetTopColliders() { - return new Dictionary(); + Dictionary topColliders; + + lock (PhysObjects) + { + foreach (KeyValuePair kvp in PhysObjects) + { + kvp.Value.ComputeCollisionScore(); + } + + List orderedPrims = new List(PhysObjects.Values); + orderedPrims.OrderByDescending(p => p.CollisionScore).Take(25); + topColliders = orderedPrims.ToDictionary(p => p.LocalID, p => p.CollisionScore); + } + + return topColliders; } public override bool IsThreaded { get { return false; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 7917795..a95e169 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,5 +1,9 @@ CURRENT PRIORITIES ================================================= +One sided meshes? Should terrain be built into a closed shape? + When meshes get partially wedged into the terrain, they cannot push themselves out. + It is possible that Bullet processes collisions whether entering or leaving a mesh. + Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869 Deleting a linkset while standing on the root will leave the physical shape of the root behind. Not sure if it is because standing on it. Done with large prim linksets. Vehicle angular vertical attraction -- cgit v1.1 From 36f401d85011b0ffb548e79923381be894dbfabb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 25 Jan 2013 16:52:16 -0800 Subject: BulletSim: parameterize the value for gravity reduction for ground vehicles on the ground. Set defaults for vehicle factors to one. Debug logging changes. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 15 ++++++++------- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 12 +++++++++--- 3 files changed, 18 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 06b4620..90482fd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -976,8 +976,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin public void ComputeLinearVelocity(float pTimestep) { // Step the motor from the current value. Get the correction needed this step. - Vector3 currentVel = VehicleVelocity * Quaternion.Inverse(VehicleOrientation); - Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVel); + Vector3 origVelW = VehicleVelocity; // DEBUG + Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation); + Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV); // Motor is vehicle coordinates. Rotate it to world coordinates Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation; @@ -992,8 +993,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Add this correction to the velocity to make it faster/slower. VehicleVelocity += linearMotorVelocityW; - VDetailLog("{0}, MoveLinear,velocity,vehVel={1},correction={2},force={3}", - Prim.LocalID, VehicleVelocity, linearMotorCorrectionV, linearMotorVelocityW); + VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5}", + Prim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity); } public void ComputeLinearTerrainHeightCorrection(float pTimestep) @@ -1193,12 +1194,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Hack to reduce downward force if the vehicle is probably sitting on the ground if (Prim.IsColliding && IsGroundVehicle) - appliedGravity *= 0.2f; + appliedGravity *= BSParam.VehicleGroundGravityFudge; VehicleAddForce(appliedGravity); - VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},appliedForce-{2}", - Prim.LocalID, m_VehicleGravity, appliedGravity); + VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},appliedForce={3}", + Prim.LocalID, m_VehicleGravity, Prim.IsColliding, appliedGravity); } // ======================================================================= diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 2c8dd23..6c53c50 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -232,7 +232,7 @@ public sealed class BSLinksetCompound : BSLinkset newLsi.OffsetFromCenterOfMass, newLsi.OffsetRot, true /* shouldRecalculateLocalAabb */); - DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1}newLsi={2}", + DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}", updated.LocalID, whichUpdated, newLsi); updated.LinksetInfo = newLsi; updatedChild = true; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 8de8905..75eed86 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -110,6 +110,7 @@ public static class BSParam return (Vector3)vehicleAngularFactorV; } } + public static float VehicleGroundGravityFudge { get; private set; } public static float VehicleDebuggingEnabled { get; private set; } public static float LinksetImplementation { get; private set; } @@ -480,12 +481,12 @@ public static class BSParam (s) => { return VehicleAngularDamping; }, (s,p,l,v) => { VehicleAngularDamping = v; } ), new ParameterDefn("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (0.0 - 1.0)", - 0.2f, + 1.0f, (s,cf,p,v) => { VehicleLinearFactor = cf.GetFloat(p, v); }, (s) => { return VehicleLinearFactor; }, (s,p,l,v) => { VehicleLinearFactor = v; } ), new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (0.0 - 1.0)", - 0.2f, + 1.0f, (s,cf,p,v) => { VehicleAngularFactor = cf.GetFloat(p, v); }, (s) => { return VehicleAngularFactor; }, (s,p,l,v) => { VehicleAngularFactor = v; } ), @@ -495,10 +496,15 @@ public static class BSParam (s) => { return VehicleFriction; }, (s,p,l,v) => { VehicleFriction = v; } ), new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", - 0.0f, + 0.2f, (s,cf,p,v) => { VehicleRestitution = cf.GetFloat(p, v); }, (s) => { return VehicleRestitution; }, (s,p,l,v) => { VehicleRestitution = v; } ), + new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", + 1.0f, + (s,cf,p,v) => { VehicleGroundGravityFudge = cf.GetFloat(p, v); }, + (s) => { return VehicleGroundGravityFudge; }, + (s,p,l,v) => { VehicleGroundGravityFudge = v; } ), new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging", ConfigurationParameters.numericFalse, (s,cf,p,v) => { VehicleDebuggingEnabled = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, -- cgit v1.1 From 80f0a978db50f8fa3a36e012f92d7ff3755be332 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 27 Jan 2013 09:00:47 -0800 Subject: BulletSim: fix compile error from last commit --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 4442650..86eb773 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -88,7 +88,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public delegate void PreStepAction(float timeStep); public delegate void PostStepAction(float timeStep); public event PreStepAction BeforeStep; - public event PreStepAction AfterStep; + public event PostStepAction AfterStep; // A value of the time now so all the collision and update routines do not have to get their own // Set to 'now' just before all the prims and actors are called for collisions and updates @@ -763,7 +763,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters private void TriggerPostStepEvent(float timeStep) { - PreStepAction actions = AfterStep; + PostStepAction actions = AfterStep; if (actions != null) actions(timeStep); -- cgit v1.1 From 05adf4b30f2a7cdb63c63a178bd44b0fecbe9c45 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 27 Jan 2013 09:01:24 -0800 Subject: BulletSim: disable center-of-mass computation because it does not work yet --- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 6c53c50..54dc458 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -377,7 +377,7 @@ public sealed class BSLinksetCompound : BSLinkset // Constraint linksets are rebuilt every time. // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! - private bool disableCOM = false; // disable until we get this debugged + private bool disableCOM = true; // disable until we get this debugged private void RecomputeLinksetCompound() { try -- cgit v1.1 From a345a2feb794d05dcb628aa916569b19394c2337 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 27 Jan 2013 10:31:08 -0800 Subject: BulletSim: add framework for BulletSim unit tests. No tests yet. --- .../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 56 +++++++++++++++ .../Physics/BulletSPlugin/Tests/BulletSimTests.cs | 56 +++++++++++++++ .../BulletSPlugin/Tests/BulletSimTestsUtil.cs | 81 ++++++++++++++++++++++ 3 files changed, 193 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTests.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs new file mode 100755 index 0000000..41ef67b --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs @@ -0,0 +1,56 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using NUnit.Framework; +using log4net; + +using OpenSim.Tests.Common; + +namespace OpenSim.Region.Physics.BulletSPlugin.Tests +{ +[TestFixture] +public class BasicVehicles : OpenSimTestCase +{ + // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1 + // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1 + + [TestFixtureSetUp] + public void Init() + { + } + + [TestFixtureTearDown] + public void TearDown() + { + } +} +} \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTests.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTests.cs new file mode 100755 index 0000000..35cbc1d --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTests.cs @@ -0,0 +1,56 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using NUnit.Framework; +using log4net; + +using OpenSim.Tests.Common; + +namespace OpenSim.Region.Physics.BulletSPlugin.Tests +{ +[TestFixture] +public class BulletSimTests : OpenSimTestCase +{ + // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1 + // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1 + + [TestFixtureSetUp] + public void Init() + { + } + + [TestFixtureTearDown] + public void TearDown() + { + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs new file mode 100755 index 0000000..6c2247a --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs @@ -0,0 +1,81 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using Nini.Config; + +using OpenSim.Framework; +using OpenSim.Region.Physics.BulletSPlugin; +using OpenSim.Region.Physics.Meshing; + +namespace OpenSim.Region.Physics.BulletSPlugin.Tests +{ +// Utility functions for building up and tearing down the sample physics environments +public static class BulletSimTestsUtil +{ + // 'engineName' is the Bullet engine to use. Either null (for unmanaged), "BulletUnmanaged" or "BulletXNA" + // 'params' is a set of keyValue pairs to set in the engine's configuration file (override defaults) + // May be 'null' if there are no overrides. + public static BSScene CreateBasicPhysicsEngine(string engineName, Dictionary paramOverrides) + { + if (engineName == null) + engineName = "BulletUnmanaged"; + + IConfigSource openSimINI = new IniConfigSource(); + IConfig startupConfig = openSimINI.AddConfig("StartUp"); + startupConfig.Set("meshing", "Meshmerizer"); + startupConfig.Set("physics", "BulletSim"); + + IConfig bulletSimConfig = openSimINI.AddConfig("BulletSim"); + bulletSimConfig.Set("BulletEngine", engineName); + if (paramOverrides != null) + { + foreach (KeyValuePair kvp in paramOverrides) + { + bulletSimConfig.Set(kvp.Key, kvp.Value); + } + } + // bulletSimConfig.Set("PhysicsLoggingEnabled","True"); + // bulletSimConfig.Set("PhysicsLoggingDoFlush","True"); + // bulletSimConfig.Set("VehicleLoggingEnabled","True"); + + BSPlugin bsPlugin = new BSPlugin(); + + BSScene bsScene = (BSScene)bsPlugin.GetScene("BSTestRegion"); + + Meshing.Meshmerizer mesher = new Meshmerizer(openSimINI); + bsScene.Initialise(mesher, openSimINI); + + return bsScene; + } + +} +} -- cgit v1.1 From 26d4596080295d7509ef16bce9eb571d326c3ba6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 27 Jan 2013 12:48:16 -0800 Subject: BulletSim: reinstate the supression of rotational velocity for vehicles --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 17fddd7..998836c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1620,7 +1620,7 @@ public sealed class BSPrim : BSPhysObject // TODO: handle physics introduced by Bullet with computed vehicle physics. if (_vehicle.IsActive) { - // entprop.RotationalVelocity = OMV.Vector3.Zero; + entprop.RotationalVelocity = OMV.Vector3.Zero; } // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG -- cgit v1.1 From b546af9ac290951f22e8c8e56798adb176076591 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 27 Jan 2013 12:48:36 -0800 Subject: BulletSim: simplify the initialization of some of the parameters. Disable vertical attraction for vehicles by default (for the moment). Fix bug where vehicle would go crazy when velocity got above a certain speed. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 19 ++++++++---- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 36 ++++++---------------- 2 files changed, 23 insertions(+), 32 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 90482fd..94194b0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -141,7 +141,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // in changes by making enablement of debugging flags from INI file. public void SetupVehicleDebugging() { - enableAngularVerticalAttraction = true; + enableAngularVerticalAttraction = false; enableAngularDeflection = false; enableAngularBanking = false; if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse) @@ -803,7 +803,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownVelocity = Prim.ForceVelocity; m_knownHas |= m_knownChangedVelocity; } - return (Vector3)m_knownVelocity; + return m_knownVelocity; } set { @@ -926,6 +926,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Called after the simulation step internal void PostStep(float pTimestep) { + if (!IsActive) return; + if (PhysicsScene.VehiclePhysicalLoggingEnabled) PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody); } @@ -961,10 +963,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== // Clamp high or low velocities float newVelocityLengthSq = VehicleVelocity.LengthSquared(); - if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocity) + if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocitySq) { + Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG VehicleVelocity /= VehicleVelocity.Length(); VehicleVelocity *= BSParam.VehicleMaxLinearVelocity; + VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", + Prim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySq, VehicleVelocity); } else if (newVelocityLengthSq < 0.001f) VehicleVelocity = Vector3.Zero; @@ -1301,6 +1306,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { Vector3 vertContributionV = Vector3.Zero; + Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG // Take a vector pointing up and convert it from world to vehicle relative coords. Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; @@ -1328,13 +1334,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. // Correction happens over a number of seconds. - Vector3 unscaledContrib = vertContributionV; // DEBUG DEBUG + Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG vertContributionV /= m_verticalAttractionTimescale; VehicleRotationalVelocity += vertContributionV * VehicleOrientation; - VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", - Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV); + VDetailLog("{0}, MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}", + Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, + m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 75eed86..4ece944 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -84,32 +84,16 @@ public static class BSParam // Vehicle parameters public static float VehicleMaxLinearVelocity { get; private set; } + public static float VehicleMaxLinearVelocitySq { get; private set; } public static float VehicleMaxAngularVelocity { get; private set; } + public static float VehicleMaxAngularVelocitySq { get; private set; } public static float VehicleAngularDamping { get; private set; } public static float VehicleFriction { get; private set; } public static float VehicleRestitution { get; private set; } public static float VehicleLinearFactor { get; private set; } - private static Vector3? vehicleLinearFactorV; - public static Vector3 VehicleLinearFactorV - { - get - { - if (!vehicleLinearFactorV.HasValue) - vehicleLinearFactorV = new Vector3(VehicleLinearFactor, VehicleLinearFactor, VehicleLinearFactor); - return (Vector3)vehicleLinearFactorV; - } - } + public static Vector3 VehicleLinearFactorV { get; private set; } public static float VehicleAngularFactor { get; private set; } - private static Vector3? vehicleAngularFactorV; - public static Vector3 VehicleAngularFactorV - { - get - { - if (!vehicleAngularFactorV.HasValue) - vehicleAngularFactorV = new Vector3(VehicleAngularFactor, VehicleAngularFactor, VehicleAngularFactor); - return (Vector3)vehicleAngularFactorV; - } - } + public static Vector3 VehicleAngularFactorV { get; private set; } public static float VehicleGroundGravityFudge { get; private set; } public static float VehicleDebuggingEnabled { get; private set; } @@ -469,12 +453,12 @@ public static class BSParam 1000.0f, (s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); }, (s) => { return (float)VehicleMaxLinearVelocity; }, - (s,p,l,v) => { VehicleMaxLinearVelocity = v; } ), + (s,p,l,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySq = v * v; } ), new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle", 12.0f, (s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); }, (s) => { return (float)VehicleMaxAngularVelocity; }, - (s,p,l,v) => { VehicleMaxAngularVelocity = v; } ), + (s,p,l,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ), new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", 0.0f, (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, @@ -484,24 +468,24 @@ public static class BSParam 1.0f, (s,cf,p,v) => { VehicleLinearFactor = cf.GetFloat(p, v); }, (s) => { return VehicleLinearFactor; }, - (s,p,l,v) => { VehicleLinearFactor = v; } ), + (s,p,l,v) => { VehicleLinearFactor = v; VehicleLinearFactorV = new Vector3(v, v, v); } ), new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (0.0 - 1.0)", 1.0f, (s,cf,p,v) => { VehicleAngularFactor = cf.GetFloat(p, v); }, (s) => { return VehicleAngularFactor; }, - (s,p,l,v) => { VehicleAngularFactor = v; } ), + (s,p,l,v) => { VehicleAngularFactor = v; VehicleAngularFactorV = new Vector3(v, v, v); } ), new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)", 0.0f, (s,cf,p,v) => { VehicleFriction = cf.GetFloat(p, v); }, (s) => { return VehicleFriction; }, (s,p,l,v) => { VehicleFriction = v; } ), new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", - 0.2f, + 0.0f, (s,cf,p,v) => { VehicleRestitution = cf.GetFloat(p, v); }, (s) => { return VehicleRestitution; }, (s,p,l,v) => { VehicleRestitution = v; } ), new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", - 1.0f, + 0.2f, (s,cf,p,v) => { VehicleGroundGravityFudge = cf.GetFloat(p, v); }, (s) => { return VehicleGroundGravityFudge; }, (s,p,l,v) => { VehicleGroundGravityFudge = v; } ), -- cgit v1.1 From f6380a3ad3ee9479886415a117849eb5bd3f40f7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 28 Jan 2013 09:02:01 -0800 Subject: BulletSim: fix the trimming of colliders so only the top 25 are returned. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 86eb773..b23be91 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -708,8 +708,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } List orderedPrims = new List(PhysObjects.Values); - orderedPrims.OrderByDescending(p => p.CollisionScore).Take(25); - topColliders = orderedPrims.ToDictionary(p => p.LocalID, p => p.CollisionScore); + orderedPrims.OrderByDescending(p => p.CollisionScore); + topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore); } return topColliders; -- cgit v1.1 From e4c6a19940fe0bb4dfce7fa53de282bdd6fbfb08 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 28 Jan 2013 15:11:20 -0800 Subject: BulletSim: rename 'uint' to 'UInt32' to make clear the type that is passed to unmanaged code. --- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 28 +++++++++++----------- 1 file changed, 14 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index f25b447..abbd22c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -87,7 +87,7 @@ public enum FixedShapeKey : ulong [StructLayout(LayoutKind.Sequential)] public struct ShapeData { - public uint ID; + public UInt32 ID; public BSPhysicsShapeType Type; public Vector3 Position; public Quaternion Rotation; @@ -111,7 +111,7 @@ public struct ShapeData [StructLayout(LayoutKind.Sequential)] public struct SweepHit { - public uint ID; + public UInt32 ID; public float Fraction; public Vector3 Normal; public Vector3 Point; @@ -119,15 +119,15 @@ public struct SweepHit [StructLayout(LayoutKind.Sequential)] public struct RaycastHit { - public uint ID; + public UInt32 ID; public float Fraction; public Vector3 Normal; } [StructLayout(LayoutKind.Sequential)] public struct CollisionDesc { - public uint aID; - public uint bID; + public UInt32 aID; + public UInt32 bID; public Vector3 point; public Vector3 normal; public float penetration; @@ -135,7 +135,7 @@ public struct CollisionDesc [StructLayout(LayoutKind.Sequential)] public struct EntityProperties { - public uint ID; + public UInt32 ID; public Vector3 Position; public Quaternion Rotation; public Vector3 Velocity; @@ -325,7 +325,7 @@ public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet public abstract int PhysicsStep(BulletWorld world, float timeStep, int maxSubSteps, float fixedTimeStep, out int updatedEntityCount, out int collidersCount); -public abstract bool UpdateParameter(BulletWorld world, uint localID, String parm, float value); +public abstract bool UpdateParameter(BulletWorld world, UInt32 localID, String parm, float value); public abstract void Shutdown(BulletWorld sim); @@ -366,24 +366,24 @@ public abstract void UpdateChildTransform(BulletShape pShape, int childIndex, Ve public abstract void RecalculateCompoundShapeLocalAabb(BulletShape cShape); -public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id); +public abstract BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, UInt32 id); public abstract bool DeleteCollisionShape(BulletWorld world, BulletShape shape); public abstract CollisionObjectTypes GetBodyType(BulletBody obj); -public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); +public abstract BulletBody CreateBodyFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot); -public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, uint id, Vector3 pos, Quaternion rot); +public abstract BulletBody CreateBodyWithDefaultMotionState(BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot); -public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, uint id, Vector3 pos, Quaternion rot); +public abstract BulletBody CreateGhostFromShape(BulletWorld sim, BulletShape shape, UInt32 id, Vector3 pos, Quaternion rot); public abstract void DestroyObject(BulletWorld sim, BulletBody obj); // ===================================================================================== -public abstract BulletShape CreateGroundPlaneShape(uint id, float height, float collisionMargin); +public abstract BulletShape CreateGroundPlaneShape(UInt32 id, float height, float collisionMargin); -public abstract BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, +public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, float scaleFactor, float collisionMargin); // ===================================================================================== @@ -629,7 +629,7 @@ public abstract BulletConstraint GetConstraintRef(BulletBody obj, int index); public abstract int GetNumConstraintRefs(BulletBody obj); -public abstract bool SetCollisionGroupMask(BulletBody body, uint filter, uint mask); +public abstract bool SetCollisionGroupMask(BulletBody body, UInt32 filter, UInt32 mask); // ===================================================================================== // btCollisionShape entries -- cgit v1.1 From e9aff0a91d6a4d02498ce45759389bb09b34fcbc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 28 Jan 2013 15:11:50 -0800 Subject: BulletSim: do not zero an avatar's standing velocity if it is standing on a moving object. Rearrange pre/post action subscription code to put more in locks. Add meshmerizer params to BulletSimTestUtil scene creation (and fix line endings). Rebuilt version of DLLs and SOs with cleaned up code and no profiling for sure. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 13 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 33 ++-- .../BulletSPlugin/Tests/BulletSimTestsUtil.cs | 168 +++++++++++---------- 3 files changed, 118 insertions(+), 96 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 7603254..3884a5d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -56,7 +56,6 @@ public sealed class BSCharacter : BSPhysObject private int _physicsActorType; private bool _isPhysical; private bool _flying; - private bool _wasWalking; // 'true' if the avatar was walking/moving last frame private bool _setAlwaysRun; private bool _throttleUpdates; private bool _floatOnWater; @@ -84,7 +83,6 @@ public sealed class BSCharacter : BSPhysObject _position = pos; _flying = isFlying; - _wasWalking = true; // causes first step to initialize standing _orientation = OMV.Quaternion.Identity; _velocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); @@ -220,7 +218,13 @@ public sealed class BSCharacter : BSPhysObject { // The avatar shouldn't be moving _velocityMotor.Zero(); - ZeroMotion(true /* inTaintTime */); + + // If we are colliding with a stationary object, presume we're standing and don't move around + if (!ColliderIsMoving) + { + DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID); + ZeroMotion(true /* inTaintTime */); + } // Standing has more friction on the ground if (_currentFriction != BSParam.AvatarStandingFriction) @@ -229,8 +233,6 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); } DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue); - - _wasWalking = false; } else { @@ -260,7 +262,6 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce); - _wasWalking = true; } }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 5e8143c..a113530 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -96,6 +96,7 @@ public abstract class BSPhysObject : PhysicsActor CollidingStep = 0; CollidingGroundStep = 0; CollisionAccumulation = 0; + ColliderIsMoving = false; CollisionScore = 0; } @@ -177,13 +178,14 @@ public abstract class BSPhysObject : PhysicsActor public abstract OMV.Vector3 RawPosition { get; set; } public abstract OMV.Vector3 ForcePosition { get; set; } - // Position is what the simulator thinks the positions of the prim is. + // 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is. // Because Bullet needs the zero coordinate to be the center of mass of the linkset, // sometimes it is necessary to displace the position the physics engine thinks // the position is. PositionDisplacement must be added and removed from the // position as the simulator position is stored and fetched from the physics - // engine. + // engine. Similar to OrientationDisplacement. public virtual OMV.Vector3 PositionDisplacement { get; set; } + public virtual OMV.Quaternion OrientationDisplacement { get; set; } public abstract OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } @@ -240,6 +242,9 @@ public abstract class BSPhysObject : PhysicsActor protected long CollidingObjectStep { get; set; } // The collision flags we think are set in Bullet protected CollisionFlags CurrentCollisionFlags { get; set; } + // On a collision, check the collider and remember if the last collider was moving + // Used to modify the standing of avatars (avatars on stationary things stand still) + protected bool ColliderIsMoving; // Count of collisions for this object protected long CollisionAccumulation { get; set; } @@ -307,7 +312,10 @@ public abstract class BSPhysObject : PhysicsActor CollisionAccumulation++; - // if someone has subscribed for collision events.... + // For movement tests, remember if we are colliding with an object that is moving. + ColliderIsMoving = collidee != null ? collidee.RawVelocity != OMV.Vector3.Zero : false; + + // If someone has subscribed for collision events log the collision so it will be reported up if (SubscribedEvents()) { CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", @@ -393,12 +401,13 @@ public abstract class BSPhysObject : PhysicsActor public override bool SubscribedEvents() { return (SubscribedEventsMs > 0); } - // Because 'CollisionScore' is calls many times while sorting it should not be recomputed + // Because 'CollisionScore' is called many times while sorting, it should not be recomputed // each time called. So this is built to be light weight for each collision and to do // all the processing when the user asks for the info. public void ComputeCollisionScore() { - // Scale the collision count by the time since the last collision + // Scale the collision count by the time since the last collision. + // The "+1" prevents dividing by zero. long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1; CollisionScore = CollisionAccumulation / timeAgo; } @@ -423,13 +432,15 @@ public abstract class BSPhysObject : PhysicsActor UnRegisterPreStepAction(op, id); RegisteredPrestepActions[identifier] = actn; + + PhysicsScene.BeforeStep += actn; } - PhysicsScene.BeforeStep += actn; DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); } // Unregister a pre step action. Safe to call if the action has not been registered. - protected void UnRegisterPreStepAction(string op, uint id) + // Returns 'true' if an action was actually removed + protected bool UnRegisterPreStepAction(string op, uint id) { string identifier = op + "-" + id.ToString(); bool removed = false; @@ -443,6 +454,7 @@ public abstract class BSPhysObject : PhysicsActor } } DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed); + return removed; } protected void UnRegisterAllPreStepActions() @@ -468,13 +480,15 @@ public abstract class BSPhysObject : PhysicsActor UnRegisterPostStepAction(op, id); RegisteredPoststepActions[identifier] = actn; + + PhysicsScene.AfterStep += actn; } - PhysicsScene.AfterStep += actn; DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier); } // Unregister a pre step action. Safe to call if the action has not been registered. - protected void UnRegisterPostStepAction(string op, uint id) + // Returns 'true' if an action was actually removed. + protected bool UnRegisterPostStepAction(string op, uint id) { string identifier = op + "-" + id.ToString(); bool removed = false; @@ -488,6 +502,7 @@ public abstract class BSPhysObject : PhysicsActor } } DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed); + return removed; } protected void UnRegisterAllPostStepActions() diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs index 6c2247a..e7657f9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs @@ -1,81 +1,87 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -using System; -using System.Collections.Generic; -using System.Linq; -using System.Text; - -using Nini.Config; - -using OpenSim.Framework; -using OpenSim.Region.Physics.BulletSPlugin; -using OpenSim.Region.Physics.Meshing; - -namespace OpenSim.Region.Physics.BulletSPlugin.Tests -{ -// Utility functions for building up and tearing down the sample physics environments -public static class BulletSimTestsUtil -{ - // 'engineName' is the Bullet engine to use. Either null (for unmanaged), "BulletUnmanaged" or "BulletXNA" - // 'params' is a set of keyValue pairs to set in the engine's configuration file (override defaults) - // May be 'null' if there are no overrides. - public static BSScene CreateBasicPhysicsEngine(string engineName, Dictionary paramOverrides) - { - if (engineName == null) - engineName = "BulletUnmanaged"; - - IConfigSource openSimINI = new IniConfigSource(); - IConfig startupConfig = openSimINI.AddConfig("StartUp"); - startupConfig.Set("meshing", "Meshmerizer"); - startupConfig.Set("physics", "BulletSim"); - - IConfig bulletSimConfig = openSimINI.AddConfig("BulletSim"); - bulletSimConfig.Set("BulletEngine", engineName); - if (paramOverrides != null) - { - foreach (KeyValuePair kvp in paramOverrides) - { - bulletSimConfig.Set(kvp.Key, kvp.Value); - } - } - // bulletSimConfig.Set("PhysicsLoggingEnabled","True"); - // bulletSimConfig.Set("PhysicsLoggingDoFlush","True"); - // bulletSimConfig.Set("VehicleLoggingEnabled","True"); - - BSPlugin bsPlugin = new BSPlugin(); - - BSScene bsScene = (BSScene)bsPlugin.GetScene("BSTestRegion"); - - Meshing.Meshmerizer mesher = new Meshmerizer(openSimINI); - bsScene.Initialise(mesher, openSimINI); - - return bsScene; - } - -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using Nini.Config; + +using OpenSim.Framework; +using OpenSim.Region.Physics.BulletSPlugin; +using OpenSim.Region.Physics.Meshing; + +namespace OpenSim.Region.Physics.BulletSPlugin.Tests +{ +// Utility functions for building up and tearing down the sample physics environments +public static class BulletSimTestsUtil +{ + // 'engineName' is the Bullet engine to use. Either null (for unmanaged), "BulletUnmanaged" or "BulletXNA" + // 'params' is a set of keyValue pairs to set in the engine's configuration file (override defaults) + // May be 'null' if there are no overrides. + public static BSScene CreateBasicPhysicsEngine(Dictionary paramOverrides) + { + IConfigSource openSimINI = new IniConfigSource(); + IConfig startupConfig = openSimINI.AddConfig("StartUp"); + startupConfig.Set("physics", "BulletSim"); + startupConfig.Set("meshing", "Meshmerizer"); + startupConfig.Set("cacheSculptMaps", "false"); // meshmerizer shouldn't save maps + + IConfig bulletSimConfig = openSimINI.AddConfig("BulletSim"); + // If the caller cares, specify the bullet engine otherwise it will default to "BulletUnmanaged". + // bulletSimConfig.Set("BulletEngine", "BulletUnmanaged"); + // bulletSimConfig.Set("BulletEngine", "BulletXNA"); + bulletSimConfig.Set("MeshSculptedPrim", "false"); + bulletSimConfig.Set("ForceSimplePrimMeshing", "true"); + if (paramOverrides != null) + { + foreach (KeyValuePair kvp in paramOverrides) + { + bulletSimConfig.Set(kvp.Key, kvp.Value); + } + } + // bulletSimConfig.Set("PhysicsLoggingEnabled","True"); + // bulletSimConfig.Set("PhysicsLoggingDoFlush","True"); + // bulletSimConfig.Set("VehicleLoggingEnabled","True"); + + BSPlugin bsPlugin = new BSPlugin(); + + BSScene bsScene = (BSScene)bsPlugin.GetScene("BSTestRegion"); + + // Since the asset requestor is not initialized, any mesh or sculptie will be a cube. + // In the future, add a fake asset fetcher to get meshes and sculpts. + // bsScene.RequestAssetMethod = ???; + + Meshing.Meshmerizer mesher = new Meshmerizer(openSimINI); + bsScene.Initialise(mesher, openSimINI); + + return bsScene; + } + +} +} -- cgit v1.1 From 531d0429d1cc49a1959f6f7a0028ed3111dd6bd4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 28 Jan 2013 17:08:34 -0800 Subject: BulletSim: first unit test: vehicle angular attraction --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 12 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 32 ++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- .../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 181 ++++++++++++++------- .../BulletSPlugin/Tests/BulletSimTestsUtil.cs | 2 +- 5 files changed, 150 insertions(+), 79 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 94194b0..05a0dcc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -125,9 +125,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin static readonly float PIOverTwo = ((float)Math.PI) / 2f; // For debugging, flags to turn on and off individual corrections. - private bool enableAngularVerticalAttraction; - private bool enableAngularDeflection; - private bool enableAngularBanking; + public bool enableAngularVerticalAttraction; + public bool enableAngularDeflection; + public bool enableAngularBanking; public BSDynamics(BSScene myScene, BSPrim myPrim) { @@ -165,7 +165,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } #region Vehicle parameter setting - internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) + public void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); switch (pParam) @@ -677,13 +677,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin private const int m_knownChangedWaterLevel = 1 << 9; private const int m_knownChangedForwardVelocity = 1 <<10; - private void ForgetKnownVehicleProperties() + public void ForgetKnownVehicleProperties() { m_knownHas = 0; m_knownChanged = 0; } // Push all the changed values back into the physics engine - private void PushKnownChanged() + public void PushKnownChanged() { if (m_knownChanged != 0) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 998836c..2b0a539 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -73,7 +73,7 @@ public sealed class BSPrim : BSPhysObject private bool _kinematic; private float _buoyancy; - private BSDynamics _vehicle; + public BSDynamics VehicleController { get; private set; } private BSVMotor _targetMotor; private OMV.Vector3 _PIDTarget; @@ -107,7 +107,7 @@ public sealed class BSPrim : BSPhysObject _friction = PhysicsScene.Params.defaultFriction; _restitution = PhysicsScene.Params.defaultRestitution; - _vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness + VehicleController = new BSDynamics(PhysicsScene, this); // add vehicleness _mass = CalculateMass(); @@ -512,7 +512,7 @@ public sealed class BSPrim : BSPhysObject public override int VehicleType { get { - return (int)_vehicle.Type; // if we are a vehicle, return that type + return (int)VehicleController.Type; // if we are a vehicle, return that type } set { Vehicle type = (Vehicle)value; @@ -521,19 +521,19 @@ public sealed class BSPrim : BSPhysObject { // Done at taint time so we're sure the physics engine is not using the variables // Vehicle code changes the parameters for this vehicle type. - _vehicle.ProcessTypeChange(type); + VehicleController.ProcessTypeChange(type); ActivateIfPhysical(false); // If an active vehicle, register the vehicle code to be called before each step - if (_vehicle.Type == Vehicle.TYPE_NONE) + if (VehicleController.Type == Vehicle.TYPE_NONE) { UnRegisterPreStepAction("BSPrim.Vehicle", LocalID); - PhysicsScene.AfterStep -= _vehicle.PostStep; + PhysicsScene.AfterStep -= VehicleController.PostStep; } else { - RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step); - PhysicsScene.AfterStep += _vehicle.PostStep; + RegisterPreStepAction("BSPrim.Vehicle", LocalID, VehicleController.Step); + PhysicsScene.AfterStep += VehicleController.PostStep; } }); } @@ -542,7 +542,7 @@ public sealed class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { - _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); + VehicleController.ProcessFloatVehicleParam((Vehicle)param, value); ActivateIfPhysical(false); }); } @@ -550,7 +550,7 @@ public sealed class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { - _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); + VehicleController.ProcessVectorVehicleParam((Vehicle)param, value); ActivateIfPhysical(false); }); } @@ -558,7 +558,7 @@ public sealed class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { - _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); + VehicleController.ProcessRotationVehicleParam((Vehicle)param, rotation); ActivateIfPhysical(false); }); } @@ -566,7 +566,7 @@ public sealed class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate() { - _vehicle.ProcessVehicleFlags(param, remove); + VehicleController.ProcessVehicleFlags(param, remove); }); } @@ -747,7 +747,7 @@ public sealed class BSPrim : BSPhysObject // isSolid: other objects bounce off of this object // isVolumeDetect: other objects pass through but can generate collisions // collisionEvents: whether this object returns collision events - private void UpdatePhysicalParameters() + public void UpdatePhysicalParameters() { // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); @@ -759,7 +759,7 @@ public sealed class BSPrim : BSPhysObject MakeDynamic(IsStatic); // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) - _vehicle.Refresh(); + VehicleController.Refresh(); // Arrange for collision events if the simulator wants them EnableCollisions(SubscribedEvents()); @@ -1601,7 +1601,7 @@ public sealed class BSPrim : BSPhysObject // Remove all the physical dependencies on the old body. // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) Linkset.RemoveBodyDependencies(this); - _vehicle.RemoveBodyDependencies(this); + VehicleController.RemoveBodyDependencies(this); }); // Make sure the properties are set on the new object @@ -1618,7 +1618,7 @@ public sealed class BSPrim : BSPhysObject { // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet // TODO: handle physics introduced by Bullet with computed vehicle physics. - if (_vehicle.IsActive) + if (VehicleController.IsActive) { entprop.RotationalVelocity = OMV.Vector3.Zero; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index b23be91..a4690ba 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -855,7 +855,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); - Util.PrintCallStack(DetailLog); + // Util.PrintCallStack(DetailLog); } return InTaintTime; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs index 41ef67b..5900103 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs @@ -1,56 +1,127 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -using System; -using System.Collections.Generic; -using System.Linq; -using System.Text; - -using NUnit.Framework; -using log4net; - -using OpenSim.Tests.Common; - -namespace OpenSim.Region.Physics.BulletSPlugin.Tests -{ -[TestFixture] -public class BasicVehicles : OpenSimTestCase -{ - // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1 - // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1 - - [TestFixtureSetUp] - public void Init() - { - } - - [TestFixtureTearDown] - public void TearDown() - { - } -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using NUnit.Framework; +using log4net; + +using OpenSim.Framework; +using OpenSim.Region.Physics.BulletSPlugin; +using OpenSim.Region.Physics.Manager; +using OpenSim.Tests.Common; + +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin.Tests +{ +[TestFixture] +public class BasicVehicles : OpenSimTestCase +{ + // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1 + // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1 + + BSScene PhysicsScene { get; set; } + BSPrim TestVehicle { get; set; } + Vector3 TestVehicleInitPosition { get; set; } + float timeStep = 0.089f; + + [TestFixtureSetUp] + public void Init() + { + Dictionary engineParams = new Dictionary(); + PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams); + + PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere(); + Vector3 pos = new Vector3(100.0f, 100.0f, 0f); + pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f; + TestVehicleInitPosition = pos; + Vector3 size = new Vector3(1f, 1f, 1f); + pbs.Scale = size; + Quaternion rot = Quaternion.Identity; + bool isPhys = false; + uint localID = 123; + + PhysicsScene.AddPrimShape("testPrim", pbs, pos, size, rot, isPhys, localID); + TestVehicle = (BSPrim)PhysicsScene.PhysObjects[localID]; + // The actual prim shape creation happens at taint time + PhysicsScene.ProcessTaints(); + + } + + [TestFixtureTearDown] + public void TearDown() + { + if (PhysicsScene != null) + { + // The Dispose() will also free any physical objects in the scene + PhysicsScene.Dispose(); + PhysicsScene = null; + } + } + + [TestCase(25, 0.25f, 0.25f, 0.25f)] + [TestCase(25, -0.25f, 0.25f, 0.25f)] + [TestCase(25, 0.25f, -0.25f, 0.25f)] + [TestCase(25, -0.25f, -0.25f, 0.25f)] + public void VerticalAttraction(int simSteps, float initRoll, float initPitch, float initYaw) + { + Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw); + TestVehicle.Orientation = initOrientation; + + TestVehicle.Position = TestVehicleInitPosition; + + // The vehicle controller is not enabled directly (set a vehicle type). + // Instead the appropriate values are set and calls are made just the parts of the + // controller we want to exercise. Stepping the physics engine then applies + // the actions of that one feature. + TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, 0.2f); + TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, 2f); + TestVehicle.VehicleController.enableAngularVerticalAttraction = true; + + TestVehicle.IsPhysical = true; + PhysicsScene.ProcessTaints(); + + // Step the simulator a bunch of times and and vertical attraction should orient the vehicle up + for (int ii = 0; ii < simSteps; ii++) + { + TestVehicle.VehicleController.ForgetKnownVehicleProperties(); + TestVehicle.VehicleController.ComputeAngularVerticalAttraction(); + TestVehicle.VehicleController.PushKnownChanged(); + + PhysicsScene.Simulate(timeStep); + } + + // After these steps, the vehicle should be upright + Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation; + Assert.That(upPointer.Z, Is.GreaterThan(0.99f)); + } +} } \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs index e7657f9..215e92f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs @@ -47,7 +47,7 @@ public static class BulletSimTestsUtil public static BSScene CreateBasicPhysicsEngine(Dictionary paramOverrides) { IConfigSource openSimINI = new IniConfigSource(); - IConfig startupConfig = openSimINI.AddConfig("StartUp"); + IConfig startupConfig = openSimINI.AddConfig("Startup"); startupConfig.Set("physics", "BulletSim"); startupConfig.Set("meshing", "Meshmerizer"); startupConfig.Set("cacheSculptMaps", "false"); // meshmerizer shouldn't save maps -- cgit v1.1 From 47f09ed4c1d6a5d9763b6d1f5f86169e452281c8 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 28 Jan 2013 17:21:13 -0800 Subject: BulletSim: enable angular vertical attraction. Increase terrain collision margin to help vehicles from tunneling into same. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 05a0dcc..05ab180 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -141,12 +141,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // in changes by making enablement of debugging flags from INI file. public void SetupVehicleDebugging() { - enableAngularVerticalAttraction = false; + enableAngularVerticalAttraction = true; enableAngularDeflection = false; enableAngularBanking = false; if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse) { - enableAngularVerticalAttraction = false; + enableAngularVerticalAttraction = true; enableAngularDeflection = false; enableAngularBanking = false; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 4ece944..8c098b2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -383,7 +383,7 @@ public static class BSParam (s) => { return TerrainRestitution; }, (s,p,l,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ), new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , - 0.04f, + 0.08f, (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); }, (s) => { return TerrainCollisionMargin; }, (s,p,l,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ), -- cgit v1.1 From a61ecee227450ea81c9afe85a62b207fefa888a9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 29 Jan 2013 17:01:27 -0800 Subject: BulletSim: fix physics repositioning when under ground to only happen for physical objects. Non-physical objects can go anywhere they want. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 ++- .../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 45 ++++++++++++++++------ .../BulletSPlugin/Tests/BulletSimTestsUtil.cs | 14 +++++-- 3 files changed, 50 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 2b0a539..b5dd131 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -344,6 +344,10 @@ public sealed class BSPrim : BSPhysObject { bool ret = false; + // We don't care where non-physical items are placed + if (!IsPhysicallyActive) + return ret; + if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) { // The physical object is out of the known/simulated area. @@ -1643,7 +1647,7 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG // The sanity check can change the velocity and/or position. - if (IsPhysical && PositionSanityCheck(true /* inTaintTime */ )) + if (PositionSanityCheck(true /* inTaintTime */ )) { entprop.Position = _position; entprop.Velocity = _velocity; diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs index 5900103..33232bd 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs @@ -51,7 +51,7 @@ public class BasicVehicles : OpenSimTestCase BSScene PhysicsScene { get; set; } BSPrim TestVehicle { get; set; } Vector3 TestVehicleInitPosition { get; set; } - float timeStep = 0.089f; + float simulationTimeStep = 0.089f; [TestFixtureSetUp] public void Init() @@ -87,39 +87,62 @@ public class BasicVehicles : OpenSimTestCase } } - [TestCase(25, 0.25f, 0.25f, 0.25f)] - [TestCase(25, -0.25f, 0.25f, 0.25f)] - [TestCase(25, 0.25f, -0.25f, 0.25f)] - [TestCase(25, -0.25f, -0.25f, 0.25f)] - public void VerticalAttraction(int simSteps, float initRoll, float initPitch, float initYaw) + [TestCase(2f, 0.2f, 0.25f, 0.25f, 0.25f)] + [TestCase(2f, 0.2f, -0.25f, 0.25f, 0.25f)] + [TestCase(2f, 0.2f, 0.25f, -0.25f, 0.25f)] + [TestCase(2f, 0.2f, -0.25f, -0.25f, 0.25f)] + // [TestCase(2f, 0.2f, 0.785f, 0.0f, 0.25f) /*, "Leaning 45 degrees to the side" */] + // [TestCase(2f, 0.2f, 1.650f, 0.0f, 0.25f) /*, "Leaning more than 90 degrees to the side" */] + // [TestCase(2f, 0.2f, 2.750f, 0.0f, 0.25f) /*, "Almost upside down, tipped right" */] + // [TestCase(2f, 0.2f,-2.750f, 0.0f, 0.25f) /*, "Almost upside down, tipped left" */] + // [TestCase(2f, 0.2f, 0.0f, 0.785f, 0.25f) /*, "Tipped back 45 degrees" */] + // [TestCase(2f, 0.2f, 0.0f, 1.650f, 0.25f) /*, "Tipped back more than 90 degrees" */] + // [TestCase(2f, 0.2f, 0.0f, 2.750f, 0.25f) /*, "Almost upside down, tipped back" */] + // [TestCase(2f, 0.2f, 0.0f,-2.750f, 0.25f) /*, "Almost upside down, tipped forward" */] + public void AngularVerticalAttraction(float timeScale, float efficiency, float initRoll, float initPitch, float initYaw) { + // Enough simulation steps to cover the timescale the operation should take + int simSteps = (int)(timeScale / simulationTimeStep) + 1; + + // Tip the vehicle Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw); TestVehicle.Orientation = initOrientation; TestVehicle.Position = TestVehicleInitPosition; - // The vehicle controller is not enabled directly (set a vehicle type). + // The vehicle controller is not enabled directly (by setting a vehicle type). // Instead the appropriate values are set and calls are made just the parts of the // controller we want to exercise. Stepping the physics engine then applies // the actions of that one feature. - TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, 0.2f); - TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, 2f); + TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); + TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale); TestVehicle.VehicleController.enableAngularVerticalAttraction = true; TestVehicle.IsPhysical = true; PhysicsScene.ProcessTaints(); - // Step the simulator a bunch of times and and vertical attraction should orient the vehicle up + // Step the simulator a bunch of times and vertical attraction should orient the vehicle up for (int ii = 0; ii < simSteps; ii++) { TestVehicle.VehicleController.ForgetKnownVehicleProperties(); TestVehicle.VehicleController.ComputeAngularVerticalAttraction(); TestVehicle.VehicleController.PushKnownChanged(); - PhysicsScene.Simulate(timeStep); + PhysicsScene.Simulate(simulationTimeStep); } + TestVehicle.IsPhysical = false; + PhysicsScene.ProcessTaints(); + // After these steps, the vehicle should be upright + /* + float finalRoll, finalPitch, finalYaw; + TestVehicle.Orientation.GetEulerAngles(out finalRoll, out finalPitch, out finalYaw); + Assert.That(finalRoll, Is.InRange(-0.01f, 0.01f)); + Assert.That(finalPitch, Is.InRange(-0.01f, 0.01f)); + Assert.That(finalYaw, Is.InRange(initYaw - 0.1f, initYaw + 0.1f)); + */ + Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation; Assert.That(upPointer.Z, Is.GreaterThan(0.99f)); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs index 215e92f..28207a4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs @@ -26,6 +26,7 @@ */ using System; +using System.IO; using System.Collections.Generic; using System.Linq; using System.Text; @@ -65,9 +66,16 @@ public static class BulletSimTestsUtil bulletSimConfig.Set(kvp.Key, kvp.Value); } } - // bulletSimConfig.Set("PhysicsLoggingEnabled","True"); - // bulletSimConfig.Set("PhysicsLoggingDoFlush","True"); - // bulletSimConfig.Set("VehicleLoggingEnabled","True"); + + // If a special directory exists, put detailed logging therein. + // This allows local testing/debugging without having to worry that the build engine will output logs. + if (Directory.Exists("physlogs")) + { + bulletSimConfig.Set("PhysicsLoggingDir","./physlogs"); + bulletSimConfig.Set("PhysicsLoggingEnabled","True"); + bulletSimConfig.Set("PhysicsLoggingDoFlush","True"); + bulletSimConfig.Set("VehicleLoggingEnabled","True"); + } BSPlugin bsPlugin = new BSPlugin(); -- cgit v1.1 From 371449db2ff27ffcd6d8317ffec1c0176937f38f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 30 Jan 2013 14:38:19 -0800 Subject: BulletSim: clean up TargetVelocity implementation by using the default defn in the PhysicsActor base class. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 12 ------------ 2 files changed, 2 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 3884a5d..73354bb 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -557,11 +557,12 @@ public sealed class BSCharacter : BSPhysObject { get { - return _velocityMotor.TargetValue; + return m_targetVelocity; } set { DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value); + m_targetVelocity = value; OMV.Vector3 targetVel = value; if (_setAlwaysRun) targetVel *= BSParam.AvatarAlwaysRunFactor; @@ -591,7 +592,6 @@ public sealed class BSCharacter : BSPhysObject _velocityMotor.Reset(); _velocityMotor.SetCurrent(_velocity); _velocityMotor.SetTarget(_velocity); - // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar. _velocityMotor.Enabled = false; DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index a113530..823402b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -190,18 +190,6 @@ public abstract class BSPhysObject : PhysicsActor public abstract OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } - // The system is telling us the velocity it wants to move at. - // Velocity in world coordinates. - // protected OMV.Vector3 m_targetVelocity; // use the definition in PhysicsActor - public override OMV.Vector3 TargetVelocity - { - get { return m_targetVelocity; } - set - { - m_targetVelocity = value; - Velocity = value; - } - } public virtual float TargetSpeed { get -- cgit v1.1 From ed71c939fc22059b03572fe6380fcc754c89a284 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 31 Jan 2013 10:26:53 -0800 Subject: BulletSim: make sure vehicle physical properties are set when going physical by delaying setting until pre-step time. Change vehicle.Refresh() to schedule the pre-step setting. Comments and updating of TODO list. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 30 ++++++++++------------ .../Physics/BulletSPlugin/BSLinksetCompound.cs | 6 ++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 11 ++++---- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 30 ++++++++-------------- 5 files changed, 35 insertions(+), 46 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 05ab180..8ecf2ff 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -581,9 +581,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin } #endregion // Vehicle parameter setting + public void Refresh() + { + // If asking for a refresh, reset the physical parameters before the next simulation step. + PhysicsScene.PostTaintObject("BSDynamics.Refresh", Prim.LocalID, delegate() + { + SetPhysicalParameters(); + }); + } + // Some of the properties of this prim may have changed. // Do any updating needed for a vehicle - public void Refresh() + private void SetPhysicalParameters() { if (IsActive) { @@ -614,7 +623,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same. PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero); - VDetailLog("{0},BSDynamics.Refresh,mass={1},inert={2},grav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}", + VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}", Prim.LocalID, m_vehicleMass, Prim.Inertia, m_VehicleGravity, BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution, BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor @@ -622,26 +631,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin } else { - PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); + if (Prim.PhysBody.HasPhysicalBody) + PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); } } public bool RemoveBodyDependencies(BSPhysObject prim) { - // If active, we need to add our properties back when the body is rebuilt. - return IsActive; - } - - public void RestoreBodyDependencies(BSPhysObject prim) - { - if (Prim.LocalID != prim.LocalID) - { - // The call should be on us by our prim. Error if not. - PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}", - LogHeader, prim.LocalID, Prim.LocalID); - return; - } Refresh(); + return IsActive; } #region Known vehicle value functions diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 54dc458..92f6ee2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -274,7 +274,7 @@ public sealed class BSLinksetCompound : BSLinkset bool ret = false; DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, IsRoot(child)); + child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child)); if (!IsRoot(child)) { @@ -382,11 +382,11 @@ public sealed class BSLinksetCompound : BSLinkset { try { - // Suppress rebuilding while rebuilding + // 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); + 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. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b5dd131..0b81122 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1597,9 +1597,9 @@ public sealed class BSPrim : BSPhysObject public void CreateGeomAndObject(bool forceRebuild) { // Create the correct physical representation for this type of object. - // Updates PhysBody and PhysShape with the new information. + // Updates base.PhysBody and base.PhysShape with the new information. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. - PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody) + PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, null, delegate(BulletBody dBody) { // Called if the current prim body is about to be destroyed. // Remove all the physical dependencies on the old body. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 9fbfcdc..e2daa72 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -116,8 +116,7 @@ public sealed class BSShapeCollection : IDisposable // 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, - prim.PhysShape, bodyCallback); + bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, bodyCallback); ret = newGeom || newBody; } DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}", @@ -933,8 +932,7 @@ public sealed class BSShapeCollection : IDisposable // 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, BulletShape shape, - BodyDestructionCallback bodyCallback) + private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BodyDestructionCallback bodyCallback) { bool ret = false; @@ -951,6 +949,7 @@ public sealed class BSShapeCollection : IDisposable { // If the collisionObject is not the correct type for solidness, rebuild what's there mustRebuild = true; + if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,forceRebuildBecauseChangingBodyType,bodyType={1}", prim.LocalID, bodyType); } } @@ -962,12 +961,12 @@ public sealed class BSShapeCollection : IDisposable BulletBody aBody; if (prim.IsSolid) { - aBody = PhysicsScene.PE.CreateBodyFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation); + aBody = PhysicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation); if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody); } else { - aBody = PhysicsScene.PE.CreateGhostFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation); + aBody = PhysicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation); if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index a95e169..d574a49 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -6,6 +6,7 @@ One sided meshes? Should terrain be built into a closed shape? Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869 Deleting a linkset while standing on the root will leave the physical shape of the root behind. Not sure if it is because standing on it. Done with large prim linksets. +Terrain detail: double terrain mesh detail Vehicle angular vertical attraction vehicle angular banking Center-of-gravity @@ -34,34 +35,20 @@ Vehicle script tuning/debugging Weapon shooter script Add material densities to the material types -CRASHES -================================================= -Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim - m1:logs/20130115.0934/physics-BulletSim-20130115083613.log - Creation of Neb's terrain made the terrain "disappear". Everything started to fall - and then get restored to be above terrain. -20121129.1411: editting/moving phys object across region boundries causes crash - getPos-> btRigidBody::upcast -> getBodyType -> BOOM -20121128.1600: mesh object not rezzing (no physics mesh). - Causes many errors. Doesn't stop after first error with box shape. - Eventually crashes when deleting the object. -20121206.1434: rez Sam-pan into OSGrid BulletSim11 region - Immediate simulator crash. Mono does not output any stacktrace and - log just stops after reporting taint-time linking of the linkset. - VEHICLES TODO LIST: ================================================= Border crossing with linked vehicle causes crash + 20121129.1411: editting/moving phys object across region boundries causes crash + getPos-> btRigidBody::upcast -> getBodyType -> BOOM Vehicles (Move smoothly) Some vehicles should not be able to turn if no speed or off ground. +What to do if vehicle and prim buoyancy differ? Cannot edit/move a vehicle being ridden: it jumps back to the origional position. Neb car jiggling left and right Happens on terrain and any other mesh object. Flat cubes are much smoother. This has been reduced but not eliminated. Implement referenceFrame for all the motion routines. For limitMotorUp, use raycast down to find if vehicle is in the air. -Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. - Verify that angular motion specified around Z moves in the vehicle coordinates. Verify llGetVel() is returning a smooth and good value for vehicle movement. llGetVel() should return the root's velocity if requested in a child prim. Implement function efficiency for lineaar and angular motion. @@ -73,10 +60,11 @@ Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties(). Incorporate inter-relationship of angular corrections. For instance, angularDeflection and angularMotorUp will compute same X or Y correction. When added together creates over-correction and over-shoot and wabbling. +Vehicle attributes are not restored when a vehicle is rezzed on region creation + Create vehicle, setup vehicle properties, restart region, vehicle is not reinitialized. GENERAL TODO LIST: ================================================= -Avatar standing on a moving object should start to move with the object. llMoveToTarget objects are not effected by gravity until target is removed. Compute CCD parameters based on body size Can solver iterations be changed per body/shape? Can be for constraints but what @@ -330,4 +318,8 @@ Boats float low in the water (DONE) Boats floating at proper level (DONE) When is force introduced by SetForce removed? The prestep action could go forever. (DONE) (Resolution: setForce registers a prestep action which keeps applying the force) -Child movement in linkset (don't rebuild linkset) (DONE 20130122)) \ No newline at end of file +Child movement in linkset (don't rebuild linkset) (DONE 20130122)) +Avatar standing on a moving object should start to move with the object. (DONE 20130125) +Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. + Verify that angular motion specified around Z moves in the vehicle coordinates. + DONE 20130120: BulletSim properly applies force in vehicle relative coordinates. \ No newline at end of file -- cgit v1.1 From 75a05c16c5c0ec0712f7f564b60530e0a3fd1c82 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 31 Jan 2013 15:52:50 -0800 Subject: BulletSim: fix crash caused when linksets were rebuilt. A problem added when individual child pos/rot changes were implementated a week or so ago. Remove some passing of inTaintTime flag when it was never false. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 4 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 48 ++++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 16 ++- .../Physics/BulletSPlugin/BSShapeCollection.cs | 114 ++++++++++----------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 4 + 5 files changed, 106 insertions(+), 80 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 73354bb..192bcb5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -126,9 +126,9 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.Destroy", LocalID); PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() { - PhysicsScene.Shapes.DereferenceBody(PhysBody, true /* inTaintTime */, null /* bodyCallback */); + PhysicsScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */); PhysBody.Clear(); - PhysicsScene.Shapes.DereferenceShape(PhysShape, true /* inTaintTime */, null /* bodyCallback */); + PhysicsScene.Shapes.DereferenceShape(PhysShape, null /* bodyCallback */); PhysShape.Clear(); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 92f6ee2..6c6ca09 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -219,28 +219,45 @@ public sealed class BSLinksetCompound : BSLinkset { // Gather the child info. It might not be there if the linkset is in transition. BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo; + + // The linksetInfo will need to be rebuilt either here or when the linkset is rebuilt if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null) { if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape)) { - BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index); - if (linksetChildShape.HasPhysicalShape) + int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape); + if (lsi.Index < numLinksetChildren) { - // Compute the offset from the center-of-gravity - BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement); - PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index, - newLsi.OffsetFromCenterOfMass, - newLsi.OffsetRot, - true /* shouldRecalculateLocalAabb */); - DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}", - updated.LocalID, whichUpdated, newLsi); - updated.LinksetInfo = newLsi; - updatedChild = true; + // 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. + // This must be checked for because Bullet references the child array but does no validity + // checking of the child index passed. + BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index); + if (linksetChildShape.HasPhysicalShape) + { + // Compute the offset from the center-of-gravity + BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement); + PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index, + newLsi.OffsetFromCenterOfMass, + newLsi.OffsetRot, + true /* shouldRecalculateLocalAabb */); + updated.LinksetInfo = newLsi; + updatedChild = true; + DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}", + updated.LocalID, whichUpdated, newLsi); + } + else // DEBUG DEBUG + { // DEBUG DEBUG + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}", + updated.LocalID, linksetChildShape); + } // DEBUG DEBUG } else // DEBUG DEBUG { // DEBUG DEBUG - DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}", - updated.LocalID, linksetChildShape); + // the child is not yet in the compound shape. This is non-fatal. + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}", + updated.LocalID, numLinksetChildren, lsi.Index); } // DEBUG DEBUG } else // DEBUG DEBUG @@ -256,6 +273,9 @@ public sealed class BSLinksetCompound : BSLinkset if (!updatedChild) { // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info. + // Note that there are several ways through this code that will not update the child that can + // occur if the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since + // there will already be a rebuild scheduled. DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}", updated.LocalID, whichUpdated); updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 0b81122..54bf063 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -146,9 +146,9 @@ public sealed class BSPrim : BSPhysObject { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // If there are physical body and shape, release my use of same. - PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); + PhysicsScene.Shapes.DereferenceBody(PhysBody, null); PhysBody.Clear(); - PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); + PhysicsScene.Shapes.DereferenceShape(PhysShape, null); PhysShape.Clear(); }); } @@ -181,11 +181,19 @@ public sealed class BSPrim : BSPhysObject public override bool ForceBodyShapeRebuild(bool inTaintTime) { - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() + if (inTaintTime) { _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 { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index e2daa72..9febd90 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -133,48 +133,44 @@ public sealed class BSShapeCollection : IDisposable // 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. - public void ReferenceBody(BulletBody body, bool inTaintTime) + private void ReferenceBody(BulletBody body) { lock (m_collectionActivityLock) { if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); - PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate() + if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, 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); - } - }); + 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. - public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback ) + // Called in taint time. + public void DereferenceBody(BulletBody body, BodyDestructionCallback bodyCallback ) { if (!body.HasPhysicalBody) return; + PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody"); + lock (m_collectionActivityLock) { - PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate() - { - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}", - body.ID, body, inTaintTime); - // If the caller needs to know the old body is going away, pass the event up. - if (bodyCallback != null) bodyCallback(body); + 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); - if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body)) - { - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body); - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body); - } + if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body)) + { + PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body); + if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, 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); - }); + // 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); } } @@ -245,44 +241,43 @@ public sealed class BSShapeCollection : IDisposable } // Release the usage of a shape. - public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback) + public void DereferenceShape(BulletShape shape, ShapeDestructionCallback shapeCallback) { if (!shape.HasPhysicalShape) return; - PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate() + PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceShape"); + + if (shape.HasPhysicalShape) { - if (shape.HasPhysicalShape) + if (shape.isNativeShape) { - if (shape.isNativeShape) - { - // Native shapes are not tracked and are released immediately - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", - BSScene.DetailLogZero, shape.AddrString, inTaintTime); - if (shapeCallback != null) shapeCallback(shape); - PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape); - } - else + // 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) { - 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; - } + 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 @@ -393,7 +388,7 @@ public sealed class BSShapeCollection : IDisposable if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN) { - DereferenceShape(shapeInfo, true, null); + DereferenceShape(shapeInfo, null); } else { @@ -543,7 +538,7 @@ public sealed class BSShapeCollection : IDisposable ShapeDestructionCallback shapeCallback) { // release any previous shape - DereferenceShape(prim.PhysShape, true, shapeCallback); + DereferenceShape(prim.PhysShape, shapeCallback); BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey); @@ -611,7 +606,7 @@ public sealed class BSShapeCollection : IDisposable prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); // Since we're recreating new, get rid of the reference to the previous shape - DereferenceShape(prim.PhysShape, true, shapeCallback); + DereferenceShape(prim.PhysShape, shapeCallback); newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod); // Take evasive action if the mesh was not constructed. @@ -682,7 +677,7 @@ public sealed class BSShapeCollection : IDisposable prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X")); // Remove usage of the previous shape. - DereferenceShape(prim.PhysShape, true, shapeCallback); + DereferenceShape(prim.PhysShape, shapeCallback); newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod); newShape = VerifyMeshCreated(newShape, prim); @@ -817,7 +812,6 @@ public sealed class BSShapeCollection : IDisposable // 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. @@ -956,7 +950,7 @@ public sealed class BSShapeCollection : IDisposable if (mustRebuild || forceRebuild) { // Free any old body - DereferenceBody(prim.PhysBody, true, bodyCallback); + DereferenceBody(prim.PhysBody, bodyCallback); BulletBody aBody; if (prim.IsSolid) @@ -970,7 +964,7 @@ public sealed class BSShapeCollection : IDisposable if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody); } - ReferenceBody(aBody, true); + ReferenceBody(aBody); prim.PhysBody = aBody; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index d574a49..7dfdec1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -65,6 +65,10 @@ Vehicle attributes are not restored when a vehicle is rezzed on region creation GENERAL TODO LIST: ================================================= +Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't. + If arrow show at prim, collision reported about 1/3 of time. If collision reported, + both arrow and prim report it. The arrow bounces off the prim 9 out of 10 times. + Shooting 5m sphere "arrows" at 60m/s. llMoveToTarget objects are not effected by gravity until target is removed. Compute CCD parameters based on body size Can solver iterations be changed per body/shape? Can be for constraints but what -- cgit v1.1 From 5bb85a14d46ad280b045e945edcc9e9bc6045612 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 1 Feb 2013 11:52:27 -0800 Subject: BulletSim: fix problem where editting a physical linkset caused the child prim physical positions to get out of sync with the view. More reliably compute the offset of children in a physical linkset. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 51 ++++++++++++++-------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 1 + 2 files changed, 33 insertions(+), 19 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 6c6ca09..0c4db40 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -219,30 +219,31 @@ public sealed class BSLinksetCompound : BSLinkset { // Gather the child info. It might not be there if the linkset is in transition. BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo; - - // The linksetInfo will need to be rebuilt either here or when the linkset is rebuilt - if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null) + if (lsi != null) { - if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape)) + // Since the child moved or rotationed, it needs a new relative position within the linkset + BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement); + updated.LinksetInfo = newLsi; + + // Find the physical instance of the child + if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape)) { + // 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); if (lsi.Index < numLinksetChildren) { - // 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. - // This must be checked for because Bullet references the child array but does no validity - // checking of the child index passed. BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index); if (linksetChildShape.HasPhysicalShape) { - // Compute the offset from the center-of-gravity - BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement); + // Found the child shape within the compound shape PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index, newLsi.OffsetFromCenterOfMass, newLsi.OffsetRot, true /* shouldRecalculateLocalAabb */); - updated.LinksetInfo = newLsi; updatedChild = true; DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}", updated.LocalID, whichUpdated, newLsi); @@ -262,19 +263,20 @@ public sealed class BSLinksetCompound : BSLinkset } else // DEBUG DEBUG { // DEBUG DEBUG - DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,notCompound", updated.LocalID); + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID); } // DEBUG DEBUG } else // DEBUG DEBUG { // DEBUG DEBUG - DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,rootPhysShape={1},lsi={2}", - updated.LocalID, LinksetRoot.PhysShape, lsi == null ? "NULL" : lsi.ToString()); + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noLinkSetInfo,rootPhysShape={1}", + updated.LocalID, LinksetRoot.PhysShape); } // DEBUG DEBUG + if (!updatedChild) { // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info. - // Note that there are several ways through this code that will not update the child that can - // occur if the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since + // Note: there are several ways through this code that will not update the child if + // the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since // there will already be a rebuild scheduled. DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}", updated.LocalID, whichUpdated); @@ -300,7 +302,8 @@ public sealed class BSLinksetCompound : BSLinkset { // Because it is a convenient time, recompute child world position and rotation based on // its position in the linkset. - RecomputeChildWorldPosition(child, true); + RecomputeChildWorldPosition(child, true /* inTaintTime */); + child.LinksetInfo = null; } // Cannot schedule a refresh/rebuild here because this routine is called when @@ -315,6 +318,14 @@ public sealed class BSLinksetCompound : BSLinkset // prim. The child prim's location must be recomputed based on the location of the root shape. private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) { + // For the moment (20130201), disable this computation (converting the child physical addr back to + // a region address) until we have a good handle on center-of-mass offsets and what the physics + // engine moving a child actually means. + // The simulator keeps track of where children should be as the linkset moves. Setting + // the pos/rot here does not effect that knowledge as there is no good way for the + // physics engine to send the simulator an update for a child. + + /* BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo; if (lci != null) { @@ -343,6 +354,7 @@ public sealed class BSLinksetCompound : BSLinkset // LogHeader, child.LocalID); DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID); } + */ } // ================================================================ @@ -376,6 +388,7 @@ public sealed class BSLinksetCompound : BSLinkset // Cause the child's body to be rebuilt and thus restored to normal operation RecomputeChildWorldPosition(child, false); + child.LinksetInfo = null; child.ForceBodyShapeRebuild(false); if (!HasAnyChildren) @@ -397,7 +410,7 @@ public sealed class BSLinksetCompound : BSLinkset // Constraint linksets are rebuilt every time. // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! - private bool disableCOM = true; // disable until we get this debugged + private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged private void RecomputeLinksetCompound() { try diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 7dfdec1..a3b3556 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -127,6 +127,7 @@ Physical and phantom will drop through the terrain LINKSETS ====================================================== +Child prims do not report collisions Editing a child of a linkset causes the child to go phantom Move a child prim once when it is physical and can never move it again without it going phantom Offset the center of the linkset to be the geometric center of all the prims -- cgit v1.1 From 1f1da230976451d30d920c237d53c699ba96b9d9 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Tue, 5 Feb 2013 00:23:17 +0000 Subject: Bump version and assembly version numbers from 0.7.5 to 0.7.6 This is mostly Bluewall's work but I am also bumping the general version number OpenSimulator 0.7.5 remains in the release candidate stage. I'm doing this because master is significantly adding things that will not be in 0.7.5 This update should not cause issues with existing external binary DLLs because our DLLs do not have strong names and so the exact version match requirement is not in force. --- OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs index 0d1db3b..d240c71 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs @@ -29,5 +29,5 @@ using System.Runtime.InteropServices; // Build Number // Revision // -[assembly: AssemblyVersion("0.7.5.*")] +[assembly: AssemblyVersion("0.7.6.*")] [assembly: AssemblyFileVersion("1.0.0.0")] -- cgit v1.1 From 2b6d22691141b8cdccfc44d25890f99e1f72b3dd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 2 Feb 2013 13:33:44 -0800 Subject: BulletSim: correct angular vertical attraction to properly correct an upside down vehicle. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 8ecf2ff..b51e9fd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1326,7 +1326,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // If verticalError.Z is negative, the vehicle is upside down. Add additional push. if (verticalError.Z < 0f) { - vertContributionV.X += PIOverFour; + vertContributionV.X += Math.Sign(vertContributionV.X) * PIOverFour; // vertContribution.Y -= PIOverFour; } -- cgit v1.1 From ad438ee59fce1b262135ef0f7cd1213f3a79df50 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 3 Feb 2013 16:08:09 -0800 Subject: BulletSim: rework some parameter setting implementation moving functionality that was in BSScene to BSParam. Remove unused parameters that were passed to the unmanaged code. Update DLLs and SOs for the new param block. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 70 +++++------ .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 38 +----- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 131 ++++++++++++--------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 58 ++++----- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 13 +- 5 files changed, 152 insertions(+), 158 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 04e77b8..39e62dd 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -1088,7 +1088,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); - p.angularDamping = o[0].XangularDamping; + p.angularDamping = BSParam.AngularDamping; p.defaultFriction = o[0].defaultFriction; p.defaultFriction = o[0].defaultFriction; p.defaultDensity = o[0].defaultDensity; @@ -1096,32 +1096,32 @@ private sealed class BulletConstraintXNA : BulletConstraint p.collisionMargin = o[0].collisionMargin; p.gravity = o[0].gravity; - p.linearDamping = o[0].XlinearDamping; - p.angularDamping = o[0].XangularDamping; - p.deactivationTime = o[0].XdeactivationTime; - p.linearSleepingThreshold = o[0].XlinearSleepingThreshold; - p.angularSleepingThreshold = o[0].XangularSleepingThreshold; - p.ccdMotionThreshold = o[0].XccdMotionThreshold; - p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius; - p.contactProcessingThreshold = o[0].XcontactProcessingThreshold; - - p.terrainImplementation = o[0].XterrainImplementation; - p.terrainFriction = o[0].XterrainFriction; - - p.terrainHitFraction = o[0].XterrainHitFraction; - p.terrainRestitution = o[0].XterrainRestitution; - p.terrainCollisionMargin = o[0].XterrainCollisionMargin; - - p.avatarFriction = o[0].XavatarFriction; - p.avatarStandingFriction = o[0].XavatarStandingFriction; - p.avatarDensity = o[0].XavatarDensity; - p.avatarRestitution = o[0].XavatarRestitution; - p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth; - p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth; - p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight; - p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold; + p.linearDamping = BSParam.LinearDamping; + p.angularDamping = BSParam.AngularDamping; + p.deactivationTime = BSParam.DeactivationTime; + p.linearSleepingThreshold = BSParam.LinearSleepingThreshold; + p.angularSleepingThreshold = BSParam.AngularSleepingThreshold; + p.ccdMotionThreshold = BSParam.CcdMotionThreshold; + p.ccdSweptSphereRadius = BSParam.CcdSweptSphereRadius; + p.contactProcessingThreshold = BSParam.ContactProcessingThreshold; + + p.terrainImplementation = BSParam.TerrainImplementation; + p.terrainFriction = BSParam.TerrainFriction; + + p.terrainHitFraction = BSParam.TerrainHitFraction; + p.terrainRestitution = BSParam.TerrainRestitution; + p.terrainCollisionMargin = BSParam.TerrainCollisionMargin; + + p.avatarFriction = BSParam.AvatarFriction; + p.avatarStandingFriction = BSParam.AvatarStandingFriction; + p.avatarDensity = BSParam.AvatarDensity; + p.avatarRestitution = BSParam.AvatarRestitution; + p.avatarCapsuleWidth = BSParam.AvatarCapsuleWidth; + p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth; + p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight; + p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold; - p.vehicleAngularDamping = o[0].XvehicleAngularDamping; + p.vehicleAngularDamping = BSParam.VehicleAngularDamping; p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; @@ -1132,15 +1132,15 @@ private sealed class BulletConstraintXNA : BulletConstraint p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching; p.numberOfSolverIterations = o[0].numberOfSolverIterations; - p.linksetImplementation = o[0].XlinksetImplementation; - p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset; - p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor; - p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel; - p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce; - p.linkConstraintERP = o[0].XlinkConstraintERP; - p.linkConstraintCFM = o[0].XlinkConstraintCFM; - p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations; - p.physicsLoggingFrames = o[0].XphysicsLoggingFrames; + p.linksetImplementation = BSParam.LinksetImplementation; + p.linkConstraintUseFrameOffset = BSParam.LinkConstraintUseFrameOffset; + p.linkConstraintEnableTransMotor = BSParam.LinkConstraintEnableTransMotor; + p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel; + p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce; + p.linkConstraintERP = BSParam.LinkConstraintERP; + p.linkConstraintCFM = BSParam.LinkConstraintCFM; + p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations; + p.physicsLoggingFrames = o[0].physicsLoggingFrames; DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index abbd22c..5e06c1e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -174,32 +174,6 @@ public struct ConfigurationParameters public float collisionMargin; public float gravity; - public float XlinearDamping; - public float XangularDamping; - public float XdeactivationTime; - public float XlinearSleepingThreshold; - public float XangularSleepingThreshold; - public float XccdMotionThreshold; - public float XccdSweptSphereRadius; - public float XcontactProcessingThreshold; - - public float XterrainImplementation; - public float XterrainFriction; - public float XterrainHitFraction; - public float XterrainRestitution; - public float XterrainCollisionMargin; - - public float XavatarFriction; - public float XavatarStandingFriction; - public float XavatarDensity; - public float XavatarRestitution; - public float XavatarCapsuleWidth; - public float XavatarCapsuleDepth; - public float XavatarCapsuleHeight; - public float XavatarContactProcessingThreshold; - - public float XvehicleAngularDamping; - public float maxPersistantManifoldPoolSize; public float maxCollisionAlgorithmPoolSize; public float shouldDisableContactPoolDynamicAllocation; @@ -208,17 +182,9 @@ public struct ConfigurationParameters public float shouldSplitSimulationIslands; public float shouldEnableFrictionCaching; public float numberOfSolverIterations; + public float useSingleSidedMeshes; - public float XlinksetImplementation; - public float XlinkConstraintUseFrameOffset; - public float XlinkConstraintEnableTransMotor; - public float XlinkConstraintTransMotorMaxVel; - public float XlinkConstraintTransMotorMaxForce; - public float XlinkConstraintERP; - public float XlinkConstraintCFM; - public float XlinkConstraintSolverIterations; - - public float XphysicsLoggingFrames; + public float physicsLoggingFrames; public const float numericTrue = 1f; public const float numericFalse = 0f; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 8c098b2..fbef7e7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -68,6 +68,24 @@ public static class BSParam public static float TerrainRestitution { get; private set; } public static float TerrainCollisionMargin { get; private set; } + public static float DefaultFriction; + public static float DefaultDensity; + public static float DefaultRestitution; + public static float CollisionMargin; + public static float Gravity; + + // Physics Engine operation + public static float MaxPersistantManifoldPoolSize; + public static float MaxCollisionAlgorithmPoolSize; + public static float ShouldDisableContactPoolDynamicAllocation; + public static float ShouldForceUpdateAllAabbs; + public static float ShouldRandomizeSolverOrder; + public static float ShouldSplitSimulationIslands; + public static float ShouldEnableFrictionCaching; + public static float NumberOfSolverIterations; + public static bool UseSingleSidedMeshes { get { return UseSingleSidedMeshesF != ConfigurationParameters.numericFalse; } } + public static float UseSingleSidedMeshesF; + // Avatar parameters public static float AvatarFriction { get; private set; } public static float AvatarStandingFriction { get; private set; } @@ -287,29 +305,29 @@ public static class BSParam new ParameterDefn("DefaultFriction", "Friction factor used on new objects", 0.2f, - (s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].defaultFriction; }, - (s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ), + (s,cf,p,v) => { DefaultFriction = cf.GetFloat(p, v); }, + (s) => { return DefaultFriction; }, + (s,p,l,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ), new ParameterDefn("DefaultDensity", "Density for new objects" , 10.000006836f, // Aluminum g/cm3 - (s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].defaultDensity; }, - (s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ), + (s,cf,p,v) => { DefaultDensity = cf.GetFloat(p, v); }, + (s) => { return DefaultDensity; }, + (s,p,l,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ), new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , 0f, - (s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].defaultRestitution; }, - (s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ), + (s,cf,p,v) => { DefaultRestitution = cf.GetFloat(p, v); }, + (s) => { return DefaultRestitution; }, + (s,p,l,v) => { DefaultRestitution = v; s.UnmanagedParams[0].defaultRestitution = v; } ), new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", 0.04f, - (s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].collisionMargin; }, - (s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ), + (s,cf,p,v) => { CollisionMargin = cf.GetFloat(p, v); }, + (s) => { return CollisionMargin; }, + (s,p,l,v) => { CollisionMargin = v; s.UnmanagedParams[0].collisionMargin = v; } ), new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", -9.80665f, - (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].gravity; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); }, + (s,cf,p,v) => { Gravity = cf.GetFloat(p, v); }, + (s) => { return Gravity; }, + (s,p,l,v) => { Gravity = v; s.UnmanagedParams[0].gravity = v; }, (s,o,v) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,v)); } ), @@ -317,49 +335,49 @@ public static class BSParam 0f, (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); }, (s) => { return LinearDamping; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); }, + (s,p,l,v) => { LinearDamping = v; }, (s,o,v) => { s.PE.SetDamping(o.PhysBody, v, AngularDamping); } ), new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", 0f, (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); }, (s) => { return AngularDamping; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); }, + (s,p,l,v) => { AngularDamping = v; }, (s,o,v) => { s.PE.SetDamping(o.PhysBody, LinearDamping, v); } ), new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", 0.2f, (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, (s) => { return DeactivationTime; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); }, + (s,p,l,v) => { DeactivationTime = v; }, (s,o,v) => { s.PE.SetDeactivationTime(o.PhysBody, v); } ), new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", 0.8f, (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return LinearSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); }, + (s,p,l,v) => { LinearSleepingThreshold = v;}, (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", 1.0f, (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return AngularSleepingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, + (s,p,l,v) => { AngularSleepingThreshold = v;}, (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , 0.0f, // set to zero to disable (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, (s) => { return CcdMotionThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); }, + (s,p,l,v) => { CcdMotionThreshold = v;}, (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ), new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , 0.2f, (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); }, (s) => { return CcdSweptSphereRadius; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); }, + (s,p,l,v) => { CcdSweptSphereRadius = v;}, (s,o,v) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, v); } ), new ParameterDefn("ContactProcessingThreshold", "Distance above which contacts can be discarded (0 means no discard)" , 0.0f, (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return ContactProcessingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); }, + (s,p,l,v) => { ContactProcessingThreshold = v;}, (s,o,v) => { s.PE.SetContactProcessingThreshold(o.PhysBody, v); } ), new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", @@ -392,7 +410,7 @@ public static class BSParam 0.2f, (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); }, (s) => { return AvatarFriction; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ), + (s,p,l,v) => { AvatarFriction = v; } ), new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", 10.0f, (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); }, @@ -407,32 +425,32 @@ public static class BSParam 3.5f, (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); }, (s) => { return AvatarDensity; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ), + (s,p,l,v) => { AvatarDensity = v; } ), new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", 0f, (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); }, (s) => { return AvatarRestitution; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ), + (s,p,l,v) => { AvatarRestitution = v; } ), new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", 0.6f, (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); }, (s) => { return AvatarCapsuleWidth; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ), + (s,p,l,v) => { AvatarCapsuleWidth = v; } ), new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", 0.45f, (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); }, (s) => { return AvatarCapsuleDepth; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ), + (s,p,l,v) => { AvatarCapsuleDepth = v; } ), new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", 1.5f, (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); }, (s) => { return AvatarCapsuleHeight; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ), + (s,p,l,v) => { AvatarCapsuleHeight = v; } ), new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 0.1f, (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return AvatarContactProcessingThreshold; }, - (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ), + (s,p,l,v) => { AvatarContactProcessingThreshold = v; } ), new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction", 0.3f, (s,cf,p,v) => { AvatarStepHeight = cf.GetFloat(p, v); }, @@ -497,44 +515,49 @@ public static class BSParam new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 0f, - (s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; }, - (s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ), + (s,cf,p,v) => { MaxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, + (s) => { return MaxPersistantManifoldPoolSize; }, + (s,p,l,v) => { MaxPersistantManifoldPoolSize = v; s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ), new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", 0f, - (s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; }, - (s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ), + (s,cf,p,v) => { MaxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, + (s) => { return MaxCollisionAlgorithmPoolSize; }, + (s,p,l,v) => { MaxCollisionAlgorithmPoolSize = v; s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ), new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ), + (s,cf,p,v) => { ShouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return ShouldDisableContactPoolDynamicAllocation; }, + (s,p,l,v) => { ShouldDisableContactPoolDynamicAllocation = v; s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ), new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", ConfigurationParameters.numericFalse, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ), + (s,cf,p,v) => { ShouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return ShouldForceUpdateAllAabbs; }, + (s,p,l,v) => { ShouldForceUpdateAllAabbs = v; s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ), new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ), + (s,cf,p,v) => { ShouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return ShouldRandomizeSolverOrder; }, + (s,p,l,v) => { ShouldRandomizeSolverOrder = v; s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ), new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ), + (s,cf,p,v) => { ShouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return ShouldSplitSimulationIslands; }, + (s,p,l,v) => { ShouldSplitSimulationIslands = v; s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ), new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", ConfigurationParameters.numericTrue, - (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; }, - (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ), + (s,cf,p,v) => { ShouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return ShouldEnableFrictionCaching; }, + (s,p,l,v) => { ShouldEnableFrictionCaching = v; s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ), new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", 0f, // zero says use Bullet default - (s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); }, - (s) => { return s.UnmanagedParams[0].numberOfSolverIterations; }, - (s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ), + (s,cf,p,v) => { NumberOfSolverIterations = cf.GetFloat(p, v); }, + (s) => { return NumberOfSolverIterations; }, + (s,p,l,v) => { NumberOfSolverIterations = v; s.UnmanagedParams[0].numberOfSolverIterations = v; } ), + new ParameterDefn("UseSingleSidedMeshes", "Whether to compute collisions based on single sided meshes.", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { UseSingleSidedMeshesF = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s) => { return UseSingleSidedMeshesF; }, + (s,p,l,v) => { UseSingleSidedMeshesF = v; s.UnmanagedParams[0].useSingleSidedMeshes = v; } ), new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", (float)BSLinkset.LinksetImplementation.Compound, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index a4690ba..6cd72f2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -882,41 +882,41 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters BSParam.ParameterDefn theParam; if (BSParam.TryGetParameter(parm, out theParam)) { + // Set the value in the C# code theParam.setter(this, parm, localID, val); + + // Optionally set the parameter in the unmanaged code + if (theParam.onObject != null) + { + // update all the localIDs specified + // If the local ID is APPLY_TO_NONE, just change the default value + // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs + // If the localID is a specific object, apply the parameter change to only that object + List objectIDs = new List(); + switch (localID) + { + case PhysParameterEntry.APPLY_TO_NONE: + // This will cause a call into the physical world if some operation is specified (SetOnObject). + objectIDs.Add(TERRAIN_ID); + TaintedUpdateParameter(parm, objectIDs, val); + break; + case PhysParameterEntry.APPLY_TO_ALL: + lock (PhysObjects) objectIDs = new List(PhysObjects.Keys); + TaintedUpdateParameter(parm, objectIDs, val); + break; + default: + // setting only one localID + objectIDs.Add(localID); + TaintedUpdateParameter(parm, objectIDs, val); + break; + } + } + ret = true; } return ret; } - // update all the localIDs specified - // If the local ID is APPLY_TO_NONE, just change the default value - // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs - // If the localID is a specific object, apply the parameter change to only that object - internal delegate void AssignVal(float x); - internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val) - { - List objectIDs = new List(); - switch (localID) - { - case PhysParameterEntry.APPLY_TO_NONE: - setDefault(val); // setting only the default value - // This will cause a call into the physical world if some operation is specified (SetOnObject). - objectIDs.Add(TERRAIN_ID); - TaintedUpdateParameter(parm, objectIDs, val); - break; - case PhysParameterEntry.APPLY_TO_ALL: - setDefault(val); // setting ALL also sets the default value - lock (PhysObjects) objectIDs = new List(PhysObjects.Keys); - TaintedUpdateParameter(parm, objectIDs, val); - break; - default: - // setting only one localID - objectIDs.Add(localID); - TaintedUpdateParameter(parm, objectIDs, val); - break; - } - } - // schedule the actual updating of the paramter to when the phys engine is not busy private void TaintedUpdateParameter(string parm, List lIDs, float val) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 8244f02..d7e800d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -96,7 +96,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys { // DISASTER!! PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID); - physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); + PhysicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); // Something is very messed up and a crash is in our future. return; } @@ -108,7 +108,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys if (!m_terrainBody.HasPhysicalBody) { // DISASTER!! - physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); + PhysicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); // Something is very messed up and a crash is in our future. return; } @@ -131,6 +131,12 @@ public sealed class BSTerrainMesh : BSTerrainPhys m_terrainBody.collisionType = CollisionType.Terrain; m_terrainBody.ApplyCollisionMask(PhysicsScene); + if (BSParam.UseSingleSidedMeshes) + { + PhysicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial", id); + PhysicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); + } + // Make it so the terrain will not move or be considered for movement. PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION); } @@ -176,8 +182,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). // Return 'true' if successfully created. - public static bool ConvertHeightmapToMesh( - BSScene physicsScene, + public static bool ConvertHeightmapToMesh( BSScene physicsScene, float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap float extentX, float extentY, // zero based range for output vertices Vector3 extentBase, // base to be added to all vertices -- cgit v1.1 From 13233da66c96e9fb8b4f8c5c98aa34c8b6ccf1b7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 3 Feb 2013 21:48:11 -0800 Subject: BulletSim: add debugging looking for doorway sculpty problems --- .../Physics/BulletSPlugin/BSShapeCollection.cs | 30 +++++++++++++++++++--- .../Region/Physics/BulletSPlugin/BulletSimData.cs | 4 +++ .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 3 +++ 3 files changed, 33 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 9febd90..0af8e13 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -622,7 +622,6 @@ public sealed class BSShapeCollection : IDisposable private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = new BulletShape(); - IMesh meshData = null; MeshDesc meshDesc; if (Meshes.TryGetValue(newMeshKey, out meshDesc)) @@ -632,7 +631,7 @@ public sealed class BSShapeCollection : IDisposable } else { - meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); + IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); if (meshData != null) { @@ -648,8 +647,31 @@ public sealed class BSShapeCollection : IDisposable verticesAsFloats[vi++] = vv.Z; } - // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", - // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); + // DetailLog("{0},BSShapeCollection.CreatePhysicalMesh,key={1},lod={2},size={3},indices={4},vertices={5}", + // BSScene.DetailLogZero, newMeshKey.ToString("X"), lod, size, indices.Length, vertices.Count); + + /* + // DEBUG DEBUG + for (int ii = 0; ii < indices.Length; ii += 3) + { + DetailLog("{0,3}: {1,3},{2,3},{3,3}: <{4,10},{5,10},{6,10}>, <{7,10},{8,10},{9,10}>, <{10,10},{11,10},{12,10}>", + ii / 3, + indices[ii + 0], + indices[ii + 1], + indices[ii + 2], + verticesAsFloats[indices[ii+0] + 0], + verticesAsFloats[indices[ii+0] + 1], + verticesAsFloats[indices[ii+0] + 2], + verticesAsFloats[indices[ii+1] + 0], + verticesAsFloats[indices[ii+1] + 1], + verticesAsFloats[indices[ii+1] + 2], + verticesAsFloats[indices[ii+2] + 0], + verticesAsFloats[indices[ii+2] + 1], + verticesAsFloats[indices[ii+2] + 2] + ); + } + // END DEBUG DEBUG + */ newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indices.GetLength(0), indices, vertices.Count, verticesAsFloats); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index c7a2f7e..8012d91 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -217,6 +217,10 @@ public static class BulletSimData { // Map of collisionTypes to flags for collision groups and masks. +// An object's 'group' is the collison groups this object belongs to +// An object's 'filter' is the groups another object has to belong to in order to collide with me +// A collision happens if ((obj1.group & obj2.filter) != 0) || ((obj2.group & obj1.filter) != 0) +// // As mentioned above, don't use the CollisionFilterGroups definitions directly in the code // but, instead, use references to this dictionary. Finding and debugging // collision flag problems will be made easier. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index a3b3556..1eaa523 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -128,6 +128,9 @@ Physical and phantom will drop through the terrain LINKSETS ====================================================== Child prims do not report collisions +Allow children of a linkset to be phantom: + http://opensim-dev.2196679.n2.nabble.com/Setting-a-single-child-prim-to-Phantom-tp7578513.html + Add OS_STATUS_PHANTOM_PRIM to llSetLinkPrimitaveParamsFast. Editing a child of a linkset causes the child to go phantom Move a child prim once when it is physical and can never move it again without it going phantom Offset the center of the linkset to be the geometric center of all the prims -- cgit v1.1 From dce9e323f4f0fdccd2f34266e870de9cbcebd2f0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 5 Feb 2013 16:51:02 -0800 Subject: BulletSim: remove degenerate triangles from meshes. This fixes the invisible barriers in sculptie doorways (Mantis 6529). Bump up level-of-detail for physical meshes to 32 (the max). This fixes the invisible barriers that showed up in prim cut arches. NOTE: the default LOD values are removed from OpenSimDefaults.ini. If you don't change your OpenSimDefaults.ini, you will continue to see the arch problem. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 18 +++-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 81 ++++++++++++---------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 2 + 3 files changed, 57 insertions(+), 44 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index fbef7e7..bdd9ce4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -39,6 +39,7 @@ public static class BSParam { // Level of Detail values kept as float because that's what the Meshmerizer wants public static float MeshLOD { get; private set; } + public static float MeshCircularLOD { get; private set; } public static float MeshMegaPrimLOD { get; private set; } public static float MeshMegaPrimThreshold { get; private set; } public static float SculptLOD { get; private set; } @@ -219,20 +220,25 @@ public static class BSParam (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ), new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", - 8f, + 32f, (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); }, (s) => { return MeshLOD; }, (s,p,l,v) => { MeshLOD = v; } ), - new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", - 16f, - (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); }, - (s) => { return MeshMegaPrimLOD; }, - (s,p,l,v) => { MeshMegaPrimLOD = v; } ), + new ParameterDefn("MeshLevelOfDetailCircular", "Level of detail for prims with circular cuts or shapes", + 32f, + (s,cf,p,v) => { MeshCircularLOD = (float)cf.GetInt(p, (int)v); }, + (s) => { return MeshCircularLOD; }, + (s,p,l,v) => { MeshCircularLOD = v; } ), new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD", 10f, (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); }, (s) => { return MeshMegaPrimThreshold; }, (s,p,l,v) => { MeshMegaPrimThreshold = v; } ), + new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", + 32f, + (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); }, + (s) => { return MeshMegaPrimLOD; }, + (s,p,l,v) => { MeshMegaPrimLOD = v; } ), new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", 32f, (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 0af8e13..f17e513 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -602,8 +602,8 @@ public sealed class BSShapeCollection : IDisposable if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH) return false; - if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}", - prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); + 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); @@ -631,50 +631,50 @@ public sealed class BSShapeCollection : IDisposable } else { - IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); + IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, 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) { - int[] indices = meshData.getIndexListAsInt(); - List vertices = meshData.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; - } - // DetailLog("{0},BSShapeCollection.CreatePhysicalMesh,key={1},lod={2},size={3},indices={4},vertices={5}", - // BSScene.DetailLogZero, newMeshKey.ToString("X"), lod, size, indices.Length, vertices.Count); - - /* - // DEBUG DEBUG - for (int ii = 0; ii < indices.Length; ii += 3) + int[] indices = meshData.getIndexListAsInt(); + // int realIndicesIndex = indices.Length; + float[] verticesAsFloats = meshData.getVertexListAsFloat(); + + // 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. + int realIndicesIndex = 0; + for (int tri = 0; tri < indices.Length; tri += 3) { - DetailLog("{0,3}: {1,3},{2,3},{3,3}: <{4,10},{5,10},{6,10}>, <{7,10},{8,10},{9,10}>, <{10,10},{11,10},{12,10}>", - ii / 3, - indices[ii + 0], - indices[ii + 1], - indices[ii + 2], - verticesAsFloats[indices[ii+0] + 0], - verticesAsFloats[indices[ii+0] + 1], - verticesAsFloats[indices[ii+0] + 2], - verticesAsFloats[indices[ii+1] + 0], - verticesAsFloats[indices[ii+1] + 1], - verticesAsFloats[indices[ii+1] + 2], - verticesAsFloats[indices[ii+2] + 0], - verticesAsFloats[indices[ii+2] + 1], - verticesAsFloats[indices[ii+2] + 2] - ); + int v1 = indices[tri + 0] * 3; + int v2 = indices[tri + 1] * 3; + int v3 = indices[tri + 2] * 3; + 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; + } } - // END DEBUG DEBUG - */ + DetailLog("{0},BSShapeCollection.CreatePhysicalMesh,origTri={1},realTri={2},numVerts={3}", + BSScene.DetailLogZero, indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3); newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, - indices.GetLength(0), indices, vertices.Count, verticesAsFloats); + realIndicesIndex, indices, verticesAsFloats.Length/3, verticesAsFloats); } } newShape.shapeKey = newMeshKey; @@ -853,6 +853,11 @@ public sealed class BSShapeCollection : IDisposable { // 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; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 1eaa523..bda7c47 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -65,6 +65,8 @@ Vehicle attributes are not restored when a vehicle is rezzed on region creation GENERAL TODO LIST: ================================================= +Level-of-detail for mesh creation. Prims with circular interiors require lod of 32. + Is much saved with lower LODs? At the moment, all set to 32. Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't. If arrow show at prim, collision reported about 1/3 of time. If collision reported, both arrow and prim report it. The arrow bounces off the prim 9 out of 10 times. -- cgit v1.1 From 36463612794f95776e8ddea14333827cbce35eff Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 5 Feb 2013 17:19:55 -0800 Subject: BulletSim: make removing zero width triangles from meshes optional and, for the moment, default to 'off'. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 +++ .../Physics/BulletSPlugin/BSShapeCollection.cs | 51 ++++++++++++---------- 2 files changed, 33 insertions(+), 24 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index bdd9ce4..306928a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -62,6 +62,7 @@ public static class BSParam public static bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects + public static bool ShouldRemoveZeroWidthTriangles { get; private set; } public static float TerrainImplementation { get; private set; } public static float TerrainFriction { get; private set; } @@ -218,6 +219,11 @@ public static class BSParam (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); }, (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ), + new ParameterDefn("ShouldRemoveZeroWidthTriangles", "If true, remove degenerate triangles from meshes", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { ShouldRemoveZeroWidthTriangles = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, + (s) => { return BSParam.NumericBool(ShouldRemoveZeroWidthTriangles); }, + (s,p,l,v) => { ShouldRemoveZeroWidthTriangles = BSParam.BoolNumeric(v); } ), new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 32f, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index f17e513..f59b9d9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -640,34 +640,37 @@ public sealed class BSShapeCollection : IDisposable { int[] indices = meshData.getIndexListAsInt(); - // int realIndicesIndex = indices.Length; + int realIndicesIndex = indices.Length; float[] verticesAsFloats = meshData.getVertexListAsFloat(); - // 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. - int realIndicesIndex = 0; - for (int tri = 0; tri < indices.Length; tri += 3) + if (BSParam.ShouldRemoveZeroWidthTriangles) { - int v1 = indices[tri + 0] * 3; - int v2 = indices[tri + 1] * 3; - int v3 = indices[tri + 2] * 3; - 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] ) ) - ) + // 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) { - // 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; + int v1 = indices[tri + 0] * 3; + int v2 = indices[tri + 1] * 3; + int v3 = indices[tri + 2] * 3; + 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}", -- cgit v1.1 From 67d92e4e168bf0861024e3be5cd069c77c9144f6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 6 Feb 2013 11:49:10 -0800 Subject: BulletSim: remove an exception which occurs if a physics mesh asset is not found. --- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index f59b9d9..fe0f984 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -895,9 +895,11 @@ public sealed class BSShapeCollection : IDisposable // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero) { + DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lastFailed={1}", prim.LocalID, prim.LastAssetBuildFailed); + // This will prevent looping through this code as we keep trying to get the failed shape prim.LastAssetBuildFailed = true; + BSPhysObject xprim = prim; - DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lastFailed={1}", prim.LocalID, prim.LastAssetBuildFailed); Util.FireAndForget(delegate { RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod; @@ -908,7 +910,7 @@ public sealed class BSShapeCollection : IDisposable { bool assetFound = false; // DEBUG DEBUG string mismatchIDs = String.Empty; // DEBUG DEBUG - if (yprim.BaseShape.SculptEntry) + if (asset != null && yprim.BaseShape.SculptEntry) { if (yprim.BaseShape.SculptTexture.ToString() == asset.ID) { -- cgit v1.1 From 0baa2590bef8ad4e0a78a7c88d55acd0848e0068 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 6 Feb 2013 15:52:28 -0800 Subject: BulletSim: check for completely degenerate meshes (ones with all triangles having zero width) and output an error rather than throwing and exception. --- .../Physics/BulletSPlugin/BSShapeCollection.cs | 28 +++++++++++++++------- 1 file changed, 19 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index fe0f984..15747c9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -608,7 +608,7 @@ public sealed class BSShapeCollection : IDisposable // Since we're recreating new, get rid of the reference to the previous shape DereferenceShape(prim.PhysShape, shapeCallback); - newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod); + newShape = CreatePhysicalMesh(prim, newMeshKey, prim.BaseShape, prim.Size, lod); // Take evasive action if the mesh was not constructed. newShape = VerifyMeshCreated(newShape, prim); @@ -619,7 +619,7 @@ public sealed class BSShapeCollection : IDisposable return true; // 'true' means a new shape has been added to this prim } - private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + private BulletShape CreatePhysicalMesh(BSPhysObject prim, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = new BulletShape(); @@ -631,7 +631,7 @@ public sealed class BSShapeCollection : IDisposable } else { - IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, + 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 ); @@ -651,18 +651,20 @@ public sealed class BSShapeCollection : IDisposable 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; - if (!((verticesAsFloats[v1 + 0] == verticesAsFloats[v2 + 0] + // 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 + 0] == verticesAsFloats[v3 + 0] && verticesAsFloats[v2 + 1] == verticesAsFloats[v3 + 1] && verticesAsFloats[v2 + 2] == verticesAsFloats[v3 + 2]) - || (verticesAsFloats[v1 + 0] == verticesAsFloats[v3 + 0] + || ( verticesAsFloats[v1 + 0] == verticesAsFloats[v3 + 0] && verticesAsFloats[v1 + 1] == verticesAsFloats[v3 + 1] - && verticesAsFloats[v1 + 2] == verticesAsFloats[v3 + 2])) + && verticesAsFloats[v1 + 2] == verticesAsFloats[v3 + 2]) ) ) { // None of the vertices of the triangles are the same. This is a good triangle; @@ -676,8 +678,16 @@ public sealed class BSShapeCollection : IDisposable DetailLog("{0},BSShapeCollection.CreatePhysicalMesh,origTri={1},realTri={2},numVerts={3}", BSScene.DetailLogZero, indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3); - newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, - realIndicesIndex, indices, verticesAsFloats.Length/3, verticesAsFloats); + if (realIndicesIndex != 0) + { + newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, + realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats); + } + else + { + PhysicsScene.Logger.ErrorFormat("{0} All mesh triangles degenerate. Prim {1} at {2} in {3}", + LogHeader, prim.PhysObjectName, prim.RawPosition, PhysicsScene.Name); + } } } newShape.shapeKey = newMeshKey; -- cgit v1.1 From d2ece00e68c070bf9ffbda3f76e4eccf3c33545f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 6 Feb 2013 15:59:59 -0800 Subject: BulletSim: set removing zero width triangles in meshes to be enabled by default. This should fix the invisible barrier in sculptie doorways bug. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 306928a..965c382 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -220,7 +220,7 @@ public static class BSParam (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); }, (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ), new ParameterDefn("ShouldRemoveZeroWidthTriangles", "If true, remove degenerate triangles from meshes", - ConfigurationParameters.numericFalse, + ConfigurationParameters.numericTrue, (s,cf,p,v) => { ShouldRemoveZeroWidthTriangles = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, (s) => { return BSParam.NumericBool(ShouldRemoveZeroWidthTriangles); }, (s,p,l,v) => { ShouldRemoveZeroWidthTriangles = BSParam.BoolNumeric(v); } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 823402b..ec25aa9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -75,6 +75,7 @@ public abstract class BSPhysObject : PhysicsActor PhysicsScene = parentScene; LocalID = localID; PhysObjectName = name; + Name = name; // PhysicsActor also has the name of the object. Someday consolidate. TypeName = typeName; // We don't have any physical representation yet. -- cgit v1.1 From af73ea909cad78eee78bd4e9d9e3a42cf8856263 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 6 Feb 2013 22:34:03 -0800 Subject: Change passed PhysicsParameter value from float to the more general string value --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 34 ++++++++++---------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 41 ++++++++++++++++++++----- 2 files changed, 49 insertions(+), 26 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 965c382..601c78c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -641,24 +641,6 @@ public static class BSParam return (b == ConfigurationParameters.numericTrue ? true : false); } - private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v) - { - BSScene physScene = pPhysScene; - physScene.TaintedObject("BSParam.ResetBroadphasePoolTainted", delegate() - { - physScene.PE.ResetBroadphasePool(physScene.World); - }); - } - - private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v) - { - BSScene physScene = pPhysScene; - physScene.TaintedObject("BSParam.ResetConstraintSolver", delegate() - { - physScene.PE.ResetConstraintSolver(physScene.World); - }); - } - // Search through the parameter definitions and return the matching // ParameterDefn structure. // Case does not matter as names are compared after converting to lower case. @@ -722,6 +704,22 @@ public static class BSParam } } + private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v) + { + BSScene physScene = pPhysScene; + physScene.TaintedObject("BSParam.ResetBroadphasePoolTainted", delegate() + { + physScene.PE.ResetBroadphasePool(physScene.World); + }); + } + private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v) + { + BSScene physScene = pPhysScene; + physScene.TaintedObject("BSParam.ResetConstraintSolver", delegate() + { + physScene.PE.ResetConstraintSolver(physScene.World); + }); + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 6cd72f2..f8a0c1e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -876,14 +876,39 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // will use the next time since it's pinned and shared memory. // Some of the values require calling into the physics engine to get the new // value activated ('terrainFriction' for instance). - public bool SetPhysicsParameter(string parm, float val, uint localID) + public bool SetPhysicsParameter(string parm, string val, uint localID) { bool ret = false; + + float valf = 0f; + if (val.ToLower() == "true") + { + valf = PhysParameterEntry.NUMERIC_TRUE; + } + else + { + if (val.ToLower() == "false") + { + valf = PhysParameterEntry.NUMERIC_FALSE; + } + else + { + try + { + valf = float.Parse(val); + } + catch + { + valf = 0f; + } + } + } + BSParam.ParameterDefn theParam; if (BSParam.TryGetParameter(parm, out theParam)) { // Set the value in the C# code - theParam.setter(this, parm, localID, val); + theParam.setter(this, parm, localID, valf); // Optionally set the parameter in the unmanaged code if (theParam.onObject != null) @@ -898,16 +923,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters case PhysParameterEntry.APPLY_TO_NONE: // This will cause a call into the physical world if some operation is specified (SetOnObject). objectIDs.Add(TERRAIN_ID); - TaintedUpdateParameter(parm, objectIDs, val); + TaintedUpdateParameter(parm, objectIDs, valf); break; case PhysParameterEntry.APPLY_TO_ALL: lock (PhysObjects) objectIDs = new List(PhysObjects.Keys); - TaintedUpdateParameter(parm, objectIDs, val); + TaintedUpdateParameter(parm, objectIDs, valf); break; default: // setting only one localID objectIDs.Add(localID); - TaintedUpdateParameter(parm, objectIDs, val); + TaintedUpdateParameter(parm, objectIDs, valf); break; } } @@ -942,14 +967,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Get parameter. // Return 'false' if not able to get the parameter. - public bool GetPhysicsParameter(string parm, out float value) + public bool GetPhysicsParameter(string parm, out string value) { - float val = 0f; + string val = String.Empty; bool ret = false; BSParam.ParameterDefn theParam; if (BSParam.TryGetParameter(parm, out theParam)) { - val = theParam.getter(this); + val = theParam.getter(this).ToString(); ret = true; } value = val; -- cgit v1.1 From ebb63b55aab98da6d44e82fc0ecfd5d22f245172 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 7 Feb 2013 11:53:49 -0800 Subject: BulletSim: add user setting of friction, density and restitution. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 5 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 17 ++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 99 +++++++++++++++++----- 3 files changed, 94 insertions(+), 27 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 192bcb5..d694a6a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -749,9 +749,10 @@ public sealed class BSCharacter : BSPhysObject _buoyancy = value; DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object - float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); + float grav = BSParam.Gravity * (1f - _buoyancy); + Gravity = new OMV.Vector3(0f, 0f, grav); if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetGravity(PhysBody, new OMV.Vector3(0f, 0f, grav)); + PhysicsScene.PE.SetGravity(PhysBody, Gravity); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index ec25aa9..0b35f3a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -78,6 +78,10 @@ public abstract class BSPhysObject : PhysicsActor Name = name; // PhysicsActor also has the name of the object. Someday consolidate. TypeName = typeName; + // Initialize variables kept in base. + GravityModifier = 1.0f; + Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); + // We don't have any physical representation yet. PhysBody = new BulletBody(localID); PhysShape = new BulletShape(); @@ -88,8 +92,8 @@ public abstract class BSPhysObject : PhysicsActor LastAssetBuildFailed = false; - // Default material type - Material = MaterialAttributes.Material.Wood; + // Default material type. Also sets Friction, Restitution and Density. + SetMaterial((int)MaterialAttributes.Material.Wood); CollisionCollection = new CollisionEventUpdate(); CollisionsLastTick = CollisionCollection; @@ -122,6 +126,8 @@ public abstract class BSPhysObject : PhysicsActor // 'inWorld' true if the object has already been added to the dynamic world. public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld); + // The gravity being applied to the object. A function of default grav, GravityModifier and Buoyancy. + public virtual OMV.Vector3 Gravity { get; set; } // The last value calculated for the prim's inertia public OMV.Vector3 Inertia { get; set; } @@ -164,15 +170,16 @@ public abstract class BSPhysObject : PhysicsActor public override void SetMaterial(int material) { Material = (MaterialAttributes.Material)material; + MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); + Friction = matAttrib.friction; + Restitution = matAttrib.restitution; + Density = matAttrib.density; } // Stop all physical motion. public abstract void ZeroMotion(bool inTaintTime); public abstract void ZeroAngularMotion(bool inTaintTime); - // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured. - public virtual void StepVehicle(float timeStep) { } - // Update the physical location and motion of the object. Called with data from Bullet. public abstract void UpdateProperties(EntityProperties entprop); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 54bf063..a86932a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -55,7 +55,6 @@ public sealed class BSPrim : BSPhysObject private OMV.Vector3 _position; private float _mass; // the mass of this object - private float _density; private OMV.Vector3 _force; private OMV.Vector3 _velocity; private OMV.Vector3 _torque; @@ -64,8 +63,6 @@ public sealed class BSPrim : BSPhysObject private int _physicsActorType; private bool _isPhysical; private bool _flying; - private float _friction; - private float _restitution; private bool _setAlwaysRun; private bool _throttleUpdates; private bool _floatOnWater; @@ -101,12 +98,6 @@ public sealed class BSPrim : BSPhysObject _isPhysical = pisPhysical; _isVolumeDetect = false; - // Someday set default attributes based on the material but, for now, we don't know the prim material yet. - // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical); - _density = PhysicsScene.Params.defaultDensity; - _friction = PhysicsScene.Params.defaultFriction; - _restitution = PhysicsScene.Params.defaultRestitution; - VehicleController = new BSDynamics(PhysicsScene, this); // add vehicleness _mass = CalculateMass(); @@ -457,11 +448,6 @@ public sealed class BSPrim : BSPhysObject { AddObjectToPhysicalWorld(); } - - // Must set gravity after it has been added to the world because, for unknown reasons, - // adding the object resets the object's gravity to world gravity - PhysicsScene.PE.SetGravity(PhysBody, grav); - } } } @@ -469,7 +455,7 @@ public sealed class BSPrim : BSPhysObject // Return what gravity should be set to this very moment public OMV.Vector3 ComputeGravity(float buoyancy) { - OMV.Vector3 ret = PhysicsScene.DefaultGravity; + OMV.Vector3 ret = PhysicsScene.DefaultGravity * GravityModifier; if (!IsStatic) ret *= (1f - buoyancy); @@ -596,6 +582,74 @@ public sealed class BSPrim : BSPhysObject } return; } + public override void SetMaterial(int material) + { + base.SetMaterial(material); + PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate() + { + UpdatePhysicalParameters(); + }); + } + public override float Friction + { + get { return base.Friction; } + set + { + if (base.Friction != value) + { + base.Friction = value; + PhysicsScene.TaintedObject("BSPrim.setFriction", delegate() + { + UpdatePhysicalParameters(); + }); + } + } + } + public override float Restitution + { + get { return base.Restitution; } + set + { + if (base.Restitution != value) + { + base.Restitution = value; + PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate() + { + UpdatePhysicalParameters(); + }); + } + } + } + public override float Density + { + get { return base.Density; } + set + { + if (base.Density != value) + { + base.Density = value; + PhysicsScene.TaintedObject("BSPrim.setDensity", delegate() + { + UpdatePhysicalParameters(); + }); + } + } + } + public override float GravityModifier + { + get { return base.GravityModifier; } + set + { + if (base.GravityModifier != value) + { + base.GravityModifier = value; + PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate() + { + UpdatePhysicalParameters(); + }); + } + } + } public override OMV.Vector3 RawVelocity { get { return _velocity; } @@ -810,8 +864,8 @@ public sealed class BSPrim : BSPhysObject // Set various physical properties so other object interact properly MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); - PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction); - PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution); + PhysicsScene.PE.SetFriction(PhysBody, Friction); + PhysicsScene.PE.SetRestitution(PhysBody, Restitution); // Mass is zero which disables a bunch of physics stuff in Bullet UpdatePhysicalMassProperties(0f, false); @@ -840,8 +894,8 @@ public sealed class BSPrim : BSPhysObject // Set various physical properties so other object interact properly MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true); - PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction); - PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution); + PhysicsScene.PE.SetFriction(PhysBody, Friction); + PhysicsScene.PE.SetRestitution(PhysBody, Restitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 // Since this can be called multiple times, only zero forces when becoming physical @@ -940,6 +994,11 @@ public sealed class BSPrim : BSPhysObject if (PhysBody.HasPhysicalBody) { PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); + + // Must set gravity after it has been added to the world because, for unknown reasons, + // adding the object resets the object's gravity to world gravity + OMV.Vector3 grav = ComputeGravity(Buoyancy); + PhysicsScene.PE.SetGravity(PhysBody, grav); } else { @@ -1581,7 +1640,7 @@ public sealed class BSPrim : BSPhysObject profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f; volume *= (profileEnd - profileBegin); - returnMass = _density * volume; + returnMass = Density * volume; /* Comment out code that computes the mass of the linkset. That is done in the Linkset class. if (IsRootOfLinkset) -- cgit v1.1 From b545e131846f38cc96757d5c4456c1ee8e7abe75 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 7 Feb 2013 14:44:12 -0800 Subject: BulletSim: fix exceptions caused by setting physical properties before the prim body is initialized. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a86932a..38adb72 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -587,7 +587,8 @@ public sealed class BSPrim : BSPhysObject base.SetMaterial(material); PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate() { - UpdatePhysicalParameters(); + if (PhysBody.HasPhysicalBody) + UpdatePhysicalParameters(); }); } public override float Friction @@ -600,7 +601,8 @@ public sealed class BSPrim : BSPhysObject base.Friction = value; PhysicsScene.TaintedObject("BSPrim.setFriction", delegate() { - UpdatePhysicalParameters(); + if (PhysBody.HasPhysicalBody) + UpdatePhysicalParameters(); }); } } @@ -615,7 +617,8 @@ public sealed class BSPrim : BSPhysObject base.Restitution = value; PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate() { - UpdatePhysicalParameters(); + if (PhysBody.HasPhysicalBody) + UpdatePhysicalParameters(); }); } } @@ -630,7 +633,8 @@ public sealed class BSPrim : BSPhysObject base.Density = value; PhysicsScene.TaintedObject("BSPrim.setDensity", delegate() { - UpdatePhysicalParameters(); + if (PhysBody.HasPhysicalBody) + UpdatePhysicalParameters(); }); } } @@ -645,7 +649,8 @@ public sealed class BSPrim : BSPhysObject base.GravityModifier = value; PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate() { - UpdatePhysicalParameters(); + if (PhysBody.HasPhysicalBody) + UpdatePhysicalParameters(); }); } } -- cgit v1.1 From 913965256fecd4e25e06fe374fa5d8b8712a3b15 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 7 Feb 2013 17:05:40 -0800 Subject: BulletSim: Adapt BulletSim to the newer physical properties. Viewer dialog setting of friction, restitution, ... working. --- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 54 ++++++++++------------ 2 files changed, 28 insertions(+), 30 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 0b35f3a..0d8bb03 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -79,7 +79,7 @@ public abstract class BSPhysObject : PhysicsActor TypeName = typeName; // Initialize variables kept in base. - GravityModifier = 1.0f; + GravModifier = 1.0f; Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); // We don't have any physical representation yet. @@ -170,6 +170,8 @@ public abstract class BSPhysObject : PhysicsActor public override void SetMaterial(int material) { Material = (MaterialAttributes.Material)material; + + // Setting the material sets the material attributes also. MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); Friction = matAttrib.friction; Restitution = matAttrib.restitution; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 38adb72..85c2627 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -423,8 +423,6 @@ public sealed class BSPrim : BSPhysObject } else { - OMV.Vector3 grav = ComputeGravity(Buoyancy); - if (inWorld) { // Changing interesting properties doesn't change proxy and collision cache @@ -434,15 +432,15 @@ public sealed class BSPrim : BSPhysObject } // The computation of mass props requires gravity to be set on the object. - PhysicsScene.PE.SetGravity(PhysBody, grav); + Gravity = ComputeGravity(Buoyancy); + PhysicsScene.PE.SetGravity(PhysBody, Gravity); Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass); PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia); PhysicsScene.PE.UpdateInertiaTensor(PhysBody); - // center of mass is at the zero of the object - // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(PhysBody, ForcePosition, ForceOrientation); - DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld); + DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", + LocalID, physMass, Inertia, Gravity, inWorld); if (inWorld) { @@ -455,10 +453,13 @@ public sealed class BSPrim : BSPhysObject // Return what gravity should be set to this very moment public OMV.Vector3 ComputeGravity(float buoyancy) { - OMV.Vector3 ret = PhysicsScene.DefaultGravity * GravityModifier; + OMV.Vector3 ret = PhysicsScene.DefaultGravity; if (!IsStatic) + { ret *= (1f - buoyancy); + ret *= GravModifier; + } return ret; } @@ -587,8 +588,7 @@ public sealed class BSPrim : BSPhysObject base.SetMaterial(material); PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate() { - if (PhysBody.HasPhysicalBody) - UpdatePhysicalParameters(); + UpdatePhysicalParameters(); }); } public override float Friction @@ -601,8 +601,7 @@ public sealed class BSPrim : BSPhysObject base.Friction = value; PhysicsScene.TaintedObject("BSPrim.setFriction", delegate() { - if (PhysBody.HasPhysicalBody) - UpdatePhysicalParameters(); + UpdatePhysicalParameters(); }); } } @@ -617,8 +616,7 @@ public sealed class BSPrim : BSPhysObject base.Restitution = value; PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate() { - if (PhysBody.HasPhysicalBody) - UpdatePhysicalParameters(); + UpdatePhysicalParameters(); }); } } @@ -633,24 +631,22 @@ public sealed class BSPrim : BSPhysObject base.Density = value; PhysicsScene.TaintedObject("BSPrim.setDensity", delegate() { - if (PhysBody.HasPhysicalBody) - UpdatePhysicalParameters(); + UpdatePhysicalParameters(); }); } } } - public override float GravityModifier + public override float GravModifier { - get { return base.GravityModifier; } + get { return base.GravModifier; } set { - if (base.GravityModifier != value) + if (base.GravModifier != value) { - base.GravityModifier = value; + base.GravModifier = value; PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate() { - if (PhysBody.HasPhysicalBody) - UpdatePhysicalParameters(); + UpdatePhysicalParameters(); }); } } @@ -820,7 +816,12 @@ public sealed class BSPrim : BSPhysObject // collisionEvents: whether this object returns collision events public void UpdatePhysicalParameters() { - // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); + if (!PhysBody.HasPhysicalBody) + { + // This would only happen if updates are called for during initialization when the body is not set up yet. + DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,calledWithNoPhysBody", LocalID); + return; + } // Mangling all the physical properties requires the object not be in the physical world. // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). @@ -898,9 +899,9 @@ public sealed class BSPrim : BSPhysObject CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT); // Set various physical properties so other object interact properly - MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true); PhysicsScene.PE.SetFriction(PhysBody, Friction); PhysicsScene.PE.SetRestitution(PhysBody, Restitution); + // DetailLog("{0},BSPrim.MakeDynamic,frict={1},rest={2}", LocalID, Friction, Restitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 // Since this can be called multiple times, only zero forces when becoming physical @@ -999,16 +1000,11 @@ public sealed class BSPrim : BSPhysObject if (PhysBody.HasPhysicalBody) { PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); - - // Must set gravity after it has been added to the world because, for unknown reasons, - // adding the object resets the object's gravity to world gravity - OMV.Vector3 grav = ComputeGravity(Buoyancy); - PhysicsScene.PE.SetGravity(PhysBody, grav); } else { m_log.ErrorFormat("{0} Attempt to add physical object without body. id={1}", LogHeader, LocalID); - DetailLog("{0},BSPrim.UpdatePhysicalParameters,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType); + DetailLog("{0},BSPrim.AddObjectToPhysicalWorld,addObjectWithoutBody,cType={1}", LocalID, PhysBody.collisionType); } } -- cgit v1.1 From 2fd184e350874d3751a30e368d5f7ee0f41d4b85 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 7 Feb 2013 21:54:48 -0800 Subject: BulletSim: reclass BSPrim into layers so linkset and physical world displacement is implemented as overlay classes rather than if statements scattered about. --- .../Physics/BulletSPlugin/BSPrimDisplaced.cs | 118 ++++++++++++++ .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 179 +++++++++++++++++++++ 2 files changed, 297 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs new file mode 100755 index 0000000..6401308 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -0,0 +1,118 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial + * are Copyright (c) 2009 Linden Research, Inc and are used under their license + * of Creative Commons Attribution-Share Alike 3.0 + * (http://creativecommons.org/licenses/by-sa/3.0/). + */ + +using System; +using System.Collections.Generic; +using System.Reflection; +using System.Runtime.InteropServices; +using OpenMetaverse; +using OpenSim.Framework; +using OpenSim.Region.Physics.Manager; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSPrimDisplaced : BSPrim +{ + // 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is. + // Because Bullet needs the zero coordinate to be the center of mass of the linkset, + // sometimes it is necessary to displace the position the physics engine thinks + // the position is. PositionDisplacement must be added and removed from the + // position as the simulator position is stored and fetched from the physics + // engine. Similar to OrientationDisplacement. + public virtual OMV.Vector3 PositionDisplacement { get; set; } + public virtual OMV.Quaternion OrientationDisplacement { get; set; } + public virtual OMV.Vector3 CenterOfMassLocation { get; set; } + public virtual OMV.Vector3 GeometricCenterLocation { get; set; } + + public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, + OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) + : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) + { + CenterOfMassLocation = RawPosition; + GeometricCenterLocation = RawPosition; + } + + public override Vector3 ForcePosition + { + get + { + return base.ForcePosition; + } + set + { + base.ForcePosition = value; + CenterOfMassLocation = RawPosition; + GeometricCenterLocation = RawPosition; + } + } + + public override Quaternion ForceOrientation + { + get + { + return base.ForceOrientation; + } + set + { + base.ForceOrientation = value; + } + } + + // Is this used? + public override OMV.Vector3 CenterOfMass + { + get { return CenterOfMassLocation; } + } + + // Is this used? + public override OMV.Vector3 GeometricCenter + { + get { return GeometricCenterLocation; } + } + + + public override void UpdateProperties(EntityProperties entprop) + { + // Undo any center-of-mass displacement that might have been done. + if (PositionDisplacement != OMV.Vector3.Zero) + { + // Correct for any rotation around the center-of-mass + // TODO!!! + entprop.Position -= PositionDisplacement; + } + + base.UpdateProperties(entprop); + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs new file mode 100755 index 0000000..fd66d1c --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -0,0 +1,179 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using OpenSim.Framework; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSPrimLinkable : BSPrimDisplaced +{ + public BSLinkset Linkset { get; set; } + public BSLinksetInfo LinksetInfo { get; set; } + + public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, + OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) + : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) + { + Linkset = BSLinkset.Factory(PhysicsScene, this); + + PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate() + { + Linkset.Refresh(this); + }); + } + + public override void Destroy() + { + Linkset = Linkset.RemoveMeFromLinkset(this); + base.Destroy(); + } + + public override BSPhysicsShapeType PreferredPhysicalShape + { get { return Linkset.PreferredPhysicalShape(this); } } + + public override void link(Manager.PhysicsActor obj) + { + BSPrimLinkable parent = obj as BSPrimLinkable; + if (parent != null) + { + BSPhysObject parentBefore = Linkset.LinksetRoot; + int childrenBefore = Linkset.NumberOfChildren; + + Linkset = parent.Linkset.AddMeToLinkset(this); + + DetailLog("{0},BSPrimLinkset.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", + LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); + } + return; + } + + public override void delink() + { + // TODO: decide if this parent checking needs to happen at taint time + // Race condition here: if link() and delink() in same simulation tick, the delink will not happen + + BSPhysObject parentBefore = Linkset.LinksetRoot; + int childrenBefore = Linkset.NumberOfChildren; + + Linkset = Linkset.RemoveMeFromLinkset(this); + + DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", + LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); + return; + base.delink(); + } + + // When simulator changes position, this might be moving a child of the linkset. + public override OMV.Vector3 Position + { + get { return base.Position; } + set + { + base.Position = value; + PhysicsScene.TaintedObject("BSPrimLinkset.setPosition", delegate() + { + Linkset.UpdateProperties(UpdatedProperties.Position, this); + }); + } + } + + // When simulator changes orientation, this might be moving a child of the linkset. + public override OMV.Quaternion Orientation + { + get { return base.Orientation; } + set + { + base.Orientation = value; + PhysicsScene.TaintedObject("BSPrimLinkset.setOrientation", delegate() + { + Linkset.UpdateProperties(UpdatedProperties.Orientation, this); + }); + } + } + + public override float TotalMass + { + get { return Linkset.LinksetMass; } + } + + public override void UpdatePhysicalParameters() + { + base.UpdatePhysicalParameters(); + // Recompute any linkset parameters. + // When going from non-physical to physical, this re-enables the constraints that + // had been automatically disabled when the mass was set to zero. + // For compound based linksets, this enables and disables interactions of the children. + Linkset.Refresh(this); + } + + protected override void MakeDynamic(bool makeStatic) + { + base.MakeDynamic(makeStatic); + if (makeStatic) + Linkset.MakeStatic(this); + else + Linkset.MakeDynamic(this); + } + + // Body is being taken apart. Remove physical dependencies and schedule a rebuild. + protected override void RemoveBodyDependencies() + { + Linkset.RemoveBodyDependencies(this); + base.RemoveBodyDependencies(); + } + + public override void UpdateProperties(EntityProperties entprop) + { + if (Linkset.IsRoot(this)) + { + // Properties are only updated for the roots of a linkset. + // TODO: this will have to change when linksets are articulated. + base.UpdateProperties(entprop); + } + Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); + + } + + public override bool Collide(uint collidingWith, BSPhysObject collidee, + OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) + { + // prims in the same linkset cannot collide with each other + BSPrimLinkable convCollidee = collidee as BSPrimLinkable; + if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID)) + { + return false; + } + return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth); + } +} +} -- cgit v1.1 From 1b203601f43662541526369f540dd04f5b485be6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 7 Feb 2013 21:57:31 -0800 Subject: BulletSim: include the linkage to the layered prim implementation. Separate layers for physical (vs simulator) location displacement and linksets. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 48 +++-- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 32 ++-- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 30 ++-- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 21 --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 195 ++++++--------------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 +- 8 files changed, 109 insertions(+), 225 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index d694a6a..0afc437 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -901,7 +901,7 @@ public sealed class BSCharacter : BSPhysObject CurrentEntityProperties = entprop; // Tell the linkset about value changes - Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); + // Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index b51e9fd..41d353a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -597,7 +597,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (IsActive) { // Remember the mass so we don't have to fetch it every step - m_vehicleMass = Prim.Linkset.LinksetMass; + m_vehicleMass = Prim.TotalMass; // Friction affects are handled by this vehicle code PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 1e3e5d8..8e69db3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -52,7 +52,7 @@ public abstract class BSLinkset Manual = 2 // linkset tied together manually (code moves all the pieces) } // Create the correct type of linkset for this child - public static BSLinkset Factory(BSScene physScene, BSPhysObject parent) + public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent) { BSLinkset ret = null; @@ -74,7 +74,7 @@ public abstract class BSLinkset return ret; } - public BSPhysObject LinksetRoot { get; protected set; } + public BSPrimLinkable LinksetRoot { get; protected set; } public BSScene PhysicsScene { get; private set; } @@ -82,7 +82,7 @@ public abstract class BSLinkset public int LinksetID { get; private set; } // The children under the root in this linkset. - protected HashSet m_children; + protected HashSet m_children; // We lock the diddling of linkset classes to prevent any badness. // This locks the modification of the instances of this class. Changes @@ -91,7 +91,7 @@ public abstract class BSLinkset // 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(BSPhysObject requestor) + public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor) { return BSPhysicsShapeType.SHAPE_UNKNOWN; } @@ -111,7 +111,7 @@ public abstract class BSLinkset get { return ComputeLinksetGeometricCenter(); } } - protected BSLinkset(BSScene scene, BSPhysObject parent) + protected BSLinkset(BSScene scene, BSPrimLinkable parent) { // A simple linkset of one (no children) LinksetID = m_nextLinksetID++; @@ -120,7 +120,7 @@ public abstract class BSLinkset m_nextLinksetID = 1; PhysicsScene = scene; LinksetRoot = parent; - m_children = new HashSet(); + m_children = new HashSet(); LinksetMass = parent.RawMass; Rebuilding = false; } @@ -129,7 +129,7 @@ public abstract class BSLinkset // Parent changing should not happen so do some sanity checking. // We return the parent's linkset so the child can track its membership. // Called at runtime. - public BSLinkset AddMeToLinkset(BSPhysObject child) + public BSLinkset AddMeToLinkset(BSPrimLinkable child) { lock (m_linksetActivityLock) { @@ -145,14 +145,13 @@ public abstract class BSLinkset // Returns a new linkset for the child which is a linkset of one (just the // orphened child). // Called at runtime. - public BSLinkset RemoveMeFromLinkset(BSPhysObject child) + public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child) { lock (m_linksetActivityLock) { if (IsRoot(child)) { // Cannot remove the root from a linkset. - child.PositionDisplacement = OMV.Vector3.Zero; return this; } RemoveChildFromLinkset(child); @@ -160,12 +159,11 @@ public abstract class BSLinkset } // The child is down to a linkset of just itself - child.PositionDisplacement = OMV.Vector3.Zero; return BSLinkset.Factory(PhysicsScene, child); } // Return 'true' if the passed object is the root object of this linkset - public bool IsRoot(BSPhysObject requestor) + public bool IsRoot(BSPrimLinkable requestor) { return (requestor.LocalID == LinksetRoot.LocalID); } @@ -176,14 +174,14 @@ public abstract class BSLinkset public bool HasAnyChildren { get { return (m_children.Count > 0); } } // Return 'true' if this child is in this linkset - public bool HasChild(BSPhysObject child) + public bool HasChild(BSPrimLinkable child) { bool ret = false; lock (m_linksetActivityLock) { ret = m_children.Contains(child); /* Safer version but the above should work - foreach (BSPhysObject bp in m_children) + foreach (BSPrimLinkable bp in m_children) { if (child.LocalID == bp.LocalID) { @@ -198,14 +196,14 @@ public abstract class BSLinkset // Perform an action on each member of the linkset including root prim. // Depends on the action on whether this should be done at taint time. - public delegate bool ForEachMemberAction(BSPhysObject obj); + public delegate bool ForEachMemberAction(BSPrimLinkable obj); public virtual bool ForEachMember(ForEachMemberAction action) { bool ret = false; lock (m_linksetActivityLock) { action(LinksetRoot); - foreach (BSPhysObject po in m_children) + foreach (BSPrimLinkable po in m_children) { if (action(po)) break; @@ -216,16 +214,16 @@ public abstract class BSLinkset // I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. - protected abstract void AddChildToLinkset(BSPhysObject child); + protected abstract void AddChildToLinkset(BSPrimLinkable child); // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. - protected abstract void RemoveChildFromLinkset(BSPhysObject child); + protected abstract void RemoveChildFromLinkset(BSPrimLinkable child); // When physical properties are changed the linkset needs to recalculate // its internal properties. // May be called at runtime or taint-time. - public virtual void Refresh(BSPhysObject requestor) + public virtual void Refresh(BSPrimLinkable requestor) { LinksetMass = ComputeLinksetMass(); } @@ -240,26 +238,26 @@ public abstract class BSLinkset // has not yet been fully constructed. // Return 'true' if any properties updated on the passed object. // Called at taint-time! - public abstract bool MakeDynamic(BSPhysObject child); + public abstract bool MakeDynamic(BSPrimLinkable child); // The object is going static (non-physical). Do any setup necessary // for a static linkset. // Return 'true' if any properties updated on the passed object. // Called at taint-time! - public abstract bool MakeStatic(BSPhysObject child); + public abstract bool MakeStatic(BSPrimLinkable child); // Called when a parameter update comes from the physics engine for any object // of the linkset is received. // Passed flag is update came from physics engine (true) or the user (false). // Called at taint-time!! - public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject physObject); + public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable physObject); // Routine used when rebuilding the body of the root of the linkset // Destroy all the constraints have have been made to root. // 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(BSPrim child); + public abstract bool RemoveBodyDependencies(BSPrimLinkable child); // ================================================================ protected virtual float ComputeLinksetMass() @@ -269,7 +267,7 @@ public abstract class BSLinkset { lock (m_linksetActivityLock) { - foreach (BSPhysObject bp in m_children) + foreach (BSPrimLinkable bp in m_children) { mass += bp.RawMass; } @@ -286,7 +284,7 @@ public abstract class BSLinkset com = LinksetRoot.Position * LinksetRoot.RawMass; float totalMass = LinksetRoot.RawMass; - foreach (BSPhysObject bp in m_children) + foreach (BSPrimLinkable bp in m_children) { com += bp.Position * bp.RawMass; totalMass += bp.RawMass; @@ -305,7 +303,7 @@ public abstract class BSLinkset { com = LinksetRoot.Position; - foreach (BSPhysObject bp in m_children) + foreach (BSPrimLinkable bp in m_children) { com += bp.Position; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 0c4db40..36bae9b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -52,7 +52,7 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo OffsetRot = r; } // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape) - public BSLinksetCompoundInfo(int indx, BSPhysObject root, BSPhysObject child, OMV.Vector3 centerDisplacement) + public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement) { // Each child position and rotation is given relative to the center-of-mass. OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation); @@ -93,12 +93,12 @@ public sealed class BSLinksetCompound : BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; - public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent) + public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) : base(scene, parent) { } // For compound implimented linksets, if there are children, use compound shape for the root. - public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) + public override BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor) { // Returning 'unknown' means we don't have a preference. BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; @@ -112,7 +112,7 @@ public sealed class BSLinksetCompound : BSLinkset // When physical properties are changed the linkset needs to recalculate // its internal properties. - public override void Refresh(BSPhysObject requestor) + public override void Refresh(BSPrimLinkable requestor) { base.Refresh(requestor); @@ -121,7 +121,7 @@ public sealed class BSLinksetCompound : BSLinkset } // Schedule a refresh to happen after all the other taint processing. - private void ScheduleRebuild(BSPhysObject requestor) + private void ScheduleRebuild(BSPrimLinkable requestor) { DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); @@ -143,7 +143,7 @@ public sealed class BSLinksetCompound : BSLinkset // has not yet been fully constructed. // Return 'true' if any properties updated on the passed object. // Called at taint-time! - public override bool MakeDynamic(BSPhysObject child) + public override bool MakeDynamic(BSPrimLinkable child) { bool ret = false; DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); @@ -173,7 +173,7 @@ public sealed class BSLinksetCompound : BSLinkset // This doesn't normally happen -- OpenSim removes the objects from the physical // world if it is a static linkset. // Called at taint-time! - public override bool MakeStatic(BSPhysObject child) + public override bool MakeStatic(BSPrimLinkable child) { bool ret = false; DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); @@ -197,7 +197,7 @@ public sealed class BSLinksetCompound : BSLinkset // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then. // Called at taint-time. - public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject updated) + public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated) { // The user moving a child around requires the rebuilding of the linkset compound shape // One problem is this happens when a border is crossed -- the simulator implementation @@ -222,7 +222,7 @@ public sealed class BSLinksetCompound : BSLinkset if (lsi != null) { // Since the child moved or rotationed, it needs a new relative position within the linkset - BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement); + BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, OMV.Vector3.Zero); updated.LinksetInfo = newLsi; // Find the physical instance of the child @@ -291,7 +291,7 @@ 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(BSPrim child) + public override bool RemoveBodyDependencies(BSPrimLinkable child) { bool ret = false; @@ -316,7 +316,7 @@ public sealed class BSLinksetCompound : BSLinkset // When the linkset is built, the child shape is added to the compound shape relative to the // root shape. The linkset then moves around but this does not move the actual child // prim. The child prim's location must be recomputed based on the location of the root shape. - private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) + private void RecomputeChildWorldPosition(BSPrimLinkable child, bool inTaintTime) { // For the moment (20130201), disable this computation (converting the child physical addr back to // a region address) until we have a good handle on center-of-mass offsets and what the physics @@ -361,7 +361,7 @@ public sealed class BSLinksetCompound : BSLinkset // Add a new child to the linkset. // Called while LinkActivity is locked. - protected override void AddChildToLinkset(BSPhysObject child) + protected override void AddChildToLinkset(BSPrimLinkable child) { if (!HasChild(child)) { @@ -377,7 +377,7 @@ public sealed class BSLinksetCompound : BSLinkset // Remove the specified child from the linkset. // Safe to call even if the child is not really in the linkset. - protected override void RemoveChildFromLinkset(BSPhysObject child) + protected override void RemoveChildFromLinkset(BSPrimLinkable child) { if (m_children.Remove(child)) { @@ -429,7 +429,7 @@ public sealed class BSLinksetCompound : BSLinkset if (disableCOM) // DEBUG DEBUG { // DEBUG DEBUG centerOfMass = LinksetRoot.RawPosition; // DEBUG DEBUG - LinksetRoot.PositionDisplacement = OMV.Vector3.Zero; + // LinksetRoot.PositionDisplacement = OMV.Vector3.Zero; } // DEBUG DEBUG else { @@ -438,7 +438,7 @@ public sealed class BSLinksetCompound : BSLinkset centerDisplacement = LinksetRoot.RawPosition - centerOfMass; // Since we're displacing the center of the shape, we need to move the body in the world - LinksetRoot.PositionDisplacement = centerDisplacement; + // LinksetRoot.PositionDisplacement = centerDisplacement; // This causes the root prim position to be set properly based on the new PositionDisplacement LinksetRoot.ForcePosition = LinksetRoot.RawPosition; @@ -453,7 +453,7 @@ public sealed class BSLinksetCompound : BSLinkset // Add a shape for each of the other children in the linkset int memberIndex = 1; - ForEachMember(delegate(BSPhysObject cPrim) + ForEachMember(delegate(BSPrimLinkable cPrim) { if (!IsRoot(cPrim)) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 3011465..cc814d1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -36,7 +36,7 @@ public sealed class BSLinksetConstraints : BSLinkset { // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; - public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent) + public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent) { } @@ -44,7 +44,7 @@ public sealed class BSLinksetConstraints : BSLinkset // its internal properties. // This is queued in the 'post taint' queue so the // refresh will happen once after all the other taints are applied. - public override void Refresh(BSPhysObject requestor) + public override void Refresh(BSPrimLinkable requestor) { base.Refresh(requestor); @@ -65,7 +65,7 @@ public sealed class BSLinksetConstraints : BSLinkset // has not yet been fully constructed. // Return 'true' if any properties updated on the passed object. // Called at taint-time! - public override bool MakeDynamic(BSPhysObject child) + public override bool MakeDynamic(BSPrimLinkable child) { // What is done for each object in BSPrim is what we want. return false; @@ -76,14 +76,14 @@ public sealed class BSLinksetConstraints : BSLinkset // This doesn't normally happen -- OpenSim removes the objects from the physical // world if it is a static linkset. // Called at taint-time! - public override bool MakeStatic(BSPhysObject child) + public override bool MakeStatic(BSPrimLinkable child) { // What is done for each object in BSPrim is what we want. return false; } // Called at taint-time!! - public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject pObj) + public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable pObj) { // Nothing to do for constraints on property updates } @@ -93,7 +93,7 @@ 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(BSPrim child) + public override bool RemoveBodyDependencies(BSPrimLinkable child) { bool ret = false; @@ -114,7 +114,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Add a new child to the linkset. // Called while LinkActivity is locked. - protected override void AddChildToLinkset(BSPhysObject child) + protected override void AddChildToLinkset(BSPrimLinkable child) { if (!HasChild(child)) { @@ -130,12 +130,12 @@ public sealed class BSLinksetConstraints : BSLinkset // Remove the specified child from the linkset. // Safe to call even if the child is not really in my linkset. - protected override void RemoveChildFromLinkset(BSPhysObject child) + protected override void RemoveChildFromLinkset(BSPrimLinkable child) { if (m_children.Remove(child)) { - BSPhysObject rootx = LinksetRoot; // capture the root and body as of now - BSPhysObject childx = child; + BSPrimLinkable rootx = LinksetRoot; // capture the root and body as of now + BSPrimLinkable childx = child; DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", childx.LocalID, @@ -159,13 +159,13 @@ public sealed class BSLinksetConstraints : BSLinkset // Create a constraint between me (root of linkset) and the passed prim (the child). // Called at taint time! - private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) + private void PhysicallyLinkAChildToRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim) { // Don't build the constraint when asked. Put it off until just before the simulation step. Refresh(rootPrim); } - private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim) + private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim) { // Zero motion for children so they don't interpolate childPrim.ZeroMotion(true); @@ -239,7 +239,7 @@ public sealed class BSLinksetConstraints : BSLinkset // The root and child bodies are passed in because we need to remove the constraint between // the bodies that were present at unlink time. // Called at taint time! - private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) + private bool PhysicallyUnlinkAChildFromRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim) { bool ret = false; DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", @@ -261,7 +261,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Remove linkage between myself and any possible children I might have. // Returns 'true' of any constraints were destroyed. // Called at taint time! - private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) + private bool PhysicallyUnlinkAllChildrenFromRoot(BSPrimLinkable rootPrim) { DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); @@ -281,7 +281,7 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass); - foreach (BSPhysObject child in m_children) + foreach (BSPrimLinkable child in m_children) { // A child in the linkset physically shows the mass of the whole linkset. // This allows Bullet to apply enough force on the child to move the whole linkset. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 0d8bb03..e1d269a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -86,10 +86,6 @@ public abstract class BSPhysObject : PhysicsActor PhysBody = new BulletBody(localID); PhysShape = new BulletShape(); - // A linkset of just me - Linkset = BSLinkset.Factory(PhysicsScene, this); - PositionDisplacement = OMV.Vector3.Zero; - LastAssetBuildFailed = false; // Default material type. Also sets Friction, Restitution and Density. @@ -117,8 +113,6 @@ public abstract class BSPhysObject : PhysicsActor public string PhysObjectName { get; protected set; } public string TypeName { get; protected set; } - public BSLinkset Linkset { get; set; } - public BSLinksetInfo LinksetInfo { get; set; } // Return the object mass without calculating it or having side effects public abstract float RawMass { get; } @@ -188,15 +182,6 @@ public abstract class BSPhysObject : PhysicsActor public abstract OMV.Vector3 RawPosition { get; set; } public abstract OMV.Vector3 ForcePosition { get; set; } - // 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is. - // Because Bullet needs the zero coordinate to be the center of mass of the linkset, - // sometimes it is necessary to displace the position the physics engine thinks - // the position is. PositionDisplacement must be added and removed from the - // position as the simulator position is stored and fetched from the physics - // engine. Similar to OrientationDisplacement. - public virtual OMV.Vector3 PositionDisplacement { get; set; } - public virtual OMV.Quaternion OrientationDisplacement { get; set; } - public abstract OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } @@ -302,12 +287,6 @@ public abstract class BSPhysObject : PhysicsActor CollidingObjectStep = PhysicsScene.SimulationStep; } - // prims in the same linkset cannot collide with each other - if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) - { - return ret; - } - CollisionAccumulation++; // For movement tests, remember if we are colliding with an object that is moving. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 85c2627..cf7aa0f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -39,7 +39,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { [Serializable] -public sealed class BSPrim : BSPhysObject +public class BSPrim : BSPhysObject { private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS PRIM]"; @@ -102,9 +102,6 @@ public sealed class BSPrim : BSPhysObject _mass = CalculateMass(); - // Cause linkset variables to be initialized (like mass) - Linkset.Refresh(this); - DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time PhysicsScene.TaintedObject("BSPrim.create", delegate() @@ -121,15 +118,6 @@ public sealed class BSPrim : BSPhysObject // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); base.Destroy(); - // Undo any links between me and any other object - BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG DEBUG - int childrenBefore = Linkset.NumberOfChildren; // DEBUG DEBUG - - Linkset = Linkset.RemoveMeFromLinkset(this); - - DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}", - LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); - // Undo any vehicle properties this.VehicleType = (int)Vehicle.TYPE_NONE; @@ -166,9 +154,9 @@ public sealed class BSPrim : BSPhysObject ForceBodyShapeRebuild(false); } } - // Whatever the linkset wants is what I want. + // 'unknown' says to choose the best type public override BSPhysicsShapeType PreferredPhysicalShape - { get { return Linkset.PreferredPhysicalShape(this); } } + { get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } } public override bool ForceBodyShapeRebuild(bool inTaintTime) { @@ -213,33 +201,10 @@ public sealed class BSPrim : BSPhysObject // link me to the specified parent public override void link(PhysicsActor obj) { - BSPrim parent = obj as BSPrim; - if (parent != null) - { - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; - - Linkset = parent.Linkset.AddMeToLinkset(this); - - DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", - LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); - } - return; } // delink me from my linkset public override void delink() { - // TODO: decide if this parent checking needs to happen at taint time - // Race condition here: if link() and delink() in same simulation tick, the delink will not happen - - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; - - Linkset = Linkset.RemoveMeFromLinkset(this); - - DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", - LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); - return; } // Set motion values to zero. @@ -287,15 +252,8 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Vector3 Position { get { - /* NOTE: this refetch is not necessary. The simulator knows about linkset children - * and does not fetch this position info for children. Thus this is commented out. - // child prims move around based on their parent. Need to get the latest location - if (!Linkset.IsRoot(this)) - _position = Linkset.PositionGet(this); - */ - // don't do the GetObjectPosition for root elements because this function is called a zillion times. - // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody) - PositionDisplacement; + // _position = ForcePosition; return _position; } set { @@ -313,24 +271,20 @@ public sealed class BSPrim : BSPhysObject { DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); ForcePosition = _position; - - // A linkset might need to know if a component information changed. - Linkset.UpdateProperties(UpdatedProperties.Position, this); - }); } } public override OMV.Vector3 ForcePosition { get { - _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement; + _position = PhysicsScene.PE.GetPosition(PhysBody); return _position; } set { _position = value; if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); ActivateIfPhysical(false); } } @@ -398,12 +352,13 @@ public sealed class BSPrim : BSPhysObject // If the simulator cares about the mass of the linkset, it will sum it itself. public override float Mass { - get - { - return _mass; - } + get { return _mass; } + } + // TotalMass returns the mass of the large object the prim may be in (overridden by linkset code) + public virtual float TotalMass + { + get { return _mass; } } - // used when we only want this prim's mass and not the linkset thing public override float RawMass { get { return _mass; } @@ -467,13 +422,13 @@ public sealed class BSPrim : BSPhysObject // Is this used? public override OMV.Vector3 CenterOfMass { - get { return Linkset.CenterOfMass; } + get { return RawPosition; } } // Is this used? public override OMV.Vector3 GeometricCenter { - get { return Linkset.GeometricCenter; } + get { return RawPosition; } } public override OMV.Vector3 Force { @@ -721,14 +676,6 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Quaternion Orientation { get { - /* NOTE: this refetch is not necessary. The simulator knows about linkset children - * and does not fetch this position info for children. Thus this is commented out. - // Children move around because tied to parent. Get a fresh value. - if (!Linkset.IsRoot(this)) - { - _orientation = Linkset.OrientationGet(this); - } - */ return _orientation; } set { @@ -739,10 +686,6 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() { ForceOrientation = _orientation; - - // A linkset might need to know if a component information changed. - Linkset.UpdateProperties(UpdatedProperties.Orientation, this); - }); } } @@ -758,7 +701,7 @@ public sealed class BSPrim : BSPhysObject { _orientation = value; if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); } } public override int PhysicsActorType { @@ -814,7 +757,7 @@ public sealed class BSPrim : BSPhysObject // isSolid: other objects bounce off of this object // isVolumeDetect: other objects pass through but can generate collisions // collisionEvents: whether this object returns collision events - public void UpdatePhysicalParameters() + public virtual void UpdatePhysicalParameters() { if (!PhysBody.HasPhysicalBody) { @@ -844,12 +787,6 @@ public sealed class BSPrim : BSPhysObject // Rebuild its shape PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); - // Recompute any linkset parameters. - // When going from non-physical to physical, this re-enables the constraints that - // had been automatically disabled when the mass was set to zero. - // For compound based linksets, this enables and disables interactions of the children. - Linkset.Refresh(this); - 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); } @@ -859,7 +796,7 @@ public sealed class BSPrim : BSPhysObject // When dynamic, the object can fall and be pushed by others. // This is independent of its 'solidness' which controls what passes through // this object and what interacts with it. - private void MakeDynamic(bool makeStatic) + protected virtual void MakeDynamic(bool makeStatic) { if (makeStatic) { @@ -889,9 +826,6 @@ public sealed class BSPrim : BSPhysObject // This collides like a static object PhysBody.collisionType = CollisionType.Static; - - // There can be special things needed for implementing linksets - Linkset.MakeStatic(this); } else { @@ -908,10 +842,7 @@ public sealed class BSPrim : BSPhysObject // PhysicsScene.PE.ClearAllForces(BSBody); // For good measure, make sure the transform is set through to the motion state - PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation); - - // Center of mass is at the center of the object - // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation); + ForcePosition = _position; // A dynamic object has mass UpdatePhysicalMassProperties(RawMass, false); @@ -935,9 +866,6 @@ public sealed class BSPrim : BSPhysObject // Force activation of the object so Bullet will act on it. // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); - - // There might be special things needed for implementing linksets. - Linkset.MakeDynamic(this); } } @@ -1643,16 +1571,6 @@ public sealed class BSPrim : BSPhysObject returnMass = Density * volume; - /* Comment out code that computes the mass of the linkset. That is done in the Linkset class. - if (IsRootOfLinkset) - { - foreach (BSPrim prim in _childrenPrims) - { - returnMass += prim.CalculateMass(); - } - } - */ - returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); return returnMass; @@ -1672,8 +1590,7 @@ public sealed class BSPrim : BSPhysObject // 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, ...) - Linkset.RemoveBodyDependencies(this); - VehicleController.RemoveBodyDependencies(this); + RemoveBodyDependencies(); }); // Make sure the properties are set on the new object @@ -1681,57 +1598,50 @@ public sealed class BSPrim : BSPhysObject return; } + protected virtual void RemoveBodyDependencies() + { + VehicleController.RemoveBodyDependencies(this); + } + // The physics engine says that properties have updated. Update same and inform // the world that things have changed. public override void UpdateProperties(EntityProperties entprop) { - // Updates only for individual prims and for the root object of a linkset. - if (Linkset.IsRoot(this)) + // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet + // TODO: handle physics introduced by Bullet with computed vehicle physics. + if (VehicleController.IsActive) { - // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet - // TODO: handle physics introduced by Bullet with computed vehicle physics. - if (VehicleController.IsActive) - { - entprop.RotationalVelocity = OMV.Vector3.Zero; - } - - // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG + entprop.RotationalVelocity = OMV.Vector3.Zero; + } - // Undo any center-of-mass displacement that might have been done. - if (PositionDisplacement != OMV.Vector3.Zero) - { - // Correct for any rotation around the center-of-mass - // TODO!!! - entprop.Position -= PositionDisplacement; - } + // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG - // Assign directly to the local variables so the normal set actions do not happen - _position = entprop.Position; - _orientation = entprop.Rotation; - _velocity = entprop.Velocity; - _acceleration = entprop.Acceleration; - _rotationalVelocity = entprop.RotationalVelocity; + // Assign directly to the local variables so the normal set actions do not happen + _position = entprop.Position; + _orientation = entprop.Rotation; + _velocity = entprop.Velocity; + _acceleration = entprop.Acceleration; + _rotationalVelocity = entprop.RotationalVelocity; - // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG + // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG - // The sanity check can change the velocity and/or position. - if (PositionSanityCheck(true /* inTaintTime */ )) - { - entprop.Position = _position; - entprop.Velocity = _velocity; - entprop.RotationalVelocity = _rotationalVelocity; - entprop.Acceleration = _acceleration; - } + // The sanity check can change the velocity and/or position. + if (PositionSanityCheck(true /* inTaintTime */ )) + { + entprop.Position = _position; + entprop.Velocity = _velocity; + entprop.RotationalVelocity = _rotationalVelocity; + entprop.Acceleration = _acceleration; + } - OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG - DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction); + OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG + DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction); - // remember the current and last set values - LastEntityProperties = CurrentEntityProperties; - CurrentEntityProperties = entprop; + // remember the current and last set values + LastEntityProperties = CurrentEntityProperties; + CurrentEntityProperties = entprop; - base.RequestPhysicsterseUpdate(); - } + base.RequestPhysicsterseUpdate(); /* else { @@ -1741,9 +1651,6 @@ public sealed class BSPrim : BSPhysObject entprop.Acceleration, entprop.RotationalVelocity); } */ - - // The linkset implimentation might want to know about this. - Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index f8a0c1e..e506d22 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -434,7 +434,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { if (!m_initialized) return; - BSPrim bsprim = prim as BSPrim; + BSPhysObject bsprim = prim as BSPhysObject; if (bsprim != null) { DetailLog("{0},RemovePrim,call", bsprim.LocalID); @@ -465,7 +465,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters DetailLog("{0},AddPrimShape,call", localID); - BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); + BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical); lock (PhysObjects) PhysObjects.Add(localID, prim); return prim; } -- cgit v1.1 From 1b55a9d81e66972312fdc801d17da697466f9ed4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 8 Feb 2013 15:25:57 -0800 Subject: BulletSim: fix avatar bobbing or jiggling while stationary flying. Various comments and debugging message mods. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 29 ++++++++++++---------- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 4 +++ .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 6 ++--- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- 5 files changed, 25 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 0afc437..6a995a2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -140,7 +140,7 @@ public sealed class BSCharacter : BSPhysObject ZeroMotion(true); ForcePosition = _position; - // Set the velocity and compute the proper friction + // Set the velocity _velocityMotor.Reset(); _velocityMotor.SetTarget(_velocity); _velocityMotor.SetCurrent(_velocity); @@ -214,25 +214,28 @@ public sealed class BSCharacter : BSPhysObject _velocityMotor.Step(timeStep); // If we're not supposed to be moving, make sure things are zero. - if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero && IsColliding) + if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero) { // The avatar shouldn't be moving _velocityMotor.Zero(); - // If we are colliding with a stationary object, presume we're standing and don't move around - if (!ColliderIsMoving) + if (IsColliding) { - DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID); - ZeroMotion(true /* inTaintTime */); - } + // If we are colliding with a stationary object, presume we're standing and don't move around + if (!ColliderIsMoving) + { + DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID); + ZeroMotion(true /* inTaintTime */); + } - // Standing has more friction on the ground - if (_currentFriction != BSParam.AvatarStandingFriction) - { - _currentFriction = BSParam.AvatarStandingFriction; - PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); + // Standing has more friction on the ground + if (_currentFriction != BSParam.AvatarStandingFriction) + { + _currentFriction = BSParam.AvatarStandingFriction; + PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); + } } - DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue); + DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding); } else { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 8e69db3..e35311f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -71,6 +71,10 @@ public abstract class BSLinkset ret = new BSLinksetCompound(physScene, parent); break; } + if (ret == null) + { + physScene.Logger.ErrorFormat("[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name, parent.LocalID); + } return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index e1d269a..de69fa0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -290,13 +290,13 @@ public abstract class BSPhysObject : PhysicsActor CollisionAccumulation++; // For movement tests, remember if we are colliding with an object that is moving. - ColliderIsMoving = collidee != null ? collidee.RawVelocity != OMV.Vector3.Zero : false; + ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false; // If someone has subscribed for collision events log the collision so it will be reported up if (SubscribedEvents()) { CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", - LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); + DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}", + LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving); ret = true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index fd66d1c..9898562 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -160,8 +160,8 @@ public class BSPrimLinkable : BSPrimDisplaced // TODO: this will have to change when linksets are articulated. base.UpdateProperties(entprop); } + // The linkset might like to know about changing locations Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); - } public override bool Collide(uint collidingWith, BSPhysObject collidee, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e506d22..05722b8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -463,7 +463,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return null; - DetailLog("{0},AddPrimShape,call", localID); + DetailLog("{0},BSScene.AddPrimShape,call", localID); BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical); lock (PhysObjects) PhysObjects.Add(localID, prim); -- cgit v1.1 From 222040f1ec0d85b06de8271fd7eabc7dd0a2f7d4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 8 Feb 2013 15:36:10 -0800 Subject: BulletSim: Change BSCharacter to use new base Density and Friction variables rather than own local varaibles. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 26 +++++++++------------- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- 2 files changed, 12 insertions(+), 16 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 6a995a2..f781aea 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -45,7 +45,6 @@ public sealed class BSCharacter : BSPhysObject private bool _selected; private OMV.Vector3 _position; private float _mass; - private float _avatarDensity; private float _avatarVolume; private OMV.Vector3 _force; private OMV.Vector3 _velocity; @@ -63,9 +62,6 @@ public sealed class BSCharacter : BSPhysObject private bool _kinematic; private float _buoyancy; - // The friction and velocity of the avatar is modified depending on whether walking or not. - private float _currentFriction; // the friction currently being used (changed by setVelocity). - private BSVMotor _velocityMotor; private OMV.Vector3 _PIDTarget; @@ -86,8 +82,8 @@ public sealed class BSCharacter : BSPhysObject _orientation = OMV.Quaternion.Identity; _velocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); - _currentFriction = BSParam.AvatarStandingFriction; - _avatarDensity = BSParam.AvatarDensity; + Friction = BSParam.AvatarStandingFriction; + Density = BSParam.AvatarDensity; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. @@ -104,7 +100,7 @@ public sealed class BSCharacter : BSPhysObject SetupMovementMotor(); DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", - LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); + LocalID, _size, Scale, Density, _avatarVolume, RawMass); // do actual creation in taint time PhysicsScene.TaintedObject("BSCharacter.create", delegate() @@ -229,10 +225,10 @@ public sealed class BSCharacter : BSPhysObject } // Standing has more friction on the ground - if (_currentFriction != BSParam.AvatarStandingFriction) + if (Friction != BSParam.AvatarStandingFriction) { - _currentFriction = BSParam.AvatarStandingFriction; - PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); + Friction = BSParam.AvatarStandingFriction; + PhysicsScene.PE.SetFriction(PhysBody, Friction); } } DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding); @@ -241,11 +237,11 @@ public sealed class BSCharacter : BSPhysObject { OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue; - if (_currentFriction != BSParam.AvatarFriction) + if (Friction != BSParam.AvatarFriction) { // Probably starting up walking. Set friction to moving friction. - _currentFriction = BSParam.AvatarFriction; - PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); + Friction = BSParam.AvatarFriction; + PhysicsScene.PE.SetFriction(PhysBody, Friction); } // If falling, we keep the world's downward vector no matter what the other axis specify. @@ -345,7 +341,7 @@ public sealed class BSCharacter : BSPhysObject Scale = ComputeAvatarScale(_size); ComputeAvatarVolumeAndMass(); DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", - LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); + LocalID, _size, Scale, Density, _avatarVolume, RawMass); PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { @@ -873,7 +869,7 @@ public sealed class BSCharacter : BSPhysObject * Math.Min(Size.X, Size.Y) / 2 * Size.Y / 2f // plus the volume of the capsule end caps ); - _mass = _avatarDensity * _avatarVolume; + _mass = Density * _avatarVolume; } // The physics engine says that properties have updated. Update same and inform diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 601c78c..6cb7434 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -424,7 +424,7 @@ public static class BSParam (s) => { return AvatarFriction; }, (s,p,l,v) => { AvatarFriction = v; } ), new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", - 10.0f, + 0.95f, (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); }, (s) => { return AvatarStandingFriction; }, (s,p,l,v) => { AvatarStandingFriction = v; } ), -- cgit v1.1 From 4808b8ee380d32c1b63654f9c0170a5f07b46bd0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 8 Feb 2013 16:27:44 -0800 Subject: BulletSim: add parameter to set global contact breaking threshold. Update DLLs and SOs for setting same. --- OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 ++++++ 2 files changed, 7 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 5e06c1e..7ab86d2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -183,6 +183,7 @@ public struct ConfigurationParameters public float shouldEnableFrictionCaching; public float numberOfSolverIterations; public float useSingleSidedMeshes; + public float globalContactBreakingThreshold; public float physicsLoggingFrames; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 6cb7434..3e0b4bc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -87,6 +87,7 @@ public static class BSParam public static float NumberOfSolverIterations; public static bool UseSingleSidedMeshes { get { return UseSingleSidedMeshesF != ConfigurationParameters.numericFalse; } } public static float UseSingleSidedMeshesF; + public static float GlobalContactBreakingThreshold; // Avatar parameters public static float AvatarFriction { get; private set; } @@ -570,6 +571,11 @@ public static class BSParam (s,cf,p,v) => { UseSingleSidedMeshesF = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, (s) => { return UseSingleSidedMeshesF; }, (s,p,l,v) => { UseSingleSidedMeshesF = v; s.UnmanagedParams[0].useSingleSidedMeshes = v; } ), + new ParameterDefn("GlobalContactBreakingThreshold", "Amount of shape radius before breaking a collision contact (0 says Bullet default (0.2))", + 0f, + (s,cf,p,v) => { GlobalContactBreakingThreshold = cf.GetFloat(p, v); }, + (s) => { return GlobalContactBreakingThreshold; }, + (s,p,l,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ), new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", (float)BSLinkset.LinksetImplementation.Compound, -- cgit v1.1 From fb903ff49089d5fd7a56aa2401528c3e7cf1800c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 10 Feb 2013 09:51:34 -0800 Subject: BulletSim: More work on center-of-mass. Remove linksetinfo and rely on simulator to update info. --- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 7 +- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 3 + .../Physics/BulletSPlugin/BSLinksetCompound.cs | 150 ++++++++++----------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 31 +++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +- .../Physics/BulletSPlugin/BSPrimDisplaced.cs | 85 ++++++++---- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 4 +- 8 files changed, 162 insertions(+), 124 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 7ab86d2..3f83ef0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -225,9 +225,10 @@ public enum CollisionFlags : uint CF_DISABLE_VISUALIZE_OBJECT = 1 << 5, CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, // Following used by BulletSim to control collisions and updates - BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, - BS_FLOATS_ON_WATER = 1 << 11, - BS_VEHICLE_COLLISIONS = 1 << 12, + BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, // return collision events from unmanaged to managed + BS_FLOATS_ON_WATER = 1 << 11, // the object should float at water level + BS_VEHICLE_COLLISIONS = 1 << 12, // return collisions for vehicle ground checking + BS_RETURN_ROOT_COMPOUND_SHAPE = 1 << 13, // return the pos/rot of the root shape in a compound shape BS_NONE = 0, BS_ALL = 0xFFFFFFFF }; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index f781aea..04fb05b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -274,7 +274,7 @@ public sealed class BSCharacter : BSPhysObject // This test is done if moving forward, not flying and is colliding with something. // DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}", // LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count); - if (IsColliding && !Flying && TargetSpeed > 0.1f /* && ForwardSpeed < 0.1f */) + if (IsColliding && !Flying && TargetVelocitySpeed > 0.1f /* && ForwardSpeed < 0.1f */) { // The range near the character's feet where we will consider stairs float nearFeetHeightMin = RawPosition.Z - (Size.Z / 2f) + 0.05f; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index e35311f..4ece1eb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -127,6 +127,8 @@ public abstract class BSLinkset m_children = new HashSet(); LinksetMass = parent.RawMass; Rebuilding = false; + + parent.ClearDisplacement(); } // Link to a linkset where the child knows the parent. @@ -280,6 +282,7 @@ public abstract class BSLinkset return mass; } + // Computes linkset's center of mass in world coordinates. protected virtual OMV.Vector3 ComputeLinksetCenterOfMass() { OMV.Vector3 com; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 36bae9b..1f66b56 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -93,7 +93,8 @@ public sealed class BSLinksetCompound : BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; - public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) : base(scene, parent) + public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) + : base(scene, parent) { } @@ -217,59 +218,45 @@ public sealed class BSLinksetCompound : BSLinkset // and that is caused by us updating the object. if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0) { - // Gather the child info. It might not be there if the linkset is in transition. - BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo; - if (lsi != null) - { - // Since the child moved or rotationed, it needs a new relative position within the linkset - BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, OMV.Vector3.Zero); - updated.LinksetInfo = newLsi; - // Find the physical instance of the child - if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape)) + if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape)) + { + // 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); + if (updated.LinksetChildIndex < numLinksetChildren) { - // 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); - if (lsi.Index < numLinksetChildren) + BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, updated.LinksetChildIndex); + if (linksetChildShape.HasPhysicalShape) { - BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index); - if (linksetChildShape.HasPhysicalShape) - { - // Found the child shape within the compound shape - PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index, - newLsi.OffsetFromCenterOfMass, - newLsi.OffsetRot, - true /* shouldRecalculateLocalAabb */); - updatedChild = true; - DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}", - updated.LocalID, whichUpdated, newLsi); - } - else // DEBUG DEBUG - { // DEBUG DEBUG - DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}", - updated.LocalID, linksetChildShape); - } // DEBUG DEBUG + // Found the child shape within the compound shape + PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, updated.LinksetChildIndex, + updated.RawPosition - LinksetRoot.RawPosition, + updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation), + true /* shouldRecalculateLocalAabb */); + updatedChild = true; + DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},pos={2},rot={3}", + updated.LocalID, whichUpdated, updated.RawPosition, updated.RawOrientation); } else // DEBUG DEBUG { // DEBUG DEBUG - // the child is not yet in the compound shape. This is non-fatal. - DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}", - updated.LocalID, numLinksetChildren, lsi.Index); + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}", + updated.LocalID, linksetChildShape); } // DEBUG DEBUG } else // DEBUG DEBUG { // DEBUG DEBUG - DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID); + // the child is not yet in the compound shape. This is non-fatal. + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}", + updated.LocalID, numLinksetChildren, updated.LinksetChildIndex); } // DEBUG DEBUG } else // DEBUG DEBUG { // DEBUG DEBUG - DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noLinkSetInfo,rootPhysShape={1}", - updated.LocalID, LinksetRoot.PhysShape); + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID); } // DEBUG DEBUG if (!updatedChild) @@ -379,6 +366,8 @@ public sealed class BSLinksetCompound : BSLinkset // Safe to call even if the child is not really in the linkset. protected override void RemoveChildFromLinkset(BSPrimLinkable child) { + child.ClearDisplacement(); + if (m_children.Remove(child)) { DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", @@ -410,7 +399,7 @@ public sealed class BSLinksetCompound : BSLinkset // Constraint linksets are rebuilt every time. // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! - private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged + private bool disableCOM = false; // DEBUG DEBUG: disable until we get this debugged private void RecomputeLinksetCompound() { try @@ -424,30 +413,31 @@ public sealed class BSLinksetCompound : BSLinkset // 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. // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass - OMV.Vector3 centerOfMass; - OMV.Vector3 centerDisplacement = OMV.Vector3.Zero; - if (disableCOM) // DEBUG DEBUG - { // DEBUG DEBUG - centerOfMass = LinksetRoot.RawPosition; // DEBUG DEBUG - // LinksetRoot.PositionDisplacement = OMV.Vector3.Zero; - } // DEBUG DEBUG - else + OMV.Vector3 centerOfMassW = LinksetRoot.RawPosition; + if (!disableCOM) // DEBUG DEBUG { - centerOfMass = ComputeLinksetCenterOfMass(); - // 'centerDisplacement' is the value to *add* to all the shape offsets - centerDisplacement = LinksetRoot.RawPosition - centerOfMass; - - // Since we're displacing the center of the shape, we need to move the body in the world - // LinksetRoot.PositionDisplacement = centerDisplacement; - - // This causes the root prim position to be set properly based on the new PositionDisplacement - 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, -centerDisplacement, OMV.Quaternion.Identity, false); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", - LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement); + // Compute a center-of-mass in world coordinates. + centerOfMassW = ComputeLinksetCenterOfMass(); } + OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); + + // 'centerDisplacement' is the value to subtract from children to give physical offset position + OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; + LinksetRoot.SetEffectiveCenterOfMassW(centerDisplacement); + + // This causes the physical position of the root prim to be offset to accomodate for the displacements + 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, + -centerDisplacement, + LinksetRoot.RawOrientation, + false /* shouldRecalculateLocalAabb */); + + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", + LinksetRoot.LocalID, centerOfMassW, LinksetRoot.RawPosition, centerDisplacement); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); @@ -455,29 +445,20 @@ public sealed class BSLinksetCompound : BSLinkset int memberIndex = 1; ForEachMember(delegate(BSPrimLinkable cPrim) { - if (!IsRoot(cPrim)) + if (IsRoot(cPrim)) { - // Compute the displacement of the child from the root of the linkset. - // This info is saved in the child prim so the relationship does not - // change over time and the new child position can be computed - // when the linkset is being disassembled (the linkset may have moved). - BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; - if (lci == null) - { - lci = new BSLinksetCompoundInfo(memberIndex, LinksetRoot, cPrim, centerDisplacement); - cPrim.LinksetInfo = lci; - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); - } - - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},lci={3}", - LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci); + cPrim.LinksetChildIndex = 0; + } + else + { + cPrim.LinksetChildIndex = memberIndex; if (cPrim.PhysShape.isNativeShape) { // A native shape is turned into a hull collision shape because native // shapes are not shared so we have to hullify it so it will be tracked // and freed at the correct time. This also solves the scaling problem - // (native shapes scaled but hull/meshes are assumed to not be). + // (native shapes scale but hull/meshes are assumed to not be). // TODO: decide of the native shape can just be used in the compound shape. // Use call to CreateGeomNonSpecial(). BulletShape saveShape = cPrim.PhysShape; @@ -486,7 +467,10 @@ public sealed class BSLinksetCompound : BSLinkset PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); BulletShape newShape = cPrim.PhysShape; cPrim.PhysShape = saveShape; - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, lci.OffsetFromCenterOfMass, lci.OffsetRot); + + OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; + OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, offsetPos, offsetRot); } else { @@ -498,9 +482,10 @@ public sealed class BSLinksetCompound : BSLinkset PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); } - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetFromCenterOfMass, lci.OffsetRot); + OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; + OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); } - lci.Index = memberIndex; memberIndex++; } return false; // 'false' says to move onto the next child in the list @@ -509,6 +494,9 @@ public sealed class BSLinksetCompound : BSLinkset // With all of the linkset packed into the root prim, it has the mass of everyone. LinksetMass = ComputeLinksetMass(); LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); + + // 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 { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index de69fa0..8ebb532 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -136,6 +136,7 @@ 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 @@ -150,15 +151,17 @@ public abstract class BSPhysObject : PhysicsActor public EntityProperties LastEntityProperties { get; set; } public virtual OMV.Vector3 Scale { get; set; } - public abstract bool IsSolid { get; } - public abstract bool IsStatic { get; } - public abstract bool IsSelected { get; } // It can be confusing for an actor to know if it should move or update an object // depeneding on the setting of 'selected', 'physical, ... // This flag is the true test -- if true, the object is being acted on in the physical world public abstract bool IsPhysicallyActive { get; } + // Detailed state of the object. + public abstract bool IsSolid { get; } + public abstract bool IsStatic { get; } + public abstract bool IsSelected { get; } + // Materialness public MaterialAttributes.Material Material { get; private set; } public override void SetMaterial(int material) @@ -185,14 +188,6 @@ public abstract class BSPhysObject : PhysicsActor public abstract OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } - public virtual float TargetSpeed - { - get - { - OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation)); - return characterOrientedVelocity.X; - } - } public abstract OMV.Vector3 RawVelocity { get; set; } public abstract OMV.Vector3 ForceVelocity { get; set; } @@ -202,6 +197,7 @@ public abstract class BSPhysObject : PhysicsActor public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } + // The current velocity forward public virtual float ForwardSpeed { get @@ -210,6 +206,19 @@ public abstract class BSPhysObject : PhysicsActor return characterOrientedVelocity.X; } } + // The forward speed we are trying to achieve (TargetVelocity) + public virtual float TargetVelocitySpeed + { + get + { + OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation)); + return characterOrientedVelocity.X; + } + } + + // The user can optionally set the center of mass. The user's setting will override any + // computed center-of-mass (like in linksets). + public OMV.Vector3? UserSetCenterOfMass { get; set; } #region Collisions diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index cf7aa0f..a76f8b9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -442,7 +442,7 @@ public class BSPrim : BSPhysObject RegisterPreStepAction("BSPrim.setForce", LocalID, delegate(float timeStep) { - if (!IsPhysicallyActive) + if (!IsPhysicallyActive || _force == OMV.Vector3.Zero) { UnRegisterPreStepAction("BSPrim.setForce", LocalID); return; @@ -647,7 +647,7 @@ public class BSPrim : BSPhysObject RegisterPreStepAction("BSPrim.setTorque", LocalID, delegate(float timeStep) { - if (!IsPhysicallyActive) + if (!IsPhysicallyActive || _torque == OMV.Vector3.Zero) { UnRegisterPreStepAction("BSPrim.setTorque", LocalID); return; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index 6401308..b9f2cca 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -44,72 +44,107 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSPrimDisplaced : BSPrim { - // 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is. - // Because Bullet needs the zero coordinate to be the center of mass of the linkset, - // sometimes it is necessary to displace the position the physics engine thinks - // the position is. PositionDisplacement must be added and removed from the - // position as the simulator position is stored and fetched from the physics - // engine. Similar to OrientationDisplacement. + // The purpose of this module is to do any mapping between what the simulator thinks + // the prim position and orientation is and what the physical position/orientation. + // This difference happens because Bullet assumes the center-of-mass is the <0,0,0> + // of the prim/linkset. The simulator tracks the location of the prim/linkset by + // the location of the root prim. So, if center-of-mass is anywhere but the origin + // of the root prim, the physical origin is displaced from the simulator origin. + // + // This routine works by capturing the Force* setting of position/orientation/... and + // adjusting the simulator values (being set) into the physical values. + // The conversion is also done in the opposite direction (physical origin -> simulator origin). + // + // The updateParameter call is also captured and the values from the physics engine + // are converted into simulator origin values before being passed to the base + // class. + public virtual OMV.Vector3 PositionDisplacement { get; set; } public virtual OMV.Quaternion OrientationDisplacement { get; set; } - public virtual OMV.Vector3 CenterOfMassLocation { get; set; } - public virtual OMV.Vector3 GeometricCenterLocation { get; set; } public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) { - CenterOfMassLocation = RawPosition; - GeometricCenterLocation = RawPosition; + ClearDisplacement(); } - public override Vector3 ForcePosition + public void ClearDisplacement() + { + PositionDisplacement = OMV.Vector3.Zero; + OrientationDisplacement = OMV.Quaternion.Identity; + } + + // Set this sets and computes the displacement from the passed prim to the center-of-mass. + // A user set value for center-of-mass overrides whatever might be passed in here. + // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates). + public virtual void SetEffectiveCenterOfMassW(Vector3 centerOfMassDisplacement) { - get + Vector3 comDisp; + if (UserSetCenterOfMass.HasValue) + comDisp = (OMV.Vector3)UserSetCenterOfMass; + else + comDisp = centerOfMassDisplacement; + + if (comDisp == Vector3.Zero) { - return base.ForcePosition; + // If there is no diplacement. Things get reset. + PositionDisplacement = OMV.Vector3.Zero; + OrientationDisplacement = OMV.Quaternion.Identity; } - set + else { - base.ForcePosition = value; - CenterOfMassLocation = RawPosition; - GeometricCenterLocation = RawPosition; + // Remember the displacement from root as well as the origional rotation of the + // new center-of-mass. + PositionDisplacement = comDisp; + OrientationDisplacement = OMV.Quaternion.Identity; } } - public override Quaternion ForceOrientation + public override Vector3 ForcePosition { - get + get { return base.ForcePosition; } + set { - return base.ForceOrientation; + if (PositionDisplacement != OMV.Vector3.Zero) + base.ForcePosition = value - (PositionDisplacement * RawOrientation); + else + base.ForcePosition = value; } + } + + public override Quaternion ForceOrientation + { + get { return base.ForceOrientation; } set { base.ForceOrientation = value; } } + // TODO: decide if this is the right place for these variables. + // Somehow incorporate the optional settability by the user. // Is this used? public override OMV.Vector3 CenterOfMass { - get { return CenterOfMassLocation; } + get { return RawPosition; } } // Is this used? public override OMV.Vector3 GeometricCenter { - get { return GeometricCenterLocation; } + get { return RawPosition; } } - public override void UpdateProperties(EntityProperties entprop) { // Undo any center-of-mass displacement that might have been done. - if (PositionDisplacement != OMV.Vector3.Zero) + if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity) { // Correct for any rotation around the center-of-mass // TODO!!! - entprop.Position -= PositionDisplacement; + entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation); + entprop.Rotation = something; } base.UpdateProperties(entprop); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 9898562..96f9762 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -38,6 +38,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin public class BSPrimLinkable : BSPrimDisplaced { public BSLinkset Linkset { get; set; } + // The index of this child prim. + public int LinksetChildIndex { get; set; } + public BSLinksetInfo LinksetInfo { get; set; } public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, @@ -90,7 +93,6 @@ public class BSPrimLinkable : BSPrimDisplaced DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); return; - base.delink(); } // When simulator changes position, this might be moving a child of the linkset. -- cgit v1.1 From 0194a3d890b95c8a29fcdf130c378e3a8a629c77 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 12 Feb 2013 15:45:44 -0800 Subject: BulletSim: fix density since the simulator/viewer track density in a funny unit that is 100 times real density (default 1000). Fix avatar drifting slowly when stationary flying. Fix for physical prims getting corrected for being under terrain when it was just its geometric center that was below terrain. Add PreUpdatePropertyAction allowing plugable modifiction of phys parameters returned from Bullet. Fix an exception setting GravityMultiplier on initialization. Update DLLs and SOs for good measure (no functional change). --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 13 ++++- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 19 ++++--- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 17 ++++-- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 66 ++++++++++++++++++++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 55 +++++++++++++++++- .../Physics/BulletSPlugin/BSPrimDisplaced.cs | 2 +- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 3 +- 7 files changed, 150 insertions(+), 25 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 04fb05b..8dca7c6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -83,7 +83,7 @@ public sealed class BSCharacter : BSPhysObject _velocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; - Density = BSParam.AvatarDensity; + Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. @@ -231,6 +231,15 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.PE.SetFriction(PhysBody, Friction); } } + else + { + if (Flying) + { + // Flying and not collising and velocity nearly zero. + ZeroMotion(true /* inTaintTime */); + } + } + DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding); } else @@ -869,7 +878,7 @@ public sealed class BSCharacter : BSPhysObject * Math.Min(Size.X, Size.Y) / 2 * Size.Y / 2f // plus the volume of the capsule end caps ); - _mass = Density * _avatarVolume; + _mass = Density * BSParam.DensityScaleFactor * _avatarVolume; } // The physics engine says that properties have updated. Update same and inform diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 1f66b56..4ce58c7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -399,7 +399,7 @@ public sealed class BSLinksetCompound : BSLinkset // Constraint linksets are rebuilt every time. // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! - private bool disableCOM = false; // DEBUG DEBUG: disable until we get this debugged + private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged private void RecomputeLinksetCompound() { try @@ -430,10 +430,10 @@ 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, - -centerDisplacement, - LinksetRoot.RawOrientation, - false /* shouldRecalculateLocalAabb */); + PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0 /* childIndex */, + -centerDisplacement, + OMV.Quaternion.Identity, // LinksetRoot.RawOrientation, + 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); @@ -463,7 +463,6 @@ public sealed class BSLinksetCompound : BSLinkset // Use call to CreateGeomNonSpecial(). BulletShape saveShape = cPrim.PhysShape; cPrim.PhysShape.Clear(); // Don't let the create free the child's shape - // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null); PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); BulletShape newShape = cPrim.PhysShape; cPrim.PhysShape = saveShape; @@ -471,6 +470,8 @@ public sealed class BSLinksetCompound : BSLinkset OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, offsetPos, offsetRot); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", + LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, newShape, offsetPos, offsetRot); } else { @@ -484,7 +485,10 @@ public sealed class BSLinksetCompound : BSLinkset } OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNonNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", + LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); + } memberIndex++; } @@ -503,6 +507,7 @@ public sealed class BSLinksetCompound : BSLinkset Rebuilding = false; } + // See that the Aabb surrounds the new shape PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 3e0b4bc..329169f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -49,6 +49,7 @@ public static class BSParam public static float MaxLinearVelocity { get; private set; } public static float MaxAngularVelocity { get; private set; } public static float MaxAddForceMagnitude { get; private set; } + public static float DensityScaleFactor { get; private set; } public static float LinearDamping { get; private set; } public static float AngularDamping { get; private set; } @@ -281,29 +282,35 @@ public static class BSParam new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)", 0.0001f, (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); }, - (s) => { return (float)MinimumObjectMass; }, + (s) => { return MinimumObjectMass; }, (s,p,l,v) => { MinimumObjectMass = v; } ), new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", 10000.01f, (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); }, - (s) => { return (float)MaximumObjectMass; }, + (s) => { return MaximumObjectMass; }, (s,p,l,v) => { MaximumObjectMass = v; } ), new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object", 1000.0f, (s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); }, - (s) => { return (float)MaxLinearVelocity; }, + (s) => { return MaxLinearVelocity; }, (s,p,l,v) => { MaxLinearVelocity = v; } ), new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object", 1000.0f, (s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); }, - (s) => { return (float)MaxAngularVelocity; }, + (s) => { return MaxAngularVelocity; }, (s,p,l,v) => { MaxAngularVelocity = v; } ), // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)", 20000.0f, (s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); }, - (s) => { return (float)MaxAddForceMagnitude; }, + (s) => { return MaxAddForceMagnitude; }, (s,p,l,v) => { MaxAddForceMagnitude = v; } ), + // Density is passed around as 100kg/m3. This scales that to 1kg/m3. + new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)", + 0.01f, + (s,cf,p,v) => { DensityScaleFactor = cf.GetFloat(p, v); }, + (s) => { return DensityScaleFactor; }, + (s,p,l,v) => { DensityScaleFactor = v; } ), new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", 2200f, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 8ebb532..f953c1e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -99,6 +99,9 @@ public abstract class BSPhysObject : PhysicsActor CollisionAccumulation = 0; ColliderIsMoving = false; CollisionScore = 0; + + // All axis free. + LockedAxis = LockedAxisFree; } // Tell the object to clean up. @@ -172,7 +175,8 @@ public abstract class BSPhysObject : PhysicsActor MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); Friction = matAttrib.friction; Restitution = matAttrib.restitution; - Density = matAttrib.density; + Density = matAttrib.density / BSParam.DensityScaleFactor; + DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density); } // Stop all physical motion. @@ -220,6 +224,9 @@ public abstract class BSPhysObject : PhysicsActor // computed center-of-mass (like in linksets). public OMV.Vector3? UserSetCenterOfMass { get; set; } + public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. + public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free + #region Collisions // Requested number of milliseconds between collision events. Zero means disabled. @@ -416,9 +423,7 @@ public abstract class BSPhysObject : PhysicsActor { // Clean out any existing action UnRegisterPreStepAction(op, id); - RegisteredPrestepActions[identifier] = actn; - PhysicsScene.BeforeStep += actn; } DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); @@ -464,9 +469,7 @@ public abstract class BSPhysObject : PhysicsActor { // Clean out any existing action UnRegisterPostStepAction(op, id); - RegisteredPoststepActions[identifier] = actn; - PhysicsScene.AfterStep += actn; } DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier); @@ -503,7 +506,58 @@ public abstract class BSPhysObject : PhysicsActor } DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID); } - + + // When an update to the physical properties happens, this event is fired to let + // different actors to modify the update before it is passed around + public delegate void PreUpdatePropertyAction(ref EntityProperties entprop); + public event PreUpdatePropertyAction OnPreUpdateProperty; + protected void TriggerPreUpdatePropertyAction(ref EntityProperties entprop) + { + PreUpdatePropertyAction actions = OnPreUpdateProperty; + if (actions != null) + actions(ref entprop); + } + + private Dictionary RegisteredPreUpdatePropertyActions = new Dictionary(); + public void RegisterPreUpdatePropertyAction(string identifier, PreUpdatePropertyAction actn) + { + lock (RegisteredPreUpdatePropertyActions) + { + // Clean out any existing action + UnRegisterPreUpdatePropertyAction(identifier); + RegisteredPreUpdatePropertyActions[identifier] = actn; + OnPreUpdateProperty += actn; + } + DetailLog("{0},BSPhysObject.RegisterPreUpdatePropertyAction,id={1}", LocalID, identifier); + } + public bool UnRegisterPreUpdatePropertyAction(string identifier) + { + bool removed = false; + lock (RegisteredPreUpdatePropertyActions) + { + if (RegisteredPreUpdatePropertyActions.ContainsKey(identifier)) + { + OnPreUpdateProperty -= RegisteredPreUpdatePropertyActions[identifier]; + RegisteredPreUpdatePropertyActions.Remove(identifier); + removed = true; + } + } + DetailLog("{0},BSPhysObject.UnRegisterPreUpdatePropertyAction,id={1},removed={2}", LocalID, identifier, removed); + return removed; + } + public void UnRegisterAllPreUpdatePropertyActions() + { + lock (RegisteredPreUpdatePropertyActions) + { + foreach (KeyValuePair kvp in RegisteredPreUpdatePropertyActions) + { + OnPreUpdateProperty -= kvp.Value; + } + RegisteredPreUpdatePropertyActions.Clear(); + } + DetailLog("{0},BSPhysObject.UnRegisterAllPreUpdatePropertyAction,", LocalID); + } + #endregion // Per Simulation Step actions // High performance detailed logging routine used by the physical objects. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a76f8b9..0323b0d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -242,6 +242,45 @@ public class BSPrim : BSPhysObject public override void LockAngularMotion(OMV.Vector3 axis) { DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); + + OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f); + if (axis.X != 1) locking.X = 0f; + if (axis.Y != 1) locking.Y = 0f; + if (axis.Z != 1) locking.Z = 0f; + LockedAxis = locking; + + /* Not implemented yet + if (LockedAxis != LockedAxisFree) + { + // Something is locked so start the thingy that keeps that axis from changing + RegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion", delegate(ref EntityProperties entprop) + { + if (LockedAxis != LockedAxisFree) + { + if (IsPhysicallyActive) + { + // Bullet can lock axis but it only works for global axis. + // Check if this prim is aligned on global axis and use Bullet's + // system if so. + + ForceOrientation = entprop.Rotation; + ForceRotationalVelocity = entprop.RotationalVelocity; + } + } + else + { + UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion"); + } + + }); + } + else + { + // Everything seems unlocked + UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion"); + } + */ + return; } @@ -311,7 +350,8 @@ public class BSPrim : BSPhysObject float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); OMV.Vector3 upForce = OMV.Vector3.Zero; - if (RawPosition.Z < terrainHeight) + float approxSize = Math.Max(Size.X, Math.Max(Size.Y, Size.Z)); + if ((RawPosition.Z + approxSize / 2f) < terrainHeight) { DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight); float targetHeight = terrainHeight + (Size.Z / 2f); @@ -576,6 +616,8 @@ public class BSPrim : BSPhysObject } } } + // The simulator/viewer keep density as 100kg/m3. + // Remember to use BSParam.DensityScaleFactor to create the physical density. public override float Density { get { return base.Density; } @@ -1569,7 +1611,8 @@ public class BSPrim : BSPhysObject profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f; volume *= (profileEnd - profileBegin); - returnMass = Density * volume; + returnMass = Density * BSParam.DensityScaleFactor * volume; + DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass); returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); @@ -1607,6 +1650,8 @@ public class BSPrim : BSPhysObject // the world that things have changed. public override void UpdateProperties(EntityProperties entprop) { + TriggerPreUpdatePropertyAction(ref entprop); + // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet // TODO: handle physics introduced by Bullet with computed vehicle physics. if (VehicleController.IsActive) @@ -1619,7 +1664,11 @@ public class BSPrim : BSPhysObject // Assign directly to the local variables so the normal set actions do not happen _position = entprop.Position; _orientation = entprop.Rotation; - _velocity = entprop.Velocity; + // _velocity = entprop.Velocity; + // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be + // very sensitive to velocity changes. + if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f)) + _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index b9f2cca..f1c3b5c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -144,7 +144,7 @@ public class BSPrimDisplaced : BSPrim // Correct for any rotation around the center-of-mass // TODO!!! entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation); - entprop.Rotation = something; + // entprop.Rotation = something; } base.UpdateProperties(entprop); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 96f9762..d65d407 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -135,7 +135,8 @@ public class BSPrimLinkable : BSPrimDisplaced // When going from non-physical to physical, this re-enables the constraints that // had been automatically disabled when the mass was set to zero. // For compound based linksets, this enables and disables interactions of the children. - Linkset.Refresh(this); + if (Linkset != null) // null can happen during initialization + Linkset.Refresh(this); } protected override void MakeDynamic(bool makeStatic) -- cgit v1.1 From e549c2922ab2af6c4fbe08c3492918a5d5f4ba61 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 16 Feb 2013 19:28:38 -0800 Subject: BulletSim: fix physical object appearing to slowly float off when they stop moving. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 0323b0d..4bb2a9e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1667,7 +1667,7 @@ public class BSPrim : BSPhysObject // _velocity = entprop.Velocity; // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be // very sensitive to velocity changes. - if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f)) + if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(_velocity, 0.1f)) _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; -- cgit v1.1 From 885b45b112607e3edf12838cf01cfefa6da884ae Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 16 Feb 2013 22:14:38 -0800 Subject: BulletSim: rework parameter setting for different types of values (like vectors or quaternions). --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 6 +- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 674 ++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 54 +- 5 files changed, 348 insertions(+), 394 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 39e62dd..15fa52b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -1133,8 +1133,8 @@ private sealed class BulletConstraintXNA : BulletConstraint p.numberOfSolverIterations = o[0].numberOfSolverIterations; p.linksetImplementation = BSParam.LinksetImplementation; - p.linkConstraintUseFrameOffset = BSParam.LinkConstraintUseFrameOffset; - p.linkConstraintEnableTransMotor = BSParam.LinkConstraintEnableTransMotor; + p.linkConstraintUseFrameOffset = BSParam.NumericBool(BSParam.LinkConstraintUseFrameOffset); + p.linkConstraintEnableTransMotor = BSParam.NumericBool(BSParam.LinkConstraintEnableTransMotor); p.linkConstraintTransMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel; p.linkConstraintTransMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce; p.linkConstraintERP = BSParam.LinkConstraintERP; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 41d353a..e6933f9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -144,7 +144,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin enableAngularVerticalAttraction = true; enableAngularDeflection = false; enableAngularBanking = false; - if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse) + if (BSParam.VehicleDebuggingEnabled) { enableAngularVerticalAttraction = true; enableAngularDeflection = false; @@ -607,8 +607,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. // Maybe compute linear and angular factor and damping from params. PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, BSParam.VehicleAngularDamping); - PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, BSParam.VehicleLinearFactorV); - PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, BSParam.VehicleAngularFactorV); + PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, BSParam.VehicleLinearFactor); + PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, BSParam.VehicleAngularFactor); // Vehicles report collision events so we know when it's on the ground PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index cc814d1..6d252ca 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -223,8 +223,8 @@ public sealed class BSLinksetConstraints : BSLinkset constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); // tweek the constraint to increase stability - constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset)); - constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor), + constrain.UseFrameOffset(BSParam.LinkConstraintUseFrameOffset); + constrain.TranslationalLimitMotor(BSParam.LinkConstraintEnableTransMotor, BSParam.LinkConstraintTransMotorMaxVel, BSParam.LinkConstraintTransMotorMaxForce); constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 329169f..c2a9671 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -37,6 +37,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public static class BSParam { + private static string LogHeader = "[BULLETSIM PARAMETERS]"; + // Level of Detail values kept as float because that's what the Meshmerizer wants public static float MeshLOD { get; private set; } public static float MeshCircularLOD { get; private set; } @@ -80,14 +82,13 @@ public static class BSParam // Physics Engine operation public static float MaxPersistantManifoldPoolSize; public static float MaxCollisionAlgorithmPoolSize; - public static float ShouldDisableContactPoolDynamicAllocation; - public static float ShouldForceUpdateAllAabbs; - public static float ShouldRandomizeSolverOrder; - public static float ShouldSplitSimulationIslands; - public static float ShouldEnableFrictionCaching; + public static bool ShouldDisableContactPoolDynamicAllocation; + public static bool ShouldForceUpdateAllAabbs; + public static bool ShouldRandomizeSolverOrder; + public static bool ShouldSplitSimulationIslands; + public static bool ShouldEnableFrictionCaching; public static float NumberOfSolverIterations; - public static bool UseSingleSidedMeshes { get { return UseSingleSidedMeshesF != ConfigurationParameters.numericFalse; } } - public static float UseSingleSidedMeshesF; + public static bool UseSingleSidedMeshes; public static float GlobalContactBreakingThreshold; // Avatar parameters @@ -112,16 +113,14 @@ public static class BSParam public static float VehicleAngularDamping { get; private set; } public static float VehicleFriction { get; private set; } public static float VehicleRestitution { get; private set; } - public static float VehicleLinearFactor { get; private set; } - public static Vector3 VehicleLinearFactorV { get; private set; } - public static float VehicleAngularFactor { get; private set; } - public static Vector3 VehicleAngularFactorV { get; private set; } + public static Vector3 VehicleLinearFactor { get; private set; } + public static Vector3 VehicleAngularFactor { get; private set; } public static float VehicleGroundGravityFudge { get; private set; } - public static float VehicleDebuggingEnabled { get; private set; } + public static bool VehicleDebuggingEnabled { get; private set; } public static float LinksetImplementation { get; private set; } - public static float LinkConstraintUseFrameOffset { get; private set; } - public static float LinkConstraintEnableTransMotor { get; private set; } + public static bool LinkConstraintUseFrameOffset { get; private set; } + public static bool LinkConstraintEnableTransMotor { get; private set; } public static float LinkConstraintTransMotorMaxVel { get; private set; } public static float LinkConstraintTransMotorMaxForce { get; private set; } public static float LinkConstraintERP { get; private set; } @@ -141,40 +140,106 @@ public static class BSParam public const float MinRestitution = 0f; public const float MaxRestitution = 1f; - // =========================================================================== - public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); - public delegate float ParamGet(BSScene scene); - public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); - public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val); + // ===================================================================================== + // ===================================================================================== - public struct ParameterDefn + // Base parameter definition that gets and sets parameter values via a string + public abstract class ParameterDefnBase { public string name; // string name of the parameter public string desc; // a short description of what the parameter means - public float defaultValue; // default value if not specified anywhere else - public ParamUser userParam; // get the value from the configuration file - public ParamGet getter; // return the current value stored for this parameter - public ParamSet setter; // set the current value for this parameter - public SetOnObject onObject; // set the value on an object in the physical domain - public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) + public ParameterDefnBase(string pName, string pDesc) + { + name = pName; + desc = pDesc; + } + // Set the parameter value to the default + public abstract void AssignDefault(BSScene s); + // Get the value as a string + public abstract string GetValue(BSScene s); + // Set the value to this string value + public abstract void SetValue(BSScene s, string valAsString); + // set the value on a particular object (usually sets in physics engine) + public abstract void SetOnObject(BSScene s, BSPhysObject obj); + public abstract bool HasSetOnObject { get; } + } + + // Specific parameter definition for a parameter of a specific type. + public delegate T PGetValue(BSScene s); + public delegate void PSetValue(BSScene s, T val); + public delegate void PSetOnObject(BSScene scene, BSPhysObject obj); + public sealed class ParameterDefn : ParameterDefnBase + { + T defaultValue; + PSetValue setter; + PGetValue getter; + PSetOnObject objectSet; + public ParameterDefn(string pName, string pDesc, T pDefault, PGetValue pGetter, PSetValue pSetter) + : base(pName, pDesc) + { + defaultValue = pDefault; + setter = pSetter; + getter = pGetter; + objectSet = null; + } + public ParameterDefn(string pName, string pDesc, T pDefault, PGetValue pGetter, PSetValue pSetter, PSetOnObject pObjSetter) + : base(pName, pDesc) + { + defaultValue = pDefault; + setter = pSetter; + getter = pGetter; + objectSet = pObjSetter; + } + public override void AssignDefault(BSScene s) + { + setter(s, defaultValue); + } + public override string GetValue(BSScene s) + { + return String.Format("{0}", getter(s)); + } + public override void SetValue(BSScene s, string valAsString) { - name = n; - desc = d; - defaultValue = v; - userParam = u; - getter = g; - setter = s; - onObject = null; + // Get the generic type of the setter + Type genericType = setter.GetType().GetGenericArguments()[0]; + // Find the 'Parse' method on that type + System.Reflection.MethodInfo parser = null; + try + { + parser = genericType.GetMethod("Parse", new Type[] { typeof(String) } ); + } + catch (Exception e) + { + s.Logger.ErrorFormat("{0} Exception getting parser for type '{1}': {2}", LogHeader, genericType, e); + parser = null; + } + if (parser != null) + { + // Parse the input string + try + { + T setValue = (T)parser.Invoke(genericType, new Object[] { valAsString }); + setter(s, setValue); + // s.Logger.DebugFormat("{0} Parameter {1} = {2}", LogHeader, name, setValue); + } + catch + { + s.Logger.ErrorFormat("{0} Failed parsing parameter value '{1}' as type '{2}'", LogHeader, valAsString, genericType); + } + } + else + { + s.Logger.ErrorFormat("{0} Could not find parameter parser for type '{1}'", LogHeader, genericType); + } + } + public override bool HasSetOnObject + { + get { return objectSet != null; } } - public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o) + public override void SetOnObject(BSScene s, BSPhysObject obj) { - name = n; - desc = d; - defaultValue = v; - userParam = u; - getter = g; - setter = s; - onObject = o; + if (objectSet != null) + objectSet(s, obj); } } @@ -184,462 +249,375 @@ public static class BSParam // location somewhere in the program and make an entry in this table with the // getters and setters. // It is easiest to find an existing definition and copy it. - // Parameter values are floats. Booleans are converted to a floating value. // - // A ParameterDefn() takes the following parameters: + // A ParameterDefn() takes the following parameters: // -- the text name of the parameter. This is used for console input and ini file. // -- a short text description of the parameter. This shows up in the console listing. - // -- a default value (float) - // -- a delegate for fetching the parameter from the ini file. - // Should handle fetching the right type from the ini file and converting it. - // -- a delegate for getting the value as a float - // -- a delegate for setting the value from a float + // -- a default value + // -- a delegate for getting the value + // -- a delegate for setting the value // -- an optional delegate to update the value in the world. Most often used to // push the new value to an in-world object. // // The single letter parameters for the delegates are: // s = BSScene // o = BSPhysObject - // p = string parameter name - // l = localID of referenced object // v = value (float) - // cf = parameter configuration class (for fetching values from ini file) - private static ParameterDefn[] ParameterDefinitions = + private static ParameterDefnBase[] ParameterDefinitions = { - new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, - (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); }, - (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ), - new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, - (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); }, - (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ), - new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, - (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); }, - (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ), - new ParameterDefn("ShouldRemoveZeroWidthTriangles", "If true, remove degenerate triangles from meshes", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldRemoveZeroWidthTriangles = cf.GetBoolean(p, BSParam.BoolNumeric(v)); }, - (s) => { return BSParam.NumericBool(ShouldRemoveZeroWidthTriangles); }, - (s,p,l,v) => { ShouldRemoveZeroWidthTriangles = BSParam.BoolNumeric(v); } ), - - new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", + new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", + true, + (s) => { return ShouldMeshSculptedPrim; }, + (s,v) => { ShouldMeshSculptedPrim = v; } ), + new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", + false, + (s) => { return ShouldForceSimplePrimMeshing; }, + (s,v) => { ShouldForceSimplePrimMeshing = v; } ), + new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects", + true, + (s) => { return ShouldUseHullsForPhysicalObjects; }, + (s,v) => { ShouldUseHullsForPhysicalObjects = v; } ), + new ParameterDefn("ShouldRemoveZeroWidthTriangles", "If true, remove degenerate triangles from meshes", + true, + (s) => { return ShouldRemoveZeroWidthTriangles; }, + (s,v) => { ShouldRemoveZeroWidthTriangles = v; } ), + + new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 32f, - (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); }, (s) => { return MeshLOD; }, - (s,p,l,v) => { MeshLOD = v; } ), - new ParameterDefn("MeshLevelOfDetailCircular", "Level of detail for prims with circular cuts or shapes", + (s,v) => { MeshLOD = v; } ), + new ParameterDefn("MeshLevelOfDetailCircular", "Level of detail for prims with circular cuts or shapes", 32f, - (s,cf,p,v) => { MeshCircularLOD = (float)cf.GetInt(p, (int)v); }, (s) => { return MeshCircularLOD; }, - (s,p,l,v) => { MeshCircularLOD = v; } ), - new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD", + (s,v) => { MeshCircularLOD = v; } ), + new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD", 10f, - (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); }, (s) => { return MeshMegaPrimThreshold; }, - (s,p,l,v) => { MeshMegaPrimThreshold = v; } ), - new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", + (s,v) => { MeshMegaPrimThreshold = v; } ), + new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters", 32f, - (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); }, (s) => { return MeshMegaPrimLOD; }, - (s,p,l,v) => { MeshMegaPrimLOD = v; } ), - new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", + (s,v) => { MeshMegaPrimLOD = v; } ), + new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", 32f, - (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); }, (s) => { return SculptLOD; }, - (s,p,l,v) => { SculptLOD = v; } ), + (s,v) => { SculptLOD = v; } ), - new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", - 10f, - (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxSubSteps; }, - (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ), - new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)", + new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", + 10, + (s) => { return s.m_maxSubSteps; }, + (s,v) => { s.m_maxSubSteps = (int)v; } ), + new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)", 1f / 60f, - (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); }, - (s) => { return (float)s.m_fixedTimeStep; }, - (s,p,l,v) => { s.m_fixedTimeStep = v; } ), - new ParameterDefn("NominalFrameRate", "The base frame rate we claim", + (s) => { return s.m_fixedTimeStep; }, + (s,v) => { s.m_fixedTimeStep = v; } ), + new ParameterDefn("NominalFrameRate", "The base frame rate we claim", 55f, - (s,cf,p,v) => { s.NominalFrameRate = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.NominalFrameRate; }, - (s,p,l,v) => { s.NominalFrameRate = (int)v; } ), - new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", - 2048f, - (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxCollisionsPerFrame; }, - (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ), - new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame", - 8000f, - (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, - (s) => { return (float)s.m_maxUpdatesPerFrame; }, - (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), - - new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)", + (s) => { return s.NominalFrameRate; }, + (s,v) => { s.NominalFrameRate = (int)v; } ), + new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", + 2048, + (s) => { return s.m_maxCollisionsPerFrame; }, + (s,v) => { s.m_maxCollisionsPerFrame = (int)v; } ), + new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame", + 8000, + (s) => { return s.m_maxUpdatesPerFrame; }, + (s,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), + + new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)", 0.0001f, - (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); }, (s) => { return MinimumObjectMass; }, - (s,p,l,v) => { MinimumObjectMass = v; } ), - new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", + (s,v) => { MinimumObjectMass = v; } ), + new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", 10000.01f, - (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); }, (s) => { return MaximumObjectMass; }, - (s,p,l,v) => { MaximumObjectMass = v; } ), - new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object", + (s,v) => { MaximumObjectMass = v; } ), + new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object", 1000.0f, - (s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); }, (s) => { return MaxLinearVelocity; }, - (s,p,l,v) => { MaxLinearVelocity = v; } ), - new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object", + (s,v) => { MaxLinearVelocity = v; } ), + new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object", 1000.0f, - (s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); }, (s) => { return MaxAngularVelocity; }, - (s,p,l,v) => { MaxAngularVelocity = v; } ), + (s,v) => { MaxAngularVelocity = v; } ), // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject - new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)", + new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)", 20000.0f, - (s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); }, (s) => { return MaxAddForceMagnitude; }, - (s,p,l,v) => { MaxAddForceMagnitude = v; } ), + (s,v) => { MaxAddForceMagnitude = v; } ), // Density is passed around as 100kg/m3. This scales that to 1kg/m3. - new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)", + new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)", 0.01f, - (s,cf,p,v) => { DensityScaleFactor = cf.GetFloat(p, v); }, (s) => { return DensityScaleFactor; }, - (s,p,l,v) => { DensityScaleFactor = v; } ), + (s,v) => { DensityScaleFactor = v; } ), - new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", + new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", 2200f, - (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); }, (s) => { return (float)PID_D; }, - (s,p,l,v) => { PID_D = v; } ), - new ParameterDefn("PID_P", "Parameteric factor for motion smoothing", + (s,v) => { PID_D = v; } ), + new ParameterDefn("PID_P", "Parameteric factor for motion smoothing", 900f, - (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); }, (s) => { return (float)PID_P; }, - (s,p,l,v) => { PID_P = v; } ), + (s,v) => { PID_P = v; } ), - new ParameterDefn("DefaultFriction", "Friction factor used on new objects", + new ParameterDefn("DefaultFriction", "Friction factor used on new objects", 0.2f, - (s,cf,p,v) => { DefaultFriction = cf.GetFloat(p, v); }, (s) => { return DefaultFriction; }, - (s,p,l,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ), - new ParameterDefn("DefaultDensity", "Density for new objects" , + (s,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ), + new ParameterDefn("DefaultDensity", "Density for new objects" , 10.000006836f, // Aluminum g/cm3 - (s,cf,p,v) => { DefaultDensity = cf.GetFloat(p, v); }, (s) => { return DefaultDensity; }, - (s,p,l,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ), - new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , + (s,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ), + new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , 0f, - (s,cf,p,v) => { DefaultRestitution = cf.GetFloat(p, v); }, (s) => { return DefaultRestitution; }, - (s,p,l,v) => { DefaultRestitution = v; s.UnmanagedParams[0].defaultRestitution = v; } ), - new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", + (s,v) => { DefaultRestitution = v; s.UnmanagedParams[0].defaultRestitution = v; } ), + new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", 0.04f, - (s,cf,p,v) => { CollisionMargin = cf.GetFloat(p, v); }, (s) => { return CollisionMargin; }, - (s,p,l,v) => { CollisionMargin = v; s.UnmanagedParams[0].collisionMargin = v; } ), - new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", + (s,v) => { CollisionMargin = v; s.UnmanagedParams[0].collisionMargin = v; } ), + new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", -9.80665f, - (s,cf,p,v) => { Gravity = cf.GetFloat(p, v); }, (s) => { return Gravity; }, - (s,p,l,v) => { Gravity = v; s.UnmanagedParams[0].gravity = v; }, - (s,o,v) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,v)); } ), + (s,v) => { Gravity = v; s.UnmanagedParams[0].gravity = v; }, + (s,o) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,Gravity)); } ), - new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", + new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", 0f, - (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); }, (s) => { return LinearDamping; }, - (s,p,l,v) => { LinearDamping = v; }, - (s,o,v) => { s.PE.SetDamping(o.PhysBody, v, AngularDamping); } ), - new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", + (s,v) => { LinearDamping = v; }, + (s,o) => { s.PE.SetDamping(o.PhysBody, LinearDamping, AngularDamping); } ), + new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", 0f, - (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); }, (s) => { return AngularDamping; }, - (s,p,l,v) => { AngularDamping = v; }, - (s,o,v) => { s.PE.SetDamping(o.PhysBody, LinearDamping, v); } ), - new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", + (s,v) => { AngularDamping = v; }, + (s,o) => { s.PE.SetDamping(o.PhysBody, LinearDamping, AngularDamping); } ), + new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", 0.2f, - (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); }, (s) => { return DeactivationTime; }, - (s,p,l,v) => { DeactivationTime = v; }, - (s,o,v) => { s.PE.SetDeactivationTime(o.PhysBody, v); } ), - new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", + (s,v) => { DeactivationTime = v; }, + (s,o) => { s.PE.SetDeactivationTime(o.PhysBody, DeactivationTime); } ), + new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", 0.8f, - (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return LinearSleepingThreshold; }, - (s,p,l,v) => { LinearSleepingThreshold = v;}, - (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), - new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", + (s,v) => { LinearSleepingThreshold = v;}, + (s,o) => { s.PE.SetSleepingThresholds(o.PhysBody, LinearSleepingThreshold, AngularSleepingThreshold); } ), + new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", 1.0f, - (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return AngularSleepingThreshold; }, - (s,p,l,v) => { AngularSleepingThreshold = v;}, - (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), - new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , + (s,v) => { AngularSleepingThreshold = v;}, + (s,o) => { s.PE.SetSleepingThresholds(o.PhysBody, LinearSleepingThreshold, AngularSleepingThreshold); } ), + new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , 0.0f, // set to zero to disable - (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, (s) => { return CcdMotionThreshold; }, - (s,p,l,v) => { CcdMotionThreshold = v;}, - (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ), - new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , + (s,v) => { CcdMotionThreshold = v;}, + (s,o) => { s.PE.SetCcdMotionThreshold(o.PhysBody, CcdMotionThreshold); } ), + new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , 0.2f, - (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); }, (s) => { return CcdSweptSphereRadius; }, - (s,p,l,v) => { CcdSweptSphereRadius = v;}, - (s,o,v) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, v); } ), - new ParameterDefn("ContactProcessingThreshold", "Distance above which contacts can be discarded (0 means no discard)" , + (s,v) => { CcdSweptSphereRadius = v;}, + (s,o) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, CcdSweptSphereRadius); } ), + new ParameterDefn("ContactProcessingThreshold", "Distance above which contacts can be discarded (0 means no discard)" , 0.0f, - (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return ContactProcessingThreshold; }, - (s,p,l,v) => { ContactProcessingThreshold = v;}, - (s,o,v) => { s.PE.SetContactProcessingThreshold(o.PhysBody, v); } ), + (s,v) => { ContactProcessingThreshold = v;}, + (s,o) => { s.PE.SetContactProcessingThreshold(o.PhysBody, ContactProcessingThreshold); } ), - new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", + new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", (float)BSTerrainPhys.TerrainImplementation.Mesh, - (s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); }, (s) => { return TerrainImplementation; }, - (s,p,l,v) => { TerrainImplementation = v; } ), - new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , + (s,v) => { TerrainImplementation = v; } ), + new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , 0.3f, - (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); }, (s) => { return TerrainFriction; }, - (s,p,l,v) => { TerrainFriction = v; /* TODO: set on real terrain */} ), - new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , + (s,v) => { TerrainFriction = v; /* TODO: set on real terrain */} ), + new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , 0.8f, - (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); }, (s) => { return TerrainHitFraction; }, - (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ), - new ParameterDefn("TerrainRestitution", "Bouncyness" , + (s,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ), + new ParameterDefn("TerrainRestitution", "Bouncyness" , 0f, - (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); }, (s) => { return TerrainRestitution; }, - (s,p,l,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ), - new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , + (s,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ), + new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , 0.08f, - (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); }, (s) => { return TerrainCollisionMargin; }, - (s,p,l,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ), + (s,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ), - new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", + new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", 0.2f, - (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); }, (s) => { return AvatarFriction; }, - (s,p,l,v) => { AvatarFriction = v; } ), - new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", + (s,v) => { AvatarFriction = v; } ), + new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", 0.95f, - (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); }, (s) => { return AvatarStandingFriction; }, - (s,p,l,v) => { AvatarStandingFriction = v; } ), - new ParameterDefn("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run", + (s,v) => { AvatarStandingFriction = v; } ), + new ParameterDefn("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run", 1.3f, - (s,cf,p,v) => { AvatarAlwaysRunFactor = cf.GetFloat(p, v); }, (s) => { return AvatarAlwaysRunFactor; }, - (s,p,l,v) => { AvatarAlwaysRunFactor = v; } ), - new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", + (s,v) => { AvatarAlwaysRunFactor = v; } ), + new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", 3.5f, - (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); }, (s) => { return AvatarDensity; }, - (s,p,l,v) => { AvatarDensity = v; } ), - new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", + (s,v) => { AvatarDensity = v; } ), + new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", 0f, - (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); }, (s) => { return AvatarRestitution; }, - (s,p,l,v) => { AvatarRestitution = v; } ), - new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", + (s,v) => { AvatarRestitution = v; } ), + new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", 0.6f, - (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); }, (s) => { return AvatarCapsuleWidth; }, - (s,p,l,v) => { AvatarCapsuleWidth = v; } ), - new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", + (s,v) => { AvatarCapsuleWidth = v; } ), + new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", 0.45f, - (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); }, (s) => { return AvatarCapsuleDepth; }, - (s,p,l,v) => { AvatarCapsuleDepth = v; } ), - new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", + (s,v) => { AvatarCapsuleDepth = v; } ), + new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", 1.5f, - (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); }, (s) => { return AvatarCapsuleHeight; }, - (s,p,l,v) => { AvatarCapsuleHeight = v; } ), - new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", + (s,v) => { AvatarCapsuleHeight = v; } ), + new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 0.1f, - (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return AvatarContactProcessingThreshold; }, - (s,p,l,v) => { AvatarContactProcessingThreshold = v; } ), - new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction", + (s,v) => { AvatarContactProcessingThreshold = v; } ), + new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction", 0.3f, - (s,cf,p,v) => { AvatarStepHeight = cf.GetFloat(p, v); }, (s) => { return AvatarStepHeight; }, - (s,p,l,v) => { AvatarStepHeight = v; } ), - new ParameterDefn("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)", + (s,v) => { AvatarStepHeight = v; } ), + new ParameterDefn("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)", 0.6f, - (s,cf,p,v) => { AvatarStepApproachFactor = cf.GetFloat(p, v); }, (s) => { return AvatarStepApproachFactor; }, - (s,p,l,v) => { AvatarStepApproachFactor = v; } ), - new ParameterDefn("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step", + (s,v) => { AvatarStepApproachFactor = v; } ), + new ParameterDefn("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step", 2.0f, - (s,cf,p,v) => { AvatarStepForceFactor = cf.GetFloat(p, v); }, (s) => { return AvatarStepForceFactor; }, - (s,p,l,v) => { AvatarStepForceFactor = v; } ), + (s,v) => { AvatarStepForceFactor = v; } ), - new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle", + new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle", 1000.0f, - (s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); }, (s) => { return (float)VehicleMaxLinearVelocity; }, - (s,p,l,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySq = v * v; } ), - new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle", + (s,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySq = v * v; } ), + new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle", 12.0f, - (s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); }, (s) => { return (float)VehicleMaxAngularVelocity; }, - (s,p,l,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ), - new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", + (s,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ), + new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", 0.0f, - (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, (s) => { return VehicleAngularDamping; }, - (s,p,l,v) => { VehicleAngularDamping = v; } ), - new ParameterDefn("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (0.0 - 1.0)", - 1.0f, - (s,cf,p,v) => { VehicleLinearFactor = cf.GetFloat(p, v); }, + (s,v) => { VehicleAngularDamping = v; } ), + new ParameterDefn("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (<0,0,0> to <1,1,1>)", + new Vector3(1f, 1f, 1f), (s) => { return VehicleLinearFactor; }, - (s,p,l,v) => { VehicleLinearFactor = v; VehicleLinearFactorV = new Vector3(v, v, v); } ), - new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (0.0 - 1.0)", - 1.0f, - (s,cf,p,v) => { VehicleAngularFactor = cf.GetFloat(p, v); }, + (s,v) => { VehicleLinearFactor = v; } ), + new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (<0,0,0> to <1,1,1>)", + new Vector3(1f, 1f, 1f), (s) => { return VehicleAngularFactor; }, - (s,p,l,v) => { VehicleAngularFactor = v; VehicleAngularFactorV = new Vector3(v, v, v); } ), - new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)", + (s,v) => { VehicleAngularFactor = v; } ), + new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)", 0.0f, - (s,cf,p,v) => { VehicleFriction = cf.GetFloat(p, v); }, (s) => { return VehicleFriction; }, - (s,p,l,v) => { VehicleFriction = v; } ), - new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", + (s,v) => { VehicleFriction = v; } ), + new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", 0.0f, - (s,cf,p,v) => { VehicleRestitution = cf.GetFloat(p, v); }, (s) => { return VehicleRestitution; }, - (s,p,l,v) => { VehicleRestitution = v; } ), - new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", + (s,v) => { VehicleRestitution = v; } ), + new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", 0.2f, - (s,cf,p,v) => { VehicleGroundGravityFudge = cf.GetFloat(p, v); }, (s) => { return VehicleGroundGravityFudge; }, - (s,p,l,v) => { VehicleGroundGravityFudge = v; } ), - new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { VehicleDebuggingEnabled = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { VehicleGroundGravityFudge = v; } ), + new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging", + false, (s) => { return VehicleDebuggingEnabled; }, - (s,p,l,v) => { VehicleDebuggingEnabled = v; } ), + (s,v) => { VehicleDebuggingEnabled = v; } ), - new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", + new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 0f, - (s,cf,p,v) => { MaxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, (s) => { return MaxPersistantManifoldPoolSize; }, - (s,p,l,v) => { MaxPersistantManifoldPoolSize = v; s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ), - new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", + (s,v) => { MaxPersistantManifoldPoolSize = v; s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ), + new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", 0f, - (s,cf,p,v) => { MaxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, (s) => { return MaxCollisionAlgorithmPoolSize; }, - (s,p,l,v) => { MaxCollisionAlgorithmPoolSize = v; s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ), - new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { ShouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { MaxCollisionAlgorithmPoolSize = v; s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ), + new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", + false, (s) => { return ShouldDisableContactPoolDynamicAllocation; }, - (s,p,l,v) => { ShouldDisableContactPoolDynamicAllocation = v; s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ), - new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { ShouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { ShouldDisableContactPoolDynamicAllocation = v; + s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = NumericBool(v); } ), + new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", + false, (s) => { return ShouldForceUpdateAllAabbs; }, - (s,p,l,v) => { ShouldForceUpdateAllAabbs = v; s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ), - new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { ShouldForceUpdateAllAabbs = v; s.UnmanagedParams[0].shouldForceUpdateAllAabbs = NumericBool(v); } ), + new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", + true, (s) => { return ShouldRandomizeSolverOrder; }, - (s,p,l,v) => { ShouldRandomizeSolverOrder = v; s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ), - new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { ShouldRandomizeSolverOrder = v; s.UnmanagedParams[0].shouldRandomizeSolverOrder = NumericBool(v); } ), + new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", + true, (s) => { return ShouldSplitSimulationIslands; }, - (s,p,l,v) => { ShouldSplitSimulationIslands = v; s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ), - new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { ShouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { ShouldSplitSimulationIslands = v; s.UnmanagedParams[0].shouldSplitSimulationIslands = NumericBool(v); } ), + new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", + true, (s) => { return ShouldEnableFrictionCaching; }, - (s,p,l,v) => { ShouldEnableFrictionCaching = v; s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ), - new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", + (s,v) => { ShouldEnableFrictionCaching = v; s.UnmanagedParams[0].shouldEnableFrictionCaching = NumericBool(v); } ), + new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", 0f, // zero says use Bullet default - (s,cf,p,v) => { NumberOfSolverIterations = cf.GetFloat(p, v); }, (s) => { return NumberOfSolverIterations; }, - (s,p,l,v) => { NumberOfSolverIterations = v; s.UnmanagedParams[0].numberOfSolverIterations = v; } ), - new ParameterDefn("UseSingleSidedMeshes", "Whether to compute collisions based on single sided meshes.", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { UseSingleSidedMeshesF = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, - (s) => { return UseSingleSidedMeshesF; }, - (s,p,l,v) => { UseSingleSidedMeshesF = v; s.UnmanagedParams[0].useSingleSidedMeshes = v; } ), - new ParameterDefn("GlobalContactBreakingThreshold", "Amount of shape radius before breaking a collision contact (0 says Bullet default (0.2))", + (s,v) => { NumberOfSolverIterations = v; s.UnmanagedParams[0].numberOfSolverIterations = v; } ), + new ParameterDefn("UseSingleSidedMeshes", "Whether to compute collisions based on single sided meshes.", + true, + (s) => { return UseSingleSidedMeshes; }, + (s,v) => { UseSingleSidedMeshes = v; s.UnmanagedParams[0].useSingleSidedMeshes = NumericBool(v); } ), + new ParameterDefn("GlobalContactBreakingThreshold", "Amount of shape radius before breaking a collision contact (0 says Bullet default (0.2))", 0f, - (s,cf,p,v) => { GlobalContactBreakingThreshold = cf.GetFloat(p, v); }, (s) => { return GlobalContactBreakingThreshold; }, - (s,p,l,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ), + (s,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ), - new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", + new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", (float)BSLinkset.LinksetImplementation.Compound, - (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); }, (s) => { return LinksetImplementation; }, - (s,p,l,v) => { LinksetImplementation = v; } ), - new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", - ConfigurationParameters.numericFalse, - (s,cf,p,v) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { LinksetImplementation = v; } ), + new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", + false, (s) => { return LinkConstraintUseFrameOffset; }, - (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ), - new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", - ConfigurationParameters.numericTrue, - (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, + (s,v) => { LinkConstraintUseFrameOffset = v; } ), + new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", + true, (s) => { return LinkConstraintEnableTransMotor; }, - (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ), - new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints", + (s,v) => { LinkConstraintEnableTransMotor = v; } ), + new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints", 5.0f, - (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); }, (s) => { return LinkConstraintTransMotorMaxVel; }, - (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ), - new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints", + (s,v) => { LinkConstraintTransMotorMaxVel = v; } ), + new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints", 0.1f, - (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, (s) => { return LinkConstraintTransMotorMaxForce; }, - (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ), - new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", + (s,v) => { LinkConstraintTransMotorMaxForce = v; } ), + new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", 0.1f, - (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); }, (s) => { return LinkConstraintCFM; }, - (s,p,l,v) => { LinkConstraintCFM = v; } ), - new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", + (s,v) => { LinkConstraintCFM = v; } ), + new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", 0.1f, - (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); }, (s) => { return LinkConstraintERP; }, - (s,p,l,v) => { LinkConstraintERP = v; } ), - new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", + (s,v) => { LinkConstraintERP = v; } ), + new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", 40, - (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); }, (s) => { return LinkConstraintSolverIterations; }, - (s,p,l,v) => { LinkConstraintSolverIterations = v; } ), + (s,v) => { LinkConstraintSolverIterations = v; } ), - new ParameterDefn("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)", - 0f, - (s,cf,p,v) => { s.PhysicsMetricDumpFrames = cf.GetFloat(p, (int)v); }, - (s) => { return (float)s.PhysicsMetricDumpFrames; }, - (s,p,l,v) => { s.PhysicsMetricDumpFrames = (int)v; } ), - new ParameterDefn("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool", + new ParameterDefn("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)", + 0, + (s) => { return s.PhysicsMetricDumpFrames; }, + (s,v) => { s.PhysicsMetricDumpFrames = v; } ), + new ParameterDefn("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool", 0f, - (s,cf,p,v) => { ; }, (s) => { return 0f; }, - (s,p,l,v) => { BSParam.ResetBroadphasePoolTainted(s, v); } ), - new ParameterDefn("ResetConstraintSolver", "Setting this is any value resets the constraint solver", + (s,v) => { BSParam.ResetBroadphasePoolTainted(s, v); } ), + new ParameterDefn("ResetConstraintSolver", "Setting this is any value resets the constraint solver", 0f, - (s,cf,p,v) => { ; }, (s) => { return 0f; }, - (s,p,l,v) => { BSParam.ResetConstraintSolverTainted(s, v); } ), + (s,v) => { BSParam.ResetConstraintSolverTainted(s, v); } ), }; // Convert a boolean to our numeric true and false values @@ -658,13 +636,13 @@ public static class BSParam // ParameterDefn structure. // Case does not matter as names are compared after converting to lower case. // Returns 'false' if the parameter is not found. - internal static bool TryGetParameter(string paramName, out ParameterDefn defn) + internal static bool TryGetParameter(string paramName, out ParameterDefnBase defn) { bool ret = false; - ParameterDefn foundDefn = new ParameterDefn(); + ParameterDefnBase foundDefn = null; string pName = paramName.ToLower(); - foreach (ParameterDefn parm in ParameterDefinitions) + foreach (ParameterDefnBase parm in ParameterDefinitions) { if (pName == parm.name.ToLower()) { @@ -680,18 +658,18 @@ public static class BSParam // Pass through the settable parameters and set the default values internal static void SetParameterDefaultValues(BSScene physicsScene) { - foreach (ParameterDefn parm in ParameterDefinitions) + foreach (ParameterDefnBase parm in ParameterDefinitions) { - parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue); + parm.AssignDefault(physicsScene); } } // Get user set values out of the ini file. internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg) { - foreach (ParameterDefn parm in ParameterDefinitions) + foreach (ParameterDefnBase parm in ParameterDefinitions) { - parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue); + parm.SetValue(physicsScene, cfg.GetString(parm.name, parm.GetValue(physicsScene))); } } @@ -706,11 +684,11 @@ public static class BSParam List entries = new List(); for (int ii = 0; ii < ParameterDefinitions.Length; ii++) { - ParameterDefn pd = ParameterDefinitions[ii]; + ParameterDefnBase pd = ParameterDefinitions[ii]; entries.Add(new PhysParameterEntry(pd.name, pd.desc)); } - // make the list alphabetical for estetic reasons + // make the list alphabetical for ease of finding anything entries.Sort((ppe1, ppe2) => { return ppe1.name.CompareTo(ppe2.name); }); SettableParameters = entries.ToArray(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 05722b8..e6aefd5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -161,7 +161,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters private int m_physicsLoggingFileMinutes; private bool m_physicsLoggingDoFlush; private bool m_physicsPhysicalDumpEnabled; - public float PhysicsMetricDumpFrames { get; set; } + public int PhysicsMetricDumpFrames { get; set; } // 'true' of the vehicle code is to log lots of details public bool VehicleLoggingEnabled { get; private set; } public bool VehiclePhysicalLoggingEnabled { get; private set; } @@ -542,7 +542,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters collidersCount = 0; } - if ((m_simulationStep % PhysicsMetricDumpFrames) == 0) + if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0)) PE.DumpPhysicsStatistics(World); // Get a value for 'now' so all the collision and update routines don't have to get their own. @@ -880,38 +880,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { bool ret = false; - float valf = 0f; - if (val.ToLower() == "true") - { - valf = PhysParameterEntry.NUMERIC_TRUE; - } - else - { - if (val.ToLower() == "false") - { - valf = PhysParameterEntry.NUMERIC_FALSE; - } - else - { - try - { - valf = float.Parse(val); - } - catch - { - valf = 0f; - } - } - } - - BSParam.ParameterDefn theParam; + BSParam.ParameterDefnBase theParam; if (BSParam.TryGetParameter(parm, out theParam)) { // Set the value in the C# code - theParam.setter(this, parm, localID, valf); + theParam.SetValue(this, val); // Optionally set the parameter in the unmanaged code - if (theParam.onObject != null) + if (theParam.HasSetOnObject) { // update all the localIDs specified // If the local ID is APPLY_TO_NONE, just change the default value @@ -923,16 +899,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters case PhysParameterEntry.APPLY_TO_NONE: // This will cause a call into the physical world if some operation is specified (SetOnObject). objectIDs.Add(TERRAIN_ID); - TaintedUpdateParameter(parm, objectIDs, valf); + TaintedUpdateParameter(parm, objectIDs, val); break; case PhysParameterEntry.APPLY_TO_ALL: lock (PhysObjects) objectIDs = new List(PhysObjects.Keys); - TaintedUpdateParameter(parm, objectIDs, valf); + TaintedUpdateParameter(parm, objectIDs, val); break; default: // setting only one localID objectIDs.Add(localID); - TaintedUpdateParameter(parm, objectIDs, valf); + TaintedUpdateParameter(parm, objectIDs, val); break; } } @@ -943,22 +919,22 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } // schedule the actual updating of the paramter to when the phys engine is not busy - private void TaintedUpdateParameter(string parm, List lIDs, float val) + private void TaintedUpdateParameter(string parm, List lIDs, string val) { - float xval = val; + string xval = val; List xlIDs = lIDs; string xparm = parm; TaintedObject("BSScene.UpdateParameterSet", delegate() { - BSParam.ParameterDefn thisParam; + BSParam.ParameterDefnBase thisParam; if (BSParam.TryGetParameter(xparm, out thisParam)) { - if (thisParam.onObject != null) + if (thisParam.HasSetOnObject) { foreach (uint lID in xlIDs) { BSPhysObject theObject = null; if (PhysObjects.TryGetValue(lID, out theObject)) - thisParam.onObject(this, theObject, xval); + thisParam.SetOnObject(this, theObject); } } } @@ -971,10 +947,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { string val = String.Empty; bool ret = false; - BSParam.ParameterDefn theParam; + BSParam.ParameterDefnBase theParam; if (BSParam.TryGetParameter(parm, out theParam)) { - val = theParam.getter(this).ToString(); + val = theParam.GetValue(this); ret = true; } value = val; -- cgit v1.1 From 1d7276235ace0ed6b7701efa36a7fd7f1b552bab Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 17 Feb 2013 20:07:04 -0800 Subject: BulletSim: add calls for creating all the different Bullet constraint types. Updated the DLLs and SOs and code for BulletXNA to create the types. All the detailed control calls are not all in place yet. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 102 +++++++++ OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 227 +++++++++++++++++---- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 27 +++ .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 16 ++ .../BulletSPlugin/BSConstraintCollection.cs | 13 +- 5 files changed, 338 insertions(+), 47 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index ae54499..3a27d2c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -438,6 +438,28 @@ public override BulletConstraint Create6DofConstraintToPoint(BulletWorld world, joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } +public override BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1, + Vector3 frameInBloc, Quaternion frameInBrot, + bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.Create6DofConstraintFixed2(worldu.ptr, bodyu1.ptr, + frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies)); +} + +public override BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.Create6DofSpringConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, + frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); +} + public override BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 pivotinA, Vector3 pivotinB, Vector3 axisInA, Vector3 axisInB, @@ -450,6 +472,52 @@ public override BulletConstraint CreateHingeConstraint(BulletWorld world, Bullet pivotinA, pivotinB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); } +public override BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.CreateSliderConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, + frame2loc, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); +} + +public override BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + bool disableCollisionsBetweenLinkedBodies) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.CreateConeTwistConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, frame1loc, frame1rot, + frame2loc, frame2rot, disableCollisionsBetweenLinkedBodies)); +} + +public override BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 axisInA, Vector3 axisInB, + float ratio, bool disableCollisionsBetweenLinkedBodies) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.CreateGearConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, axisInA, axisInB, + ratio, disableCollisionsBetweenLinkedBodies)); +} + +public override BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 pivotInA, Vector3 pivotInB, + bool disableCollisionsBetweenLinkedBodies) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu1 = obj1 as BulletBodyUnman; + BulletBodyUnman bodyu2 = obj2 as BulletBodyUnman; + return new BulletConstraintUnman(BSAPICPP.CreatePoint2PointConstraint2(worldu.ptr, bodyu1.ptr, bodyu2.ptr, pivotInA, pivotInB, + disableCollisionsBetweenLinkedBodies)); +} + public override void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; @@ -1426,12 +1494,46 @@ public static extern IntPtr Create6DofConstraintToPoint2(IntPtr world, IntPtr ob bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr Create6DofConstraintFixed2(IntPtr world, IntPtr obj1, + Vector3 frameInBloc, Quaternion frameInBrot, + bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr Create6DofSpringConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateHingeConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, Vector3 pivotinA, Vector3 pivotinB, Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateSliderConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 frameInAloc, Quaternion frameInArot, + Vector3 frameInBloc, Quaternion frameInBrot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateConeTwistConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 frameInAloc, Quaternion frameInArot, + Vector3 frameInBloc, Quaternion frameInBrot, + bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateGearConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 axisInA, Vector3 axisInB, + float ratio, bool disableCollisionsBetweenLinkedBodies); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreatePoint2PointConstraint2(IntPtr world, IntPtr obj1, IntPtr obj2, + Vector3 pivotInA, Vector3 pivotInB, + bool disableCollisionsBetweenLinkedBodies); + + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetConstraintEnable2(IntPtr constrain, float numericTrueFalse); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 15fa52b..6fc10e9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -559,8 +559,9 @@ private sealed class BulletConstraintXNA : BulletConstraint } - //BulletSimAPI.Create6DofConstraint(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); - public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, + Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, + bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) { DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; @@ -584,7 +585,24 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletConstraintXNA(consttr); } - + public override BulletConstraint Create6DofConstraintFixed(BulletWorld pWorld, BulletBody pBody1, + Vector3 pframe1, Quaternion pframe1rot, + bool pUseLinearReferenceFrameB, bool pdisableCollisionsBetweenLinkedBodies) + { + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; + IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); + IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); + IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); + frame1._origin = frame1v; + + Generic6DofConstraint consttr = new Generic6DofConstraint(body1, ref frame1, pUseLinearReferenceFrameB); + consttr.CalculateTransforms(); + world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies); + + return new BulletConstraintXNA(consttr); + } + /// /// /// @@ -1443,129 +1461,130 @@ private sealed class BulletConstraintXNA : BulletConstraint public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) { + BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; switch (pin) { case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_BOX; + ret = BSPhysicsShapeType.SHAPE_BOX; break; case BroadphaseNativeTypes.TRIANGLE_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.TETRAHEDRAL_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_MESH; + ret = BSPhysicsShapeType.SHAPE_MESH; break; case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_HULL; + ret = BSPhysicsShapeType.SHAPE_HULL; break; case BroadphaseNativeTypes.CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.CUSTOM_POLYHEDRAL_SHAPE_TYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; //implicit convex shapes case BroadphaseNativeTypes.IMPLICIT_CONVEX_SHAPES_START_HERE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_SPHERE; + ret = BSPhysicsShapeType.SHAPE_SPHERE; break; case BroadphaseNativeTypes.MULTI_SPHERE_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_CAPSULE; + ret = BSPhysicsShapeType.SHAPE_CAPSULE; break; case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_CONE; + ret = BSPhysicsShapeType.SHAPE_CONE; break; case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_CYLINDER; + ret = BSPhysicsShapeType.SHAPE_CYLINDER; break; case BroadphaseNativeTypes.UNIFORM_SCALING_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.MINKOWSKI_SUM_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.BOX_2D_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.CONVEX_2D_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.CUSTOM_CONVEX_SHAPE_TYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; //concave shape case BroadphaseNativeTypes.CONCAVE_SHAPES_START_HERE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; //keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy! case BroadphaseNativeTypes.TRIANGLE_MESH_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_MESH; + ret = BSPhysicsShapeType.SHAPE_MESH; break; case BroadphaseNativeTypes.SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_MESH; + ret = BSPhysicsShapeType.SHAPE_MESH; break; ///used for demo integration FAST/Swift collision library and Bullet case BroadphaseNativeTypes.FAST_CONCAVE_MESH_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_MESH; + ret = BSPhysicsShapeType.SHAPE_MESH; break; //terrain case BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_HEIGHTMAP; + ret = BSPhysicsShapeType.SHAPE_HEIGHTMAP; break; ///Used for GIMPACT Trimesh integration case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_MESH; + ret = BSPhysicsShapeType.SHAPE_MESH; break; ///Multimaterial mesh case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_MESH; + ret = BSPhysicsShapeType.SHAPE_MESH; break; case BroadphaseNativeTypes.EMPTY_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_GROUNDPLANE; + ret = BSPhysicsShapeType.SHAPE_GROUNDPLANE; break; case BroadphaseNativeTypes.CUSTOM_CONCAVE_SHAPE_TYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.CONCAVE_SHAPES_END_HERE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.COMPOUND_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_COMPOUND; + ret = BSPhysicsShapeType.SHAPE_COMPOUND; break; case BroadphaseNativeTypes.SOFTBODY_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_MESH; + ret = BSPhysicsShapeType.SHAPE_MESH; break; case BroadphaseNativeTypes.HFFLUID_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.INVALID_SHAPE_PROXYTYPE: - return BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; } - return BSPhysicsShapeType.SHAPE_UNKNOWN; + return ret; } public override void RemoveChildShapeFromCompoundShape(BulletShape cShape, BulletShape removeShape) { /* TODO */ } @@ -1579,7 +1598,39 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); } - public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, + Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, + bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + + { + Generic6DofSpringConstraint constrain = null; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody; + RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody; + if (body1 != null && body2 != null) + { + IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); + IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); + IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); + frame1._origin = frame1v; + + IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); + IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); + IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); + frame2._origin = frame1v; + + constrain = new Generic6DofSpringConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA); + world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); + + constrain.CalculateTransforms(); + } + + return new BulletConstraintXNA(constrain); + } + + public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, + Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, + bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) { HingeConstraint constrain = null; DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; @@ -1591,6 +1642,100 @@ private sealed class BulletConstraintXNA : BulletConstraint IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); + constrain = new HingeConstraint(rb1, rb2, ref pivotInA, ref pivotInB, ref axisInA, ref axisInB, puseLinearReferenceFrameA); + world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); + } + return new BulletConstraintXNA(constrain); + } + + public override BulletConstraint CreateSliderConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, + Vector3 pframe1, Quaternion pframe1rot, + Vector3 pframe2, Quaternion pframe2rot, + bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) + { + SliderConstraint constrain = null; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; + RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; + if (rb1 != null && rb2 != null) + { + IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); + IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); + IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); + frame1._origin = frame1v; + + IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); + IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); + IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); + frame2._origin = frame1v; + + constrain = new SliderConstraint(rb1, rb2, ref frame1, ref frame2, puseLinearReferenceFrameA); + world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); + } + return new BulletConstraintXNA(constrain); + } + + public override BulletConstraint CreateConeTwistConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, + Vector3 pframe1, Quaternion pframe1rot, + Vector3 pframe2, Quaternion pframe2rot, + bool pdisableCollisionsBetweenLinkedBodies) + { + ConeTwistConstraint constrain = null; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; + RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; + if (rb1 != null && rb2 != null) + { + IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z); + IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W); + IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot); + frame1._origin = frame1v; + + IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); + IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); + IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); + frame2._origin = frame1v; + + constrain = new ConeTwistConstraint(rb1, rb2, ref frame1, ref frame2); + world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); + } + return new BulletConstraintXNA(constrain); + } + + public override BulletConstraint CreateGearConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, + Vector3 paxisInA, Vector3 paxisInB, + float pratio, bool pdisableCollisionsBetweenLinkedBodies) + { + Generic6DofConstraint constrain = null; + /* BulletXNA does not have a gear constraint + GearConstraint constrain = null; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; + RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; + if (rb1 != null && rb2 != null) + { + IndexedVector3 axis1 = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z); + IndexedVector3 axis2 = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z); + constrain = new GearConstraint(rb1, rb2, ref axis1, ref axis2, pratio); + world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); + } + */ + return new BulletConstraintXNA(constrain); + } + + public override BulletConstraint CreatePoint2PointConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, + Vector3 ppivotInA, Vector3 ppivotInB, + bool pdisableCollisionsBetweenLinkedBodies) + { + Point2PointConstraint constrain = null; + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody; + RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody; + if (rb1 != null && rb2 != null) + { + IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z); + IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z); + constrain = new Point2PointConstraint(rb1, rb2, ref pivotInA, ref pivotInB); world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies); } return new BulletConstraintXNA(constrain); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 3f83ef0..5765b0d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -365,11 +365,38 @@ public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); +public abstract BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1, + Vector3 frameInBloc, Quaternion frameInBrot, + bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies); + +public abstract BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + public abstract BulletConstraint CreateHingeConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 pivotinA, Vector3 pivotinB, Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); +public abstract BulletConstraint CreateSliderConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frameInAloc, Quaternion frameInArot, + Vector3 frameInBloc, Quaternion frameInBrot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); + +public abstract BulletConstraint CreateConeTwistConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frameInAloc, Quaternion frameInArot, + Vector3 frameInBloc, Quaternion frameInBrot, + bool disableCollisionsBetweenLinkedBodies); + +public abstract BulletConstraint CreateGearConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 axisInA, Vector3 axisInB, + float ratio, bool disableCollisionsBetweenLinkedBodies); + +public abstract BulletConstraint CreatePoint2PointConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 pivotInA, Vector3 pivotInB, + bool disableCollisionsBetweenLinkedBodies); + public abstract void SetConstraintEnable(BulletConstraint constrain, float numericTrueFalse); public abstract void SetConstraintNumSolverIterations(BulletConstraint constrain, float iterations); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index ecb1b32..476a0e5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -57,6 +57,7 @@ public sealed class BSConstraint6Dof : BSConstraint obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); } + // 6 Dof constraint based on a midpoint between the two constrained bodies public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) @@ -94,6 +95,21 @@ public sealed class BSConstraint6Dof : BSConstraint } } + // A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object + public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + : base(world) + { + m_body1 = obj1; + m_body2 = obj1; // Look out for confusion down the road + m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1, + frameInBloc, frameInBrot, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + m_enabled = true; + world.physicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", + BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.AddrString); + } + public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) { bool ret = false; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index 2aeff25..5c8d94e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -117,8 +117,7 @@ public sealed class BSConstraintCollection : IDisposable if (this.TryGetConstraint(body1, body2, out constrain)) { // remove the constraint from our collection - RemoveAndDestroyConstraint(constrain); - ret = true; + ret = RemoveAndDestroyConstraint(constrain); } } @@ -126,17 +125,19 @@ public sealed class BSConstraintCollection : IDisposable } // The constraint MUST exist in the collection + // Could be called if the constraint was previously removed. + // Return 'true' if the constraint was actually removed and disposed. public bool RemoveAndDestroyConstraint(BSConstraint constrain) { + bool removed = false; lock (m_constraints) { // remove the constraint from our collection - m_constraints.Remove(constrain); + removed = m_constraints.Remove(constrain); } - // tell the engine that all its structures need to be freed + // Dispose() is safe to call multiple times constrain.Dispose(); - // we destroyed something - return true; + return removed; } // Remove all constraints that reference the passed body. -- cgit v1.1 From 26421294f644b224234e874210bbfd2a1aabf451 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 17 Feb 2013 20:11:40 -0800 Subject: BulletSim: experimental lock axis code using constraints. Not enabled by default. Like more debugging is needed. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 92 +++++++++++++++++----- 2 files changed, 74 insertions(+), 22 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 4ce58c7..e05562a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -485,8 +485,8 @@ public sealed class BSLinksetCompound : BSLinkset } OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNonNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNonNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4bb2a9e..4d61ad2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -239,50 +239,98 @@ public class BSPrim : BSPhysObject }); } + bool TryExperimentalLockAxisCode = false; + BSConstraint LockAxisConstraint = null; public override void LockAngularMotion(OMV.Vector3 axis) { DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); + // "1" means free, "0" means locked OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f); if (axis.X != 1) locking.X = 0f; if (axis.Y != 1) locking.Y = 0f; if (axis.Z != 1) locking.Z = 0f; LockedAxis = locking; - /* Not implemented yet - if (LockedAxis != LockedAxisFree) + if (TryExperimentalLockAxisCode && LockedAxis != LockedAxisFree) { - // Something is locked so start the thingy that keeps that axis from changing - RegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion", delegate(ref EntityProperties entprop) + // Lock that axis by creating a 6DOF constraint that has one end in the world and + // the other in the object. + // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 + // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 + + PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate() { - if (LockedAxis != LockedAxisFree) + CleanUpLockAxisPhysicals(true /* inTaintTime */); + + BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, PhysBody, + OMV.Vector3.Zero, OMV.Quaternion.Inverse(RawOrientation), + true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); + LockAxisConstraint = axisConstrainer; + PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); + + // The constraint is tied to the world and oriented to the prim. + + // Free to move linearly + OMV.Vector3 linearLow = OMV.Vector3.Zero; + OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; + axisConstrainer.SetLinearLimits(linearLow, linearHigh); + + // Angular with some axis locked + float f2PI = (float)Math.PI * 2f; + OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); + OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); + if (LockedAxis.X != 1f) { - if (IsPhysicallyActive) - { - // Bullet can lock axis but it only works for global axis. - // Check if this prim is aligned on global axis and use Bullet's - // system if so. - - ForceOrientation = entprop.Rotation; - ForceRotationalVelocity = entprop.RotationalVelocity; - } + angularLow.X = 0f; + angularHigh.X = 0f; } - else + if (LockedAxis.Y != 1f) { - UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion"); + angularLow.Y = 0f; + angularHigh.Y = 0f; } + if (LockedAxis.Z != 1f) + { + angularLow.Z = 0f; + angularHigh.Z = 0f; + } + axisConstrainer.SetAngularLimits(angularLow, angularHigh); + + DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", + LocalID, linearLow, linearHigh, angularLow, angularHigh); + + // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. + axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); + axisConstrainer.RecomputeConstraintVariables(RawMass); }); } else { // Everything seems unlocked - UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion"); + CleanUpLockAxisPhysicals(false /* inTaintTime */); } - */ return; } + // Get rid of any constraint built for LockAxis + // Most often the constraint is removed when the constraint collection is cleaned for this prim. + private void CleanUpLockAxisPhysicals(bool inTaintTime) + { + if (LockAxisConstraint != null) + { + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CleanUpLockAxisPhysicals", delegate() + { + if (LockAxisConstraint != null) + { + PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); + LockAxisConstraint = null; + DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", LocalID); + } + }); + } + } public override OMV.Vector3 RawPosition { @@ -762,6 +810,7 @@ public class BSPrim : BSPhysObject SetObjectDynamic(true); // whether phys-to-static or static-to-phys, the object is not moving. ZeroMotion(true); + }); } } @@ -885,6 +934,8 @@ public class BSPrim : BSPhysObject // For good measure, make sure the transform is set through to the motion state ForcePosition = _position; + ForceVelocity = _velocity; + ForceRotationalVelocity = _rotationalVelocity; // A dynamic object has mass UpdatePhysicalMassProperties(RawMass, false); @@ -1064,8 +1115,8 @@ public class BSPrim : BSPhysObject _buoyancy = value; // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Force the recalculation of the various inertia,etc variables in the object - DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2}", LocalID, _buoyancy, _mass); - UpdatePhysicalMassProperties(_mass, true); + UpdatePhysicalMassProperties(RawMass, true); + DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2},grav={3}", LocalID, _buoyancy, RawMass, Gravity); ActivateIfPhysical(false); } } @@ -1303,6 +1354,7 @@ public class BSPrim : BSPhysObject { if (PhysBody.HasPhysicalBody) { + DetailLog("{0},BSPrim.AddAngularForce,taint,angForce={1}", LocalID, angForce); PhysicsScene.PE.ApplyTorque(PhysBody, angForce); ActivateIfPhysical(false); } -- cgit v1.1 From 4779f7d7d5ce0e284d9ed15104389f8479b11545 Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Tue, 19 Feb 2013 17:14:55 -0800 Subject: Deleted all AssemblyFileVersion directives --- OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs index d240c71..02b03a8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs @@ -30,4 +30,4 @@ using System.Runtime.InteropServices; // Revision // [assembly: AssemblyVersion("0.7.6.*")] -[assembly: AssemblyFileVersion("1.0.0.0")] + -- cgit v1.1 From efb5da0aa672551a8a68e16066f3dd3991f75da4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 21 Feb 2013 08:52:11 -0800 Subject: BulletSim: add OutOfBounds logic and some position sanity checking to eliminate some of the "cannot find terrain height" warning messages. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 7 ++-- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 43 ++++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 27 ++++++++++++-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 22 ++++++----- 5 files changed, 68 insertions(+), 33 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 8dca7c6..1f186c3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -443,6 +443,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); + PositionSanityCheck(); ForcePosition = _position; }); } @@ -456,7 +457,6 @@ public sealed class BSCharacter : BSPhysObject _position = value; if (PhysBody.HasPhysicalBody) { - PositionSanityCheck(); PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); } } @@ -512,9 +512,8 @@ public sealed class BSCharacter : BSPhysObject // just assign to "Position" because of potential call loops. PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() { - DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); + ForcePosition = _position; }); ret = true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index c2a9671..dc57b67 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -46,6 +46,8 @@ public static class BSParam public static float MeshMegaPrimThreshold { get; private set; } public static float SculptLOD { get; private set; } + public static int CrossingFailuresBeforeOutOfBounds { get; private set; } + public static float MinimumObjectMass { get; private set; } public static float MaximumObjectMass { get; private set; } public static float MaxLinearVelocity { get; private set; } @@ -73,23 +75,23 @@ public static class BSParam public static float TerrainRestitution { get; private set; } public static float TerrainCollisionMargin { get; private set; } - public static float DefaultFriction; - public static float DefaultDensity; - public static float DefaultRestitution; - public static float CollisionMargin; - public static float Gravity; + public static float DefaultFriction { get; private set; } + public static float DefaultDensity { get; private set; } + public static float DefaultRestitution { get; private set; } + public static float CollisionMargin { get; private set; } + public static float Gravity { get; private set; } // Physics Engine operation - public static float MaxPersistantManifoldPoolSize; - public static float MaxCollisionAlgorithmPoolSize; - public static bool ShouldDisableContactPoolDynamicAllocation; - public static bool ShouldForceUpdateAllAabbs; - public static bool ShouldRandomizeSolverOrder; - public static bool ShouldSplitSimulationIslands; - public static bool ShouldEnableFrictionCaching; - public static float NumberOfSolverIterations; - public static bool UseSingleSidedMeshes; - public static float GlobalContactBreakingThreshold; + public static float MaxPersistantManifoldPoolSize { get; private set; } + public static float MaxCollisionAlgorithmPoolSize { get; private set; } + public static bool ShouldDisableContactPoolDynamicAllocation { get; private set; } + public static bool ShouldForceUpdateAllAabbs { get; private set; } + public static bool ShouldRandomizeSolverOrder { get; private set; } + public static bool ShouldSplitSimulationIslands { get; private set; } + public static bool ShouldEnableFrictionCaching { get; private set; } + public static float NumberOfSolverIterations { get; private set; } + public static bool UseSingleSidedMeshes { get; private set; } + public static float GlobalContactBreakingThreshold { get; private set; } // Avatar parameters public static float AvatarFriction { get; private set; } @@ -118,6 +120,7 @@ public static class BSParam public static float VehicleGroundGravityFudge { get; private set; } public static bool VehicleDebuggingEnabled { get; private set; } + // Linkset implementation parameters public static float LinksetImplementation { get; private set; } public static bool LinkConstraintUseFrameOffset { get; private set; } public static bool LinkConstraintEnableTransMotor { get; private set; } @@ -282,6 +285,11 @@ public static class BSParam (s) => { return ShouldRemoveZeroWidthTriangles; }, (s,v) => { ShouldRemoveZeroWidthTriangles = v; } ), + new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", + 5, + (s) => { return CrossingFailuresBeforeOutOfBounds; }, + (s,v) => { CrossingFailuresBeforeOutOfBounds = v; } ), + new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 32f, (s) => { return MeshLOD; }, @@ -695,6 +703,10 @@ public static class BSParam } } + // ===================================================================== + // ===================================================================== + // There are parameters that, when set, cause things to happen in the physics engine. + // This causes the broadphase collision cache to be cleared. private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v) { BSScene physScene = pPhysScene; @@ -704,6 +716,7 @@ public static class BSParam }); } + // This causes the constraint solver cache to be cleared and reset. private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v) { BSScene physScene = pPhysScene; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4d61ad2..4dff927 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -70,6 +70,8 @@ public class BSPrim : BSPhysObject private bool _kinematic; private float _buoyancy; + private int CrossingFailures { get; set; } + public BSDynamics VehicleController { get; private set; } private BSVMotor _targetMotor; @@ -197,7 +199,20 @@ public class BSPrim : BSPhysObject { get { return _isSelected; } } - public override void CrossingFailure() { return; } + + public override void CrossingFailure() + { + CrossingFailures++; + if (CrossingFailures > BSParam.CrossingFailuresBeforeOutOfBounds) + { + base.RaiseOutOfBounds(RawPosition); + } + else if (CrossingFailures == BSParam.CrossingFailuresBeforeOutOfBounds) + { + m_log.WarnFormat("{0} Too many crossing failures for {1}", LogHeader, Name); + } + return; + } // link me to the specified parent public override void link(PhysicsActor obj) { @@ -1123,7 +1138,11 @@ public class BSPrim : BSPhysObject // Used for MoveTo public override OMV.Vector3 PIDTarget { - set { _PIDTarget = value; } + set + { + // TODO: add a sanity check -- don't move more than a region or something like that. + _PIDTarget = value; + } } public override float PIDTau { set { _PIDTau = value; } @@ -1177,7 +1196,9 @@ public class BSPrim : BSPhysObject } else { - ForcePosition = movePosition; + _position = movePosition; + PositionSanityCheck(true /* intaintTime */); + ForcePosition = _position; } DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition); }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 15747c9..219372b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -568,7 +568,7 @@ public sealed class BSShapeCollection : IDisposable { newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale); - if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); + if (DDetail) DetailLog("{0},BSShapeCollection.BuildPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); } else { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index bda7c47..49718c4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,17 +1,16 @@ CURRENT PRIORITIES ================================================= -One sided meshes? Should terrain be built into a closed shape? - When meshes get partially wedged into the terrain, they cannot push themselves out. - It is possible that Bullet processes collisions whether entering or leaving a mesh. - Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869 Deleting a linkset while standing on the root will leave the physical shape of the root behind. Not sure if it is because standing on it. Done with large prim linksets. -Terrain detail: double terrain mesh detail Vehicle angular vertical attraction vehicle angular banking Center-of-gravity Vehicle angular deflection Preferred orientation angular correction fix +Enable vehicle border crossings (at least as poorly as ODE) + Terrain skirts + Avatar created in previous region and not new region when crossing border + Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) when should angular and linear motor targets be zeroed? when selected? Need a vehicle.clear()? Or an 'else' in prestep if not physical. Teravus llMoveToTarget script debug @@ -26,14 +25,16 @@ Avatar movement flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) walking up stairs is not calibrated correctly (stairs out of Kepler cabin) avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution) -Enable vehicle border crossings (at least as poorly as ODE) - Terrain skirts - Avatar created in previous region and not new region when crossing border - Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) Vehicle script tuning/debugging Avanti speed script Weapon shooter script -Add material densities to the material types +Move material definitions (friction, ...) into simulator. +Add material densities to the material types. +Terrain detail: double terrain mesh detail +One sided meshes? Should terrain be built into a closed shape? + When meshes get partially wedged into the terrain, they cannot push themselves out. + It is possible that Bullet processes collisions whether entering or leaving a mesh. + Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869 VEHICLES TODO LIST: ================================================= @@ -65,6 +66,7 @@ Vehicle attributes are not restored when a vehicle is rezzed on region creation GENERAL TODO LIST: ================================================= +Add a sanity check for PIDTarget location. Level-of-detail for mesh creation. Prims with circular interiors require lod of 32. Is much saved with lower LODs? At the moment, all set to 32. Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't. -- cgit v1.1 From 2b53f08386baddeda7e0fa19a3072477c2829080 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 25 Feb 2013 21:58:00 -0800 Subject: BulletSim: tweeks to make avatar jump work better. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 1f186c3..f442ca2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -204,7 +204,7 @@ public sealed class BSCharacter : BSPhysObject // move. Thus, the velocity cannot be forced to zero. The problem is that small velocity // errors can creap in and the avatar will slowly float off in some direction. // So, the problem is that, when an avatar is standing, we cannot tell creaping error - // from real pushing.OMV.Vector3.Zero; + // from real pushing. // The code below keeps setting the velocity to zero hoping the world will keep pushing. _velocityMotor.Step(timeStep); @@ -254,9 +254,11 @@ public sealed class BSCharacter : BSPhysObject } // If falling, we keep the world's downward vector no matter what the other axis specify. + // The check for _velocity.Z < 0 makes jumping work (temporary upward force). if (!Flying && !IsColliding) { - stepVelocity.Z = _velocity.Z; + if (_velocity.Z < 0) + stepVelocity.Z = _velocity.Z; // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); } @@ -512,7 +514,7 @@ public sealed class BSCharacter : BSPhysObject // just assign to "Position" because of potential call loops. PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() { - DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); ForcePosition = _position; }); ret = true; @@ -572,7 +574,7 @@ public sealed class BSCharacter : BSPhysObject m_targetVelocity = value; OMV.Vector3 targetVel = value; if (_setAlwaysRun) - targetVel *= BSParam.AvatarAlwaysRunFactor; + targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 0f); PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate() { -- cgit v1.1 From bf9132e1c7a1ddaf291101f60f43c0cbd0f53662 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 26 Feb 2013 11:32:01 -0800 Subject: BulletSim: fix crash around race condition when a mesh asset cannot be fetched. Update TODO list. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 18 +++++++++++------- 2 files changed, 12 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4dff927..8f660c4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -470,7 +470,7 @@ public class BSPrim : BSPhysObject // Note that this does not change _mass! public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) { - if (PhysBody.HasPhysicalBody) + if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) { if (IsStatic) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 49718c4..4dc16f4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,5 +1,12 @@ CURRENT PRIORITIES ================================================= +Use the HACD convex hull routine in Bullet rather than the C# version. + Speed up hullifying large meshes. +Enable vehicle border crossings (at least as poorly as ODE) + Terrain skirts + Avatar created in previous region and not new region when crossing border + Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) +Lock axis Deleting a linkset while standing on the root will leave the physical shape of the root behind. Not sure if it is because standing on it. Done with large prim linksets. Vehicle angular vertical attraction @@ -7,16 +14,11 @@ vehicle angular banking Center-of-gravity Vehicle angular deflection Preferred orientation angular correction fix -Enable vehicle border crossings (at least as poorly as ODE) - Terrain skirts - Avatar created in previous region and not new region when crossing border - Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) when should angular and linear motor targets be zeroed? when selected? Need a vehicle.clear()? Or an 'else' in prestep if not physical. Teravus llMoveToTarget script debug Mixing of hover, buoyancy/gravity, moveToTarget, into one force Setting hover height to zero disables hover even if hover flags are on (from SL wiki) -Nebadon vehicles turning funny in arena limitMotorUp calibration (more down?) llRotLookAt llLookAt @@ -66,6 +68,8 @@ Vehicle attributes are not restored when a vehicle is rezzed on region creation GENERAL TODO LIST: ================================================= +Resitution of a prim works on another prim but not on terrain. + The dropped prim doesn't bounce properly on the terrain. Add a sanity check for PIDTarget location. Level-of-detail for mesh creation. Prims with circular interiors require lod of 32. Is much saved with lower LODs? At the moment, all set to 32. @@ -163,7 +167,6 @@ Create tests for different interface components Have test objects/scripts measure themselves and turn color if correct/bad Test functions in SL and calibrate correctness there Create auto rezzer and tracker to run through the tests -Use the HACD convex hull routine in Bullet rather than the C# version. Do we need to do convex hulls all the time? Can complex meshes be left meshes? There is some problem with meshes and collisions Hulls are not as detailed as meshes. Hulled vehicles insides are different shape. @@ -334,4 +337,5 @@ Child movement in linkset (don't rebuild linkset) (DONE 20130122)) Avatar standing on a moving object should start to move with the object. (DONE 20130125) Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. Verify that angular motion specified around Z moves in the vehicle coordinates. - DONE 20130120: BulletSim properly applies force in vehicle relative coordinates. \ No newline at end of file + DONE 20130120: BulletSim properly applies force in vehicle relative coordinates. +Nebadon vehicles turning funny in arena (DONE) \ No newline at end of file -- cgit v1.1 From 1c740798b45dddb3e056b2e281fe98de6bf35143 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 1 Mar 2013 08:52:06 -0800 Subject: BulletSim: add parameters, code cleanup around checking and enforcing maximum velocity and angular velocity values for prims. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 20 ++++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 47 +++++++++++++++++++--- 3 files changed, 57 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index e6933f9..235cefc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -961,13 +961,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== // Clamp high or low velocities float newVelocityLengthSq = VehicleVelocity.LengthSquared(); - if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocitySq) + if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocitySquared) { Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG VehicleVelocity /= VehicleVelocity.Length(); VehicleVelocity *= BSParam.VehicleMaxLinearVelocity; VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", - Prim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySq, VehicleVelocity); + Prim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity); } else if (newVelocityLengthSq < 0.001f) VehicleVelocity = Vector3.Zero; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index dc57b67..fa58109 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -47,12 +47,16 @@ public static class BSParam public static float SculptLOD { get; private set; } public static int CrossingFailuresBeforeOutOfBounds { get; private set; } + public static float UpdateVelocityChangeThreshold { get; private set; } public static float MinimumObjectMass { get; private set; } public static float MaximumObjectMass { get; private set; } public static float MaxLinearVelocity { get; private set; } + public static float MaxLinearVelocitySquared { get; private set; } public static float MaxAngularVelocity { get; private set; } + public static float MaxAngularVelocitySquared { get; private set; } public static float MaxAddForceMagnitude { get; private set; } + public static float MaxAddForceMagnitudeSquared { get; private set; } public static float DensityScaleFactor { get; private set; } public static float LinearDamping { get; private set; } @@ -109,7 +113,7 @@ public static class BSParam // Vehicle parameters public static float VehicleMaxLinearVelocity { get; private set; } - public static float VehicleMaxLinearVelocitySq { get; private set; } + public static float VehicleMaxLinearVelocitySquared { get; private set; } public static float VehicleMaxAngularVelocity { get; private set; } public static float VehicleMaxAngularVelocitySq { get; private set; } public static float VehicleAngularDamping { get; private set; } @@ -265,7 +269,7 @@ public static class BSParam // The single letter parameters for the delegates are: // s = BSScene // o = BSPhysObject - // v = value (float) + // v = value (appropriate type) private static ParameterDefnBase[] ParameterDefinitions = { new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", @@ -289,6 +293,10 @@ public static class BSParam 5, (s) => { return CrossingFailuresBeforeOutOfBounds; }, (s,v) => { CrossingFailuresBeforeOutOfBounds = v; } ), + new ParameterDefn("UpdateVelocityChangeThreshold", "Change in updated velocity required before reporting change to simulator", + 0.1f, + (s) => { return UpdateVelocityChangeThreshold; }, + (s,v) => { UpdateVelocityChangeThreshold = v; } ), new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 32f, @@ -343,16 +351,16 @@ public static class BSParam new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object", 1000.0f, (s) => { return MaxLinearVelocity; }, - (s,v) => { MaxLinearVelocity = v; } ), + (s,v) => { MaxLinearVelocity = v; MaxLinearVelocitySquared = v * v; } ), new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object", 1000.0f, (s) => { return MaxAngularVelocity; }, - (s,v) => { MaxAngularVelocity = v; } ), + (s,v) => { MaxAngularVelocity = v; MaxAngularVelocitySquared = v * v; } ), // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)", 20000.0f, (s) => { return MaxAddForceMagnitude; }, - (s,v) => { MaxAddForceMagnitude = v; } ), + (s,v) => { MaxAddForceMagnitude = v; MaxAddForceMagnitudeSquared = v * v; } ), // Density is passed around as 100kg/m3. This scales that to 1kg/m3. new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)", 0.01f, @@ -505,7 +513,7 @@ public static class BSParam new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle", 1000.0f, (s) => { return (float)VehicleMaxLinearVelocity; }, - (s,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySq = v * v; } ), + (s,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySquared = v * v; } ), new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle", 12.0f, (s) => { return (float)VehicleMaxAngularVelocity; }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 8f660c4..a465613 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -108,6 +108,9 @@ public class BSPrim : BSPhysObject // do the actual object creation at taint time PhysicsScene.TaintedObject("BSPrim.create", delegate() { + // Make sure the object is being created with some sanity. + ExtremeSanityCheck(true /* inTaintTime */); + CreateGeomAndObject(true); CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody); @@ -450,6 +453,38 @@ public class BSPrim : BSPhysObject return ret; } + // Occasionally things will fly off and really get lost. + // Find the wanderers and bring them back. + // Return 'true' if some parameter need some sanity. + private bool ExtremeSanityCheck(bool inTaintTime) + { + bool ret = false; + + uint wayOutThere = Constants.RegionSize * Constants.RegionSize; + // There have been instances of objects getting thrown way out of bounds and crashing + // the border crossing code. + if ( _position.X < -Constants.RegionSize || _position.X > wayOutThere + || _position.Y < -Constants.RegionSize || _position.Y > wayOutThere + || _position.Z < -Constants.RegionSize || _position.Z > wayOutThere) + { + _position = new OMV.Vector3(10, 10, 50); + ZeroMotion(inTaintTime); + ret = true; + } + if (_velocity.LengthSquared() > BSParam.MaxLinearVelocity) + { + _velocity = Util.ClampV(_velocity, BSParam.MaxLinearVelocity); + ret = true; + } + if (_rotationalVelocity.LengthSquared() > BSParam.MaxAngularVelocitySquared) + { + _rotationalVelocity = Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity); + ret = true; + } + + return ret; + } + // Return the effective mass of the object. // The definition of this call is to return the mass of the prim. // If the simulator cares about the mass of the linkset, it will sum it itself. @@ -585,12 +620,12 @@ public class BSPrim : BSPhysObject if (VehicleController.Type == Vehicle.TYPE_NONE) { UnRegisterPreStepAction("BSPrim.Vehicle", LocalID); - PhysicsScene.AfterStep -= VehicleController.PostStep; + UnRegisterPostStepAction("BSPrim.Vehicle", LocalID); } else { RegisterPreStepAction("BSPrim.Vehicle", LocalID, VehicleController.Step); - PhysicsScene.AfterStep += VehicleController.PostStep; + RegisterPostStepAction("BSPrim.Vehicle", LocalID, VehicleController.PostStep); } }); } @@ -732,7 +767,7 @@ public class BSPrim : BSPhysObject set { PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity"); - _velocity = value; + _velocity = Util.ClampV(value, BSParam.MaxLinearVelocity); if (PhysBody.HasPhysicalBody) { DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, _velocity); @@ -1098,7 +1133,7 @@ public class BSPrim : BSPhysObject return _rotationalVelocity; } set { - _rotationalVelocity = value; + _rotationalVelocity = Util.ClampV(value, BSParam.MaxAngularVelocity); if (PhysBody.HasPhysicalBody) { DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); @@ -1230,6 +1265,7 @@ public class BSPrim : BSPhysObject RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep) { + // Don't do hovering while the object is selected. if (!IsPhysicallyActive) return; @@ -1737,10 +1773,9 @@ public class BSPrim : BSPhysObject // Assign directly to the local variables so the normal set actions do not happen _position = entprop.Position; _orientation = entprop.Rotation; - // _velocity = entprop.Velocity; // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be // very sensitive to velocity changes. - if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(_velocity, 0.1f)) + if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(_velocity, BSParam.UpdateVelocityChangeThreshold)) _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; -- cgit v1.1 From 326634a0b38fc21fd52a7bfb0c89a0d4c13f0dae Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 1 Mar 2013 09:43:40 -0800 Subject: BulletSim: more things into the TODO list. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 4dc16f4..8a15abe 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -9,6 +9,9 @@ Enable vehicle border crossings (at least as poorly as ODE) Lock axis Deleting a linkset while standing on the root will leave the physical shape of the root behind. Not sure if it is because standing on it. Done with large prim linksets. +Linkset child rotations. + Nebadon spiral tube has middle sections which are rotated wrong. + Select linked spiral tube. Delink and note where the middle section ends up. Vehicle angular vertical attraction vehicle angular banking Center-of-gravity @@ -68,6 +71,8 @@ Vehicle attributes are not restored when a vehicle is rezzed on region creation GENERAL TODO LIST: ================================================= +Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects. + Regular triangle meshes don't do physical collisions. Resitution of a prim works on another prim but not on terrain. The dropped prim doesn't bounce properly on the terrain. Add a sanity check for PIDTarget location. @@ -338,4 +343,4 @@ Avatar standing on a moving object should start to move with the object. (DONE 2 Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. Verify that angular motion specified around Z moves in the vehicle coordinates. DONE 20130120: BulletSim properly applies force in vehicle relative coordinates. -Nebadon vehicles turning funny in arena (DONE) \ No newline at end of file +Nebadon vehicles turning funny in arena (DONE) -- cgit v1.1 From 1120bcf123b5aa159e966a80254794f6af66f2a3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 9 Mar 2013 14:15:14 -0800 Subject: BulletSim: remove the ability for avatars to fly off the edge of regions when there are no region neighbors. Add some terrain location processing routines to support above. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 29 +++--- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 5 ++ .../Physics/BulletSPlugin/BSTerrainManager.cs | 100 +++++++++++++++++++-- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 6 +- 4 files changed, 117 insertions(+), 23 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index f442ca2..e208d3a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -205,7 +205,7 @@ public sealed class BSCharacter : BSPhysObject // errors can creap in and the avatar will slowly float off in some direction. // So, the problem is that, when an avatar is standing, we cannot tell creaping error // from real pushing. - // The code below keeps setting the velocity to zero hoping the world will keep pushing. + // The code below uses whether the collider is static or moving to decide whether to zero motion. _velocityMotor.Step(timeStep); @@ -244,6 +244,7 @@ public sealed class BSCharacter : BSPhysObject } else { + // Supposed to be moving. OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue; if (Friction != BSParam.AvatarFriction) @@ -276,8 +277,8 @@ public sealed class BSCharacter : BSPhysObject }); } - // Decide of the character is colliding with a low object and compute a force to pop the - // avatar up so it has a chance of walking up and over the low object. + // Decide if the character is colliding with a low object and compute a force to pop the + // avatar up so it can walk up and over the low objects. private OMV.Vector3 WalkUpStairs() { OMV.Vector3 ret = OMV.Vector3.Zero; @@ -476,17 +477,19 @@ public sealed class BSCharacter : BSPhysObject if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) { // The character is out of the known/simulated area. - // Upper levels of code will handle the transition to other areas so, for - // the time, we just ignore the position. - return ret; + // Force the avatar position to be within known. ScenePresence will use the position + // plus the velocity to decide if the avatar is moving out of the region. + RawPosition = PhysicsScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition); + DetailLog("{0},BSCharacter.PositionSanityCheck,notWithinKnownTerrain,clampedPos={1}", LocalID, RawPosition); + return true; } // If below the ground, move the avatar up float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); if (Position.Z < terrainHeight) { - DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); - _position.Z = terrainHeight + 2.0f; + DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, _position, terrainHeight); + _position.Z = terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters; ret = true; } if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) @@ -806,14 +809,7 @@ public sealed class BSCharacter : BSPhysObject private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { if (force.IsFinite()) { - float magnitude = force.Length(); - if (magnitude > BSParam.MaxAddForceMagnitude) - { - // Force has a limit - force = force / magnitude * BSParam.MaxAddForceMagnitude; - } - - OMV.Vector3 addForce = force; + OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce); PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate() @@ -902,6 +898,7 @@ public sealed class BSCharacter : BSPhysObject // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. if (PositionSanityCheck(true)) { + DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, _position); entprop.Position = _position; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index fa58109..2af8468 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -107,6 +107,7 @@ public static class BSParam public static float AvatarCapsuleDepth { get; private set; } public static float AvatarCapsuleHeight { get; private set; } public static float AvatarContactProcessingThreshold { get; private set; } + public static float AvatarBelowGroundUpCorrectionMeters { get; private set; } public static float AvatarStepHeight { get; private set; } public static float AvatarStepApproachFactor { get; private set; } public static float AvatarStepForceFactor { get; private set; } @@ -497,6 +498,10 @@ public static class BSParam 0.1f, (s) => { return AvatarContactProcessingThreshold; }, (s,v) => { AvatarContactProcessingThreshold = v; } ), + new ParameterDefn("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground", + 1.0f, + (s) => { return AvatarBelowGroundUpCorrectionMeters; }, + (s,v) => { AvatarBelowGroundUpCorrectionMeters = v; } ), new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction", 0.3f, (s) => { return AvatarStepHeight; }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 2e9db39..e8040d8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -337,6 +337,54 @@ public sealed class BSTerrainManager : IDisposable return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ); } + // Return a new position that is over known terrain if the position is outside our terrain. + public Vector3 ClampPositionIntoKnownTerrain(Vector3 pPos) + { + Vector3 ret = pPos; + + // Can't do this function if we don't know about any terrain. + if (m_terrains.Count == 0) + return ret; + + int loopPrevention = 5; + Vector3 terrainBaseXYZ; + BSTerrainPhys physTerrain; + while (!GetTerrainPhysicalAtXYZ(ret, out physTerrain, out terrainBaseXYZ)) + { + // The passed position is not within a known terrain area. + + // First, base addresses are never negative so correct for that possible problem. + if (ret.X < 0f || ret.Y < 0f) + { + if (ret.X < 0f) + ret.X = 0f; + if (ret.Y < 0f) + ret.Y = 0f; + DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,zeroingNegXorY,oldPos={1},newPos={2}", + BSScene.DetailLogZero, pPos, ret); + } + else + { + // Must be off the top of a region. Find an adjacent region to move into. + Vector3 adjacentTerrainBase = FindAdjacentTerrainBase(terrainBaseXYZ); + + ret.X = Math.Min(ret.X, adjacentTerrainBase.X + DefaultRegionSize.X); + ret.Y = Math.Min(ret.Y, adjacentTerrainBase.Y + DefaultRegionSize.Y); + DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,findingAdjacentRegion,adjacentRegBase={1},oldPos={2},newPos={3}", + BSScene.DetailLogZero, adjacentTerrainBase, pPos, ret); + } + if (loopPrevention-- < 0f) + { + // The 'while' is a little dangerous so this prevents looping forever if the + // mapping of the terrains ever gets messed up (like nothing at <0,0>) or + // the list of terrains is in transition. + DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,suppressingFindAdjacentRegionLoop", BSScene.DetailLogZero); + break; + } + } + return ret; + } + // Given an X and Y, find the height of the terrain. // Since we could be handling multiple terrains for a mega-region, // the base of the region is calcuated assuming all regions are @@ -400,18 +448,60 @@ public sealed class BSTerrainManager : IDisposable // the descriptor class and the 'base' fo the addresses therein. private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase) { - int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; - int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; - Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f); + bool ret = false; + + Vector3 terrainBaseXYZ = Vector3.Zero; + if (pos.X < 0f || pos.Y < 0f) + { + // We don't handle negative addresses so just make up a base that will not be found. + terrainBaseXYZ = new Vector3(-DefaultRegionSize.X, -DefaultRegionSize.Y, 0f); + } + else + { + int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; + int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; + terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f); + } BSTerrainPhys physTerrain = null; lock (m_terrains) { - m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain); + ret = m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain); } outTerrainBase = terrainBaseXYZ; outPhysTerrain = physTerrain; - return (physTerrain != null); + return ret; + } + + // Given a terrain base, return a terrain base for a terrain that is closer to <0,0> than + // this one. Usually used to return an out of bounds object to a known place. + private Vector3 FindAdjacentTerrainBase(Vector3 pTerrainBase) + { + Vector3 ret = pTerrainBase; + ret.Z = 0f; + lock (m_terrains) + { + // Once down to the <0,0> region, we have to be done. + while (ret.X > 0f && ret.Y > 0f) + { + if (ret.X > 0f) + { + ret.X = Math.Max(0f, ret.X - DefaultRegionSize.X); + DetailLog("{0},BSTerrainManager.FindAdjacentTerrainBase,reducingX,terrainBase={1}", BSScene.DetailLogZero, ret); + if (m_terrains.ContainsKey(ret)) + break; + } + if (ret.Y > 0f) + { + ret.Y = Math.Max(0f, ret.Y - DefaultRegionSize.Y); + DetailLog("{0},BSTerrainManager.FindAdjacentTerrainBase,reducingY,terrainBase={1}", BSScene.DetailLogZero, ret); + if (m_terrains.ContainsKey(ret)) + break; + } + } + } + + return ret; } // Although no one seems to check this, I do support combining. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index d7e800d..57a5ff2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -215,7 +215,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys float magX = (float)sizeX / extentX; float magY = (float)sizeY / extentY; - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}", + if (physicsScene != null) + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}", BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY); float minHeight = float.MaxValue; // Note that sizeX+1 vertices are created since there is land between this and the next region. @@ -257,7 +258,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys } catch (Exception e) { - physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}", + if (physicsScene != null) + physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}", LogHeader, physicsScene.RegionName, extentBase, e); } -- cgit v1.1 From 78b25094dce9bbc79848da1208c44f0d9ebe8c76 Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Mon, 11 Mar 2013 19:08:38 -0400 Subject: BulletSim: Tweak vertical angular attraction to remove double VehicleOrientation application fixing the problem with the vertical attractor pushing vehicles nose first into ground when tilted on side. Signed-off-by: Robert Adams --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 235cefc..d347159 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1335,7 +1335,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG vertContributionV /= m_verticalAttractionTimescale; - VehicleRotationalVelocity += vertContributionV * VehicleOrientation; + VehicleRotationalVelocity += vertContributionV; VDetailLog("{0}, MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}", Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, -- cgit v1.1 From fc84ebb819b590099bbfa5bd357e886ce7460063 Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Sat, 16 Mar 2013 17:16:01 -0400 Subject: BulletSim: Working Implementation of Angular Banking for Vehicles (Not SL Grade, Other features when implemented should slow it down for now be Strong with Vertical Angular attraction setting and conservative with Angular Velocity on X axis) Signed-off-by: Robert Adams --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 33 +++++++++++----------- 1 file changed, 17 insertions(+), 16 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index d347159..96eaa6b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -143,7 +143,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { enableAngularVerticalAttraction = true; enableAngularDeflection = false; - enableAngularBanking = false; + enableAngularBanking = true; if (BSParam.VehicleDebuggingEnabled) { enableAngularVerticalAttraction = true; @@ -1280,11 +1280,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement // TODO: This is here because this is where ODE put it but documentation says it // is a linear effect. Where should this check go? - if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) - { - angularMotorContributionV.X = 0f; - angularMotorContributionV.Y = 0f; - } + //if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) + // { + // angularMotorContributionV.X = 0f; + // angularMotorContributionV.Y = 0f; + // } VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContributionV); @@ -1437,24 +1437,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin // As the vehicle rolls to the right or left, the Y value will increase from // zero (straight up) to 1 or -1 (full tilt right or left) Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; - // Figure out the yaw value for this much roll. // Squared because that seems to give a good value - float yawAngle = (float)Math.Asin(rollComponents.Y * rollComponents.Y) * m_bankingEfficiency; - + // float yawAngle = (float)Math.Asin(rollComponents.X * rollComponents.X) * m_bankingEfficiency; + float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency; // actual error = static turn error + dynamic turn error - float mixedYawAngle = yawAngle * (1f - m_bankingMix) + yawAngle * m_bankingMix * VehicleForwardSpeed; - - // TODO: the banking effect should not go to infinity but what to limit it to? - mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f); + float mixedYawAngle =(yawAngle * (1f - m_bankingMix)) + ((yawAngle * m_bankingMix) * VehicleForwardSpeed); + // TODO: the banking effect should not go to infinity but what to limit it to? and what should happen when this is + // being added to a user defined yaw that is already PI*4? + mixedYawAngle = ClampInRange(-12, mixedYawAngle, 12); // Build the force vector to change rotation from what it is to what it should be bankingContributionV.Z = -mixedYawAngle; - // Don't do it all at once. - bankingContributionV /= m_bankingTimescale; + // Don't do it all at once. 60 becouse 1 second is too fast with most user defined roll as PI*4 + bankingContributionV /= m_bankingTimescale*60; - VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; + //VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; + VehicleRotationalVelocity += bankingContributionV; + VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV); -- cgit v1.1 From 464201b41d5f5fdd7c88ab5e95dd7b6fbae6d766 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 16 Mar 2013 15:34:07 -0700 Subject: BulletSim: add INI parameter for angular banking timescale fudge parameter. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 12 ++++++------ OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 7 ++++++- 2 files changed, 12 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 96eaa6b..38596fa 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1437,21 +1437,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin // As the vehicle rolls to the right or left, the Y value will increase from // zero (straight up) to 1 or -1 (full tilt right or left) Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; + // Figure out the yaw value for this much roll. - // Squared because that seems to give a good value - // float yawAngle = (float)Math.Asin(rollComponents.X * rollComponents.X) * m_bankingEfficiency; float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency; // actual error = static turn error + dynamic turn error float mixedYawAngle =(yawAngle * (1f - m_bankingMix)) + ((yawAngle * m_bankingMix) * VehicleForwardSpeed); - // TODO: the banking effect should not go to infinity but what to limit it to? and what should happen when this is - // being added to a user defined yaw that is already PI*4? + + // TODO: the banking effect should not go to infinity but what to limit it to? + // And what should happen when this is being added to a user defined yaw that is already PI*4? mixedYawAngle = ClampInRange(-12, mixedYawAngle, 12); // Build the force vector to change rotation from what it is to what it should be bankingContributionV.Z = -mixedYawAngle; - // Don't do it all at once. 60 becouse 1 second is too fast with most user defined roll as PI*4 - bankingContributionV /= m_bankingTimescale*60; + // Don't do it all at once. Fudge because 1 second is too fast with most user defined roll as PI*4. + bankingContributionV /= m_bankingTimescale * BSParam.VehicleAngularBankingTimescaleFudge; //VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; VehicleRotationalVelocity += bankingContributionV; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 2af8468..77bdacb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -123,6 +123,7 @@ public static class BSParam public static Vector3 VehicleLinearFactor { get; private set; } public static Vector3 VehicleAngularFactor { get; private set; } public static float VehicleGroundGravityFudge { get; private set; } + public static float VehicleAngularBankingTimescaleFudge { get; private set; } public static bool VehicleDebuggingEnabled { get; private set; } // Linkset implementation parameters @@ -543,10 +544,14 @@ public static class BSParam 0.0f, (s) => { return VehicleRestitution; }, (s,v) => { VehicleRestitution = v; } ), - new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", + new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", 0.2f, (s) => { return VehicleGroundGravityFudge; }, (s,v) => { VehicleGroundGravityFudge = v; } ), + new ParameterDefn("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.", + 60.0f, + (s) => { return VehicleAngularBankingTimescaleFudge; }, + (s,v) => { VehicleAngularBankingTimescaleFudge = v; } ), new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging", false, (s) => { return VehicleDebuggingEnabled; }, -- cgit v1.1 From 8510f57ad48db5f97dacc2a9be63c64e62477d14 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 17 Mar 2013 18:44:09 -0700 Subject: BulletSim: add terrain contact processing threshold parameter. Initialize contact processing threshold for static object as well as mesh terrain. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 19 +++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- .../Region/Physics/BulletSPlugin/BSTerrainManager.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 2 ++ 4 files changed, 23 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 77bdacb..cb0d929 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -39,6 +39,20 @@ public static class BSParam { private static string LogHeader = "[BULLETSIM PARAMETERS]"; + // Tuning notes: + // From: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6575 + // Contact points can be added even if the distance is positive. The constraint solver can deal with + // contacts with positive distances as well as negative (penetration). Contact points are discarded + // if the distance exceeds a certain threshold. + // Bullet has a contact processing threshold and a contact breaking threshold. + // If the distance is larger than the contact breaking threshold, it will be removed after one frame. + // If the distance is larger than the contact processing threshold, the constraint solver will ignore it. + + // This is separate/independent from the collision margin. The collision margin increases the object a bit + // to improve collision detection performance and accuracy. + // =================== + // From: + // Level of Detail values kept as float because that's what the Meshmerizer wants public static float MeshLOD { get; private set; } public static float MeshCircularLOD { get; private set; } @@ -77,6 +91,7 @@ public static class BSParam public static float TerrainFriction { get; private set; } public static float TerrainHitFraction { get; private set; } public static float TerrainRestitution { get; private set; } + public static float TerrainContactProcessingThreshold { get; private set; } public static float TerrainCollisionMargin { get; private set; } public static float DefaultFriction { get; private set; } @@ -458,6 +473,10 @@ public static class BSParam 0f, (s) => { return TerrainRestitution; }, (s,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ), + new ParameterDefn("TerrainContactProcessingThreshold", "Distance from terrain to stop processing collisions" , + 0.0f, + (s) => { return TerrainContactProcessingThreshold; }, + (s,v) => { TerrainContactProcessingThreshold = v; /* TODO: set on real terrain */ } ), new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , 0.08f, (s) => { return TerrainCollisionMargin; }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a465613..2cbbe9a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -947,9 +947,9 @@ public class BSPrim : BSPhysObject ZeroMotion(true); // Set various physical properties so other object interact properly - MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); PhysicsScene.PE.SetFriction(PhysBody, Friction); PhysicsScene.PE.SetRestitution(PhysBody, Restitution); + PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); // Mass is zero which disables a bunch of physics stuff in Bullet UpdatePhysicalMassProperties(0f, false); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index e8040d8..a60946d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -263,6 +263,7 @@ public sealed class BSTerrainManager : IDisposable if (MegaRegionParentPhysicsScene == null) { + // This terrain is not part of the mega-region scheme. Create vanilla terrain. BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); m_terrains.Add(terrainRegionBase, newTerrainPhys); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 57a5ff2..c9a75ae 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -112,11 +112,13 @@ public sealed class BSTerrainMesh : BSTerrainPhys // Something is very messed up and a crash is in our future. return; } + physicsScene.PE.SetShapeCollisionMargin(m_terrainShape, BSParam.TerrainCollisionMargin); // Set current terrain attributes PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction); PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction); PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution); + PhysicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold); PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT); // Static objects are not very massive. -- cgit v1.1 From 8360223fedc5a5521878806f40bdb0c3244241cc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 18 Mar 2013 23:58:21 -0700 Subject: BulletSim: code to generate a higher resolution terrain mesh. Parameter TerrainMeshMagnification controls number of vertices generated per heightmap point. Default is 3. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 5 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 5 + .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 193 +++++++++++++++++++-- 4 files changed, 189 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 3a27d2c..77ea3ed 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -286,7 +286,7 @@ public override void SetShapeCollisionMargin(BulletShape shape, float margin) { BulletShapeUnman shapeu = shape as BulletShapeUnman; if (shapeu != null && shapeu.HasPhysicalShape) - BSAPICPP.SetShapeCollisionMargin2(shapeu.ptr, margin); + BSAPICPP.SetShapeCollisionMargin(shapeu.ptr, margin); } public override BulletShape BuildCapsuleShape(BulletWorld world, float radius, float height, Vector3 scale) @@ -1420,7 +1420,7 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData) public static extern bool IsNativeShape2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetShapeCollisionMargin2(IntPtr shape, float margin); +public static extern void SetShapeCollisionMargin(IntPtr shape, float margin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 38596fa..5549984 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1201,8 +1201,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleAddForce(appliedGravity); - VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},appliedForce={3}", - Prim.LocalID, m_VehicleGravity, Prim.IsColliding, appliedGravity); + VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}", + Prim.LocalID, m_VehicleGravity, + Prim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); } // ======================================================================= diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index cb0d929..4d89a88 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -88,6 +88,7 @@ public static class BSParam public static bool ShouldRemoveZeroWidthTriangles { get; private set; } public static float TerrainImplementation { get; private set; } + public static int TerrainMeshMagnification { get; private set; } public static float TerrainFriction { get; private set; } public static float TerrainHitFraction { get; private set; } public static float TerrainRestitution { get; private set; } @@ -461,6 +462,10 @@ public static class BSParam (float)BSTerrainPhys.TerrainImplementation.Mesh, (s) => { return TerrainImplementation; }, (s,v) => { TerrainImplementation = v; } ), + new ParameterDefn("TerrainMeshMagnification", "Number of times the 256x256 heightmap is multiplied to create the terrain mesh" , + 3, + (s) => { return TerrainMeshMagnification; }, + (s,v) => { TerrainMeshMagnification = v; } ), new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , 0.3f, (s) => { return TerrainFriction; }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index c9a75ae..a9cd8a1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -76,11 +76,26 @@ public sealed class BSTerrainMesh : BSTerrainPhys m_sizeX = (int)(maxCoords.X - minCoords.X); m_sizeY = (int)(maxCoords.Y - minCoords.Y); - if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap, - m_sizeX, m_sizeY, - (float)m_sizeX, (float)m_sizeY, - Vector3.Zero, 1.0f, - out indicesCount, out indices, out verticesCount, out vertices)) + bool meshCreationSuccess = false; + if (BSParam.TerrainMeshMagnification == 1) + { + // If a magnification of one, use the old routine that is tried and true. + meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, + initialMap, m_sizeX, m_sizeY, // input size + Vector3.Zero, // base for mesh + out indicesCount, out indices, out verticesCount, out vertices); + } + else + { + // Other magnifications use the newer routine + meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh2(PhysicsScene, + initialMap, m_sizeX, m_sizeY, // input size + BSParam.TerrainMeshMagnification, + physicsScene.TerrainManager.DefaultRegionSize, + Vector3.Zero, // base for mesh + out indicesCount, out indices, out verticesCount, out vertices); + } + if (!meshCreationSuccess) { // DISASTER!! PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID); @@ -88,6 +103,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys // Something is very messed up and a crash is in our future. return; } + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", ID, indicesCount, indices.Length, verticesCount, vertices.Length); @@ -186,9 +202,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys // Return 'true' if successfully created. public static bool ConvertHeightmapToMesh( BSScene physicsScene, float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap - float extentX, float extentY, // zero based range for output vertices Vector3 extentBase, // base to be added to all vertices - float magnification, // number of vertices to create between heightMap coords out int indicesCountO, out int[] indicesO, out int verticesCountO, out float[] verticesO) { @@ -209,17 +223,15 @@ public sealed class BSTerrainMesh : BSTerrainPhys // of the heightmap. try { - // One vertice per heightmap value plus the vertices off the top and bottom edge. + // One vertice per heightmap value plus the vertices off the side and bottom edge. int totalVertices = (sizeX + 1) * (sizeY + 1); vertices = new float[totalVertices * 3]; int totalIndices = sizeX * sizeY * 6; indices = new int[totalIndices]; - float magX = (float)sizeX / extentX; - float magY = (float)sizeY / extentY; if (physicsScene != null) - physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}", - BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY); + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3}", + BSScene.DetailLogZero, totalVertices, totalIndices, extentBase); float minHeight = float.MaxValue; // Note that sizeX+1 vertices are created since there is land between this and the next region. for (int yy = 0; yy <= sizeY; yy++) @@ -232,8 +244,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys if (xx == sizeX) offset -= 1; float height = heightMap[offset]; minHeight = Math.Min(minHeight, height); - vertices[verticesCount + 0] = (float)xx * magX + extentBase.X; - vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y; + vertices[verticesCount + 0] = (float)xx + extentBase.X; + vertices[verticesCount + 1] = (float)yy + extentBase.Y; vertices[verticesCount + 2] = height + extentBase.Z; verticesCount += 3; } @@ -272,5 +284,158 @@ public sealed class BSTerrainMesh : BSTerrainPhys return ret; } + + private class HeightMapGetter + { + private float[] m_heightMap; + private int m_sizeX; + private int m_sizeY; + public HeightMapGetter(float[] pHeightMap, int pSizeX, int pSizeY) + { + m_heightMap = pHeightMap; + m_sizeX = pSizeX; + m_sizeY = pSizeY; + } + // The heightmap is extended as an infinite plane at the last height + public float GetHeight(int xx, int yy) + { + int offset = 0; + // Extend the height with the height from the last row or column + if (yy >= m_sizeY) + if (xx >= m_sizeX) + offset = (m_sizeY - 1) * m_sizeX + (m_sizeX - 1); + else + offset = (m_sizeY - 1) * m_sizeX + xx; + else + if (xx >= m_sizeX) + offset = yy * m_sizeX + (m_sizeX - 1); + else + offset = yy * m_sizeX + xx; + + return m_heightMap[offset]; + } + } + + // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). + // Version that handles magnification. + // Return 'true' if successfully created. + public static bool ConvertHeightmapToMesh2( BSScene physicsScene, + float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap + int magnification, // number of vertices per heighmap step + Vector3 extent, // dimensions of the output mesh + Vector3 extentBase, // base to be added to all vertices + out int indicesCountO, out int[] indicesO, + out int verticesCountO, out float[] verticesO) + { + bool ret = false; + + int indicesCount = 0; + int verticesCount = 0; + int[] indices = new int[0]; + float[] vertices = new float[0]; + + HeightMapGetter hmap = new HeightMapGetter(heightMap, sizeX, sizeY); + + // The vertices dimension of the output mesh + int meshX = sizeX * magnification; + int meshY = sizeY * magnification; + // The output size of one mesh step + float meshXStep = extent.X / meshX; + float meshYStep = extent.Y / meshY; + + // Create an array of vertices that is meshX+1 by meshY+1 (note the loop + // from zero to <= meshX). The triangle indices are then generated as two triangles + // per heightmap point. There are meshX by meshY of these squares. The extra row and + // column of vertices are used to complete the triangles of the last row and column + // of the heightmap. + try + { + // Vertices for the output heightmap plus one on the side and bottom to complete triangles + int totalVertices = (meshX + 1) * (meshY + 1); + vertices = new float[totalVertices * 3]; + int totalIndices = meshX * meshY * 6; + indices = new int[totalIndices]; + + if (physicsScene != null) + physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh2,inSize={1},outSize={2},totVert={3},totInd={4},extentBase={5}", + BSScene.DetailLogZero, new Vector2(sizeX, sizeY), new Vector2(meshX, meshY), + totalVertices, totalIndices, extentBase); + + float minHeight = float.MaxValue; + // Note that sizeX+1 vertices are created since there is land between this and the next region. + // Loop through the output vertices and compute the mediun height in between the input vertices + for (int yy = 0; yy <= meshY; yy++) + { + for (int xx = 0; xx <= meshX; xx++) // Hint: the "<=" means we go around sizeX + 1 times + { + float offsetY = (float)yy * (float)sizeY / (float)meshY; // The Y that is closest to the mesh point + int stepY = (int)offsetY; + float fractionalY = offsetY - (float)stepY; + float offsetX = (float)xx * (float)sizeX / (float)meshX; // The X that is closest to the mesh point + int stepX = (int)offsetX; + float fractionalX = offsetX - (float)stepX; + + // physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh2,xx={1},yy={2},offX={3},stepX={4},fractX={5},offY={6},stepY={7},fractY={8}", + // BSScene.DetailLogZero, xx, yy, offsetX, stepX, fractionalX, offsetY, stepY, fractionalY); + + // get the four corners of the heightmap square the mesh point is in + float heightUL = hmap.GetHeight(stepX , stepY ); + float heightUR = hmap.GetHeight(stepX + 1, stepY ); + float heightLL = hmap.GetHeight(stepX , stepY + 1); + float heightLR = hmap.GetHeight(stepX + 1, stepY + 1); + + // bilinear interplolation + float height = heightUL * (1 - fractionalX) * (1 - fractionalY) + + heightUR * fractionalX * (1 - fractionalY) + + heightLL * (1 - fractionalX) * fractionalY + + heightLR * fractionalX * fractionalY; + + // physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh2,heightUL={1},heightUR={2},heightLL={3},heightLR={4},heightMap={5}", + // BSScene.DetailLogZero, heightUL, heightUR, heightLL, heightLR, height); + + minHeight = Math.Min(minHeight, height); + + vertices[verticesCount + 0] = (float)xx * meshXStep + extentBase.X; + vertices[verticesCount + 1] = (float)yy * meshYStep + extentBase.Y; + vertices[verticesCount + 2] = height + extentBase.Z; + verticesCount += 3; + } + } + // The number of vertices generated + verticesCount /= 3; + + // Loop through all the heightmap squares and create indices for the two triangles for that square + for (int yy = 0; yy < meshY; yy++) + { + for (int xx = 0; xx < meshX; xx++) + { + int offset = yy * (meshX + 1) + xx; + // Each vertices is presumed to be the upper left corner of a box of two triangles + indices[indicesCount + 0] = offset; + indices[indicesCount + 1] = offset + 1; + indices[indicesCount + 2] = offset + meshX + 1; // accounting for the extra column + indices[indicesCount + 3] = offset + 1; + indices[indicesCount + 4] = offset + meshX + 2; + indices[indicesCount + 5] = offset + meshX + 1; + indicesCount += 6; + } + } + + ret = true; + } + catch (Exception e) + { + if (physicsScene != null) + physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}", + LogHeader, physicsScene.RegionName, extentBase, e); + } + + indicesCountO = indicesCount; + indicesO = indices; + verticesCountO = verticesCount; + verticesO = vertices; + + return ret; + } } } -- cgit v1.1 From 90b9121e66934795ab2d59f149e9e65eadc09e75 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 19 Mar 2013 17:15:24 -0700 Subject: BulletSim: change 'degenerate mesh' message from Error to Debug because there seem to be lots of sculpties with this problem while the condition really doesn't change region operation. --- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 219372b..b16bc10 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -685,7 +685,7 @@ public sealed class BSShapeCollection : IDisposable } else { - PhysicsScene.Logger.ErrorFormat("{0} All mesh triangles degenerate. Prim {1} at {2} in {3}", + PhysicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim {1} at {2} in {3}", LogHeader, prim.PhysObjectName, prim.RawPosition, PhysicsScene.Name); } } -- cgit v1.1 From f783b9169fbc0544ec6c634900cb34bf48c6b2a9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 22 Mar 2013 16:50:56 -0700 Subject: BulletSim: parameterize C# HACD hull creation. Add feature of reducing max hull count for simple (non-cut prims) meshes. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 33 +++++++++++++ .../Physics/BulletSPlugin/BSShapeCollection.cs | 55 ++++++++++++++++------ 2 files changed, 74 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 4d89a88..26d2d60 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -142,6 +142,14 @@ public static class BSParam public static float VehicleAngularBankingTimescaleFudge { get; private set; } public static bool VehicleDebuggingEnabled { get; private set; } + // Convex Hulls + public static int CSHullMaxDepthSplit { get; private set; } + public static int CSHullMaxDepthSplitForSimpleShapes { get; private set; } + public static float CSHullConcavityThresholdPercent { get; private set; } + public static float CSHullVolumeConservationThresholdPercent { get; private set; } + public static int CSHullMaxVertices { get; private set; } + public static float CSHullMaxSkinWidth { get; private set; } + // Linkset implementation parameters public static float LinksetImplementation { get; private set; } public static bool LinkConstraintUseFrameOffset { get; private set; } @@ -623,6 +631,31 @@ public static class BSParam (s) => { return GlobalContactBreakingThreshold; }, (s,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ), + new ParameterDefn("CSHullMaxDepthSplit", "CS impl: max depth to split for hull. 1-10 but > 7 is iffy", + 7, + (s) => { return CSHullMaxDepthSplit; }, + (s,v) => { CSHullMaxDepthSplit = v; } ), + new ParameterDefn("CSHullMaxDepthSplitForSimpleShapes", "CS impl: max depth setting for simple prim shapes", + 2, + (s) => { return CSHullMaxDepthSplitForSimpleShapes; }, + (s,v) => { CSHullMaxDepthSplitForSimpleShapes = v; } ), + new ParameterDefn("CSHullConcavityThresholdPercent", "CS impl: concavity threshold percent (0-20)", + 5f, + (s) => { return CSHullConcavityThresholdPercent; }, + (s,v) => { CSHullConcavityThresholdPercent = v; } ), + new ParameterDefn("CSHullVolumeConservationThresholdPercent", "percent volume conservation to collapse hulls (0-30)", + 5f, + (s) => { return CSHullVolumeConservationThresholdPercent; }, + (s,v) => { CSHullVolumeConservationThresholdPercent = v; } ), + new ParameterDefn("CSHullMaxVertices", "CS impl: maximum number of vertices in output hulls. Keep < 50.", + 32, + (s) => { return CSHullMaxVertices; }, + (s,v) => { CSHullMaxVertices = v; } ), + new ParameterDefn("CSHullMaxSkinWidth", "CS impl: skin width to apply to output hulls.", + 0, + (s) => { return CSHullMaxSkinWidth; }, + (s,v) => { CSHullMaxSkinWidth = v; } ), + new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", (float)BSLinkset.LinksetImplementation.Compound, (s) => { return LinksetImplementation; }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index b16bc10..457f204 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -447,17 +447,10 @@ public sealed class BSShapeCollection : IDisposable // If the prim attributes are simple, this could be a simple Bullet native shape if (!haveShape + && nativeShapePossible && pbs != null && !pbs.SculptEntry - && nativeShapePossible - && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) - || (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) ) ) + && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) || PrimHasNoCuts(pbs)) ) { // 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; @@ -508,6 +501,18 @@ public sealed class BSShapeCollection : IDisposable return ret; } + // return 'true' if this shape description does not include any cutting or twisting. + private bool PrimHasNoCuts(PrimitiveBaseShape pbs) + { + return 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; + } + // return 'true' if the prim's shape was changed. public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { @@ -518,7 +523,7 @@ public sealed class BSShapeCollection : IDisposable if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects) { // Update prim.BSShape to reference a hull of this shape. - ret = GetReferenceToHull(prim,shapeCallback); + ret = GetReferenceToHull(prim, shapeCallback); if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); } @@ -697,6 +702,7 @@ public sealed class BSShapeCollection : IDisposable // 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; @@ -715,6 +721,7 @@ public sealed class BSShapeCollection : IDisposable DereferenceShape(prim.PhysShape, shapeCallback); newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod); + // It might not have been created if we're waiting for an asset. newShape = VerifyMeshCreated(newShape, prim); ReferenceShape(newShape); @@ -733,14 +740,14 @@ public sealed class BSShapeCollection : IDisposable HullDesc hullDesc; if (Hulls.TryGetValue(newHullKey, out hullDesc)) { - // If the hull shape already is created, just use it. + // If the hull shape already has been created, just use the one shared instance. newShape = hullDesc.shape.Clone(); } else { - // Build a new hull in the physical world - // Pass true for physicalness as this creates some sort of bounding box which we don't need - IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); + // 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(objName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); if (meshData != null) { @@ -759,15 +766,35 @@ public sealed class BSShapeCollection : IDisposable 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: -- cgit v1.1 From 953090fd62c2f8647d0e04bc3890a04a7076dbad Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 23 Mar 2013 11:00:52 -0700 Subject: BulletSim: fix possible race condition where an prim's asset can be requested quicker than the asset fetcher returns and thus falsely reporting that an asset was not fetched and defaulting the assset to a bounding box. --- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 12 ++++++++---- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 21 +++++++++++++++------ 3 files changed, 24 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index f953c1e..6bb88c7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -86,7 +86,7 @@ public abstract class BSPhysObject : PhysicsActor PhysBody = new BulletBody(localID); PhysShape = new BulletShape(); - LastAssetBuildFailed = false; + PrimAssetState = PrimAssetCondition.Unknown; // Default material type. Also sets Friction, Restitution and Density. SetMaterial((int)MaterialAttributes.Material.Wood); @@ -133,9 +133,13 @@ public abstract class BSPhysObject : PhysicsActor // Reference to the physical shape (btCollisionShape) of this object public BulletShape PhysShape; - // 'true' if the mesh's underlying asset failed to build. - // This will keep us from looping after the first time the build failed. - public bool LastAssetBuildFailed { get; set; } + // The physical representation of the prim might require an asset fetch. + // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'. + public enum PrimAssetCondition + { + Unknown, Waiting, Failed, Fetched + } + public PrimAssetCondition PrimAssetState { get; set; } // The objects base shape information. Null if not a prim type shape. public PrimitiveBaseShape BaseShape { get; protected set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 2cbbe9a..6a5461a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -155,7 +155,7 @@ public class BSPrim : BSPhysObject public override PrimitiveBaseShape Shape { set { BaseShape = value; - LastAssetBuildFailed = false; + PrimAssetState = PrimAssetCondition.Unknown; ForceBodyShapeRebuild(false); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 457f204..a6e20a8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -930,11 +930,15 @@ public sealed class BSShapeCollection : IDisposable return newShape; // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset - if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero) + if (prim.BaseShape.SculptEntry + && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Failed + && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting + && prim.BaseShape.SculptTexture != OMV.UUID.Zero + ) { - DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lastFailed={1}", prim.LocalID, prim.LastAssetBuildFailed); - // This will prevent looping through this code as we keep trying to get the failed shape - prim.LastAssetBuildFailed = true; + 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 @@ -945,7 +949,7 @@ public sealed class BSShapeCollection : IDisposable BSPhysObject yprim = xprim; // probably not necessary, but, just in case. assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) { - bool assetFound = false; // DEBUG DEBUG + bool assetFound = false; string mismatchIDs = String.Empty; // DEBUG DEBUG if (asset != null && yprim.BaseShape.SculptEntry) { @@ -963,6 +967,10 @@ public sealed class BSShapeCollection : IDisposable mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID; } } + if (assetFound) + yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched; + else + yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}", yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs ); @@ -970,6 +978,7 @@ public sealed class BSShapeCollection : IDisposable } else { + xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; PhysicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}", LogHeader, PhysicsScene.Name); } @@ -977,7 +986,7 @@ public sealed class BSShapeCollection : IDisposable } else { - if (prim.LastAssetBuildFailed) + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) { PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}", LogHeader, prim.LocalID, prim.BaseShape.SculptTexture); -- cgit v1.1 From c96a6f1de6d5e66dd2055365c26144d7a92f2fc5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 23 Mar 2013 11:03:59 -0700 Subject: BulletSim: small tweaks and formatting in the parameter fetching code. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 21 ++++++++++++++++----- 1 file changed, 16 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 26d2d60..f3454c8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -203,10 +203,10 @@ public static class BSParam public delegate void PSetOnObject(BSScene scene, BSPhysObject obj); public sealed class ParameterDefn : ParameterDefnBase { - T defaultValue; - PSetValue setter; - PGetValue getter; - PSetOnObject objectSet; + private T defaultValue; + private PSetValue setter; + private PGetValue getter; + private PSetOnObject objectSet; public ParameterDefn(string pName, string pDesc, T pDefault, PGetValue pGetter, PSetValue pSetter) : base(pName, pDesc) { @@ -223,13 +223,23 @@ public static class BSParam getter = pGetter; objectSet = pObjSetter; } + /* Wish I could simplify using this definition but CLR doesn't store references so closure around delegates of references won't work + public ParameterDefn(string pName, string pDesc, T pDefault, ref T loc) + : base(pName, pDesc) + { + defaultValue = pDefault; + setter = (s, v) => { loc = v; }; + getter = (s) => { return loc; }; + objectSet = null; + } + */ public override void AssignDefault(BSScene s) { setter(s, defaultValue); } public override string GetValue(BSScene s) { - return String.Format("{0}", getter(s)); + return getter(s).ToString(); } public override void SetValue(BSScene s, string valAsString) { @@ -252,6 +262,7 @@ public static class BSParam try { T setValue = (T)parser.Invoke(genericType, new Object[] { valAsString }); + // Store the parsed value setter(s, setValue); // s.Logger.DebugFormat("{0} Parameter {1} = {2}", LogHeader, name, setValue); } -- cgit v1.1 From 285dc554ece0b504cb549193096f84c9c0cfe89f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 25 Mar 2013 15:19:55 -0700 Subject: BulletSim: new algorithm for vertical attraction which uses quaternion arithmetic to compute the shortest path between the current tilt and vertical. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 48 ++++++++++++++++++++-- 1 file changed, 45 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 5549984..65df741 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -321,7 +321,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } - internal void ProcessTypeChange(Vehicle pType) + public void ProcessTypeChange(Vehicle pType) { VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType); // Set Defaults For Type @@ -1301,14 +1301,52 @@ namespace OpenSim.Region.Physics.BulletSPlugin // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay. public void ComputeAngularVerticalAttraction() { + // If vertical attaction timescale is reasonable if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { + // Possible solution derived from a discussion at: + // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no + + // Create a rotation that is only the vehicle's rotation around Z + Vector3 currentEuler = Vector3.Zero; + VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z); + Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z); + + // Create the axis that is perpendicular to the up vector and the rotated up vector. + Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation); + // Compute the angle between those to vectors. + double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation))); + // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical + + // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied. + // TODO: add 'efficiency'. + differenceAngle /= m_verticalAttractionTimescale; + + // Create the quaterian representing the correction angle + Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle); + + // Turn that quaternion into Euler values to make it into velocities to apply. + Vector3 vertContributionV = Vector3.Zero; + correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z); + vertContributionV *= -1f; + + VehicleRotationalVelocity += vertContributionV; + + VDetailLog("{0}, MoveAngular,verticalAttraction,diffAxis={1},diffAng={2},corrRot={3},contrib={4}", + Prim.LocalID, + differenceAxis, + differenceAngle, + correctionRotation, + vertContributionV); + + // =================================================================== + /* Vector3 vertContributionV = Vector3.Zero; Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG // Take a vector pointing up and convert it from world to vehicle relative coords. - Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; + Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleOrientation); // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) // is now: @@ -1334,13 +1372,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. // Correction happens over a number of seconds. Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG + + // The correction happens over the user's time period vertContributionV /= m_verticalAttractionTimescale; - VehicleRotationalVelocity += vertContributionV; + // Rotate the vehicle rotation to the world coordinates. + VehicleRotationalVelocity += (vertContributionV * VehicleOrientation); VDetailLog("{0}, MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}", Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV); + */ } } -- cgit v1.1 From abde0d4efb897581df2a6a7be591de2224611b90 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 26 Mar 2013 15:02:10 -0700 Subject: BulletSim: prevent asset fetching loop when the fetched asset fails to mesh. Check for the case where the fetched mesh asset fails meshing (degenerate triangles or no physical mesh). In this case, the asset is marked 'failed' and BulletSim doesn't keep trying to fetch over-and-over trying to get a good asset. --- .../Physics/BulletSPlugin/BSShapeCollection.cs | 116 ++++++++++++--------- 1 file changed, 64 insertions(+), 52 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index a6e20a8..b6ac23d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -929,67 +929,79 @@ public sealed class BSShapeCollection : IDisposable if (newShape.HasPhysicalShape) return newShape; - // 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 - ) + // 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) { - DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset", prim.LocalID); - // Multiple requestors will know we're waiting for this asset - prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting; + 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 + ) + { + 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 xprim = prim; + Util.FireAndForget(delegate { - BSPhysObject yprim = xprim; // probably not necessary, but, just in case. - assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) + RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod; + if (assetProvider != null) { - bool assetFound = false; - string mismatchIDs = String.Empty; // DEBUG DEBUG - if (asset != null && yprim.BaseShape.SculptEntry) + BSPhysObject yprim = xprim; // probably not necessary, but, just in case. + assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) { - if (yprim.BaseShape.SculptTexture.ToString() == asset.ID) + bool assetFound = false; + string mismatchIDs = String.Empty; // DEBUG DEBUG + if (asset != null && yprim.BaseShape.SculptEntry) { - 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; + 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 - { - mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID; - } - } - if (assetFound) - yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched; - else - yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; - 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) + yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; + 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 { - PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}", - LogHeader, prim.LocalID, prim.BaseShape.SculptTexture); + 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); + } } } -- cgit v1.1 From 3f9b274180acb4499b878e9acad461811f11eb1f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 27 Mar 2013 16:59:13 -0700 Subject: BulletSim: tweaks to terrain boundry computation. No functional changes. --- .../Physics/BulletSPlugin/BSTerrainManager.cs | 50 +++++++++++++--------- 1 file changed, 29 insertions(+), 21 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index a60946d..d4aecbc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -343,37 +343,35 @@ public sealed class BSTerrainManager : IDisposable { Vector3 ret = pPos; + // First, base addresses are never negative so correct for that possible problem. + if (ret.X < 0f || ret.Y < 0f) + { + ret.X = Util.Clamp(ret.X, 0f, 1000000f); + ret.Y = Util.Clamp(ret.Y, 0f, 1000000f); + DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,zeroingNegXorY,oldPos={1},newPos={2}", + BSScene.DetailLogZero, pPos, ret); + } + // Can't do this function if we don't know about any terrain. if (m_terrains.Count == 0) return ret; - int loopPrevention = 5; + int loopPrevention = 10; Vector3 terrainBaseXYZ; BSTerrainPhys physTerrain; while (!GetTerrainPhysicalAtXYZ(ret, out physTerrain, out terrainBaseXYZ)) { // The passed position is not within a known terrain area. + // NOTE that GetTerrainPhysicalAtXYZ will set 'terrainBaseXYZ' to the base of the unfound region. - // First, base addresses are never negative so correct for that possible problem. - if (ret.X < 0f || ret.Y < 0f) - { - if (ret.X < 0f) - ret.X = 0f; - if (ret.Y < 0f) - ret.Y = 0f; - DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,zeroingNegXorY,oldPos={1},newPos={2}", - BSScene.DetailLogZero, pPos, ret); - } - else - { - // Must be off the top of a region. Find an adjacent region to move into. - Vector3 adjacentTerrainBase = FindAdjacentTerrainBase(terrainBaseXYZ); + // Must be off the top of a region. Find an adjacent region to move into. + Vector3 adjacentTerrainBase = FindAdjacentTerrainBase(terrainBaseXYZ); + + ret.X = Math.Min(ret.X, adjacentTerrainBase.X + (ret.X % DefaultRegionSize.X)); + ret.Y = Math.Min(ret.Y, adjacentTerrainBase.Y + (ret.X % DefaultRegionSize.Y)); + DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,findingAdjacentRegion,adjacentRegBase={1},oldPos={2},newPos={3}", + BSScene.DetailLogZero, adjacentTerrainBase, pPos, ret); - ret.X = Math.Min(ret.X, adjacentTerrainBase.X + DefaultRegionSize.X); - ret.Y = Math.Min(ret.Y, adjacentTerrainBase.Y + DefaultRegionSize.Y); - DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,findingAdjacentRegion,adjacentRegBase={1},oldPos={2},newPos={3}", - BSScene.DetailLogZero, adjacentTerrainBase, pPos, ret); - } if (loopPrevention-- < 0f) { // The 'while' is a little dangerous so this prevents looping forever if the @@ -383,6 +381,7 @@ public sealed class BSTerrainManager : IDisposable break; } } + return ret; } @@ -479,11 +478,20 @@ public sealed class BSTerrainManager : IDisposable private Vector3 FindAdjacentTerrainBase(Vector3 pTerrainBase) { Vector3 ret = pTerrainBase; + + // Can't do this function if we don't know about any terrain. + if (m_terrains.Count == 0) + return ret; + + // Just some sanity + ret.X = Util.Clamp(ret.X, 0f, 1000000f); + ret.Y = Util.Clamp(ret.Y, 0f, 1000000f); ret.Z = 0f; + lock (m_terrains) { // Once down to the <0,0> region, we have to be done. - while (ret.X > 0f && ret.Y > 0f) + while (ret.X > 0f || ret.Y > 0f) { if (ret.X > 0f) { -- cgit v1.1 From 6a9630d2bdc27ed702936f4c44e6978f728a9ef0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 28 Mar 2013 10:56:21 -0700 Subject: BulletSim: fix race condition when creating very large mega-regions. The symptom was exceptions while creating physical terrain. Reduce default terrain mesh magnification to 2 from 3 because the higher resolution uses a lot of memory and doesn't solve the terrain smoothness for vehicles. Added comments here and there and improved some debugging log messages. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 4 +-- .../Region/Physics/BulletSPlugin/BSMaterials.cs | 3 ++ OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 38 ++++++++++++++-------- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 10 +++--- 5 files changed, 35 insertions(+), 22 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e208d3a..90c2d9c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -479,7 +479,7 @@ public sealed class BSCharacter : BSPhysObject // The character is out of the known/simulated area. // Force the avatar position to be within known. ScenePresence will use the position // plus the velocity to decide if the avatar is moving out of the region. - RawPosition = PhysicsScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition); + RawPosition = PhysicsScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition); DetailLog("{0},BSCharacter.PositionSanityCheck,notWithinKnownTerrain,clampedPos={1}", LocalID, RawPosition); return true; } @@ -898,7 +898,7 @@ public sealed class BSCharacter : BSPhysObject // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. if (PositionSanityCheck(true)) { - DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, _position); + DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, _position); entprop.Position = _position; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs index 92d62ff..ee77d6e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMaterials.cs @@ -180,11 +180,14 @@ public static class BSMaterials // Use reflection to set the value in the attribute structure. private static void SetAttributeValue(int matType, string attribName, float val) { + // Get the current attribute values for this material MaterialAttributes thisAttrib = Attributes[matType]; + // Find the field for the passed attribute name (eg, find field named 'friction') FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName.ToLower()); if (fieldInfo != null) { fieldInfo.SetValue(thisAttrib, val); + // Copy new attributes back to array -- since MaterialAttributes is 'struct', passed by value, not reference. Attributes[matType] = thisAttrib; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index f3454c8..385ed9e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -482,7 +482,7 @@ public static class BSParam (s) => { return TerrainImplementation; }, (s,v) => { TerrainImplementation = v; } ), new ParameterDefn("TerrainMeshMagnification", "Number of times the 256x256 heightmap is multiplied to create the terrain mesh" , - 3, + 2, (s) => { return TerrainMeshMagnification; }, (s,v) => { TerrainMeshMagnification = v; } ), new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index d4aecbc..b2fb835 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -132,6 +132,7 @@ public sealed class BSTerrainManager : IDisposable // safe to call Bullet in real time. We hope no one is moving prims around yet. public void CreateInitialGroundPlaneAndTerrain() { + DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, PhysicsScene.RegionName); // The ground plane is here to catch things that are trying to drop to negative infinity BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, @@ -145,14 +146,18 @@ public sealed class BSTerrainManager : IDisposable m_groundPlane.collisionType = CollisionType.Groundplane; m_groundPlane.ApplyCollisionMask(PhysicsScene); - // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); - m_terrains.Add(Vector3.Zero, initialTerrain); + lock (m_terrains) + { + // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. + m_terrains.Add(Vector3.Zero, initialTerrain); + } } // Release all the terrain structures we might have allocated public void ReleaseGroundPlaneAndTerrain() { + DetailLog("{0},BSTerrainManager.ReleaseGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, PhysicsScene.RegionName); if (m_groundPlane.HasPhysicalBody) { if (PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_groundPlane)) @@ -193,11 +198,16 @@ public sealed class BSTerrainManager : IDisposable // the terrain is added to our parent if (MegaRegionParentPhysicsScene is BSScene) { - DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", - BSScene.DetailLogZero, m_worldOffset, m_worldMax); - ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain( - BSScene.CHILDTERRAIN_ID, localHeightMap, - m_worldOffset, m_worldOffset + DefaultRegionSize, true); + DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", BSScene.DetailLogZero, m_worldOffset, m_worldMax); + // This looks really odd but this region is passing its terrain to its mega-region root region + // and the creation of the terrain must happen on the root region's taint thread and not + // my taint thread. + ((BSScene)MegaRegionParentPhysicsScene).PostTaintObject("TerrainManager.SetTerrain.Mega-" + m_worldOffset.ToString(), 0, delegate() + { + ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain( + BSScene.CHILDTERRAIN_ID, localHeightMap, + m_worldOffset, m_worldOffset + DefaultRegionSize, true /* inTaintTime */); + }); } } else @@ -206,16 +216,16 @@ public sealed class BSTerrainManager : IDisposable DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, - m_worldOffset, m_worldOffset + DefaultRegionSize, true); + m_worldOffset, m_worldOffset + DefaultRegionSize, true /* inTaintTime */); } }); } - // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain + // If called for terrain has has not been previously allocated, a new terrain will be built // based on the passed information. The 'id' should be either the terrain id or // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used. // The latter feature is for creating child terrains for mega-regions. - // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new + // If there is an existing terrain body, a new // terrain shape is created and added to the body. // This call is most often used to update the heightMap and parameters of the terrain. // (The above does suggest that some simplification/refactoring is in order.) @@ -223,8 +233,8 @@ public sealed class BSTerrainManager : IDisposable private void UpdateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) { - DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}", - BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime); + DetailLog("{0},BSTerrainManager.UpdateTerrain,call,id={1},minC={2},maxC={3},inTaintTime={4}", + BSScene.DetailLogZero, id, minCoords, maxCoords, inTaintTime); // Find high and low points of passed heightmap. // The min and max passed in is usually the area objects can be in (maximum @@ -253,7 +263,7 @@ public sealed class BSTerrainManager : IDisposable if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys)) { // There is already a terrain in this spot. Free the old and build the new. - DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}", + DetailLog("{0},BSTErrainManager.UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}", BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords); // Remove old terrain from the collection @@ -292,7 +302,7 @@ public sealed class BSTerrainManager : IDisposable if (newTerrainID >= BSScene.CHILDTERRAIN_ID) newTerrainID = ++m_terrainCount; - DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}", + DetailLog("{0},BSTerrainManager.UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}", BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); m_terrains.Add(terrainRegionBase, newTerrainPhys); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index a9cd8a1..2ce1513 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -98,20 +98,20 @@ public sealed class BSTerrainMesh : BSTerrainPhys if (!meshCreationSuccess) { // DISASTER!! - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID); + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}", BSScene.DetailLogZero, ID); PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase); // Something is very messed up and a crash is in our future. return; } - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}", - ID, indicesCount, indices.Length, verticesCount, vertices.Length); + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}", + BSScene.DetailLogZero, ID, indicesCount, indices.Length, verticesCount, vertices.Length); m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount, vertices); if (!m_terrainShape.HasPhysicalShape) { // DISASTER!! - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID); + PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero, ID); PhysicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); // Something is very messed up and a crash is in our future. return; @@ -151,7 +151,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys if (BSParam.UseSingleSidedMeshes) { - PhysicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial", id); + PhysicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id); PhysicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); } -- cgit v1.1 From 2c581cae2a77628704ae7ae2f9f0f0a87cbb0072 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 31 Mar 2013 09:12:18 -0700 Subject: BulletSim: Add physical 'actors' that operate on the physical object. Add first 'actor' for locked axis. --- .../Physics/BulletSPlugin/BSActorLockAxis.cs | 168 +++++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 123 +++++++++++++++ .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 ++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 83 ++-------- 4 files changed, 311 insertions(+), 74 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActors.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs new file mode 100755 index 0000000..b4af126 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -0,0 +1,168 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorLockAxis : BSActor +{ + bool TryExperimentalLockAxisCode = false; + BSConstraint LockAxisConstraint = null; + + public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj,actorName) + { + LockAxisConstraint = null; + } + + // BSActor.isActive + public override bool isActive + { + get { return Enabled && Prim.IsPhysicallyActive; } + } + + // Release any connections and resources used by the actor. + // BSActor.Release() + public override void Release() + { + RemoveAxisLockConstraint(); + } + + // Called when physical parameters (properties set in Bullet) need to be re-applied. + // Called at taint-time. + // BSActor.Refresh() + public override void Refresh() + { + // If all the axis are free, we don't need to exist + if (Prim.LockedAxis == Prim.LockedAxisFree) + { + Prim.PhysicalActors.RemoveAndRelease(ActorName); + return; + } + // If the object is physically active, add the axis locking constraint + if (Enabled + && Prim.IsPhysicallyActive + && TryExperimentalLockAxisCode + && Prim.LockedAxis != Prim.LockedAxisFree) + { + if (LockAxisConstraint != null) + AddAxisLockConstraint(); + } + else + { + RemoveAxisLockConstraint(); + } + } + + // 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() + { + if (LockAxisConstraint != null) + { + // If a constraint is set up, remove it from the physical scene + RemoveAxisLockConstraint(); + // Schedule a call before the next simulation step to restore the constraint. + PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate() + { + Refresh(); + }); + } + } + + private void AddAxisLockConstraint() + { + // Lock that axis by creating a 6DOF constraint that has one end in the world and + // the other in the object. + // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 + // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 + + // Remove any existing axis constraint (just to be sure) + RemoveAxisLockConstraint(); + + BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody, + OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation), + true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); + LockAxisConstraint = axisConstrainer; + PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); + + // The constraint is tied to the world and oriented to the prim. + + // Free to move linearly + OMV.Vector3 linearLow = OMV.Vector3.Zero; + OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; + axisConstrainer.SetLinearLimits(linearLow, linearHigh); + + // Angular with some axis locked + float f2PI = (float)Math.PI * 2f; + OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); + OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); + if (Prim.LockedAxis.X != 1f) + { + angularLow.X = 0f; + angularHigh.X = 0f; + } + if (Prim.LockedAxis.Y != 1f) + { + angularLow.Y = 0f; + angularHigh.Y = 0f; + } + if (Prim.LockedAxis.Z != 1f) + { + angularLow.Z = 0f; + angularHigh.Z = 0f; + } + axisConstrainer.SetAngularLimits(angularLow, angularHigh); + + PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", + Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh); + + // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. + axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); + + axisConstrainer.RecomputeConstraintVariables(Prim.RawMass); + } + + private void RemoveAxisLockConstraint() + { + if (LockAxisConstraint != null) + { + PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); + LockAxisConstraint = null; + PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID); + } + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs new file mode 100755 index 0000000..b9b5ce1 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -0,0 +1,123 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorCollection +{ + private BSScene PhysicsScene { get; set; } + private Dictionary m_actors; + + public BSActorCollection(BSScene physicsScene) + { + PhysicsScene = physicsScene; + m_actors = new Dictionary(); + } + public void Add(string name, BSActor actor) + { + m_actors[name] = actor; + } + public bool RemoveAndRelease(string name) + { + bool ret = false; + if (m_actors.ContainsKey(name)) + { + BSActor beingRemoved = m_actors[name]; + beingRemoved.Release(); + m_actors.Remove(name); + ret = true; + } + return ret; + } + public void Clear() + { + Release(); + m_actors.Clear(); + } + public bool HasActor(string name) + { + return m_actors.ContainsKey(name); + } + public void ForEachActor(Action act) + { + foreach (KeyValuePair kvp in m_actors) + act(kvp.Value); + } + + public void Release() + { + ForEachActor(a => a.Release()); + } + public void Refresh() + { + ForEachActor(a => a.Refresh()); + } + public void RemoveBodyDependencies() + { + ForEachActor(a => a.RemoveBodyDependencies()); + } +} + +// ============================================================================= +public abstract class BSActor +{ + protected BSScene PhysicsScene { get; private set; } + protected BSPhysObject Prim { get; private set; } + protected bool Enabled { get; set; } + public string ActorName { get; private set; } + + public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName) + { + PhysicsScene = physicsScene; + Prim = pObj; + ActorName = actorName; + Enabled = true; + } + + // Return 'true' if activily updating the prim + public virtual bool isActive + { + get { return Enabled; } + } + // Turn the actor on an off. + public virtual void Enable(bool setEnabled) + { + Enabled = setEnabled; + } + // Release any connections and resources used by the actor. + public abstract void Release(); + // Called when physical parameters (properties set in Bullet) need to be re-applied. + 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(); + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 6bb88c7..cba2646 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -78,6 +78,9 @@ public abstract class BSPhysObject : PhysicsActor Name = name; // PhysicsActor also has the name of the object. Someday consolidate. TypeName = typeName; + // The collection of things that push me around + PhysicalActors = new BSActorCollection(PhysicsScene); + // Initialize variables kept in base. GravModifier = 1.0f; Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); @@ -109,6 +112,10 @@ public abstract class BSPhysObject : PhysicsActor { UnRegisterAllPreStepActions(); UnRegisterAllPostStepActions(); + PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate() + { + PhysicalActors.Release(); + }); } public BSScene PhysicsScene { get; protected set; } @@ -230,6 +237,7 @@ public abstract class BSPhysObject : PhysicsActor public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free + public readonly String LockedAxisActorName = "BSPrim.LockedAxis"; #region Collisions @@ -413,6 +421,9 @@ public abstract class BSPhysObject : PhysicsActor #endregion // Collisions #region Per Simulation Step actions + + public BSActorCollection PhysicalActors; + // There are some actions that must be performed for a physical object before each simulation step. // These actions are optional so, rather than scanning all the physical objects and asking them // if they have anything to do, a physical object registers for an event call before the step is performed. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6a5461a..68a6c41 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -126,7 +126,7 @@ public class BSPrim : BSPhysObject // Undo any vehicle properties this.VehicleType = (int)Vehicle.TYPE_NONE; - PhysicsScene.TaintedObject("BSPrim.destroy", delegate() + PhysicsScene.TaintedObject("BSPrim.Destroy", delegate() { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // If there are physical body and shape, release my use of same. @@ -257,98 +257,31 @@ public class BSPrim : BSPhysObject }); } - bool TryExperimentalLockAxisCode = false; - BSConstraint LockAxisConstraint = null; public override void LockAngularMotion(OMV.Vector3 axis) { DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); // "1" means free, "0" means locked - OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f); + OMV.Vector3 locking = LockedAxisFree; if (axis.X != 1) locking.X = 0f; if (axis.Y != 1) locking.Y = 0f; if (axis.Z != 1) locking.Z = 0f; LockedAxis = locking; - if (TryExperimentalLockAxisCode && LockedAxis != LockedAxisFree) + if (LockedAxis != LockedAxisFree) { - // Lock that axis by creating a 6DOF constraint that has one end in the world and - // the other in the object. - // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 - // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 - PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate() { - CleanUpLockAxisPhysicals(true /* inTaintTime */); - - BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, PhysBody, - OMV.Vector3.Zero, OMV.Quaternion.Inverse(RawOrientation), - true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); - LockAxisConstraint = axisConstrainer; - PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); - - // The constraint is tied to the world and oriented to the prim. - - // Free to move linearly - OMV.Vector3 linearLow = OMV.Vector3.Zero; - OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; - axisConstrainer.SetLinearLimits(linearLow, linearHigh); - - // Angular with some axis locked - float f2PI = (float)Math.PI * 2f; - OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); - OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); - if (LockedAxis.X != 1f) - { - angularLow.X = 0f; - angularHigh.X = 0f; - } - if (LockedAxis.Y != 1f) - { - angularLow.Y = 0f; - angularHigh.Y = 0f; - } - if (LockedAxis.Z != 1f) + // If there is not already an axis locker, make one + if (!PhysicalActors.HasActor(LockedAxisActorName)) { - angularLow.Z = 0f; - angularHigh.Z = 0f; + PhysicalActors.Add(LockedAxisActorName, new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName)); } - axisConstrainer.SetAngularLimits(angularLow, angularHigh); - - DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", - LocalID, linearLow, linearHigh, angularLow, angularHigh); - - // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. - axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); - - axisConstrainer.RecomputeConstraintVariables(RawMass); + UpdatePhysicalParameters(); }); } - else - { - // Everything seems unlocked - CleanUpLockAxisPhysicals(false /* inTaintTime */); - } - return; } - // Get rid of any constraint built for LockAxis - // Most often the constraint is removed when the constraint collection is cleaned for this prim. - private void CleanUpLockAxisPhysicals(bool inTaintTime) - { - if (LockAxisConstraint != null) - { - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CleanUpLockAxisPhysicals", delegate() - { - if (LockAxisConstraint != null) - { - PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); - LockAxisConstraint = null; - DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", LocalID); - } - }); - } - } public override OMV.Vector3 RawPosition { @@ -916,6 +849,7 @@ public class BSPrim : BSPhysObject // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) VehicleController.Refresh(); + PhysicalActors.Refresh(); // Arrange for collision events if the simulator wants them EnableCollisions(SubscribedEvents()); @@ -1753,6 +1687,7 @@ public class BSPrim : BSPhysObject protected virtual void RemoveBodyDependencies() { VehicleController.RemoveBodyDependencies(this); + PhysicalActors.RemoveBodyDependencies(); } // The physics engine says that properties have updated. Update same and inform -- cgit v1.1 From 747ece59d20370115fdaf90a5a08ab77f5605b1c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 31 Mar 2013 17:36:15 -0700 Subject: BulletSim: convert BSDynamic to a BSActor and change BSPrim to set up the vehicle actor. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 199 +++++++++++++-------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 46 ++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- .../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 12 +- 5 files changed, 149 insertions(+), 112 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 65df741..8b5da0d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -40,13 +40,14 @@ using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.BulletSPlugin { - public sealed class BSDynamics + public sealed class BSDynamics : BSActor { private static string LogHeader = "[BULLETSIM VEHICLE]"; - private BSScene PhysicsScene { get; set; } // the prim this dynamic controller belongs to - private BSPrim Prim { get; set; } + private BSPrim ControllingPrim { get; set; } + + private bool m_haveRegisteredForSceneEvents; // mass of the vehicle fetched each time we're calles private float m_vehicleMass; @@ -129,11 +130,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin public bool enableAngularDeflection; public bool enableAngularBanking; - public BSDynamics(BSScene myScene, BSPrim myPrim) + public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName) + : base(myScene, myPrim, actorName) { - PhysicsScene = myScene; - Prim = myPrim; + ControllingPrim = myPrim; Type = Vehicle.TYPE_NONE; + m_haveRegisteredForSceneEvents = false; SetupVehicleDebugging(); } @@ -155,7 +157,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Return 'true' if this vehicle is doing vehicle things public bool IsActive { - get { return (Type != Vehicle.TYPE_NONE && Prim.IsPhysicallyActive); } + get { return (Type != Vehicle.TYPE_NONE && ControllingPrim.IsPhysicallyActive); } } // Return 'true' if this a vehicle that should be sitting on the ground @@ -167,7 +169,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin #region Vehicle parameter setting public void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { - VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); + VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: @@ -195,7 +197,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.BUOYANCY: m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f); - m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy); + m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); break; case Vehicle.HOVER_EFFICIENCY: m_VhoverEfficiency = ClampInRange(0f, pValue, 1f); @@ -258,7 +260,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) { - VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); + VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_FRICTION_TIMESCALE: @@ -294,7 +296,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) { - VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); + VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.REFERENCE_FRAME: @@ -308,7 +310,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessVehicleFlags(int pParam, bool remove) { - VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove); + VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", ControllingPrim.LocalID, pParam, remove); VehicleFlag parm = (VehicleFlag)pParam; if (pParam == -1) m_flags = (VehicleFlag)0; @@ -323,7 +325,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public void ProcessTypeChange(Vehicle pType) { - VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType); + VDetailLog("{0},ProcessTypeChange,type={1}", ControllingPrim.LocalID, pType); // Set Defaults For Type Type = pType; switch (pType) @@ -578,13 +580,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f); m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) */ + + if (this.Type == Vehicle.TYPE_NONE) + { + UnregisterForSceneEvents(); + } + else + { + RegisterForSceneEvents(); + } } #endregion // Vehicle parameter setting - public void Refresh() + // BSActor.Refresh() + public override void Refresh() { // If asking for a refresh, reset the physical parameters before the next simulation step. - PhysicsScene.PostTaintObject("BSDynamics.Refresh", Prim.LocalID, delegate() + PhysicsScene.PostTaintObject("BSDynamics.Refresh", ControllingPrim.LocalID, delegate() { SetPhysicalParameters(); }); @@ -597,49 +609,90 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (IsActive) { // Remember the mass so we don't have to fetch it every step - m_vehicleMass = Prim.TotalMass; + m_vehicleMass = ControllingPrim.TotalMass; // Friction affects are handled by this vehicle code - PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction); - PhysicsScene.PE.SetRestitution(Prim.PhysBody, BSParam.VehicleRestitution); + PhysicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction); + PhysicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution); // Moderate angular movement introduced by Bullet. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. // Maybe compute linear and angular factor and damping from params. - PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, BSParam.VehicleAngularDamping); - PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, BSParam.VehicleLinearFactor); - PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, BSParam.VehicleAngularFactor); + PhysicsScene.PE.SetAngularDamping(ControllingPrim.PhysBody, BSParam.VehicleAngularDamping); + PhysicsScene.PE.SetLinearFactor(ControllingPrim.PhysBody, BSParam.VehicleLinearFactor); + PhysicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor); // Vehicles report collision events so we know when it's on the ground - PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); + PhysicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); - Prim.Inertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass); - PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, Prim.Inertia); - PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody); + ControllingPrim.Inertia = PhysicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape, m_vehicleMass); + PhysicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); + PhysicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); // Set the gravity for the vehicle depending on the buoyancy // TODO: what should be done if prim and vehicle buoyancy differ? - m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy); + m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same. - PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero); + PhysicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero); VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}", - Prim.LocalID, m_vehicleMass, Prim.Inertia, m_VehicleGravity, + ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity, BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution, BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor ); } else { - if (Prim.PhysBody.HasPhysicalBody) - PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); + if (ControllingPrim.PhysBody.HasPhysicalBody) + PhysicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); } } - public bool RemoveBodyDependencies(BSPhysObject prim) + // BSActor.RemoveBodyDependencies + public override void RemoveBodyDependencies() { Refresh(); - return IsActive; + } + + // BSActor.Release() + public override void Dispose() + { + UnregisterForSceneEvents(); + Type = Vehicle.TYPE_NONE; + Enabled = false; + return; + } + + private void RegisterForSceneEvents() + { + if (!m_haveRegisteredForSceneEvents) + { + PhysicsScene.BeforeStep += this.Step; + PhysicsScene.AfterStep += this.PostStep; + ControllingPrim.OnPreUpdateProperty += this.PreUpdateProperty; + m_haveRegisteredForSceneEvents = true; + } + } + + private void UnregisterForSceneEvents() + { + if (m_haveRegisteredForSceneEvents) + { + PhysicsScene.BeforeStep -= this.Step; + PhysicsScene.AfterStep -= this.PostStep; + ControllingPrim.OnPreUpdateProperty -= this.PreUpdateProperty; + m_haveRegisteredForSceneEvents = false; + } + } + + private void PreUpdateProperty(ref EntityProperties entprop) + { + // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet + // TODO: handle physics introduced by Bullet with computed vehicle physics. + if (IsActive) + { + entprop.RotationalVelocity = Vector3.Zero; + } } #region Known vehicle value functions @@ -686,14 +739,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (m_knownChanged != 0) { if ((m_knownChanged & m_knownChangedPosition) != 0) - Prim.ForcePosition = m_knownPosition; + ControllingPrim.ForcePosition = m_knownPosition; if ((m_knownChanged & m_knownChangedOrientation) != 0) - Prim.ForceOrientation = m_knownOrientation; + ControllingPrim.ForceOrientation = m_knownOrientation; if ((m_knownChanged & m_knownChangedVelocity) != 0) { - Prim.ForceVelocity = m_knownVelocity; + ControllingPrim.ForceVelocity = m_knownVelocity; // Fake out Bullet by making it think the velocity is the same as last time. // Bullet does a bunch of smoothing for changing parameters. // Since the vehicle is demanding this setting, we override Bullet's smoothing @@ -702,28 +755,28 @@ namespace OpenSim.Region.Physics.BulletSPlugin } if ((m_knownChanged & m_knownChangedForce) != 0) - Prim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/); + ControllingPrim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/); if ((m_knownChanged & m_knownChangedForceImpulse) != 0) - Prim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/); + ControllingPrim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/); if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) { - Prim.ForceRotationalVelocity = m_knownRotationalVelocity; + ControllingPrim.ForceRotationalVelocity = m_knownRotationalVelocity; // PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity); } if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0) - Prim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/); + ControllingPrim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/); if ((m_knownChanged & m_knownChangedRotationalForce) != 0) { - Prim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/); + ControllingPrim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/); } // If we set one of the values (ie, the physics engine didn't do it) we must force // an UpdateProperties event to send the changes up to the simulator. - PhysicsScene.PE.PushUpdate(Prim.PhysBody); + PhysicsScene.PE.PushUpdate(ControllingPrim.PhysBody); } m_knownChanged = 0; } @@ -736,7 +789,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos) { lastRememberedHeightPos = pos; - m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); + m_knownTerrainHeight = ControllingPrim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); m_knownHas |= m_knownChangedTerrainHeight; } return m_knownTerrainHeight; @@ -748,7 +801,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((m_knownHas & m_knownChangedWaterLevel) == 0) { - m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); + m_knownWaterLevel = ControllingPrim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); m_knownHas |= m_knownChangedWaterLevel; } return (float)m_knownWaterLevel; @@ -760,7 +813,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((m_knownHas & m_knownChangedPosition) == 0) { - m_knownPosition = Prim.ForcePosition; + m_knownPosition = ControllingPrim.ForcePosition; m_knownHas |= m_knownChangedPosition; } return m_knownPosition; @@ -779,7 +832,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((m_knownHas & m_knownChangedOrientation) == 0) { - m_knownOrientation = Prim.ForceOrientation; + m_knownOrientation = ControllingPrim.ForceOrientation; m_knownHas |= m_knownChangedOrientation; } return m_knownOrientation; @@ -798,7 +851,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((m_knownHas & m_knownChangedVelocity) == 0) { - m_knownVelocity = Prim.ForceVelocity; + m_knownVelocity = ControllingPrim.ForceVelocity; m_knownHas |= m_knownChangedVelocity; } return m_knownVelocity; @@ -839,7 +892,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((m_knownHas & m_knownChangedRotationalVelocity) == 0) { - m_knownRotationalVelocity = Prim.ForceRotationalVelocity; + m_knownRotationalVelocity = ControllingPrim.ForceRotationalVelocity; m_knownHas |= m_knownChangedRotationalVelocity; } return (Vector3)m_knownRotationalVelocity; @@ -915,10 +968,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin PushKnownChanged(); if (PhysicsScene.VehiclePhysicalLoggingEnabled) - PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody); + PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, ControllingPrim.PhysBody); VDetailLog("{0},BSDynamics.Step,done,pos={1}, force={2},velocity={3},angvel={4}", - Prim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity); + ControllingPrim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity); } // Called after the simulation step @@ -927,7 +980,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (!IsActive) return; if (PhysicsScene.VehiclePhysicalLoggingEnabled) - PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody); + PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, ControllingPrim.PhysBody); } // Apply the effect of the linear motor and other linear motions (like hover and float). @@ -967,12 +1020,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleVelocity /= VehicleVelocity.Length(); VehicleVelocity *= BSParam.VehicleMaxLinearVelocity; VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", - Prim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity); + ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity); } else if (newVelocityLengthSq < 0.001f) VehicleVelocity = Vector3.Zero; - VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", Prim.LocalID, Prim.IsColliding, VehicleVelocity ); + VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.IsColliding, VehicleVelocity ); } // end MoveLinear() @@ -997,7 +1050,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleVelocity += linearMotorVelocityW; VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5}", - Prim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity); + ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity); } public void ComputeLinearTerrainHeightCorrection(float pTimestep) @@ -1011,7 +1064,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f; VehiclePosition = newPosition; VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", - Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); + ControllingPrim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); } } @@ -1050,7 +1103,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin pos.Z = m_VhoverTargetHeight; VehiclePosition = pos; - VDetailLog("{0}, MoveLinear,hover,pos={1},lockHoverHeight", Prim.LocalID, pos); + VDetailLog("{0}, MoveLinear,hover,pos={1},lockHoverHeight", ControllingPrim.LocalID, pos); } } else @@ -1079,7 +1132,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin */ VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}", - Prim.LocalID, VehiclePosition, m_VhoverEfficiency, + ControllingPrim.LocalID, VehiclePosition, m_VhoverEfficiency, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight, verticalError, verticalCorrection); } @@ -1124,7 +1177,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { VehiclePosition = pos; VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", - Prim.LocalID, m_BlockingEndPoint, posChange, pos); + ControllingPrim.LocalID, m_BlockingEndPoint, posChange, pos); } } return changed; @@ -1164,7 +1217,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Another approach is to measure if we're going up. If going up and not colliding, // the vehicle is in the air. Fix that by pushing down. - if (!Prim.IsColliding && VehicleVelocity.Z > 0.1) + if (!ControllingPrim.IsColliding && VehicleVelocity.Z > 0.1) { // Get rid of any of the velocity vector that is pushing us up. float upVelocity = VehicleVelocity.Z; @@ -1186,7 +1239,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } */ VDetailLog("{0}, MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}", - Prim.LocalID, Prim.IsColliding, upVelocity, VehicleVelocity); + ControllingPrim.LocalID, ControllingPrim.IsColliding, upVelocity, VehicleVelocity); } } } @@ -1196,14 +1249,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass; // Hack to reduce downward force if the vehicle is probably sitting on the ground - if (Prim.IsColliding && IsGroundVehicle) + if (ControllingPrim.IsColliding && IsGroundVehicle) appliedGravity *= BSParam.VehicleGroundGravityFudge; VehicleAddForce(appliedGravity); VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}", - Prim.LocalID, m_VehicleGravity, - Prim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); + ControllingPrim.LocalID, m_VehicleGravity, + ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); } // ======================================================================= @@ -1227,11 +1280,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // The vehicle is not adding anything angular wise. VehicleRotationalVelocity = Vector3.Zero; - VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); + VDetailLog("{0}, MoveAngular,done,zero", ControllingPrim.LocalID); } else { - VDetailLog("{0}, MoveAngular,done,nonZero,angVel={1}", Prim.LocalID, VehicleRotationalVelocity); + VDetailLog("{0}, MoveAngular,done,nonZero,angVel={1}", ControllingPrim.LocalID, VehicleRotationalVelocity); } // ================================================================== @@ -1262,7 +1315,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin torqueFromOffset.Z = 0; VehicleAddAngularForce(torqueFromOffset * m_vehicleMass); - VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); + VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", ControllingPrim.LocalID, torqueFromOffset); } } @@ -1288,7 +1341,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // } VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; - VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContributionV); + VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", ControllingPrim.LocalID, angularMotorContributionV); } // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: @@ -1334,7 +1387,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleRotationalVelocity += vertContributionV; VDetailLog("{0}, MoveAngular,verticalAttraction,diffAxis={1},diffAng={2},corrRot={3},contrib={4}", - Prim.LocalID, + ControllingPrim.LocalID, differenceAxis, differenceAngle, correctionRotation, @@ -1433,9 +1486,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleRotationalVelocity += deflectContributionV * VehicleOrientation; VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", - Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV); + ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV); VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", - Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); + ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); } } @@ -1501,7 +1554,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", - Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV); + ControllingPrim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV); } } @@ -1540,7 +1593,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (rotq != m_rot) { VehicleOrientation = m_rot; - VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); + VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", ControllingPrim.LocalID, rotq, m_rot); } } @@ -1554,8 +1607,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Invoke the detailed logger and output something if it's enabled. private void VDetailLog(string msg, params Object[] args) { - if (Prim.PhysicsScene.VehicleLoggingEnabled) - Prim.PhysicsScene.DetailLog(msg, args); + if (ControllingPrim.PhysicsScene.VehicleLoggingEnabled) + ControllingPrim.PhysicsScene.DetailLog(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index cba2646..98ea833 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -187,7 +187,7 @@ public abstract class BSPhysObject : PhysicsActor Friction = matAttrib.friction; Restitution = matAttrib.restitution; Density = matAttrib.density / BSParam.DensityScaleFactor; - DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density); + // DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density); } // Stop all physical motion. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 68a6c41..ec78fdc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -72,7 +72,8 @@ public class BSPrim : BSPhysObject private int CrossingFailures { get; set; } - public BSDynamics VehicleController { get; private set; } + public BSDynamics VehicleActor; + public string VehicleActorName = "BasicVehicle"; private BSVMotor _targetMotor; private OMV.Vector3 _PIDTarget; @@ -100,11 +101,12 @@ public class BSPrim : BSPhysObject _isPhysical = pisPhysical; _isVolumeDetect = false; - VehicleController = new BSDynamics(PhysicsScene, this); // add vehicleness + VehicleActor = new BSDynamics(PhysicsScene, this, VehicleActorName); + PhysicalActors.Add(VehicleActorName, VehicleActor); _mass = CalculateMass(); - DetailLog("{0},BSPrim.constructor,call", LocalID); + // DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time PhysicsScene.TaintedObject("BSPrim.create", delegate() { @@ -272,6 +274,7 @@ public class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate() { + DetailLog("{0},BSPrim.LockAngularMotion,taint,registeringLockAxisActor", LocalID); // If there is not already an axis locker, make one if (!PhysicalActors.HasActor(LockedAxisActorName)) { @@ -537,7 +540,7 @@ public class BSPrim : BSPhysObject public override int VehicleType { get { - return (int)VehicleController.Type; // if we are a vehicle, return that type + return (int)VehicleActor.Type; // if we are a vehicle, return that type } set { Vehicle type = (Vehicle)value; @@ -546,20 +549,8 @@ public class BSPrim : BSPhysObject { // Done at taint time so we're sure the physics engine is not using the variables // Vehicle code changes the parameters for this vehicle type. - VehicleController.ProcessTypeChange(type); + VehicleActor.ProcessTypeChange(type); ActivateIfPhysical(false); - - // If an active vehicle, register the vehicle code to be called before each step - if (VehicleController.Type == Vehicle.TYPE_NONE) - { - UnRegisterPreStepAction("BSPrim.Vehicle", LocalID); - UnRegisterPostStepAction("BSPrim.Vehicle", LocalID); - } - else - { - RegisterPreStepAction("BSPrim.Vehicle", LocalID, VehicleController.Step); - RegisterPostStepAction("BSPrim.Vehicle", LocalID, VehicleController.PostStep); - } }); } } @@ -567,7 +558,7 @@ public class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { - VehicleController.ProcessFloatVehicleParam((Vehicle)param, value); + VehicleActor.ProcessFloatVehicleParam((Vehicle)param, value); ActivateIfPhysical(false); }); } @@ -575,7 +566,7 @@ public class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { - VehicleController.ProcessVectorVehicleParam((Vehicle)param, value); + VehicleActor.ProcessVectorVehicleParam((Vehicle)param, value); ActivateIfPhysical(false); }); } @@ -583,7 +574,7 @@ public class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { - VehicleController.ProcessRotationVehicleParam((Vehicle)param, rotation); + VehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation); ActivateIfPhysical(false); }); } @@ -591,7 +582,7 @@ public class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate() { - VehicleController.ProcessVehicleFlags(param, remove); + VehicleActor.ProcessVehicleFlags(param, remove); }); } @@ -848,7 +839,7 @@ public class BSPrim : BSPhysObject MakeDynamic(IsStatic); // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) - VehicleController.Refresh(); + VehicleActor.Refresh(); PhysicalActors.Refresh(); // Arrange for collision events if the simulator wants them @@ -1655,9 +1646,9 @@ public class BSPrim : BSPhysObject volume *= (profileEnd - profileBegin); returnMass = Density * BSParam.DensityScaleFactor * volume; - DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass); returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); + // DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass); return returnMass; }// end CalculateMass @@ -1686,7 +1677,7 @@ public class BSPrim : BSPhysObject protected virtual void RemoveBodyDependencies() { - VehicleController.RemoveBodyDependencies(this); + VehicleActor.RemoveBodyDependencies(); PhysicalActors.RemoveBodyDependencies(); } @@ -1696,13 +1687,6 @@ public class BSPrim : BSPhysObject { TriggerPreUpdatePropertyAction(ref entprop); - // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet - // TODO: handle physics introduced by Bullet with computed vehicle physics. - if (VehicleController.IsActive) - { - entprop.RotationalVelocity = OMV.Vector3.Zero; - } - // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG // Assign directly to the local variables so the normal set actions do not happen diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e6aefd5..9818b05 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -463,7 +463,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return null; - DetailLog("{0},BSScene.AddPrimShape,call", localID); + // DetailLog("{0},BSScene.AddPrimShape,call", localID); BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical); lock (PhysObjects) PhysObjects.Add(localID, prim); diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs index 33232bd..b040e21 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs @@ -114,9 +114,9 @@ public class BasicVehicles : OpenSimTestCase // Instead the appropriate values are set and calls are made just the parts of the // controller we want to exercise. Stepping the physics engine then applies // the actions of that one feature. - TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); - TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale); - TestVehicle.VehicleController.enableAngularVerticalAttraction = true; + TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); + TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale); + TestVehicle.VehicleActor.enableAngularVerticalAttraction = true; TestVehicle.IsPhysical = true; PhysicsScene.ProcessTaints(); @@ -124,9 +124,9 @@ public class BasicVehicles : OpenSimTestCase // Step the simulator a bunch of times and vertical attraction should orient the vehicle up for (int ii = 0; ii < simSteps; ii++) { - TestVehicle.VehicleController.ForgetKnownVehicleProperties(); - TestVehicle.VehicleController.ComputeAngularVerticalAttraction(); - TestVehicle.VehicleController.PushKnownChanged(); + TestVehicle.VehicleActor.ForgetKnownVehicleProperties(); + TestVehicle.VehicleActor.ComputeAngularVerticalAttraction(); + TestVehicle.VehicleActor.PushKnownChanged(); PhysicsScene.Simulate(simulationTimeStep); } -- cgit v1.1 From 75b8cf428e352b8939bb5e49f583d45dd226cf66 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 31 Mar 2013 17:38:13 -0700 Subject: BulletSim: fix line endings in BSActor* --- .../Physics/BulletSPlugin/BSActorLockAxis.cs | 339 +++++++++++---------- OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 254 +++++++-------- 2 files changed, 302 insertions(+), 291 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index b4af126..5f74a14 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -1,168 +1,171 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -using System; -using System.Collections.Generic; -using System.Linq; -using System.Text; - -using OMV = OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public class BSActorLockAxis : BSActor -{ - bool TryExperimentalLockAxisCode = false; - BSConstraint LockAxisConstraint = null; - - public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) - : base(physicsScene, pObj,actorName) - { - LockAxisConstraint = null; - } - - // BSActor.isActive - public override bool isActive - { - get { return Enabled && Prim.IsPhysicallyActive; } - } - - // Release any connections and resources used by the actor. - // BSActor.Release() - public override void Release() - { - RemoveAxisLockConstraint(); - } - - // Called when physical parameters (properties set in Bullet) need to be re-applied. - // Called at taint-time. - // BSActor.Refresh() - public override void Refresh() - { - // If all the axis are free, we don't need to exist - if (Prim.LockedAxis == Prim.LockedAxisFree) - { - Prim.PhysicalActors.RemoveAndRelease(ActorName); - return; - } - // If the object is physically active, add the axis locking constraint - if (Enabled - && Prim.IsPhysicallyActive - && TryExperimentalLockAxisCode - && Prim.LockedAxis != Prim.LockedAxisFree) - { - if (LockAxisConstraint != null) - AddAxisLockConstraint(); - } - else - { - RemoveAxisLockConstraint(); - } - } - - // 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() - { - if (LockAxisConstraint != null) - { - // If a constraint is set up, remove it from the physical scene - RemoveAxisLockConstraint(); - // Schedule a call before the next simulation step to restore the constraint. - PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate() - { - Refresh(); - }); - } - } - - private void AddAxisLockConstraint() - { - // Lock that axis by creating a 6DOF constraint that has one end in the world and - // the other in the object. - // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 - // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 - - // Remove any existing axis constraint (just to be sure) - RemoveAxisLockConstraint(); - - BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody, - OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation), - true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); - LockAxisConstraint = axisConstrainer; - PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); - - // The constraint is tied to the world and oriented to the prim. - - // Free to move linearly - OMV.Vector3 linearLow = OMV.Vector3.Zero; - OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; - axisConstrainer.SetLinearLimits(linearLow, linearHigh); - - // Angular with some axis locked - float f2PI = (float)Math.PI * 2f; - OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); - OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); - if (Prim.LockedAxis.X != 1f) - { - angularLow.X = 0f; - angularHigh.X = 0f; - } - if (Prim.LockedAxis.Y != 1f) - { - angularLow.Y = 0f; - angularHigh.Y = 0f; - } - if (Prim.LockedAxis.Z != 1f) - { - angularLow.Z = 0f; - angularHigh.Z = 0f; - } - axisConstrainer.SetAngularLimits(angularLow, angularHigh); - - PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", - Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh); - - // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. - axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); - - axisConstrainer.RecomputeConstraintVariables(Prim.RawMass); - } - - private void RemoveAxisLockConstraint() - { - if (LockAxisConstraint != null) - { - PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); - LockAxisConstraint = null; - PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID); - } - } -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorLockAxis : BSActor +{ + bool TryExperimentalLockAxisCode = false; + BSConstraint LockAxisConstraint = null; + + public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj,actorName) + { + PhysicsScene.DetailLog("{0},BSActorLockAxis,constructor", Prim.LocalID); + LockAxisConstraint = null; + } + + // BSActor.isActive + public override bool isActive + { + get { return Enabled && Prim.IsPhysicallyActive; } + } + + // Release any connections and resources used by the actor. + // BSActor.Dispose() + public override void Dispose() + { + RemoveAxisLockConstraint(); + } + + // Called when physical parameters (properties set in Bullet) need to be re-applied. + // Called at taint-time. + // BSActor.Refresh() + public override void Refresh() + { + PhysicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", + Prim.LocalID, Prim.LockedAxis, Enabled, Prim.IsPhysicallyActive); + // If all the axis are free, we don't need to exist + if (Prim.LockedAxis == Prim.LockedAxisFree) + { + Prim.PhysicalActors.RemoveAndRelease(ActorName); + return; + } + // If the object is physically active, add the axis locking constraint + if (Enabled + && Prim.IsPhysicallyActive + && TryExperimentalLockAxisCode + && Prim.LockedAxis != Prim.LockedAxisFree) + { + if (LockAxisConstraint != null) + AddAxisLockConstraint(); + } + else + { + RemoveAxisLockConstraint(); + } + } + + // 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() + { + if (LockAxisConstraint != null) + { + // If a constraint is set up, remove it from the physical scene + RemoveAxisLockConstraint(); + // Schedule a call before the next simulation step to restore the constraint. + PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate() + { + Refresh(); + }); + } + } + + private void AddAxisLockConstraint() + { + // Lock that axis by creating a 6DOF constraint that has one end in the world and + // the other in the object. + // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 + // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 + + // Remove any existing axis constraint (just to be sure) + RemoveAxisLockConstraint(); + + BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody, + OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation), + true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); + LockAxisConstraint = axisConstrainer; + PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); + + // The constraint is tied to the world and oriented to the prim. + + // Free to move linearly + OMV.Vector3 linearLow = OMV.Vector3.Zero; + OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; + axisConstrainer.SetLinearLimits(linearLow, linearHigh); + + // Angular with some axis locked + float f2PI = (float)Math.PI * 2f; + OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); + OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); + if (Prim.LockedAxis.X != 1f) + { + angularLow.X = 0f; + angularHigh.X = 0f; + } + if (Prim.LockedAxis.Y != 1f) + { + angularLow.Y = 0f; + angularHigh.Y = 0f; + } + if (Prim.LockedAxis.Z != 1f) + { + angularLow.Z = 0f; + angularHigh.Z = 0f; + } + axisConstrainer.SetAngularLimits(angularLow, angularHigh); + + PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", + Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh); + + // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. + axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); + + axisConstrainer.RecomputeConstraintVariables(Prim.RawMass); + } + + private void RemoveAxisLockConstraint() + { + if (LockAxisConstraint != null) + { + PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); + LockAxisConstraint = null; + PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID); + } + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs index b9b5ce1..3163440 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -1,123 +1,131 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyrightD - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -using System; -using System.Collections.Generic; -using System.Text; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ -public class BSActorCollection -{ - private BSScene PhysicsScene { get; set; } - private Dictionary m_actors; - - public BSActorCollection(BSScene physicsScene) - { - PhysicsScene = physicsScene; - m_actors = new Dictionary(); - } - public void Add(string name, BSActor actor) - { - m_actors[name] = actor; - } - public bool RemoveAndRelease(string name) - { - bool ret = false; - if (m_actors.ContainsKey(name)) - { - BSActor beingRemoved = m_actors[name]; - beingRemoved.Release(); - m_actors.Remove(name); - ret = true; - } - return ret; - } - public void Clear() - { - Release(); - m_actors.Clear(); - } - public bool HasActor(string name) - { - return m_actors.ContainsKey(name); - } - public void ForEachActor(Action act) - { - foreach (KeyValuePair kvp in m_actors) - act(kvp.Value); - } - - public void Release() - { - ForEachActor(a => a.Release()); - } - public void Refresh() - { - ForEachActor(a => a.Refresh()); - } - public void RemoveBodyDependencies() - { - ForEachActor(a => a.RemoveBodyDependencies()); - } -} - -// ============================================================================= -public abstract class BSActor -{ - protected BSScene PhysicsScene { get; private set; } - protected BSPhysObject Prim { get; private set; } - protected bool Enabled { get; set; } - public string ActorName { get; private set; } - - public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName) - { - PhysicsScene = physicsScene; - Prim = pObj; - ActorName = actorName; - Enabled = true; - } - - // Return 'true' if activily updating the prim - public virtual bool isActive - { - get { return Enabled; } - } - // Turn the actor on an off. - public virtual void Enable(bool setEnabled) - { - Enabled = setEnabled; - } - // Release any connections and resources used by the actor. - public abstract void Release(); - // Called when physical parameters (properties set in Bullet) need to be re-applied. - 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(); - -} -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorCollection +{ + private BSScene PhysicsScene { get; set; } + private Dictionary m_actors; + + public BSActorCollection(BSScene physicsScene) + { + PhysicsScene = physicsScene; + m_actors = new Dictionary(); + } + public void Add(string name, BSActor actor) + { + m_actors[name] = actor; + } + public bool RemoveAndRelease(string name) + { + bool ret = false; + if (m_actors.ContainsKey(name)) + { + BSActor beingRemoved = m_actors[name]; + beingRemoved.Dispose(); + m_actors.Remove(name); + ret = true; + } + return ret; + } + public void Clear() + { + Release(); + m_actors.Clear(); + } + public bool HasActor(string name) + { + return m_actors.ContainsKey(name); + } + public void ForEachActor(Action act) + { + foreach (KeyValuePair kvp in m_actors) + act(kvp.Value); + } + + public void Release() + { + ForEachActor(a => a.Dispose()); + } + public void Refresh() + { + ForEachActor(a => a.Refresh()); + } + public void RemoveBodyDependencies() + { + ForEachActor(a => a.RemoveBodyDependencies()); + } +} + +// ============================================================================= +/// +/// Each physical object can have 'actors' who are pushing the object around. +/// This can be used for hover, locking axis, making vehicles, etc. +/// Each physical object can have multiple actors acting on it. +/// +/// An actor usually registers itself with physics scene events (pre-step action) +/// and modifies the parameters on the host physical object. +/// +public abstract class BSActor +{ + protected BSScene PhysicsScene { get; private set; } + protected BSPhysObject Prim { get; private set; } + protected bool Enabled { get; set; } + public string ActorName { get; private set; } + + public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName) + { + PhysicsScene = physicsScene; + Prim = pObj; + ActorName = actorName; + Enabled = true; + } + + // Return 'true' if activily updating the prim + public virtual bool isActive + { + get { return Enabled; } + } + // Turn the actor on an off. + public virtual void Enable(bool setEnabled) + { + Enabled = setEnabled; + } + // Release any connections and resources used by the actor. + public abstract void Dispose(); + // Called when physical parameters (properties set in Bullet) need to be re-applied. + 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(); + +} +} -- cgit v1.1 From 7d50015a74da4c0c4c5bf9777d1d328a4ee9b7b0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 31 Mar 2013 20:37:02 -0700 Subject: BulletSim: start the renaming of local variables to m_ form to match the OpenSim coding conventions. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 46 +++++++++++----------- 1 file changed, 23 insertions(+), 23 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 8b5da0d..0fd1f73 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -565,12 +565,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f); - m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) + m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, m_angularMotorDecayTimescale, m_angularFrictionTimescale, 1f); - m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) + m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) /* Not implemented m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale, @@ -596,7 +596,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public override void Refresh() { // If asking for a refresh, reset the physical parameters before the next simulation step. - PhysicsScene.PostTaintObject("BSDynamics.Refresh", ControllingPrim.LocalID, delegate() + m_physicsScene.PostTaintObject("BSDynamics.Refresh", ControllingPrim.LocalID, delegate() { SetPhysicalParameters(); }); @@ -612,28 +612,28 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_vehicleMass = ControllingPrim.TotalMass; // Friction affects are handled by this vehicle code - PhysicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction); - PhysicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution); + m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction); + m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution); // Moderate angular movement introduced by Bullet. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. // Maybe compute linear and angular factor and damping from params. - PhysicsScene.PE.SetAngularDamping(ControllingPrim.PhysBody, BSParam.VehicleAngularDamping); - PhysicsScene.PE.SetLinearFactor(ControllingPrim.PhysBody, BSParam.VehicleLinearFactor); - PhysicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor); + m_physicsScene.PE.SetAngularDamping(ControllingPrim.PhysBody, BSParam.VehicleAngularDamping); + m_physicsScene.PE.SetLinearFactor(ControllingPrim.PhysBody, BSParam.VehicleLinearFactor); + m_physicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor); // Vehicles report collision events so we know when it's on the ground - PhysicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); + m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); - ControllingPrim.Inertia = PhysicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape, m_vehicleMass); - PhysicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); - PhysicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); + ControllingPrim.Inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape, m_vehicleMass); + m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); + m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); // Set the gravity for the vehicle depending on the buoyancy // TODO: what should be done if prim and vehicle buoyancy differ? m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same. - PhysicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero); + m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero); VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}", ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity, @@ -644,7 +644,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin else { if (ControllingPrim.PhysBody.HasPhysicalBody) - PhysicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); + m_physicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); } } @@ -667,8 +667,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (!m_haveRegisteredForSceneEvents) { - PhysicsScene.BeforeStep += this.Step; - PhysicsScene.AfterStep += this.PostStep; + m_physicsScene.BeforeStep += this.Step; + m_physicsScene.AfterStep += this.PostStep; ControllingPrim.OnPreUpdateProperty += this.PreUpdateProperty; m_haveRegisteredForSceneEvents = true; } @@ -678,8 +678,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (m_haveRegisteredForSceneEvents) { - PhysicsScene.BeforeStep -= this.Step; - PhysicsScene.AfterStep -= this.PostStep; + m_physicsScene.BeforeStep -= this.Step; + m_physicsScene.AfterStep -= this.PostStep; ControllingPrim.OnPreUpdateProperty -= this.PreUpdateProperty; m_haveRegisteredForSceneEvents = false; } @@ -776,7 +776,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // If we set one of the values (ie, the physics engine didn't do it) we must force // an UpdateProperties event to send the changes up to the simulator. - PhysicsScene.PE.PushUpdate(ControllingPrim.PhysBody); + m_physicsScene.PE.PushUpdate(ControllingPrim.PhysBody); } m_knownChanged = 0; } @@ -967,8 +967,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // for the physics engine to note the changes so an UpdateProperties event will happen. PushKnownChanged(); - if (PhysicsScene.VehiclePhysicalLoggingEnabled) - PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, ControllingPrim.PhysBody); + if (m_physicsScene.VehiclePhysicalLoggingEnabled) + m_physicsScene.PE.DumpRigidBody(m_physicsScene.World, ControllingPrim.PhysBody); VDetailLog("{0},BSDynamics.Step,done,pos={1}, force={2},velocity={3},angvel={4}", ControllingPrim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity); @@ -979,8 +979,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (!IsActive) return; - if (PhysicsScene.VehiclePhysicalLoggingEnabled) - PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, ControllingPrim.PhysBody); + if (m_physicsScene.VehiclePhysicalLoggingEnabled) + m_physicsScene.PE.DumpRigidBody(m_physicsScene.World, ControllingPrim.PhysBody); } // Apply the effect of the linear motor and other linear motions (like hover and float). -- cgit v1.1 From 933ac607468fb160636af601ce83ee1011794ec3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 31 Mar 2013 22:06:02 -0700 Subject: BulletSim: not quite functional axis lock code. --- .../Physics/BulletSPlugin/BSActorLockAxis.cs | 62 ++++++++++++---------- OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 8 +-- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 2 + .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- 5 files changed, 43 insertions(+), 35 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index 5f74a14..aa75663 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -42,14 +42,14 @@ public class BSActorLockAxis : BSActor public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) : base(physicsScene, pObj,actorName) { - PhysicsScene.DetailLog("{0},BSActorLockAxis,constructor", Prim.LocalID); + m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID); LockAxisConstraint = null; } // BSActor.isActive public override bool isActive { - get { return Enabled && Prim.IsPhysicallyActive; } + get { return Enabled && m_controllingPrim.IsPhysicallyActive; } } // Release any connections and resources used by the actor. @@ -64,21 +64,22 @@ public class BSActorLockAxis : BSActor // BSActor.Refresh() public override void Refresh() { - PhysicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", - Prim.LocalID, Prim.LockedAxis, Enabled, Prim.IsPhysicallyActive); + m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", + m_controllingPrim.LocalID, m_controllingPrim.LockedAxis, Enabled, m_controllingPrim.IsPhysicallyActive); // If all the axis are free, we don't need to exist - if (Prim.LockedAxis == Prim.LockedAxisFree) + if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree) { - Prim.PhysicalActors.RemoveAndRelease(ActorName); + m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,allAxisFree,removing={1}", m_controllingPrim.LocalID, ActorName); + m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); return; } // If the object is physically active, add the axis locking constraint if (Enabled - && Prim.IsPhysicallyActive + && m_controllingPrim.IsPhysicallyActive && TryExperimentalLockAxisCode - && Prim.LockedAxis != Prim.LockedAxisFree) + && m_controllingPrim.LockedAxis != m_controllingPrim.LockedAxisFree) { - if (LockAxisConstraint != null) + if (LockAxisConstraint == null) AddAxisLockConstraint(); } else @@ -98,7 +99,7 @@ public class BSActorLockAxis : BSActor // If a constraint is set up, remove it from the physical scene RemoveAxisLockConstraint(); // Schedule a call before the next simulation step to restore the constraint. - PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate() + m_physicsScene.PostTaintObject(m_controllingPrim.LockedAxisActorName, m_controllingPrim.LocalID, delegate() { Refresh(); }); @@ -115,56 +116,61 @@ public class BSActorLockAxis : BSActor // Remove any existing axis constraint (just to be sure) RemoveAxisLockConstraint(); - BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody, - OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation), - true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); + BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody, + // OMV.Vector3.Zero, OMV.Quaternion.Identity, + OMV.Vector3.Zero, OMV.Quaternion.Inverse(m_controllingPrim.RawOrientation), + // OMV.Vector3.Zero, m_controllingPrim.RawOrientation, + false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); LockAxisConstraint = axisConstrainer; - PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); + m_physicsScene.Constraints.AddConstraint(LockAxisConstraint); // The constraint is tied to the world and oriented to the prim. - // Free to move linearly + // Free to move linearly in the region OMV.Vector3 linearLow = OMV.Vector3.Zero; - OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; + OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize; axisConstrainer.SetLinearLimits(linearLow, linearHigh); // Angular with some axis locked - float f2PI = (float)Math.PI * 2f; - OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); - OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); - if (Prim.LockedAxis.X != 1f) + float fPI = (float)Math.PI; + OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI); + OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI); + if (m_controllingPrim.LockedAxis.X != 1f) { angularLow.X = 0f; angularHigh.X = 0f; } - if (Prim.LockedAxis.Y != 1f) + if (m_controllingPrim.LockedAxis.Y != 1f) { angularLow.Y = 0f; angularHigh.Y = 0f; } - if (Prim.LockedAxis.Z != 1f) + if (m_controllingPrim.LockedAxis.Z != 1f) { angularLow.Z = 0f; angularHigh.Z = 0f; } - axisConstrainer.SetAngularLimits(angularLow, angularHigh); + if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh)) + { + m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID); + } - PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", - Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh); + m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}", + m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh); // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); - axisConstrainer.RecomputeConstraintVariables(Prim.RawMass); + axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass); } private void RemoveAxisLockConstraint() { if (LockAxisConstraint != null) { - PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); + m_physicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); LockAxisConstraint = null; - PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID); + m_physicsScene.DetailLog("{0},BSActorLockAxis.RemoveAxisLockConstraint,destroyingConstraint", m_controllingPrim.LocalID); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs index 3163440..5a19ba4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -96,15 +96,15 @@ public class BSActorCollection /// public abstract class BSActor { - protected BSScene PhysicsScene { get; private set; } - protected BSPhysObject Prim { get; private set; } + protected BSScene m_physicsScene { get; private set; } + protected BSPhysObject m_controllingPrim { get; private set; } protected bool Enabled { get; set; } public string ActorName { get; private set; } public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName) { - PhysicsScene = physicsScene; - Prim = pObj; + m_physicsScene = physicsScene; + m_controllingPrim = pObj; ActorName = actorName; Enabled = true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index b813974..42b5c49 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -85,7 +85,9 @@ public abstract class BSConstraint : IDisposable { bool ret = false; if (m_enabled) + { ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high); + } return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index 476a0e5..d0949f5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -97,14 +97,14 @@ public sealed class BSConstraint6Dof : BSConstraint // A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies) : base(world) { m_body1 = obj1; m_body2 = obj1; // Look out for confusion down the road m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1, frameInBloc, frameInBrot, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); m_enabled = true; world.physicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.AddrString); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index ec78fdc..e56276a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -274,10 +274,10 @@ public class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate() { - DetailLog("{0},BSPrim.LockAngularMotion,taint,registeringLockAxisActor", LocalID); // If there is not already an axis locker, make one if (!PhysicalActors.HasActor(LockedAxisActorName)) { + DetailLog("{0},BSPrim.LockAngularMotion,taint,registeringLockAxisActor", LocalID); PhysicalActors.Add(LockedAxisActorName, new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName)); } UpdatePhysicalParameters(); -- cgit v1.1 From 84eb25da23765b3a4f7ae5513e8a238680bb99f2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 31 Mar 2013 22:16:34 -0700 Subject: BulletSim: stop an avatar from moving if standing on a stationary object. This will stop avatars from sliding down steep terrains or objects while still allowing an avatar to be moved if standing on a moving object. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 90c2d9c..25be416 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -61,6 +61,7 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 _rotationalVelocity; private bool _kinematic; private float _buoyancy; + private bool _isStationaryStanding; // true is standing on a stationary object private BSVMotor _velocityMotor; @@ -84,6 +85,7 @@ public sealed class BSCharacter : BSPhysObject _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor; + _isStationaryStanding = false; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. @@ -208,6 +210,7 @@ public sealed class BSCharacter : BSPhysObject // The code below uses whether the collider is static or moving to decide whether to zero motion. _velocityMotor.Step(timeStep); + _isStationaryStanding = false; // If we're not supposed to be moving, make sure things are zero. if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero) @@ -221,6 +224,7 @@ public sealed class BSCharacter : BSPhysObject if (!ColliderIsMoving) { DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID); + _isStationaryStanding = true; ZeroMotion(true /* inTaintTime */); } @@ -882,7 +886,10 @@ public sealed class BSCharacter : BSPhysObject // the world that things have changed. public override void UpdateProperties(EntityProperties entprop) { - _position = entprop.Position; + // Don't change position if standing on a stationary object. + if (!_isStationaryStanding) + _position = entprop.Position; + _orientation = entprop.Rotation; // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar -- cgit v1.1 From ebc1209fc97b835a46c53d33add1e390d2bb42e6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 1 Apr 2013 08:40:15 -0700 Subject: BulletSim: rearrange mega-region terrain code to make the thread flow a little clearer. --- .../Physics/BulletSPlugin/BSTerrainManager.cs | 33 ++++++++++++---------- 1 file changed, 18 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index b2fb835..cd15850 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -199,15 +199,8 @@ public sealed class BSTerrainManager : IDisposable if (MegaRegionParentPhysicsScene is BSScene) { DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", BSScene.DetailLogZero, m_worldOffset, m_worldMax); - // This looks really odd but this region is passing its terrain to its mega-region root region - // and the creation of the terrain must happen on the root region's taint thread and not - // my taint thread. - ((BSScene)MegaRegionParentPhysicsScene).PostTaintObject("TerrainManager.SetTerrain.Mega-" + m_worldOffset.ToString(), 0, delegate() - { - ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain( - BSScene.CHILDTERRAIN_ID, localHeightMap, - m_worldOffset, m_worldOffset + DefaultRegionSize, true /* inTaintTime */); - }); + ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.AddMegaRegionChildTerrain( + BSScene.CHILDTERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize); } } else @@ -215,12 +208,23 @@ public sealed class BSTerrainManager : IDisposable // If not doing the mega-prim thing, just change the terrain DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); - UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, - m_worldOffset, m_worldOffset + DefaultRegionSize, true /* inTaintTime */); + UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize); } }); } + // Another region is calling this region passing a terrain. + // A region that is not the mega-region root will pass its terrain to the root region so the root region + // physics engine will have all the terrains. + private void AddMegaRegionChildTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) + { + // Since we are called by another region's thread, the action must be rescheduled onto our processing thread. + PhysicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + m_worldOffset.ToString(), 0, delegate() + { + UpdateTerrain(id, heightMap, minCoords, maxCoords); + }); + } + // If called for terrain has has not been previously allocated, a new terrain will be built // based on the passed information. The 'id' should be either the terrain id or // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used. @@ -230,11 +234,10 @@ public sealed class BSTerrainManager : IDisposable // This call is most often used to update the heightMap and parameters of the terrain. // (The above does suggest that some simplification/refactoring is in order.) // Called during taint-time. - private void UpdateTerrain(uint id, float[] heightMap, - Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) + private void UpdateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { - DetailLog("{0},BSTerrainManager.UpdateTerrain,call,id={1},minC={2},maxC={3},inTaintTime={4}", - BSScene.DetailLogZero, id, minCoords, maxCoords, inTaintTime); + DetailLog("{0},BSTerrainManager.UpdateTerrain,call,id={1},minC={2},maxC={3}", + BSScene.DetailLogZero, id, minCoords, maxCoords); // Find high and low points of passed heightmap. // The min and max passed in is usually the area objects can be in (maximum -- cgit v1.1 From 17aef1c883aa81edba9a272e0a6897ad9a3a3983 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 1 Apr 2013 11:10:05 -0700 Subject: BulletSim: update unmanaged API for HACD parameter passing. Bullet HACD mesh to hull conversion calls in place but code not working. Update BulletSim DLLs and SOs for new API and HACD code. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 6 +++--- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 3 +-- OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 17 ++++++++++++++++- 3 files changed, 20 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 77ea3ed..f5b84d4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -259,12 +259,12 @@ public override BulletShape CreateHullShape(BulletWorld world, int hullCount, fl BSPhysicsShapeType.SHAPE_HULL); } -public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) +public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletShapeUnman shapeu = meshShape as BulletShapeUnman; return new BulletShapeUnman( - BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr), + BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr, parms), BSPhysicsShapeType.SHAPE_HULL); } @@ -1411,7 +1411,7 @@ public static extern IntPtr CreateHullShape2(IntPtr world, int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape); +public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape, HACDParams parms); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 6fc10e9..f6b4359 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -1773,10 +1773,9 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); } - public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) + public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms) { /* TODO */ return null; - } public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 5765b0d..d0d9f34 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -191,6 +191,21 @@ public struct ConfigurationParameters public const float numericFalse = 0f; } +// Parameters passed for the conversion of a mesh to a hull using Bullet's HACD library. +[StructLayout(LayoutKind.Sequential)] +public struct HACDParams +{ + // usual default values + public float maxVerticesPerHull; // 100 + public float minClusters; // 2 + public float compacityWeight; // 0.1 + public float volumeWeight; // 0.0 + public float concavity; // 100 + public float addExtraDistPoints; // false + public float addNeighboursDistPoints; // false + public float addFacesPoints; // false + public float shouldAdjustCollisionMargin; // false +} // The states a bullet collision object can have public enum ActivationState : uint @@ -308,7 +323,7 @@ public abstract BulletShape CreateMeshShape(BulletWorld world, public abstract BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls); -public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape); +public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms); public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData); -- cgit v1.1 From 68c8633ba18f0a11cfc0ed04d1d0c7c59e6cec76 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 2 Apr 2013 06:40:12 -0700 Subject: BulletSim: create axis lock constraint with proper orientation and enable axis lock functionality. --- OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index aa75663..7219617 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -36,7 +36,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSActorLockAxis : BSActor { - bool TryExperimentalLockAxisCode = false; + bool TryExperimentalLockAxisCode = true; BSConstraint LockAxisConstraint = null; public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) @@ -117,9 +117,7 @@ public class BSActorLockAxis : BSActor RemoveAxisLockConstraint(); BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody, - // OMV.Vector3.Zero, OMV.Quaternion.Identity, - OMV.Vector3.Zero, OMV.Quaternion.Inverse(m_controllingPrim.RawOrientation), - // OMV.Vector3.Zero, m_controllingPrim.RawOrientation, + OMV.Vector3.Zero, OMV.Quaternion.Identity, false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); LockAxisConstraint = axisConstrainer; m_physicsScene.Constraints.AddConstraint(LockAxisConstraint); -- cgit v1.1 From fe16dc09da3f2736fad5a9e792f5f81098b5f9a1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 7 Apr 2013 08:27:49 -0700 Subject: BulletSim: complete movement of physical object action code out of the physical object and into actors for setForce, setTorque, hover, lock axis and avatar move. --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 287 +++++++++++++++++++ .../Region/Physics/BulletSPlugin/BSActorHover.cs | 176 ++++++++++++ .../Physics/BulletSPlugin/BSActorLockAxis.cs | 4 +- .../Physics/BulletSPlugin/BSActorMoveToTarget.cs | 156 +++++++++++ .../Physics/BulletSPlugin/BSActorSetForce.cs | 137 +++++++++ .../Physics/BulletSPlugin/BSActorSetTorque.cs | 138 +++++++++ OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 12 +- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 268 +++--------------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 226 ++++++--------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 307 ++++----------------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 3 +- 11 files changed, 1078 insertions(+), 636 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs new file mode 100755 index 0000000..634a898 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -0,0 +1,287 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using OpenSim.Region.Physics.Manager; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorAvatarMove : BSActor +{ + BSVMotor m_velocityMotor; + + public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj, actorName) + { + m_velocityMotor = null; + m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID); + } + + // BSActor.isActive + public override bool isActive + { + get { return Enabled && m_controllingPrim.IsPhysicallyActive; } + } + + // Release any connections and resources used by the actor. + // BSActor.Dispose() + public override void Dispose() + { + Enabled = false; + } + + // Called when physical parameters (properties set in Bullet) need to be re-applied. + // Called at taint-time. + // BSActor.Refresh() + public override void Refresh() + { + m_physicsScene.DetailLog("{0},BSActorAvatarMove,refresh", m_controllingPrim.LocalID); + + // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) + if (m_controllingPrim.RawForce == OMV.Vector3.Zero) + { + m_physicsScene.DetailLog("{0},BSActorAvatarMove,refresh,notAvatarMove,removing={1}", m_controllingPrim.LocalID, ActorName); + m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); + return; + } + + // If the object is physically active, add the hoverer prestep action + if (isActive) + { + ActivateAvatarMove(); + } + else + { + DeactivateAvatarMove(); + } + } + + // 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() + { + // Nothing to do for the hoverer since it is all software at pre-step action time. + } + + public void SetVelocityAndTarget(OMV.Vector3 vel, OMV.Vector3 targ, bool inTaintTime) + { + m_physicsScene.TaintedObject(inTaintTime, "BSActorAvatarMove.setVelocityAndTarget", delegate() + { + m_velocityMotor.Reset(); + m_velocityMotor.SetTarget(targ); + m_velocityMotor.SetCurrent(vel); + m_velocityMotor.Enabled = true; + }); + } + + // If a hover motor has not been created, create one and start the hovering. + private void ActivateAvatarMove() + { + if (m_velocityMotor == null) + { + // Infinite decay and timescale values so motor only changes current to target values. + m_velocityMotor = new BSVMotor("BSCharacter.Velocity", + 0.2f, // time scale + BSMotor.Infinite, // decay time scale + BSMotor.InfiniteVector, // friction timescale + 1f // efficiency + ); + // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. + + m_physicsScene.BeforeStep += Mover; + } + } + + private void DeactivateAvatarMove() + { + if (m_velocityMotor != null) + { + m_physicsScene.BeforeStep -= Mover; + m_velocityMotor = null; + } + } + + // Called just before the simulation step. Update the vertical position for hoverness. + private void Mover(float timeStep) + { + // Don't do movement while the object is selected. + if (!isActive) + return; + + // TODO: Decide if the step parameters should be changed depending on the avatar's + // state (flying, colliding, ...). There is code in ODE to do this. + + // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity + // specified for the avatar is the one that should be used. For falling, if the avatar + // is not flying and is not colliding then it is presumed to be falling and the Z + // component is not fooled with (thus allowing gravity to do its thing). + // When the avatar is standing, though, the user has specified a velocity of zero and + // the avatar should be standing. But if the avatar is pushed by something in the world + // (raising elevator platform, moving vehicle, ...) the avatar should be allowed to + // move. Thus, the velocity cannot be forced to zero. The problem is that small velocity + // errors can creap in and the avatar will slowly float off in some direction. + // So, the problem is that, when an avatar is standing, we cannot tell creaping error + // from real pushing. + // The code below uses whether the collider is static or moving to decide whether to zero motion. + + m_velocityMotor.Step(timeStep); + m_controllingPrim.IsStationary = false; + + // If we're not supposed to be moving, make sure things are zero. + if (m_velocityMotor.ErrorIsZero() && m_velocityMotor.TargetValue == OMV.Vector3.Zero) + { + // The avatar shouldn't be moving + m_velocityMotor.Zero(); + + if (m_controllingPrim.IsColliding) + { + // If we are colliding with a stationary object, presume we're standing and don't move around + if (!m_controllingPrim.ColliderIsMoving) + { + m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", m_controllingPrim.LocalID); + m_controllingPrim.IsStationary = true; + m_controllingPrim.ZeroMotion(true /* inTaintTime */); + } + + // Standing has more friction on the ground + if (m_controllingPrim.Friction != BSParam.AvatarStandingFriction) + { + m_controllingPrim.Friction = BSParam.AvatarStandingFriction; + m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction); + } + } + else + { + if (m_controllingPrim.Flying) + { + // Flying and not collising and velocity nearly zero. + m_controllingPrim.ZeroMotion(true /* inTaintTime */); + } + } + + m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", + m_controllingPrim.LocalID, m_velocityMotor.TargetValue, m_controllingPrim.IsColliding); + } + else + { + // Supposed to be moving. + OMV.Vector3 stepVelocity = m_velocityMotor.CurrentValue; + + if (m_controllingPrim.Friction != BSParam.AvatarFriction) + { + // Probably starting up walking. Set friction to moving friction. + m_controllingPrim.Friction = BSParam.AvatarFriction; + m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction); + } + + // If falling, we keep the world's downward vector no matter what the other axis specify. + // The check for RawVelocity.Z < 0 makes jumping work (temporary upward force). + if (!m_controllingPrim.Flying && !m_controllingPrim.IsColliding) + { + if (m_controllingPrim.RawVelocity.Z < 0) + stepVelocity.Z = m_controllingPrim.RawVelocity.Z; + // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); + } + + // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. + OMV.Vector3 moveForce = (stepVelocity - m_controllingPrim.RawVelocity) * m_controllingPrim.Mass; + + // Should we check for move force being small and forcing velocity to zero? + + // Add special movement force to allow avatars to walk up stepped surfaces. + moveForce += WalkUpStairs(); + + m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", + m_controllingPrim.LocalID, stepVelocity, m_controllingPrim.RawVelocity, m_controllingPrim.Mass, moveForce); + m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, moveForce); + } + } + + // Decide if the character is colliding with a low object and compute a force to pop the + // avatar up so it can walk up and over the low objects. + private OMV.Vector3 WalkUpStairs() + { + OMV.Vector3 ret = OMV.Vector3.Zero; + + // This test is done if moving forward, not flying and is colliding with something. + // DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}", + // LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count); + if (m_controllingPrim.IsColliding && !m_controllingPrim.Flying && m_controllingPrim.TargetVelocitySpeed > 0.1f /* && ForwardSpeed < 0.1f */) + { + // The range near the character's feet where we will consider stairs + float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) + 0.05f; + float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight; + + // Look for a collision point that is near the character's feet and is oriented the same as the charactor is + foreach (KeyValuePair kvp in m_controllingPrim.CollisionsLastTick.m_objCollisionList) + { + // Don't care about collisions with the terrain + if (kvp.Key > m_physicsScene.TerrainManager.HighestTerrainID) + { + OMV.Vector3 touchPosition = kvp.Value.Position; + // DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}", + // LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition); + if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax) + { + // This contact is within the 'near the feet' range. + // The normal should be our contact point to the object so it is pointing away + // thus the difference between our facing orientation and the normal should be small. + OMV.Vector3 directionFacing = OMV.Vector3.UnitX * m_controllingPrim.RawOrientation; + OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal); + float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)); + if (diff < BSParam.AvatarStepApproachFactor) + { + // Found the stairs contact point. Push up a little to raise the character. + float upForce = (touchPosition.Z - nearFeetHeightMin) * m_controllingPrim.Mass * BSParam.AvatarStepForceFactor; + ret = new OMV.Vector3(0f, 0f, upForce); + + // Also move the avatar up for the new height + OMV.Vector3 displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight / 2f); + m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement; + } + m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},faceDir={3},norm={4},diff={5},ret={6}", + m_controllingPrim.LocalID, touchPosition, nearFeetHeightMin, directionFacing, touchNormal, diff, ret); + } + } + } + } + + return ret; + } + +} +} + + diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs new file mode 100755 index 0000000..8dd3700 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs @@ -0,0 +1,176 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using OpenSim.Region.Physics.Manager; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorHover : BSActor +{ + private BSFMotor m_hoverMotor; + + public BSActorHover(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj, actorName) + { + m_hoverMotor = null; + m_physicsScene.DetailLog("{0},BSActorHover,constructor", m_controllingPrim.LocalID); + } + + // BSActor.isActive + public override bool isActive + { + get { return Enabled && m_controllingPrim.IsPhysicallyActive; } + } + + // Release any connections and resources used by the actor. + // BSActor.Dispose() + public override void Dispose() + { + Enabled = false; + } + + // Called when physical parameters (properties set in Bullet) need to be re-applied. + // Called at taint-time. + // BSActor.Refresh() + public override void Refresh() + { + m_physicsScene.DetailLog("{0},BSActorHover,refresh", m_controllingPrim.LocalID); + + // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) + if (!m_controllingPrim.HoverActive) + { + m_physicsScene.DetailLog("{0},BSActorHover,refresh,notHovering,removing={1}", m_controllingPrim.LocalID, ActorName); + m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); + return; + } + + // If the object is physically active, add the hoverer prestep action + if (isActive) + { + ActivateHover(); + } + else + { + DeactivateHover(); + } + } + + // 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() + { + // Nothing to do for the hoverer since it is all software at pre-step action time. + } + + // If a hover motor has not been created, create one and start the hovering. + private void ActivateHover() + { + if (m_hoverMotor == null) + { + // Turning the target on + m_hoverMotor = new BSFMotor("BSActorHover", + m_controllingPrim.HoverTau, // timeScale + BSMotor.Infinite, // decay time scale + BSMotor.Infinite, // friction timescale + 1f // efficiency + ); + m_hoverMotor.SetTarget(ComputeCurrentHoverHeight()); + m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z); + m_hoverMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages. + + m_physicsScene.BeforeStep += Hoverer; + } + } + + private void DeactivateHover() + { + if (m_hoverMotor != null) + { + m_physicsScene.BeforeStep -= Hoverer; + m_hoverMotor = null; + } + } + + // Called just before the simulation step. Update the vertical position for hoverness. + private void Hoverer(float timeStep) + { + // Don't do hovering while the object is selected. + if (!isActive) + return; + + m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z); + m_hoverMotor.SetTarget(ComputeCurrentHoverHeight()); + float targetHeight = m_hoverMotor.Step(timeStep); + + // 'targetHeight' is where we'd like the Z of the prim to be at this moment. + // Compute the amount of force to push us there. + float moveForce = (targetHeight - m_controllingPrim.RawPosition.Z) * m_controllingPrim.RawMass; + // Undo anything the object thinks it's doing at the moment + moveForce = -m_controllingPrim.RawVelocity.Z * m_controllingPrim.Mass; + + m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, new OMV.Vector3(0f, 0f, moveForce)); + m_physicsScene.DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", + m_controllingPrim.LocalID, targetHeight, moveForce, m_controllingPrim.RawMass); + } + + // Based on current position, determine what we should be hovering at now. + // Must recompute often. What if we walked offa cliff> + private float ComputeCurrentHoverHeight() + { + float ret = m_controllingPrim.HoverHeight; + float groundHeight = m_physicsScene.TerrainManager.GetTerrainHeightAtXYZ(m_controllingPrim.RawPosition); + + switch (m_controllingPrim.HoverType) + { + case PIDHoverType.Ground: + ret = groundHeight + m_controllingPrim.HoverHeight; + break; + case PIDHoverType.GroundAndWater: + float waterHeight = m_physicsScene.TerrainManager.GetWaterLevelAtXYZ(m_controllingPrim.RawPosition); + if (groundHeight > waterHeight) + { + ret = groundHeight + m_controllingPrim.HoverHeight; + } + else + { + ret = waterHeight + m_controllingPrim.HoverHeight; + } + break; + } + return ret; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index 7219617..c40a499 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -40,7 +40,7 @@ public class BSActorLockAxis : BSActor BSConstraint LockAxisConstraint = null; public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) - : base(physicsScene, pObj,actorName) + : base(physicsScene, pObj, actorName) { m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID); LockAxisConstraint = null; @@ -99,7 +99,7 @@ public class BSActorLockAxis : BSActor // If a constraint is set up, remove it from the physical scene RemoveAxisLockConstraint(); // Schedule a call before the next simulation step to restore the constraint. - m_physicsScene.PostTaintObject(m_controllingPrim.LockedAxisActorName, m_controllingPrim.LocalID, delegate() + m_physicsScene.PostTaintObject("BSActorLockAxis:" + ActorName, m_controllingPrim.LocalID, delegate() { Refresh(); }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs new file mode 100755 index 0000000..3517ef2 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs @@ -0,0 +1,156 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using OpenSim.Region.Physics.Manager; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorMoveToTarget : BSActor +{ + private BSVMotor m_targetMotor; + + public BSActorMoveToTarget(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj, actorName) + { + m_targetMotor = null; + m_physicsScene.DetailLog("{0},BSActorMoveToTarget,constructor", m_controllingPrim.LocalID); + } + + // BSActor.isActive + public override bool isActive + { + get { return Enabled && m_controllingPrim.IsPhysicallyActive; } + } + + // Release any connections and resources used by the actor. + // BSActor.Dispose() + public override void Dispose() + { + Enabled = false; + } + + // Called when physical parameters (properties set in Bullet) need to be re-applied. + // Called at taint-time. + // BSActor.Refresh() + public override void Refresh() + { + m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh", m_controllingPrim.LocalID); + + // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) + if (!m_controllingPrim.HoverActive) + { + m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,notMoveToTarget,removing={1}", m_controllingPrim.LocalID, ActorName); + m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); + return; + } + + // If the object is physically active, add the hoverer prestep action + if (isActive) + { + ActivateMoveToTarget(); + } + else + { + DeactivateMoveToTarget(); + } + } + + // 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() + { + // Nothing to do for the hoverer since it is all software at pre-step action time. + } + + // If a hover motor has not been created, create one and start the hovering. + private void ActivateMoveToTarget() + { + if (m_targetMotor == null) + { + // We're taking over after this. + m_controllingPrim.ZeroMotion(true); + + m_targetMotor = new BSVMotor("BSPrim.PIDTarget", + m_controllingPrim.MoveToTargetTau, // timeScale + BSMotor.Infinite, // decay time scale + BSMotor.InfiniteVector, // friction timescale + 1f // efficiency + ); + m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages. + m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget); + m_targetMotor.SetCurrent(m_controllingPrim.RawPosition); + + m_physicsScene.BeforeStep += Mover; + } + } + + private void DeactivateMoveToTarget() + { + if (m_targetMotor != null) + { + m_physicsScene.BeforeStep -= Mover; + m_targetMotor = null; + } + } + + // Called just before the simulation step. Update the vertical position for hoverness. + private void Mover(float timeStep) + { + // Don't do hovering while the object is selected. + if (!isActive) + return; + + OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below) + + // 'movePosition' is where we'd like the prim to be at this moment. + OMV.Vector3 movePosition = m_controllingPrim.RawPosition + m_targetMotor.Step(timeStep); + + // If we are very close to our target, turn off the movement motor. + if (m_targetMotor.ErrorIsZero()) + { + m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}", + m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass); + m_controllingPrim.ForcePosition = m_targetMotor.TargetValue; + m_targetMotor.Enabled = false; + } + else + { + m_controllingPrim.ForcePosition = movePosition; + } + m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition); + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs new file mode 100755 index 0000000..d942490 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs @@ -0,0 +1,137 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using OpenSim.Region.Physics.Manager; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorSetForce : BSActor +{ + BSFMotor m_forceMotor; + + public BSActorSetForce(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj, actorName) + { + m_forceMotor = null; + m_physicsScene.DetailLog("{0},BSActorSetForce,constructor", m_controllingPrim.LocalID); + } + + // BSActor.isActive + public override bool isActive + { + get { return Enabled && m_controllingPrim.IsPhysicallyActive; } + } + + // Release any connections and resources used by the actor. + // BSActor.Dispose() + public override void Dispose() + { + Enabled = false; + } + + // Called when physical parameters (properties set in Bullet) need to be re-applied. + // Called at taint-time. + // BSActor.Refresh() + public override void Refresh() + { + m_physicsScene.DetailLog("{0},BSActorSetForce,refresh", m_controllingPrim.LocalID); + + // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) + if (m_controllingPrim.RawForce == OMV.Vector3.Zero) + { + m_physicsScene.DetailLog("{0},BSActorSetForce,refresh,notSetForce,removing={1}", m_controllingPrim.LocalID, ActorName); + m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); + return; + } + + // If the object is physically active, add the hoverer prestep action + if (isActive) + { + ActivateSetForce(); + } + else + { + DeactivateSetForce(); + } + } + + // 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() + { + // Nothing to do for the hoverer since it is all software at pre-step action time. + } + + // If a hover motor has not been created, create one and start the hovering. + private void ActivateSetForce() + { + if (m_forceMotor == null) + { + // A fake motor that might be used someday + m_forceMotor = new BSFMotor("setForce", 1f, 1f, 1f, 1f); + + m_physicsScene.BeforeStep += Mover; + } + } + + private void DeactivateSetForce() + { + if (m_forceMotor != null) + { + m_physicsScene.BeforeStep -= Mover; + m_forceMotor = null; + } + } + + // Called just before the simulation step. Update the vertical position for hoverness. + private void Mover(float timeStep) + { + // Don't do force while the object is selected. + if (!isActive) + return; + + m_physicsScene.DetailLog("{0},BSActorSetForce,preStep,force={1}", m_controllingPrim.LocalID, m_controllingPrim.RawForce); + if (m_controllingPrim.PhysBody.HasPhysicalBody) + { + m_physicsScene.PE.ApplyCentralForce(m_controllingPrim.PhysBody, m_controllingPrim.RawForce); + m_controllingPrim.ActivateIfPhysical(false); + } + + // TODO: + } +} +} + diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs new file mode 100755 index 0000000..e0f719f --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs @@ -0,0 +1,138 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using OpenSim.Region.Physics.Manager; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorSetTorque : BSActor +{ + BSFMotor m_torqueMotor; + + public BSActorSetTorque(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj, actorName) + { + m_torqueMotor = null; + m_physicsScene.DetailLog("{0},BSActorSetTorque,constructor", m_controllingPrim.LocalID); + } + + // BSActor.isActive + public override bool isActive + { + get { return Enabled && m_controllingPrim.IsPhysicallyActive; } + } + + // Release any connections and resources used by the actor. + // BSActor.Dispose() + public override void Dispose() + { + Enabled = false; + } + + // Called when physical parameters (properties set in Bullet) need to be re-applied. + // Called at taint-time. + // BSActor.Refresh() + public override void Refresh() + { + m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh", m_controllingPrim.LocalID); + + // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) + if (m_controllingPrim.RawTorque == OMV.Vector3.Zero) + { + m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh,notSetTorque,removing={1}", m_controllingPrim.LocalID, ActorName); + m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); + return; + } + + // If the object is physically active, add the hoverer prestep action + if (isActive) + { + ActivateSetTorque(); + } + else + { + DeactivateSetTorque(); + } + } + + // 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() + { + // Nothing to do for the hoverer since it is all software at pre-step action time. + } + + // If a hover motor has not been created, create one and start the hovering. + private void ActivateSetTorque() + { + if (m_torqueMotor == null) + { + // A fake motor that might be used someday + m_torqueMotor = new BSFMotor("setTorque", 1f, 1f, 1f, 1f); + + m_physicsScene.BeforeStep += Mover; + } + } + + private void DeactivateSetTorque() + { + if (m_torqueMotor != null) + { + m_physicsScene.BeforeStep -= Mover; + m_torqueMotor = null; + } + } + + // Called just before the simulation step. Update the vertical position for hoverness. + private void Mover(float timeStep) + { + // Don't do force while the object is selected. + if (!isActive) + return; + + m_physicsScene.DetailLog("{0},BSActorSetTorque,preStep,force={1}", m_controllingPrim.LocalID, m_controllingPrim.RawTorque); + if (m_controllingPrim.PhysBody.HasPhysicalBody) + { + m_controllingPrim.AddAngularForce(m_controllingPrim.RawTorque, false, true); + m_controllingPrim.ActivateIfPhysical(false); + } + + // TODO: + } +} +} + + diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs index 5a19ba4..fb4d452 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -32,12 +32,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSActorCollection { - private BSScene PhysicsScene { get; set; } + private BSScene m_physicsScene { get; set; } private Dictionary m_actors; public BSActorCollection(BSScene physicsScene) { - PhysicsScene = physicsScene; + m_physicsScene = physicsScene; m_actors = new Dictionary(); } public void Add(string name, BSActor actor) @@ -61,6 +61,10 @@ public class BSActorCollection Release(); m_actors.Clear(); } + public void Dispose() + { + Clear(); + } public bool HasActor(string name) { return m_actors.ContainsKey(name); @@ -71,6 +75,10 @@ public class BSActorCollection act(kvp.Value); } + public void Enable(bool enabl) + { + ForEachActor(a => a.Enable(enabl)); + } public void Release() { ForEachActor(a => a.Dispose()); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 25be416..09c9b16 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -46,9 +46,6 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 _position; private float _mass; private float _avatarVolume; - private OMV.Vector3 _force; - private OMV.Vector3 _velocity; - private OMV.Vector3 _torque; private float _collisionScore; private OMV.Vector3 _acceleration; private OMV.Quaternion _orientation; @@ -61,17 +58,13 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 _rotationalVelocity; private bool _kinematic; private float _buoyancy; - private bool _isStationaryStanding; // true is standing on a stationary object - private BSVMotor _velocityMotor; + private BSActorAvatarMove m_moveActor; + private const string AvatarMoveActorName = "BSCharacter.AvatarMove"; private OMV.Vector3 _PIDTarget; private bool _usePID; private float _PIDTau; - private bool _useHoverPID; - private float _PIDHoverHeight; - private PIDHoverType _PIDHoverType; - private float _PIDHoverTao; public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) : base(parent_scene, localID, avName, "BSCharacter") @@ -81,11 +74,10 @@ public sealed class BSCharacter : BSPhysObject _flying = isFlying; _orientation = OMV.Quaternion.Identity; - _velocity = OMV.Vector3.Zero; + RawVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor; - _isStationaryStanding = false; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. @@ -99,7 +91,12 @@ public sealed class BSCharacter : BSPhysObject // set _avatarVolume and _mass based on capsule size, _density and Scale ComputeAvatarVolumeAndMass(); - SetupMovementMotor(); + // The avatar's movement is controlled by this motor that speeds up and slows down + // the avatar seeking to reach the motor's target speed. + // This motor runs as a prestep action for the avatar so it will keep the avatar + // standing as well as moving. Destruction of the avatar will destroy the pre-step action. + m_moveActor = new BSActorAvatarMove(PhysicsScene, this, AvatarMoveActorName); + PhysicalActors.Add(AvatarMoveActorName, m_moveActor); DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, Density, _avatarVolume, RawMass); @@ -139,10 +136,10 @@ public sealed class BSCharacter : BSPhysObject ForcePosition = _position; // Set the velocity - _velocityMotor.Reset(); - _velocityMotor.SetTarget(_velocity); - _velocityMotor.SetCurrent(_velocity); - ForceVelocity = _velocity; + if (m_moveActor != null) + m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false); + + ForceVelocity = RawVelocity; // This will enable or disable the flying buoyancy of the avatar. // Needs to be reset especially when an avatar is recreated after crossing a region boundry. @@ -176,162 +173,6 @@ public sealed class BSCharacter : BSPhysObject PhysBody.ApplyCollisionMask(PhysicsScene); } - // The avatar's movement is controlled by this motor that speeds up and slows down - // the avatar seeking to reach the motor's target speed. - // This motor runs as a prestep action for the avatar so it will keep the avatar - // standing as well as moving. Destruction of the avatar will destroy the pre-step action. - private void SetupMovementMotor() - { - // Infinite decay and timescale values so motor only changes current to target values. - _velocityMotor = new BSVMotor("BSCharacter.Velocity", - 0.2f, // time scale - BSMotor.Infinite, // decay time scale - BSMotor.InfiniteVector, // friction timescale - 1f // efficiency - ); - // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. - - RegisterPreStepAction("BSCharactor.Movement", LocalID, delegate(float timeStep) - { - // TODO: Decide if the step parameters should be changed depending on the avatar's - // state (flying, colliding, ...). There is code in ODE to do this. - - // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity - // specified for the avatar is the one that should be used. For falling, if the avatar - // is not flying and is not colliding then it is presumed to be falling and the Z - // component is not fooled with (thus allowing gravity to do its thing). - // When the avatar is standing, though, the user has specified a velocity of zero and - // the avatar should be standing. But if the avatar is pushed by something in the world - // (raising elevator platform, moving vehicle, ...) the avatar should be allowed to - // move. Thus, the velocity cannot be forced to zero. The problem is that small velocity - // errors can creap in and the avatar will slowly float off in some direction. - // So, the problem is that, when an avatar is standing, we cannot tell creaping error - // from real pushing. - // The code below uses whether the collider is static or moving to decide whether to zero motion. - - _velocityMotor.Step(timeStep); - _isStationaryStanding = false; - - // If we're not supposed to be moving, make sure things are zero. - if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero) - { - // The avatar shouldn't be moving - _velocityMotor.Zero(); - - if (IsColliding) - { - // If we are colliding with a stationary object, presume we're standing and don't move around - if (!ColliderIsMoving) - { - DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID); - _isStationaryStanding = true; - ZeroMotion(true /* inTaintTime */); - } - - // Standing has more friction on the ground - if (Friction != BSParam.AvatarStandingFriction) - { - Friction = BSParam.AvatarStandingFriction; - PhysicsScene.PE.SetFriction(PhysBody, Friction); - } - } - else - { - if (Flying) - { - // Flying and not collising and velocity nearly zero. - ZeroMotion(true /* inTaintTime */); - } - } - - DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding); - } - else - { - // Supposed to be moving. - OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue; - - if (Friction != BSParam.AvatarFriction) - { - // Probably starting up walking. Set friction to moving friction. - Friction = BSParam.AvatarFriction; - PhysicsScene.PE.SetFriction(PhysBody, Friction); - } - - // If falling, we keep the world's downward vector no matter what the other axis specify. - // The check for _velocity.Z < 0 makes jumping work (temporary upward force). - if (!Flying && !IsColliding) - { - if (_velocity.Z < 0) - stepVelocity.Z = _velocity.Z; - // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); - } - - // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. - OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass; - - // Should we check for move force being small and forcing velocity to zero? - - // Add special movement force to allow avatars to walk up stepped surfaces. - moveForce += WalkUpStairs(); - - DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); - PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce); - } - }); - } - - // Decide if the character is colliding with a low object and compute a force to pop the - // avatar up so it can walk up and over the low objects. - private OMV.Vector3 WalkUpStairs() - { - OMV.Vector3 ret = OMV.Vector3.Zero; - - // This test is done if moving forward, not flying and is colliding with something. - // DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}", - // LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count); - if (IsColliding && !Flying && TargetVelocitySpeed > 0.1f /* && ForwardSpeed < 0.1f */) - { - // The range near the character's feet where we will consider stairs - float nearFeetHeightMin = RawPosition.Z - (Size.Z / 2f) + 0.05f; - float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight; - - // Look for a collision point that is near the character's feet and is oriented the same as the charactor is - foreach (KeyValuePair kvp in CollisionsLastTick.m_objCollisionList) - { - // Don't care about collisions with the terrain - if (kvp.Key > PhysicsScene.TerrainManager.HighestTerrainID) - { - OMV.Vector3 touchPosition = kvp.Value.Position; - // DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}", - // LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition); - if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax) - { - // This contact is within the 'near the feet' range. - // The normal should be our contact point to the object so it is pointing away - // thus the difference between our facing orientation and the normal should be small. - OMV.Vector3 directionFacing = OMV.Vector3.UnitX * RawOrientation; - OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal); - float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)); - if (diff < BSParam.AvatarStepApproachFactor) - { - // Found the stairs contact point. Push up a little to raise the character. - float upForce = (touchPosition.Z - nearFeetHeightMin) * Mass * BSParam.AvatarStepForceFactor; - ret = new OMV.Vector3(0f, 0f, upForce); - - // Also move the avatar up for the new height - OMV.Vector3 displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight / 2f); - ForcePosition = RawPosition + displacement; - } - DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},faceDir={3},norm={4},diff={5},ret={6}", - LocalID, touchPosition, nearFeetHeightMin, directionFacing, touchNormal, diff, ret); - } - } - } - } - - return ret; - } public override void RequestPhysicsterseUpdate() { @@ -403,7 +244,7 @@ public sealed class BSCharacter : BSPhysObject // Called at taint time! public override void ZeroMotion(bool inTaintTime) { - _velocity = OMV.Vector3.Zero; + RawVelocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; @@ -542,15 +383,15 @@ public sealed class BSCharacter : BSPhysObject } public override OMV.Vector3 Force { - get { return _force; } + get { return RawForce; } set { - _force = value; + RawForce = value; // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() { - DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); + DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce); if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetObjectForce(PhysBody, _force); + PhysicsScene.PE.SetObjectForce(PhysBody, RawForce); }); } } @@ -573,7 +414,7 @@ public sealed class BSCharacter : BSPhysObject { get { - return m_targetVelocity; + return base.m_targetVelocity; } set { @@ -583,51 +424,39 @@ public sealed class BSCharacter : BSPhysObject if (_setAlwaysRun) targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 0f); - PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate() - { - _velocityMotor.Reset(); - _velocityMotor.SetTarget(targetVel); - _velocityMotor.SetCurrent(_velocity); - _velocityMotor.Enabled = true; - }); + if (m_moveActor != null) + m_moveActor.SetVelocityAndTarget(RawVelocity, targetVel, false /* inTaintTime */); } } - public override OMV.Vector3 RawVelocity - { - get { return _velocity; } - set { _velocity = value; } - } // Directly setting velocity means this is what the user really wants now. public override OMV.Vector3 Velocity { - get { return _velocity; } + get { return RawVelocity; } set { - _velocity = value; - // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); + RawVelocity = value; + // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, RawVelocity); PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() { - _velocityMotor.Reset(); - _velocityMotor.SetCurrent(_velocity); - _velocityMotor.SetTarget(_velocity); - _velocityMotor.Enabled = false; + if (m_moveActor != null) + m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, true /* inTaintTime */); - DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); - ForceVelocity = _velocity; + DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, RawVelocity); + ForceVelocity = RawVelocity; }); } } public override OMV.Vector3 ForceVelocity { - get { return _velocity; } + get { return RawVelocity; } set { PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); - _velocity = value; - PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); + RawVelocity = value; + PhysicsScene.PE.SetLinearVelocity(PhysBody, RawVelocity); PhysicsScene.PE.Activate(PhysBody, true); } } public override OMV.Vector3 Torque { - get { return _torque; } - set { _torque = value; + get { return RawTorque; } + set { RawTorque = value; } } public override float CollisionScore { @@ -783,27 +612,6 @@ public sealed class BSCharacter : BSPhysObject set { _PIDTau = value; } } - // Used for llSetHoverHeight and maybe vehicle height - // Hover Height will override MoveTo target's Z - public override bool PIDHoverActive { - set { _useHoverPID = value; } - } - public override float PIDHoverHeight { - set { _PIDHoverHeight = value; } - } - public override PIDHoverType PIDHoverType { - set { _PIDHoverType = value; } - } - public override float PIDHoverTau { - set { _PIDHoverTao = value; } - } - - // For RotLookAt - public override OMV.Quaternion APIDTarget { set { return; } } - public override bool APIDActive { set { return; } } - public override float APIDStrength { set { return; } } - public override float APIDDamping { set { return; } } - public override void AddForce(OMV.Vector3 force, bool pushforce) { // Since this force is being applied in only one step, make this a force per second. @@ -833,7 +641,7 @@ public sealed class BSCharacter : BSPhysObject } } - public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { + public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { } public override void SetMomentum(OMV.Vector3 momentum) { } @@ -887,7 +695,7 @@ public sealed class BSCharacter : BSPhysObject public override void UpdateProperties(EntityProperties entprop) { // Don't change position if standing on a stationary object. - if (!_isStationaryStanding) + if (!IsStationary) _position = entprop.Position; _orientation = entprop.Rotation; @@ -896,8 +704,8 @@ public sealed class BSCharacter : BSPhysObject // and will send agent updates to the clients if velocity changes by more than // 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many // extra updates. - if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f)) - _velocity = entprop.Velocity; + if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f)) + RawVelocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; @@ -920,7 +728,7 @@ public sealed class BSCharacter : BSPhysObject // base.RequestPhysicsterseUpdate(); DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", - LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); + LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 98ea833..644bc7e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -43,7 +43,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin * VariableName: used by the simulator and performs taint operations, etc * RawVariableName: direct reference to the BulletSim storage for the variable value * ForceVariableName: direct reference (store and fetch) to the value in the physics engine. - * The last two (and certainly the last one) should be referenced only in taint-time. + * The last one should only be referenced in taint-time. */ /* @@ -84,6 +84,7 @@ public abstract class BSPhysObject : PhysicsActor // Initialize variables kept in base. GravModifier = 1.0f; Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); + HoverActive = false; // We don't have any physical representation yet. PhysBody = new BulletBody(localID); @@ -110,11 +111,10 @@ public abstract class BSPhysObject : PhysicsActor // Tell the object to clean up. public virtual void Destroy() { - UnRegisterAllPreStepActions(); - UnRegisterAllPostStepActions(); + PhysicalActors.Enable(false); PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate() { - PhysicalActors.Release(); + PhysicalActors.Dispose(); }); } @@ -203,15 +203,48 @@ public abstract class BSPhysObject : PhysicsActor public abstract OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } - public abstract OMV.Vector3 RawVelocity { get; set; } + public OMV.Vector3 RawVelocity { get; set; } public abstract OMV.Vector3 ForceVelocity { get; set; } + public OMV.Vector3 RawForce { get; set; } + public OMV.Vector3 RawTorque { get; set; } + public override void AddAngularForce(OMV.Vector3 force, bool pushforce) + { + AddAngularForce(force, pushforce, false); + } + public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime); + public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } public abstract float ForceBuoyancy { get; set; } public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } + public override bool PIDActive { set { MoveToTargetActive = value; } } + public override OMV.Vector3 PIDTarget { set { MoveToTargetTarget = value; } } + public override float PIDTau { set { MoveToTargetTau = value; } } + + public bool MoveToTargetActive { get; set; } + public OMV.Vector3 MoveToTargetTarget { get; set; } + public float MoveToTargetTau { get; set; } + + // Used for llSetHoverHeight and maybe vehicle height. Hover Height will override MoveTo target's Z + public override bool PIDHoverActive { set { HoverActive = value; } } + public override float PIDHoverHeight { set { HoverHeight = value; } } + public override PIDHoverType PIDHoverType { set { HoverType = value; } } + public override float PIDHoverTau { set { HoverTau = value; } } + + public bool HoverActive { get; set; } + public float HoverHeight { get; set; } + public PIDHoverType HoverType { get; set; } + public float HoverTau { get; set; } + + // For RotLookAt + public override OMV.Quaternion APIDTarget { set { return; } } + public override bool APIDActive { set { return; } } + public override float APIDStrength { set { return; } } + public override float APIDDamping { set { return; } } + // The current velocity forward public virtual float ForwardSpeed { @@ -237,7 +270,44 @@ public abstract class BSPhysObject : PhysicsActor public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free - public readonly String LockedAxisActorName = "BSPrim.LockedAxis"; + + // Enable physical actions. Bullet will keep sleeping non-moving physical objects so + // they need waking up when parameters are changed. + // Called in taint-time!! + public void ActivateIfPhysical(bool forceIt) + { + if (IsPhysical && PhysBody.HasPhysicalBody) + PhysicsScene.PE.Activate(PhysBody, forceIt); + } + + // 'actors' act on the physical object to change or constrain its motion. These can range from + // hovering to complex vehicle motion. + public delegate BSActor CreateActor(); + public void CreateRemoveActor(bool createRemove, string actorName, bool inTaintTime, CreateActor creator) + { + if (createRemove) + { + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate() + { + if (!PhysicalActors.HasActor(actorName)) + { + DetailLog("{0},BSPrim.CreateRemoveActor,taint,registerActor,a={1}", LocalID, actorName); + PhysicalActors.Add(actorName, creator()); + } + }); + } + else + { + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate() + { + if (PhysicalActors.HasActor(actorName)) + { + DetailLog("{0},BSPrim.CreateRemoveActor,taint,unregisterActor,a={1}", LocalID, actorName); + PhysicalActors.RemoveAndRelease(actorName); + } + }); + } + } #region Collisions @@ -255,7 +325,9 @@ public abstract class BSPhysObject : PhysicsActor protected CollisionFlags CurrentCollisionFlags { get; set; } // On a collision, check the collider and remember if the last collider was moving // Used to modify the standing of avatars (avatars on stationary things stand still) - protected bool ColliderIsMoving; + public bool ColliderIsMoving; + // Used by BSCharacter to manage standing (and not slipping) + public bool IsStationary; // Count of collisions for this object protected long CollisionAccumulation { get; set; } @@ -293,7 +365,7 @@ public abstract class BSPhysObject : PhysicsActor protected CollisionEventUpdate CollisionCollection; // Remember collisions from last tick for fancy collision based actions // (like a BSCharacter walking up stairs). - protected CollisionEventUpdate CollisionsLastTick; + public CollisionEventUpdate CollisionsLastTick; // The simulation step is telling this object about a collision. // Return 'true' if a collision was processed and should be sent up. @@ -424,104 +496,6 @@ public abstract class BSPhysObject : PhysicsActor public BSActorCollection PhysicalActors; - // There are some actions that must be performed for a physical object before each simulation step. - // These actions are optional so, rather than scanning all the physical objects and asking them - // if they have anything to do, a physical object registers for an event call before the step is performed. - // This bookkeeping makes it easy to add, remove and clean up after all these registrations. - private Dictionary RegisteredPrestepActions = new Dictionary(); - private Dictionary RegisteredPoststepActions = new Dictionary(); - protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn) - { - string identifier = op + "-" + id.ToString(); - - lock (RegisteredPrestepActions) - { - // Clean out any existing action - UnRegisterPreStepAction(op, id); - RegisteredPrestepActions[identifier] = actn; - PhysicsScene.BeforeStep += actn; - } - DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); - } - - // Unregister a pre step action. Safe to call if the action has not been registered. - // Returns 'true' if an action was actually removed - protected bool UnRegisterPreStepAction(string op, uint id) - { - string identifier = op + "-" + id.ToString(); - bool removed = false; - lock (RegisteredPrestepActions) - { - if (RegisteredPrestepActions.ContainsKey(identifier)) - { - PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier]; - RegisteredPrestepActions.Remove(identifier); - removed = true; - } - } - DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed); - return removed; - } - - protected void UnRegisterAllPreStepActions() - { - lock (RegisteredPrestepActions) - { - foreach (KeyValuePair kvp in RegisteredPrestepActions) - { - PhysicsScene.BeforeStep -= kvp.Value; - } - RegisteredPrestepActions.Clear(); - } - DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID); - } - - protected void RegisterPostStepAction(string op, uint id, BSScene.PostStepAction actn) - { - string identifier = op + "-" + id.ToString(); - - lock (RegisteredPoststepActions) - { - // Clean out any existing action - UnRegisterPostStepAction(op, id); - RegisteredPoststepActions[identifier] = actn; - PhysicsScene.AfterStep += actn; - } - DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier); - } - - // Unregister a pre step action. Safe to call if the action has not been registered. - // Returns 'true' if an action was actually removed. - protected bool UnRegisterPostStepAction(string op, uint id) - { - string identifier = op + "-" + id.ToString(); - bool removed = false; - lock (RegisteredPoststepActions) - { - if (RegisteredPoststepActions.ContainsKey(identifier)) - { - PhysicsScene.AfterStep -= RegisteredPoststepActions[identifier]; - RegisteredPoststepActions.Remove(identifier); - removed = true; - } - } - DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed); - return removed; - } - - protected void UnRegisterAllPostStepActions() - { - lock (RegisteredPoststepActions) - { - foreach (KeyValuePair kvp in RegisteredPoststepActions) - { - PhysicsScene.AfterStep -= kvp.Value; - } - RegisteredPoststepActions.Clear(); - } - DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID); - } - // When an update to the physical properties happens, this event is fired to let // different actors to modify the update before it is passed around public delegate void PreUpdatePropertyAction(ref EntityProperties entprop); @@ -533,46 +507,6 @@ public abstract class BSPhysObject : PhysicsActor actions(ref entprop); } - private Dictionary RegisteredPreUpdatePropertyActions = new Dictionary(); - public void RegisterPreUpdatePropertyAction(string identifier, PreUpdatePropertyAction actn) - { - lock (RegisteredPreUpdatePropertyActions) - { - // Clean out any existing action - UnRegisterPreUpdatePropertyAction(identifier); - RegisteredPreUpdatePropertyActions[identifier] = actn; - OnPreUpdateProperty += actn; - } - DetailLog("{0},BSPhysObject.RegisterPreUpdatePropertyAction,id={1}", LocalID, identifier); - } - public bool UnRegisterPreUpdatePropertyAction(string identifier) - { - bool removed = false; - lock (RegisteredPreUpdatePropertyActions) - { - if (RegisteredPreUpdatePropertyActions.ContainsKey(identifier)) - { - OnPreUpdateProperty -= RegisteredPreUpdatePropertyActions[identifier]; - RegisteredPreUpdatePropertyActions.Remove(identifier); - removed = true; - } - } - DetailLog("{0},BSPhysObject.UnRegisterPreUpdatePropertyAction,id={1},removed={2}", LocalID, identifier, removed); - return removed; - } - public void UnRegisterAllPreUpdatePropertyActions() - { - lock (RegisteredPreUpdatePropertyActions) - { - foreach (KeyValuePair kvp in RegisteredPreUpdatePropertyActions) - { - OnPreUpdateProperty -= kvp.Value; - } - RegisteredPreUpdatePropertyActions.Clear(); - } - DetailLog("{0},BSPhysObject.UnRegisterAllPreUpdatePropertyAction,", LocalID); - } - #endregion // Per Simulation Step actions // High performance detailed logging routine used by the physical objects. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e56276a..71fea59 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -55,9 +55,6 @@ public class BSPrim : BSPhysObject private OMV.Vector3 _position; private float _mass; // the mass of this object - private OMV.Vector3 _force; - private OMV.Vector3 _velocity; - private OMV.Vector3 _torque; private OMV.Vector3 _acceleration; private OMV.Quaternion _orientation; private int _physicsActorType; @@ -73,16 +70,13 @@ public class BSPrim : BSPhysObject private int CrossingFailures { get; set; } public BSDynamics VehicleActor; - public string VehicleActorName = "BasicVehicle"; + public const string VehicleActorName = "BasicVehicle"; - private BSVMotor _targetMotor; - private OMV.Vector3 _PIDTarget; - private float _PIDTau; - - private BSFMotor _hoverMotor; - private float _PIDHoverHeight; - private PIDHoverType _PIDHoverType; - private float _PIDHoverTau; + public const string HoverActorName = "HoverActor"; + public const String LockedAxisActorName = "BSPrim.LockedAxis"; + public const string MoveToTargetActorName = "MoveToTargetActor"; + public const string SetForceActorName = "SetForceActor"; + public const string SetTorqueActorName = "SetTorqueActor"; public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) @@ -95,7 +89,7 @@ public class BSPrim : BSPhysObject Scale = size; // prims are the size the user wants them to be (different for BSCharactes). _orientation = rotation; _buoyancy = 0f; - _velocity = OMV.Vector3.Zero; + RawVelocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; BaseShape = pbs; _isPhysical = pisPhysical; @@ -233,7 +227,7 @@ public class BSPrim : BSPhysObject // Called at taint time! public override void ZeroMotion(bool inTaintTime) { - _velocity = OMV.Vector3.Zero; + RawVelocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; @@ -270,19 +264,17 @@ public class BSPrim : BSPhysObject if (axis.Z != 1) locking.Z = 0f; LockedAxis = locking; - if (LockedAxis != LockedAxisFree) + CreateRemoveActor(LockedAxis != LockedAxisFree /* creatActor */, LockedAxisActorName, false /* inTaintTime */, delegate() { - PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate() - { - // If there is not already an axis locker, make one - if (!PhysicalActors.HasActor(LockedAxisActorName)) - { - DetailLog("{0},BSPrim.LockAngularMotion,taint,registeringLockAxisActor", LocalID); - PhysicalActors.Add(LockedAxisActorName, new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName)); - } - UpdatePhysicalParameters(); - }); - } + return new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName); + }); + + // Update parameters so the new actor's Refresh() action is called at the right time. + PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate() + { + UpdatePhysicalParameters(); + }); + return; } @@ -407,9 +399,9 @@ public class BSPrim : BSPhysObject ZeroMotion(inTaintTime); ret = true; } - if (_velocity.LengthSquared() > BSParam.MaxLinearVelocity) + if (RawVelocity.LengthSquared() > BSParam.MaxLinearVelocity) { - _velocity = Util.ClampV(_velocity, BSParam.MaxLinearVelocity); + RawVelocity = Util.ClampV(RawVelocity, BSParam.MaxLinearVelocity); ret = true; } if (_rotationalVelocity.LengthSquared() > BSParam.MaxAngularVelocitySquared) @@ -506,35 +498,13 @@ public class BSPrim : BSPhysObject } public override OMV.Vector3 Force { - get { return _force; } + get { return RawForce; } set { - _force = value; - if (_force != OMV.Vector3.Zero) - { - // If the force is non-zero, it must be reapplied each tick because - // Bullet clears the forces applied last frame. - RegisterPreStepAction("BSPrim.setForce", LocalID, - delegate(float timeStep) - { - if (!IsPhysicallyActive || _force == OMV.Vector3.Zero) - { - UnRegisterPreStepAction("BSPrim.setForce", LocalID); - return; - } - - DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force); - if (PhysBody.HasPhysicalBody) - { - PhysicsScene.PE.ApplyCentralForce(PhysBody, _force); - ActivateIfPhysical(false); - } - } - ); - } - else + RawForce = value; + CreateRemoveActor(RawForce == OMV.Vector3.Zero, SetForceActorName, false /* inTaintTime */, delegate() { - UnRegisterPreStepAction("BSPrim.setForce", LocalID); - } + return new BSActorSetForce(PhysicsScene, this, SetForceActorName); + }); } } @@ -670,62 +640,39 @@ public class BSPrim : BSPhysObject } } } - public override OMV.Vector3 RawVelocity - { - get { return _velocity; } - set { _velocity = value; } - } public override OMV.Vector3 Velocity { - get { return _velocity; } + get { return RawVelocity; } set { - _velocity = value; + RawVelocity = value; PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() { - // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); - ForceVelocity = _velocity; + // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, RawVelocity); + ForceVelocity = RawVelocity; }); } } public override OMV.Vector3 ForceVelocity { - get { return _velocity; } + get { return RawVelocity; } set { PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity"); - _velocity = Util.ClampV(value, BSParam.MaxLinearVelocity); + RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity); if (PhysBody.HasPhysicalBody) { - DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, _velocity); - PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); + DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, RawVelocity); + PhysicsScene.PE.SetLinearVelocity(PhysBody, RawVelocity); ActivateIfPhysical(false); } } } public override OMV.Vector3 Torque { - get { return _torque; } + get { return RawTorque; } set { - _torque = value; - if (_torque != OMV.Vector3.Zero) + RawTorque = value; + CreateRemoveActor(RawTorque == OMV.Vector3.Zero, SetTorqueActorName, false /* inTaintTime */, delegate() { - // If the torque is non-zero, it must be reapplied each tick because - // Bullet clears the forces applied last frame. - RegisterPreStepAction("BSPrim.setTorque", LocalID, - delegate(float timeStep) - { - if (!IsPhysicallyActive || _torque == OMV.Vector3.Zero) - { - UnRegisterPreStepAction("BSPrim.setTorque", LocalID); - return; - } - - if (PhysBody.HasPhysicalBody) - AddAngularForce(_torque, false, true); - } - ); - } - else - { - UnRegisterPreStepAction("BSPrim.setTorque", LocalID); - } + return new BSActorSetTorque(PhysicsScene, this, SetTorqueActorName); + }); // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); } } @@ -909,7 +856,7 @@ public class BSPrim : BSPhysObject // For good measure, make sure the transform is set through to the motion state ForcePosition = _position; - ForceVelocity = _velocity; + ForceVelocity = RawVelocity; ForceRotationalVelocity = _rotationalVelocity; // A dynamic object has mass @@ -966,15 +913,6 @@ public class BSPrim : BSPhysObject } } - // Enable physical actions. Bullet will keep sleeping non-moving physical objects so - // they need waking up when parameters are changed. - // Called in taint-time!! - private void ActivateIfPhysical(bool forceIt) - { - if (IsPhysical && PhysBody.HasPhysicalBody) - PhysicsScene.PE.Activate(PhysBody, forceIt); - } - // Turn on or off the flag controlling whether collision events are returned to the simulator. private void EnableCollisions(bool wantsCollisionEvents) { @@ -1096,78 +1034,13 @@ public class BSPrim : BSPhysObject } } - // Used for MoveTo - public override OMV.Vector3 PIDTarget { - set - { - // TODO: add a sanity check -- don't move more than a region or something like that. - _PIDTarget = value; - } - } - public override float PIDTau { - set { _PIDTau = value; } - } public override bool PIDActive { set { - if (value) - { - // We're taking over after this. - ZeroMotion(true); - - _targetMotor = new BSVMotor("BSPrim.PIDTarget", - _PIDTau, // timeScale - BSMotor.Infinite, // decay time scale - BSMotor.InfiniteVector, // friction timescale - 1f // efficiency - ); - _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. - _targetMotor.SetTarget(_PIDTarget); - _targetMotor.SetCurrent(RawPosition); - /* - _targetMotor = new BSPIDVMotor("BSPrim.PIDTarget"); - _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. - - _targetMotor.SetTarget(_PIDTarget); - _targetMotor.SetCurrent(RawPosition); - _targetMotor.TimeScale = _PIDTau; - _targetMotor.Efficiency = 1f; - */ - - RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep) - { - if (!IsPhysicallyActive) - { - UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID); - return; - } - - OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below) - - // 'movePosition' is where we'd like the prim to be at this moment. - OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep); - - // If we are very close to our target, turn off the movement motor. - if (_targetMotor.ErrorIsZero()) - { - DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}", - LocalID, movePosition, RawPosition, Mass); - ForcePosition = _targetMotor.TargetValue; - _targetMotor.Enabled = false; - } - else - { - _position = movePosition; - PositionSanityCheck(true /* intaintTime */); - ForcePosition = _position; - } - DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition); - }); - } - else + base.MoveToTargetActive = value; + CreateRemoveActor(MoveToTargetActive, MoveToTargetActorName, false /* inTaintTime */, delegate() { - // Stop any targetting - UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID); - } + return new BSActorMoveToTarget(PhysicsScene, this, MoveToTargetActorName); + }); } } @@ -1175,88 +1048,14 @@ public class BSPrim : BSPhysObject // Hover Height will override MoveTo target's Z public override bool PIDHoverActive { set { - if (value) - { - // Turning the target on - _hoverMotor = new BSFMotor("BSPrim.Hover", - _PIDHoverTau, // timeScale - BSMotor.Infinite, // decay time scale - BSMotor.Infinite, // friction timescale - 1f // efficiency - ); - _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight()); - _hoverMotor.SetCurrent(RawPosition.Z); - _hoverMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. - - RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep) - { - // Don't do hovering while the object is selected. - if (!IsPhysicallyActive) - return; - - _hoverMotor.SetCurrent(RawPosition.Z); - _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight()); - float targetHeight = _hoverMotor.Step(timeStep); - - // 'targetHeight' is where we'd like the Z of the prim to be at this moment. - // Compute the amount of force to push us there. - float moveForce = (targetHeight - RawPosition.Z) * Mass; - // Undo anything the object thinks it's doing at the moment - moveForce = -RawVelocity.Z * Mass; - - PhysicsScene.PE.ApplyCentralImpulse(PhysBody, new OMV.Vector3(0f, 0f, moveForce)); - DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", LocalID, targetHeight, moveForce, Mass); - }); - } - else + base.HoverActive = value; + CreateRemoveActor(HoverActive /* creatActor */, HoverActorName, false /* inTaintTime */, delegate() { - UnRegisterPreStepAction("BSPrim.Hover", LocalID); - } - } - } - public override float PIDHoverHeight { - set { _PIDHoverHeight = value; } - } - public override PIDHoverType PIDHoverType { - set { _PIDHoverType = value; } - } - public override float PIDHoverTau { - set { _PIDHoverTau = value; } - } - // Based on current position, determine what we should be hovering at now. - // Must recompute often. What if we walked offa cliff> - private float ComputeCurrentPIDHoverHeight() - { - float ret = _PIDHoverHeight; - float groundHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); - - switch (_PIDHoverType) - { - case PIDHoverType.Ground: - ret = groundHeight + _PIDHoverHeight; - break; - case PIDHoverType.GroundAndWater: - float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition); - if (groundHeight > waterHeight) - { - ret = groundHeight + _PIDHoverHeight; - } - else - { - ret = waterHeight + _PIDHoverHeight; - } - break; + return new BSActorHover(PhysicsScene, this, HoverActorName); + }); } - return ret; } - - // For RotLookAt - public override OMV.Quaternion APIDTarget { set { return; } } - public override bool APIDActive { set { return; } } - public override float APIDStrength { set { return; } } - public override float APIDDamping { set { return; } } - public override void AddForce(OMV.Vector3 force, bool pushforce) { // Per documentation, max force is limited. OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); @@ -1324,10 +1123,8 @@ public class BSPrim : BSPhysObject } } - public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { - AddAngularForce(force, pushforce, false); - } - public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) + // BSPhysObject.AddAngularForce() + public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { if (force.IsFinite()) { @@ -1694,8 +1491,8 @@ public class BSPrim : BSPhysObject _orientation = entprop.Rotation; // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be // very sensitive to velocity changes. - if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(_velocity, BSParam.UpdateVelocityChangeThreshold)) - _velocity = entprop.Velocity; + if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold)) + RawVelocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; @@ -1705,7 +1502,7 @@ public class BSPrim : BSPhysObject if (PositionSanityCheck(true /* inTaintTime */ )) { entprop.Position = _position; - entprop.Velocity = _velocity; + entprop.Velocity = RawVelocity; entprop.RotationalVelocity = _rotationalVelocity; entprop.Acceleration = _acceleration; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 8a15abe..a0131c7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -6,7 +6,6 @@ Enable vehicle border crossings (at least as poorly as ODE) Terrain skirts Avatar created in previous region and not new region when crossing border Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) -Lock axis Deleting a linkset while standing on the root will leave the physical shape of the root behind. Not sure if it is because standing on it. Done with large prim linksets. Linkset child rotations. @@ -344,3 +343,5 @@ Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. Verify that angular motion specified around Z moves in the vehicle coordinates. DONE 20130120: BulletSim properly applies force in vehicle relative coordinates. Nebadon vehicles turning funny in arena (DONE) +Lock axis (DONE 20130401) + -- cgit v1.1 From a7a1b8b7e9269b446e3396a35153b00942c1e35b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 7 Apr 2013 14:05:35 -0700 Subject: BulletSim: clean up actor code so routines use the same coding pattern. Fix a few enabling problems. --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 22 ++--- .../Region/Physics/BulletSPlugin/BSActorHover.cs | 6 +- .../Physics/BulletSPlugin/BSActorLockAxis.cs | 105 ++++++++++----------- .../Physics/BulletSPlugin/BSActorMoveToTarget.cs | 12 +-- .../Physics/BulletSPlugin/BSActorSetForce.cs | 2 +- .../Physics/BulletSPlugin/BSActorSetTorque.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 49 +++++++--- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 3 + .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 35 +++---- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 22 ++--- 10 files changed, 137 insertions(+), 123 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 634a898..8416740 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -67,14 +67,6 @@ public class BSActorAvatarMove : BSActor { m_physicsScene.DetailLog("{0},BSActorAvatarMove,refresh", m_controllingPrim.LocalID); - // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) - if (m_controllingPrim.RawForce == OMV.Vector3.Zero) - { - m_physicsScene.DetailLog("{0},BSActorAvatarMove,refresh,notAvatarMove,removing={1}", m_controllingPrim.LocalID, ActorName); - m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); - return; - } - // If the object is physically active, add the hoverer prestep action if (isActive) { @@ -95,14 +87,19 @@ public class BSActorAvatarMove : BSActor // Nothing to do for the hoverer since it is all software at pre-step action time. } + // Usually called when target velocity changes to set the current velocity and the target + // into the movement motor. public void SetVelocityAndTarget(OMV.Vector3 vel, OMV.Vector3 targ, bool inTaintTime) { m_physicsScene.TaintedObject(inTaintTime, "BSActorAvatarMove.setVelocityAndTarget", delegate() { - m_velocityMotor.Reset(); - m_velocityMotor.SetTarget(targ); - m_velocityMotor.SetCurrent(vel); - m_velocityMotor.Enabled = true; + if (m_velocityMotor != null) + { + m_velocityMotor.Reset(); + m_velocityMotor.SetTarget(targ); + m_velocityMotor.SetCurrent(vel); + m_velocityMotor.Enabled = true; + } }); } @@ -119,6 +116,7 @@ public class BSActorAvatarMove : BSActor 1f // efficiency ); // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. + SetVelocityAndTarget(m_controllingPrim.RawVelocity, m_controllingPrim.TargetVelocity, true /* inTaintTime */); m_physicsScene.BeforeStep += Mover; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs index 8dd3700..e8310df 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs @@ -67,12 +67,10 @@ public class BSActorHover : BSActor { m_physicsScene.DetailLog("{0},BSActorHover,refresh", m_controllingPrim.LocalID); - // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) + // If not active any more, turn me off if (!m_controllingPrim.HoverActive) { - m_physicsScene.DetailLog("{0},BSActorHover,refresh,notHovering,removing={1}", m_controllingPrim.LocalID, ActorName); - m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); - return; + SetEnabled(false); } // If the object is physically active, add the hoverer prestep action diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index c40a499..09ee32b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -36,7 +36,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSActorLockAxis : BSActor { - bool TryExperimentalLockAxisCode = true; BSConstraint LockAxisConstraint = null; public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) @@ -69,18 +68,13 @@ public class BSActorLockAxis : BSActor // If all the axis are free, we don't need to exist if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree) { - m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,allAxisFree,removing={1}", m_controllingPrim.LocalID, ActorName); - m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); - return; + Enabled = false; } + // If the object is physically active, add the axis locking constraint - if (Enabled - && m_controllingPrim.IsPhysicallyActive - && TryExperimentalLockAxisCode - && m_controllingPrim.LockedAxis != m_controllingPrim.LockedAxisFree) + if (isActive) { - if (LockAxisConstraint == null) - AddAxisLockConstraint(); + AddAxisLockConstraint(); } else { @@ -108,58 +102,61 @@ public class BSActorLockAxis : BSActor private void AddAxisLockConstraint() { - // Lock that axis by creating a 6DOF constraint that has one end in the world and - // the other in the object. - // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 - // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 + if (LockAxisConstraint == null) + { + // Lock that axis by creating a 6DOF constraint that has one end in the world and + // the other in the object. + // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 + // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 - // Remove any existing axis constraint (just to be sure) - RemoveAxisLockConstraint(); + // Remove any existing axis constraint (just to be sure) + RemoveAxisLockConstraint(); - BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody, - OMV.Vector3.Zero, OMV.Quaternion.Identity, - false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); - LockAxisConstraint = axisConstrainer; - m_physicsScene.Constraints.AddConstraint(LockAxisConstraint); + BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody, + OMV.Vector3.Zero, OMV.Quaternion.Identity, + false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); + LockAxisConstraint = axisConstrainer; + m_physicsScene.Constraints.AddConstraint(LockAxisConstraint); - // The constraint is tied to the world and oriented to the prim. + // The constraint is tied to the world and oriented to the prim. - // Free to move linearly in the region - OMV.Vector3 linearLow = OMV.Vector3.Zero; - OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize; - axisConstrainer.SetLinearLimits(linearLow, linearHigh); + // Free to move linearly in the region + OMV.Vector3 linearLow = OMV.Vector3.Zero; + OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize; + axisConstrainer.SetLinearLimits(linearLow, linearHigh); - // Angular with some axis locked - float fPI = (float)Math.PI; - OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI); - OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI); - if (m_controllingPrim.LockedAxis.X != 1f) - { - angularLow.X = 0f; - angularHigh.X = 0f; - } - if (m_controllingPrim.LockedAxis.Y != 1f) - { - angularLow.Y = 0f; - angularHigh.Y = 0f; - } - if (m_controllingPrim.LockedAxis.Z != 1f) - { - angularLow.Z = 0f; - angularHigh.Z = 0f; - } - if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh)) - { - m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID); - } + // Angular with some axis locked + float fPI = (float)Math.PI; + OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI); + OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI); + if (m_controllingPrim.LockedAxis.X != 1f) + { + angularLow.X = 0f; + angularHigh.X = 0f; + } + if (m_controllingPrim.LockedAxis.Y != 1f) + { + angularLow.Y = 0f; + angularHigh.Y = 0f; + } + if (m_controllingPrim.LockedAxis.Z != 1f) + { + angularLow.Z = 0f; + angularHigh.Z = 0f; + } + if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh)) + { + m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID); + } - m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}", - m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh); + m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}", + m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh); - // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. - axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); + // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. + axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); - axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass); + axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass); + } } private void RemoveAxisLockConstraint() diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs index 3517ef2..16c2b14 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs @@ -67,15 +67,12 @@ public class BSActorMoveToTarget : BSActor { m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh", m_controllingPrim.LocalID); - // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) - if (!m_controllingPrim.HoverActive) + // If not active any more... + if (!m_controllingPrim.MoveToTargetActive) { - m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,notMoveToTarget,removing={1}", m_controllingPrim.LocalID, ActorName); - m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); - return; + Enabled = false; } - // If the object is physically active, add the hoverer prestep action if (isActive) { ActivateMoveToTarget(); @@ -92,7 +89,7 @@ public class BSActorMoveToTarget : BSActor // BSActor.RemoveBodyDependencies() public override void RemoveBodyDependencies() { - // Nothing to do for the hoverer since it is all software at pre-step action time. + // Nothing to do for the moveToTarget since it is all software at pre-step action time. } // If a hover motor has not been created, create one and start the hovering. @@ -144,7 +141,6 @@ public class BSActorMoveToTarget : BSActor m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}", m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass); m_controllingPrim.ForcePosition = m_targetMotor.TargetValue; - m_targetMotor.Enabled = false; } else { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs index d942490..3ad138d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs @@ -71,7 +71,7 @@ public class BSActorSetForce : BSActor if (m_controllingPrim.RawForce == OMV.Vector3.Zero) { m_physicsScene.DetailLog("{0},BSActorSetForce,refresh,notSetForce,removing={1}", m_controllingPrim.LocalID, ActorName); - m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); + Enabled = false; return; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs index e0f719f..159a3a8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs @@ -70,8 +70,8 @@ public class BSActorSetTorque : BSActor // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) if (m_controllingPrim.RawTorque == OMV.Vector3.Zero) { - m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh,notSetTorque,removing={1}", m_controllingPrim.LocalID, ActorName); - m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); + m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh,notSetTorque,disabling={1}", m_controllingPrim.LocalID, ActorName); + Enabled = false; return; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs index fb4d452..12a8817 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -42,24 +42,36 @@ public class BSActorCollection } public void Add(string name, BSActor actor) { - m_actors[name] = actor; + lock (m_actors) + { + if (!m_actors.ContainsKey(name)) + { + m_actors[name] = actor; + } + } } public bool RemoveAndRelease(string name) { bool ret = false; - if (m_actors.ContainsKey(name)) + lock (m_actors) { - BSActor beingRemoved = m_actors[name]; - beingRemoved.Dispose(); - m_actors.Remove(name); - ret = true; + if (m_actors.ContainsKey(name)) + { + BSActor beingRemoved = m_actors[name]; + m_actors.Remove(name); + beingRemoved.Dispose(); + ret = true; + } } return ret; } public void Clear() { - Release(); - m_actors.Clear(); + lock (m_actors) + { + Release(); + m_actors.Clear(); + } } public void Dispose() { @@ -69,15 +81,22 @@ public class BSActorCollection { return m_actors.ContainsKey(name); } + public bool TryGetActor(string actorName, out BSActor theActor) + { + return m_actors.TryGetValue(actorName, out theActor); + } public void ForEachActor(Action act) { - foreach (KeyValuePair kvp in m_actors) - act(kvp.Value); + lock (m_actors) + { + foreach (KeyValuePair kvp in m_actors) + act(kvp.Value); + } } public void Enable(bool enabl) { - ForEachActor(a => a.Enable(enabl)); + ForEachActor(a => a.SetEnabled(enabl)); } public void Release() { @@ -106,7 +125,7 @@ public abstract class BSActor { protected BSScene m_physicsScene { get; private set; } protected BSPhysObject m_controllingPrim { get; private set; } - protected bool Enabled { get; set; } + public virtual bool Enabled { get; set; } public string ActorName { get; private set; } public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName) @@ -122,8 +141,10 @@ public abstract class BSActor { get { return Enabled; } } - // Turn the actor on an off. - public virtual void Enable(bool setEnabled) + + // Turn the actor on an off. Only used by ActorCollection to set all enabled/disabled. + // Anyone else should assign true/false to 'Enabled'. + public void SetEnabled(bool setEnabled) { Enabled = setEnabled; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 09c9b16..a0d58d3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -160,6 +160,9 @@ public sealed class BSCharacter : BSPhysObject // Make so capsule does not fall over PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero); + // The avatar mover sets some parameters. + PhysicalActors.Refresh(); + PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 644bc7e..64bf395 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -282,30 +282,31 @@ public abstract class BSPhysObject : PhysicsActor // 'actors' act on the physical object to change or constrain its motion. These can range from // hovering to complex vehicle motion. + // May be called at non-taint time as this just adds the actor to the action list and the real + // work is done during the simulation step. + // Note that, if the actor is already in the list and we are disabling same, the actor is just left + // in the list disabled. public delegate BSActor CreateActor(); - public void CreateRemoveActor(bool createRemove, string actorName, bool inTaintTime, CreateActor creator) + public void EnableActor(bool enableActor, string actorName, CreateActor creator) { - if (createRemove) + lock (PhysicalActors) { - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate() + BSActor theActor; + if (PhysicalActors.TryGetActor(actorName, out theActor)) { - if (!PhysicalActors.HasActor(actorName)) - { - DetailLog("{0},BSPrim.CreateRemoveActor,taint,registerActor,a={1}", LocalID, actorName); - PhysicalActors.Add(actorName, creator()); - } - }); - } - else - { - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate() + // The actor already exists so just turn it on or off + theActor.Enabled = enableActor; + } + else { - if (PhysicalActors.HasActor(actorName)) + // The actor does not exist. If it should, create it. + if (enableActor) { - DetailLog("{0},BSPrim.CreateRemoveActor,taint,unregisterActor,a={1}", LocalID, actorName); - PhysicalActors.RemoveAndRelease(actorName); + theActor = creator(); + PhysicalActors.Add(actorName, theActor); + theActor.Enabled = true; } - }); + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 71fea59..16c7a90 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -95,6 +95,7 @@ public class BSPrim : BSPhysObject _isPhysical = pisPhysical; _isVolumeDetect = false; + // We keep a handle to the vehicle actor so we can set vehicle parameters later. VehicleActor = new BSDynamics(PhysicsScene, this, VehicleActorName); PhysicalActors.Add(VehicleActorName, VehicleActor); @@ -264,7 +265,7 @@ public class BSPrim : BSPhysObject if (axis.Z != 1) locking.Z = 0f; LockedAxis = locking; - CreateRemoveActor(LockedAxis != LockedAxisFree /* creatActor */, LockedAxisActorName, false /* inTaintTime */, delegate() + EnableActor(LockedAxis != LockedAxisFree, LockedAxisActorName, delegate() { return new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName); }); @@ -501,7 +502,7 @@ public class BSPrim : BSPhysObject get { return RawForce; } set { RawForce = value; - CreateRemoveActor(RawForce == OMV.Vector3.Zero, SetForceActorName, false /* inTaintTime */, delegate() + EnableActor(RawForce != OMV.Vector3.Zero, SetForceActorName, delegate() { return new BSActorSetForce(PhysicsScene, this, SetForceActorName); }); @@ -510,14 +511,13 @@ public class BSPrim : BSPhysObject public override int VehicleType { get { - return (int)VehicleActor.Type; // if we are a vehicle, return that type + return (int)VehicleActor.Type; } set { Vehicle type = (Vehicle)value; PhysicsScene.TaintedObject("setVehicleType", delegate() { - // Done at taint time so we're sure the physics engine is not using the variables // Vehicle code changes the parameters for this vehicle type. VehicleActor.ProcessTypeChange(type); ActivateIfPhysical(false); @@ -669,11 +669,11 @@ public class BSPrim : BSPhysObject get { return RawTorque; } set { RawTorque = value; - CreateRemoveActor(RawTorque == OMV.Vector3.Zero, SetTorqueActorName, false /* inTaintTime */, delegate() + EnableActor(RawTorque != OMV.Vector3.Zero, SetTorqueActorName, delegate() { return new BSActorSetTorque(PhysicsScene, this, SetTorqueActorName); }); - // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); + DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, RawTorque); } } public override OMV.Vector3 Acceleration { @@ -786,7 +786,6 @@ public class BSPrim : BSPhysObject MakeDynamic(IsStatic); // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) - VehicleActor.Refresh(); PhysicalActors.Refresh(); // Arrange for collision events if the simulator wants them @@ -1037,7 +1036,7 @@ public class BSPrim : BSPhysObject public override bool PIDActive { set { base.MoveToTargetActive = value; - CreateRemoveActor(MoveToTargetActive, MoveToTargetActorName, false /* inTaintTime */, delegate() + EnableActor(MoveToTargetActive, MoveToTargetActorName, delegate() { return new BSActorMoveToTarget(PhysicsScene, this, MoveToTargetActorName); }); @@ -1049,7 +1048,7 @@ public class BSPrim : BSPhysObject public override bool PIDHoverActive { set { base.HoverActive = value; - CreateRemoveActor(HoverActive /* creatActor */, HoverActorName, false /* inTaintTime */, delegate() + EnableActor(HoverActive, HoverActorName, delegate() { return new BSActorHover(PhysicsScene, this, HoverActorName); }); @@ -1458,7 +1457,7 @@ 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'. This routine makes the right choices and changes of necessary. + // Ignore 'forceRebuild'. 'GetBodyAndShape' makes the right choices and changes of necessary. PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, null, delegate(BulletBody dBody) { // Called if the current prim body is about to be destroyed. @@ -1472,9 +1471,9 @@ public class BSPrim : BSPhysObject return; } + // Called at taint-time protected virtual void RemoveBodyDependencies() { - VehicleActor.RemoveBodyDependencies(); PhysicalActors.RemoveBodyDependencies(); } @@ -1482,6 +1481,7 @@ public class BSPrim : BSPhysObject // the world that things have changed. public override void UpdateProperties(EntityProperties entprop) { + // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator. TriggerPreUpdatePropertyAction(ref entprop); // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG -- cgit v1.1 From 99f39836a1879a807bb7d6bf5bf793c3a99584c4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 8 Apr 2013 06:27:01 -0700 Subject: BulletSim: moving comments around. No functional change. --- OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 10 +--------- OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 9 +++++++++ 3 files changed, 11 insertions(+), 10 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs index 159a3a8..7a791ec 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs @@ -65,7 +65,7 @@ public class BSActorSetTorque : BSActor // BSActor.Refresh() public override void Refresh() { - m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh", m_controllingPrim.LocalID); + m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh,torque={1}", m_controllingPrim.LocalID, m_controllingPrim.RawTorque); // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) if (m_controllingPrim.RawTorque == OMV.Vector3.Zero) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 16c7a90..3423d2e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1514,16 +1514,8 @@ public class BSPrim : BSPhysObject LastEntityProperties = CurrentEntityProperties; CurrentEntityProperties = entprop; + // Note that BSPrim can be overloaded by BSPrimLinkable which controls updates from root and children prims. base.RequestPhysicsterseUpdate(); - /* - else - { - // For debugging, report the movement of children - DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", - LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, - entprop.Acceleration, entprop.RotationalVelocity); - } - */ } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index d65d407..28242d4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -163,6 +163,15 @@ public class BSPrimLinkable : BSPrimDisplaced // TODO: this will have to change when linksets are articulated. base.UpdateProperties(entprop); } + /* + else + { + // For debugging, report the movement of children + DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, + entprop.Acceleration, entprop.RotationalVelocity); + } + */ // The linkset might like to know about changing locations Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); } -- cgit v1.1 From 17fd075f39df71d628db08b7c280150f231f8a26 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 9 Apr 2013 11:55:29 -0700 Subject: BulletSim: fix problem where large sets of mega-regions weren't registering all the terrain with the base region. --- OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index cd15850..5240ad8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -213,13 +213,13 @@ public sealed class BSTerrainManager : IDisposable }); } - // Another region is calling this region passing a terrain. + // Another region is calling this region and passing a terrain. // A region that is not the mega-region root will pass its terrain to the root region so the root region // physics engine will have all the terrains. private void AddMegaRegionChildTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { // Since we are called by another region's thread, the action must be rescheduled onto our processing thread. - PhysicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + m_worldOffset.ToString(), 0, delegate() + PhysicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + minCoords.ToString(), id, delegate() { UpdateTerrain(id, heightMap, minCoords, maxCoords); }); @@ -306,7 +306,7 @@ public sealed class BSTerrainManager : IDisposable newTerrainID = ++m_terrainCount; DetailLog("{0},BSTerrainManager.UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}", - BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); + BSScene.DetailLogZero, newTerrainID, minCoords, maxCoords); BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); m_terrains.Add(terrainRegionBase, newTerrainPhys); -- cgit v1.1 From 59135c9a31875dc514b3ea2fe14021571807701d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 9 Apr 2013 16:32:54 -0700 Subject: BulletSim: add Bullet HACD library invocation. Turned off by default as not totally debugged. Updated DLLs and SOs with more debugged HACD library code. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 53 ++++- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 + .../Physics/BulletSPlugin/BSShapeCollection.cs | 223 ++++++++++++--------- 3 files changed, 183 insertions(+), 94 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 385ed9e..06df85e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -86,6 +86,7 @@ public static class BSParam public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects public static bool ShouldRemoveZeroWidthTriangles { get; private set; } + public static bool ShouldUseBulletHACD { get; set; } public static float TerrainImplementation { get; private set; } public static int TerrainMeshMagnification { get; private set; } @@ -149,6 +150,15 @@ public static class BSParam public static float CSHullVolumeConservationThresholdPercent { get; private set; } public static int CSHullMaxVertices { get; private set; } public static float CSHullMaxSkinWidth { get; private set; } + public static float BHullMaxVerticesPerHull { get; private set; } // 100 + public static float BHullMinClusters { get; private set; } // 2 + public static float BHullCompacityWeight { get; private set; } // 0.1 + public static float BHullVolumeWeight { get; private set; } // 0.0 + public static float BHullConcavity { get; private set; } // 100 + public static bool BHullAddExtraDistPoints { get; private set; } // false + public static bool BHullAddNeighboursDistPoints { get; private set; } // false + public static bool BHullAddFacesPoints { get; private set; } // false + public static bool BHullShouldAdjustCollisionMargin { get; private set; } // false // Linkset implementation parameters public static float LinksetImplementation { get; private set; } @@ -325,6 +335,10 @@ public static class BSParam true, (s) => { return ShouldRemoveZeroWidthTriangles; }, (s,v) => { ShouldRemoveZeroWidthTriangles = v; } ), + new ParameterDefn("ShouldUseBulletHACD", "If true, use the Bullet version of HACD", + false, + (s) => { return ShouldUseBulletHACD; }, + (s,v) => { ShouldUseBulletHACD = v; } ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", 5, @@ -663,10 +677,47 @@ public static class BSParam (s) => { return CSHullMaxVertices; }, (s,v) => { CSHullMaxVertices = v; } ), new ParameterDefn("CSHullMaxSkinWidth", "CS impl: skin width to apply to output hulls.", - 0, + 0f, (s) => { return CSHullMaxSkinWidth; }, (s,v) => { CSHullMaxSkinWidth = v; } ), + new ParameterDefn("BHullMaxVerticesPerHull", "Bullet impl: max number of vertices per created hull", + 100f, + (s) => { return BHullMaxVerticesPerHull; }, + (s,v) => { BHullMaxVerticesPerHull = v; } ), + new ParameterDefn("BHullMinClusters", "Bullet impl: minimum number of hulls to create per mesh", + 2f, + (s) => { return BHullMinClusters; }, + (s,v) => { BHullMinClusters = v; } ), + new ParameterDefn("BHullCompacityWeight", "Bullet impl: weight factor for how compact to make hulls", + 2f, + (s) => { return BHullCompacityWeight; }, + (s,v) => { BHullCompacityWeight = v; } ), + new ParameterDefn("BHullVolumeWeight", "Bullet impl: weight factor for volume in created hull", + 0.1f, + (s) => { return BHullVolumeWeight; }, + (s,v) => { BHullVolumeWeight = v; } ), + new ParameterDefn("BHullConcavity", "Bullet impl: weight factor for how convex a created hull can be", + 100f, + (s) => { return BHullConcavity; }, + (s,v) => { BHullConcavity = v; } ), + new ParameterDefn("BHullAddExtraDistPoints", "Bullet impl: whether to add extra vertices for long distance vectors", + false, + (s) => { return BHullAddExtraDistPoints; }, + (s,v) => { BHullAddExtraDistPoints = v; } ), + new ParameterDefn("BHullAddNeighboursDistPoints", "Bullet impl: whether to add extra vertices between neighbor hulls", + false, + (s) => { return BHullAddNeighboursDistPoints; }, + (s,v) => { BHullAddNeighboursDistPoints = v; } ), + new ParameterDefn("BHullAddFacesPoints", "Bullet impl: whether to add extra vertices to break up hull faces", + false, + (s) => { return BHullAddFacesPoints; }, + (s,v) => { BHullAddFacesPoints = v; } ), + new ParameterDefn("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin", + false, + (s) => { return BHullShouldAdjustCollisionMargin; }, + (s,v) => { BHullShouldAdjustCollisionMargin = v; } ), + new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", (float)BSLinkset.LinksetImplementation.Compound, (s) => { return LinksetImplementation; }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 9818b05..8e05b58 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -316,6 +316,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters break; case "bulletxna": ret = new BSAPIXNA(engineName, this); + BSParam.ShouldUseBulletHACD = false; break; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index b6ac23d..bfa69b2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -720,7 +720,7 @@ public sealed class BSShapeCollection : IDisposable // Remove usage of the previous shape. DereferenceShape(prim.PhysShape, shapeCallback); - newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod); + newShape = CreatePhysicalHull(prim, newHullKey, prim.BaseShape, prim.Size, lod); // It might not have been created if we're waiting for an asset. newShape = VerifyMeshCreated(newShape, prim); @@ -731,7 +731,7 @@ public sealed class BSShapeCollection : IDisposable } List m_hulls; - private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + private BulletShape CreatePhysicalHull(BSPhysObject prim, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = new BulletShape(); @@ -745,116 +745,153 @@ public sealed class BSShapeCollection : IDisposable } else { - // 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(objName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); - if (meshData != null) + if (BSParam.ShouldUseBulletHACD) { - - 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++) + DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID); + MeshDesc meshDesc; + if (!Meshes.TryGetValue(newHullKey, out meshDesc)) { - convIndices.Add(indices[ii]); + // 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); + } } - foreach (OMV.Vector3 vv in vertices) + if (meshDesc.shape.HasPhysicalShape) { - convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); + 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); } - - uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit; - if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes) + 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) { - // 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)) + 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++) { - maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes; + 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 - 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]; + 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; + } + } - 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) + // 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) { - verts[kk++] = ff; + totalVertices += 4; // add four for the vertex count and centroid + totalVertices += cr.HullIndices.Count * 3; // we pass just triangles } + float[] convHulls = new float[totalVertices]; - // 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[0] = (float)hullCount; + int jj = 1; + foreach (ConvexResult cr in m_hulls) { - convHulls[jj++] = verts[ind].x; - convHulls[jj++] = verts[ind].y; - convHulls[jj++] = verts[ind].z; + // 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); } - // create the hull data structure in Bullet - newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls); } + newShape.shapeKey = newHullKey; } - newShape.shapeKey = newHullKey; - return newShape; } -- cgit v1.1 From 9cc41d511872fcd74a074ab484db2b981f3f5676 Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Tue, 9 Apr 2013 17:23:50 -0400 Subject: Another algorithm for AngularVerticalAttraction. This one Takes into account all rotations before it and makes the corrections more close to the time that sl does. Signed-off-by: Robert Adams --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 23 ++++++++++++++++++++++ 1 file changed, 23 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 0fd1f73..723be0b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1358,6 +1358,28 @@ namespace OpenSim.Region.Physics.BulletSPlugin // If vertical attaction timescale is reasonable if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { + //Another formula to try got from : + //http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html + Vector3 VehicleUpAxis = Vector3.UnitZ *VehicleOrientation; + //Flipping what was originally a timescale into a speed variable and then multiplying it by 2 since only computing half + //the distance between the angles. + float VerticalAttractionSpeed=(1/m_verticalAttractionTimescale)*2.0f; + //making a prediction of where the up axis will be when this is applied rather then where it is now this makes for a smoother + //adjustment and less fighting between the various forces + Vector3 predictedUp = VehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f); + //this is only half the distance to the target so it will take 2 seconds to complete the turn. + Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ); + //Scaling vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared + Vector3 vertContributionV=torqueVector * VerticalAttractionSpeed *VerticalAttractionSpeed; + VehicleRotationalVelocity += vertContributionV; + VDetailLog("{0}, MoveAngular,verticalAttraction,UpAxis={1},PredictedUp={2},torqueVector={3},contrib={4}", + ControllingPrim.LocalID, + VehicleUpAxis, + predictedUp, + torqueVector, + vertContributionV); + //===================================================================== + /* // Possible solution derived from a discussion at: // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no @@ -1392,6 +1414,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin differenceAngle, correctionRotation, vertContributionV); + */ // =================================================================== /* -- cgit v1.1 From b53713cdda3c4e49913a6a82239da35d62f74e68 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 9 Apr 2013 17:14:15 -0700 Subject: BulletSim: some formatting changes. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 27 ++++++++++++++-------- 1 file changed, 17 insertions(+), 10 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 723be0b..612c68b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1360,19 +1360,26 @@ namespace OpenSim.Region.Physics.BulletSPlugin { //Another formula to try got from : //http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html - Vector3 VehicleUpAxis = Vector3.UnitZ *VehicleOrientation; - //Flipping what was originally a timescale into a speed variable and then multiplying it by 2 since only computing half - //the distance between the angles. - float VerticalAttractionSpeed=(1/m_verticalAttractionTimescale)*2.0f; - //making a prediction of where the up axis will be when this is applied rather then where it is now this makes for a smoother - //adjustment and less fighting between the various forces + + Vector3 VehicleUpAxis = Vector3.UnitZ * VehicleOrientation; + + // Flipping what was originally a timescale into a speed variable and then multiplying it by 2 + // since only computing half the distance between the angles. + float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f; + + // Make a prediction of where the up axis will be when this is applied rather then where it is now as + // this makes for a smoother adjustment and less fighting between the various forces. Vector3 predictedUp = VehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f); - //this is only half the distance to the target so it will take 2 seconds to complete the turn. + + // This is only half the distance to the target so it will take 2 seconds to complete the turn. Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ); - //Scaling vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared - Vector3 vertContributionV=torqueVector * VerticalAttractionSpeed *VerticalAttractionSpeed; + + // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared + Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed; + VehicleRotationalVelocity += vertContributionV; - VDetailLog("{0}, MoveAngular,verticalAttraction,UpAxis={1},PredictedUp={2},torqueVector={3},contrib={4}", + + VDetailLog("{0}, MoveAngular,verticalAttraction,UpAxis={1},PredictedUp={2},torqueVector={3},contrib={4}", ControllingPrim.LocalID, VehicleUpAxis, predictedUp, -- cgit v1.1 From 5f2cbfc0fd27198f8f05f4a9a4e2908d8b11752e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 9 Apr 2013 17:53:18 -0700 Subject: BulletSim: fixing problems with llMoveToTarget. Not all fixed yet. --- OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs | 2 +- .../Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs | 16 +++++++++++----- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 6 ++++++ 3 files changed, 18 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs index e8310df..92ace66 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs @@ -50,7 +50,7 @@ public class BSActorHover : BSActor // BSActor.isActive public override bool isActive { - get { return Enabled && m_controllingPrim.IsPhysicallyActive; } + get { return Enabled; } } // Release any connections and resources used by the actor. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs index 16c2b14..56aacc5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs @@ -50,7 +50,7 @@ public class BSActorMoveToTarget : BSActor // BSActor.isActive public override bool isActive { - get { return Enabled && m_controllingPrim.IsPhysicallyActive; } + get { return Enabled; } } // Release any connections and resources used by the actor. @@ -65,7 +65,9 @@ public class BSActorMoveToTarget : BSActor // BSActor.Refresh() public override void Refresh() { - m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh", m_controllingPrim.LocalID); + m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,enabled={1},active={2},target={3},tau={4}", + m_controllingPrim.LocalID, Enabled, m_controllingPrim.MoveToTargetActive, + m_controllingPrim.MoveToTargetTarget, m_controllingPrim.MoveToTargetTau ); // If not active any more... if (!m_controllingPrim.MoveToTargetActive) @@ -100,7 +102,7 @@ public class BSActorMoveToTarget : BSActor // We're taking over after this. m_controllingPrim.ZeroMotion(true); - m_targetMotor = new BSVMotor("BSPrim.PIDTarget", + m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate", m_controllingPrim.MoveToTargetTau, // timeScale BSMotor.Infinite, // decay time scale BSMotor.InfiniteVector, // friction timescale @@ -138,15 +140,19 @@ public class BSActorMoveToTarget : BSActor // If we are very close to our target, turn off the movement motor. if (m_targetMotor.ErrorIsZero()) { - m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}", + m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}", m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass); m_controllingPrim.ForcePosition = m_targetMotor.TargetValue; + // Setting the position does not cause the physics engine to generate a property update. Force it. + m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); } else { m_controllingPrim.ForcePosition = movePosition; + // Setting the position does not cause the physics engine to generate a property update. Force it. + m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); } - m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition); + m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 64bf395..98eb4ca 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -295,6 +295,7 @@ public abstract class BSPhysObject : PhysicsActor if (PhysicalActors.TryGetActor(actorName, out theActor)) { // The actor already exists so just turn it on or off + DetailLog("{0},BSPhysObject.EnableActor,enablingExistingActor,name={1},enable={2}", LocalID, actorName, enableActor); theActor.Enabled = enableActor; } else @@ -302,10 +303,15 @@ public abstract class BSPhysObject : PhysicsActor // The actor does not exist. If it should, create it. if (enableActor) { + DetailLog("{0},BSPhysObject.EnableActor,creatingActor,name={1}", LocalID, actorName); theActor = creator(); PhysicalActors.Add(actorName, theActor); theActor.Enabled = true; } + else + { + DetailLog("{0},BSPhysObject.EnableActor,notCreatingActorSinceNotEnabled,name={1}", LocalID, actorName); + } } } } -- cgit v1.1 From e1ac68315491a0962bd4d089f7190e1b82607f43 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 21 Apr 2013 15:59:39 -0700 Subject: BulletSim: fix crash when deleting llVolumeDetect enabled objects. Bullet's check for an object being linked into the world does not work for Bullet's ghost objects so BulletSim was deleting the object while it was still linked into the physical world structures. --- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index bfa69b2..1976c42 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -162,11 +162,8 @@ public sealed class BSShapeCollection : IDisposable // If the caller needs to know the old body is going away, pass the event up. if (bodyCallback != null) bodyCallback(body); - if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body)) - { - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body); - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, 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); -- cgit v1.1 From 522ab85045066cb58bb76881032adab7cc6a2d68 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 23 Apr 2013 18:31:12 -0700 Subject: BulletSim: improve avatar stair walking up. Add more parameters to control force of both position change and up force that move avatars over barrier. Default parameters are for steps up to 0.5m in height. --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 103 +++++++++++++++++---- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 15 ++- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 22 ++++- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 5 + .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 3 + 5 files changed, 123 insertions(+), 25 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 8416740..bd5ee0b1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -40,10 +40,16 @@ public class BSActorAvatarMove : BSActor { BSVMotor m_velocityMotor; + // Set to true if we think we're going up stairs. + // This state is remembered because collisions will turn on and off as we go up stairs. + int m_walkingUpStairs; + float m_lastStepUp; + public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName) : base(physicsScene, pObj, actorName) { m_velocityMotor = null; + m_walkingUpStairs = 0; m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID); } @@ -119,6 +125,8 @@ public class BSActorAvatarMove : BSActor SetVelocityAndTarget(m_controllingPrim.RawVelocity, m_controllingPrim.TargetVelocity, true /* inTaintTime */); m_physicsScene.BeforeStep += Mover; + + m_walkingUpStairs = 0; } } @@ -216,8 +224,6 @@ public class BSActorAvatarMove : BSActor // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. OMV.Vector3 moveForce = (stepVelocity - m_controllingPrim.RawVelocity) * m_controllingPrim.Mass; - // Should we check for move force being small and forcing velocity to zero? - // Add special movement force to allow avatars to walk up stepped surfaces. moveForce += WalkUpStairs(); @@ -233,24 +239,33 @@ public class BSActorAvatarMove : BSActor { OMV.Vector3 ret = OMV.Vector3.Zero; + m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4},avHeight={5}", + m_controllingPrim.LocalID, m_controllingPrim.IsColliding, m_controllingPrim.Flying, + m_controllingPrim.TargetVelocitySpeed, m_controllingPrim.CollisionsLastTick.Count, m_controllingPrim.Size.Z); // This test is done if moving forward, not flying and is colliding with something. - // DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}", - // LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count); - if (m_controllingPrim.IsColliding && !m_controllingPrim.Flying && m_controllingPrim.TargetVelocitySpeed > 0.1f /* && ForwardSpeed < 0.1f */) + // Check for stairs climbing if colliding, not flying and moving forward + if ( m_controllingPrim.IsColliding + && !m_controllingPrim.Flying + && m_controllingPrim.TargetVelocitySpeed > 0.1f ) { // The range near the character's feet where we will consider stairs - float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) + 0.05f; + // float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) + 0.05f; + // Note: there is a problem with the computation of the capsule height. Thus RawPosition is off + // from the height. Revisit size and this computation when height is scaled properly. + float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) - 0.05f; float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight; - // Look for a collision point that is near the character's feet and is oriented the same as the charactor is + // Look for a collision point that is near the character's feet and is oriented the same as the charactor is. + // Find the highest 'good' collision. + OMV.Vector3 highestTouchPosition = OMV.Vector3.Zero; foreach (KeyValuePair kvp in m_controllingPrim.CollisionsLastTick.m_objCollisionList) { // Don't care about collisions with the terrain if (kvp.Key > m_physicsScene.TerrainManager.HighestTerrainID) { OMV.Vector3 touchPosition = kvp.Value.Position; - // DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}", - // LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition); + m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}", + m_controllingPrim.LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition); if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax) { // This contact is within the 'near the feet' range. @@ -261,24 +276,76 @@ public class BSActorAvatarMove : BSActor float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)); if (diff < BSParam.AvatarStepApproachFactor) { - // Found the stairs contact point. Push up a little to raise the character. - float upForce = (touchPosition.Z - nearFeetHeightMin) * m_controllingPrim.Mass * BSParam.AvatarStepForceFactor; - ret = new OMV.Vector3(0f, 0f, upForce); - - // Also move the avatar up for the new height - OMV.Vector3 displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight / 2f); - m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement; + if (highestTouchPosition.Z < touchPosition.Z) + highestTouchPosition = touchPosition; } - m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},faceDir={3},norm={4},diff={5},ret={6}", - m_controllingPrim.LocalID, touchPosition, nearFeetHeightMin, directionFacing, touchNormal, diff, ret); } } } + m_walkingUpStairs = 0; + // If there is a good step sensing, move the avatar over the step. + if (highestTouchPosition != OMV.Vector3.Zero) + { + // Remember that we are going up stairs. This is needed because collisions + // will stop when we move up so this smoothes out that effect. + m_walkingUpStairs = BSParam.AvatarStepSmoothingSteps; + + m_lastStepUp = highestTouchPosition.Z - nearFeetHeightMin; + ret = ComputeStairCorrection(m_lastStepUp); + m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},ret={3}", + m_controllingPrim.LocalID, highestTouchPosition, nearFeetHeightMin, ret); + } + } + else + { + // If we used to be going up stairs but are not now, smooth the case where collision goes away while + // we are bouncing up the stairs. + if (m_walkingUpStairs > 0) + { + m_walkingUpStairs--; + ret = ComputeStairCorrection(m_lastStepUp); + } } return ret; } + private OMV.Vector3 ComputeStairCorrection(float stepUp) + { + OMV.Vector3 ret = OMV.Vector3.Zero; + OMV.Vector3 displacement = OMV.Vector3.Zero; + + if (stepUp > 0f) + { + // Found the stairs contact point. Push up a little to raise the character. + if (BSParam.AvatarStepForceFactor > 0f) + { + float upForce = stepUp * m_controllingPrim.Mass * BSParam.AvatarStepForceFactor; + ret = new OMV.Vector3(0f, 0f, upForce); + } + + // Also move the avatar up for the new height + if (BSParam.AvatarStepUpCorrectionFactor > 0f) + { + // Move the avatar up related to the height of the collision + displacement = new OMV.Vector3(0f, 0f, stepUp * BSParam.AvatarStepUpCorrectionFactor); + m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement; + } + else + { + if (BSParam.AvatarStepUpCorrectionFactor < 0f) + { + // Move the avatar up about the specified step height + displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight); + m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement; + } + } + m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs.ComputeStairCorrection,disp={1},force={2}", + m_controllingPrim.LocalID, displacement, ret); + + } + return ret; + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 06df85e..980d405 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -128,6 +128,8 @@ public static class BSParam public static float AvatarStepHeight { get; private set; } public static float AvatarStepApproachFactor { get; private set; } public static float AvatarStepForceFactor { get; private set; } + public static float AvatarStepUpCorrectionFactor { get; private set; } + public static int AvatarStepSmoothingSteps { get; private set; } // Vehicle parameters public static float VehicleMaxLinearVelocity { get; private set; } @@ -234,6 +236,7 @@ public static class BSParam objectSet = pObjSetter; } /* Wish I could simplify using this definition but CLR doesn't store references so closure around delegates of references won't work + * TODO: Maybe use reflection and the name of the variable to create a reference for the getter/setter. public ParameterDefn(string pName, string pDesc, T pDefault, ref T loc) : base(pName, pDesc) { @@ -561,7 +564,7 @@ public static class BSParam (s) => { return AvatarBelowGroundUpCorrectionMeters; }, (s,v) => { AvatarBelowGroundUpCorrectionMeters = v; } ), new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction", - 0.3f, + 0.6f, (s) => { return AvatarStepHeight; }, (s,v) => { AvatarStepHeight = v; } ), new ParameterDefn("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)", @@ -569,9 +572,17 @@ public static class BSParam (s) => { return AvatarStepApproachFactor; }, (s,v) => { AvatarStepApproachFactor = v; } ), new ParameterDefn("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step", - 2.0f, + 1.0f, (s) => { return AvatarStepForceFactor; }, (s,v) => { AvatarStepForceFactor = v; } ), + new ParameterDefn("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step", + 1.0f, + (s) => { return AvatarStepUpCorrectionFactor; }, + (s,v) => { AvatarStepUpCorrectionFactor = v; } ), + new ParameterDefn("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs", + 2, + (s) => { return AvatarStepSmoothingSteps; }, + (s,v) => { AvatarStepSmoothingSteps = v; } ), new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle", 1000.0f, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 98eb4ca..309d004 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -96,7 +96,7 @@ public abstract class BSPhysObject : PhysicsActor SetMaterial((int)MaterialAttributes.Material.Wood); CollisionCollection = new CollisionEventUpdate(); - CollisionsLastTick = CollisionCollection; + CollisionsLastReported = CollisionCollection; SubscribedEventsMs = 0; CollidingStep = 0; CollidingGroundStep = 0; @@ -368,11 +368,14 @@ public abstract class BSPhysObject : PhysicsActor } } - // The collisions that have been collected this tick + // The collisions that have been collected for the next collision reporting (throttled by subscription) protected CollisionEventUpdate CollisionCollection; - // Remember collisions from last tick for fancy collision based actions + // This is the collision collection last reported to the Simulator. + public CollisionEventUpdate CollisionsLastReported; + // Remember the collisions recorded in the last tick for fancy collision checking // (like a BSCharacter walking up stairs). public CollisionEventUpdate CollisionsLastTick; + private long CollisionsLastTickStep = -1; // The simulation step is telling this object about a collision. // Return 'true' if a collision was processed and should be sent up. @@ -399,6 +402,15 @@ public abstract class BSPhysObject : PhysicsActor // For movement tests, remember if we are colliding with an object that is moving. ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false; + // Make a collection of the collisions that happened the last simulation tick. + // This is different than the collection created for sending up to the simulator as it is cleared every tick. + if (CollisionsLastTickStep != PhysicsScene.SimulationStep) + { + CollisionsLastTick = new CollisionEventUpdate(); + CollisionsLastTickStep = PhysicsScene.SimulationStep; + } + CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + // If someone has subscribed for collision events log the collision so it will be reported up if (SubscribedEvents()) { CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); @@ -419,7 +431,7 @@ public abstract class BSPhysObject : PhysicsActor bool ret = true; // If the 'no collision' call, force it to happen right now so quick collision_end - bool force = (CollisionCollection.Count == 0 && CollisionsLastTick.Count != 0); + bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0); // throttle the collisions to the number of milliseconds specified in the subscription if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) @@ -438,7 +450,7 @@ public abstract class BSPhysObject : PhysicsActor base.SendCollisionUpdate(CollisionCollection); // Remember the collisions from this tick for some collision specific processing. - CollisionsLastTick = CollisionCollection; + CollisionsLastReported = CollisionCollection; // The CollisionCollection instance is passed around in the simulator. // Make sure we don't have a handle to that one and that a new one is used for next time. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 3423d2e..4bc266b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -69,12 +69,17 @@ public class BSPrim : BSPhysObject private int CrossingFailures { get; set; } + // Keep a handle to the vehicle actor so it is easy to set parameters on same. public BSDynamics VehicleActor; public const string VehicleActorName = "BasicVehicle"; + // Parameters for the hover actor public const string HoverActorName = "HoverActor"; + // Parameters for the axis lock actor public const String LockedAxisActorName = "BSPrim.LockedAxis"; + // Parameters for the move to target actor public const string MoveToTargetActorName = "MoveToTargetActor"; + // Parameters for the setForce and setTorque actors public const string SetForceActorName = "SetForceActor"; public const string SetTorqueActorName = "SetTorqueActor"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index a0131c7..1284ae7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -42,6 +42,8 @@ One sided meshes? Should terrain be built into a closed shape? VEHICLES TODO LIST: ================================================= +UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims: + https://github.com/UbitUmarov/Ubit-opensim Border crossing with linked vehicle causes crash 20121129.1411: editting/moving phys object across region boundries causes crash getPos-> btRigidBody::upcast -> getBodyType -> BOOM @@ -167,6 +169,7 @@ Eliminate collisions between objects in a linkset. (LinksetConstraint) MORE ====================================================== +Compute avatar size and scale correctly. Now it is a bit off from the capsule size. Create tests for different interface components Have test objects/scripts measure themselves and turn color if correct/bad Test functions in SL and calibrate correctness there -- cgit v1.1 From e324f6f3f0f8d894190cd7a9733687ac4308b2c1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 24 Apr 2013 08:03:45 -0700 Subject: BulletSim: update DLLs and SOs to they have no dependencies on newer glibc (2.14) since that is not yet in some Linux distributions. Add unmanaged API calls and code for creating single convex hull shapes. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 27 ++++++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 10 ++++++++ .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 7 ++++++ 3 files changed, 44 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index f5b84d4..fdf2cb9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -268,6 +268,25 @@ public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShap BSPhysicsShapeType.SHAPE_HULL); } +public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletShapeUnman shapeu = meshShape as BulletShapeUnman; + return new BulletShapeUnman( + BSAPICPP.BuildConvexHullShapeFromMesh2(worldu.ptr, shapeu.ptr), + BSPhysicsShapeType.SHAPE_CONVEXHULL); +} + +public override BulletShape CreateConvexHullShape(BulletWorld world, + int indicesCount, int[] indices, + int verticesCount, float[] vertices) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateConvexHullShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices), + BSPhysicsShapeType.SHAPE_CONVEXHULL); +} + public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData) { BulletWorldUnman worldu = world as BulletWorldUnman; @@ -1414,6 +1433,14 @@ public static extern IntPtr CreateHullShape2(IntPtr world, public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape, HACDParams parms); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr BuildConvexHullShapeFromMesh2(IntPtr world, IntPtr meshShape); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateConvexHullShape2(IntPtr world, + int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, + int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index f6b4359..b37265a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -1778,6 +1778,16 @@ private sealed class BulletConstraintXNA : BulletConstraint /* TODO */ return null; } + public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape) + { + /* TODO */ return null; + } + + public override BulletShape CreateConvexHullShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) + { + /* TODO */ return null; + } + public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) { //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index d0d9f34..bfeec24 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -70,6 +70,7 @@ public enum BSPhysicsShapeType SHAPE_COMPOUND = 22, SHAPE_HEIGHTMAP = 23, SHAPE_AVATAR = 24, + SHAPE_CONVEXHULL= 25, }; // The native shapes have predefined shape hash keys @@ -325,6 +326,12 @@ public abstract BulletShape CreateHullShape(BulletWorld world, public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms); +public abstract BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape); + +public abstract BulletShape CreateConvexHullShape(BulletWorld world, + int indicesCount, int[] indices, + int verticesCount, float[] vertices ); + public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData); public abstract bool IsNativeShape(BulletShape shape); -- cgit v1.1 From c22a2ab7d21803050317527476c2e18aa2edb40f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 24 Apr 2013 08:05:42 -0700 Subject: BulletSim: partial addition of BSShape class code preparing for different physical mesh representations (simplified convex meshes) and avatar mesh. --- .../Physics/BulletSPlugin/BSShapeCollection.cs | 28 +-- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 215 +++++++++++++++++---- 2 files changed, 191 insertions(+), 52 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 1976c42..bc26460 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -612,7 +612,7 @@ public sealed class BSShapeCollection : IDisposable newShape = CreatePhysicalMesh(prim, newMeshKey, prim.BaseShape, prim.Size, lod); // Take evasive action if the mesh was not constructed. - newShape = VerifyMeshCreated(newShape, prim); + newShape = VerifyMeshCreated(PhysicsScene, newShape, prim); ReferenceShape(newShape); @@ -719,7 +719,7 @@ public sealed class BSShapeCollection : IDisposable newShape = CreatePhysicalHull(prim, newHullKey, prim.BaseShape, prim.Size, lod); // It might not have been created if we're waiting for an asset. - newShape = VerifyMeshCreated(newShape, prim); + newShape = VerifyMeshCreated(PhysicsScene, newShape, prim); ReferenceShape(newShape); @@ -923,7 +923,7 @@ public sealed class BSShapeCollection : IDisposable // Create a hash of all the shape parameters to be used as a key // for this particular shape. - private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod) + 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; @@ -944,7 +944,7 @@ public sealed class BSShapeCollection : IDisposable return pbs.GetMeshKey(size, lod); } // For those who don't want the LOD - private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs) + public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs) { float lod; return ComputeShapeKey(size, pbs, out lod); @@ -957,7 +957,7 @@ public sealed class BSShapeCollection : IDisposable // us to not loop forever. // Called after creating a physical mesh or hull. If the physical shape was created, // just return. - private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim) + public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim) { // If the shape was successfully created, nothing more to do if (newShape.HasPhysicalShape) @@ -969,7 +969,7 @@ public sealed class BSShapeCollection : IDisposable if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) { prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; - PhysicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}", + physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}", LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); } else @@ -981,14 +981,14 @@ public sealed class BSShapeCollection : IDisposable && prim.BaseShape.SculptTexture != OMV.UUID.Zero ) { - DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset", prim.LocalID); + 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; + RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod; if (assetProvider != null) { BSPhysObject yprim = xprim; // probably not necessary, but, just in case. @@ -1016,7 +1016,7 @@ public sealed class BSShapeCollection : IDisposable yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched; else yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; - DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}", + physicsScene.DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}", yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs ); }); @@ -1024,8 +1024,8 @@ public sealed class BSShapeCollection : IDisposable else { xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; - PhysicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}", - LogHeader, PhysicsScene.Name); + physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}", + LogHeader, physicsScene.Name); } }); } @@ -1033,15 +1033,15 @@ public sealed class BSShapeCollection : IDisposable { if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) { - PhysicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}", + 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. - BulletShape fillinShape = BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); - DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID); + BulletShape fillinShape = physicsScene.Shapes.BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); + physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID); return fillinShape; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index ee18379..dd5ae1a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -29,6 +29,9 @@ using System; using System.Collections.Generic; using System.Text; +using OpenSim.Framework; +using OpenSim.Region.Physics.Manager; + using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin @@ -37,11 +40,19 @@ public abstract class BSShape { public int referenceCount { get; set; } public DateTime lastReferenced { get; set; } + public BulletShape physShapeInfo { get; set; } public BSShape() { referenceCount = 0; lastReferenced = DateTime.Now; + physShapeInfo = new BulletShape(); + } + public BSShape(BulletShape pShape) + { + referenceCount = 0; + lastReferenced = DateTime.Now; + physShapeInfo = pShape; } // Get a reference to a physical shape. Create if it doesn't exist @@ -79,21 +90,30 @@ public abstract class BSShape return ret; } - public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) + private static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) { + BSShapeMesh.GetReference(physicsScene, forceRebuild, prim); + BSShapeHull.GetReference(physicsScene, forceRebuild, prim); return null; } - public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) + + // Called when this shape is being used again. + public virtual void IncrementReference() { - return null; + referenceCount++; + lastReferenced = DateTime.Now; + } + + // Called when this shape is being used again. + public virtual void DecrementReference() + { + referenceCount--; + lastReferenced = DateTime.Now; } // Release the use of a physical shape. public abstract void Dereference(BSScene physicsScene); - // All shapes have a static call to get a reference to the physical shape - // protected abstract static BSShape GetReference(); - // Returns a string for debugging that uniquily identifies the memory used by this instance public virtual string AddrString { @@ -112,6 +132,7 @@ public abstract class BSShape } } +// ============================================================================================================ public class BSShapeNull : BSShape { public BSShapeNull() : base() @@ -121,23 +142,39 @@ public class BSShapeNull : BSShape public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ } } +// ============================================================================================================ public class BSShapeNative : BSShape { private static string LogHeader = "[BULLETSIM SHAPE NATIVE]"; - public BSShapeNative() : base() + public BSShapeNative(BulletShape pShape) : base(pShape) { } + public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, - BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) + BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) { // Native shapes are not shared and are always built anew. - //return new BSShapeNative(physicsScene, prim, shapeType, shapeKey); - return null; + return new BSShapeNative(CreatePhysicalNativeShape(physicsScene, prim, shapeType, shapeKey)); } - private BSShapeNative(BSScene physicsScene, BSPhysObject prim, - BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) + // Make this reference to the physical shape go away since native shapes are not shared. + public override void Dereference(BSScene physicsScene) + { + // Native shapes are not tracked and are released immediately + if (physShapeInfo.HasPhysicalShape) + { + physicsScene.DetailLog("{0},BSShapeNative.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); + physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo); + } + physShapeInfo.Clear(); + // Garbage collection will free up this instance. + } + + private static BulletShape CreatePhysicalNativeShape(BSScene physicsScene, BSPhysObject prim, + BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) { + BulletShape newShape; + ShapeData nativeShapeData = new ShapeData(); nativeShapeData.Type = shapeType; nativeShapeData.ID = prim.LocalID; @@ -146,63 +183,164 @@ public class BSShapeNative : BSShape nativeShapeData.MeshKey = (ulong)shapeKey; nativeShapeData.HullKey = (ulong)shapeKey; - - /* if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) { - ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale); - physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); + newShape = physicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale); + physicsScene.DetailLog("{0},BSShapeNative,capsule,scale={1}", prim.LocalID, prim.Scale); } else { - ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData); + newShape = physicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData); } - if (ptr == IntPtr.Zero) + if (!newShape.HasPhysicalShape) { physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", LogHeader, prim.LocalID, shapeType); } - type = shapeType; - key = (UInt64)shapeKey; - */ - } - // Make this reference to the physical shape go away since native shapes are not shared. - public override void Dereference(BSScene physicsScene) - { - /* - // Native shapes are not tracked and are released immediately - physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); - PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this); - ptr = IntPtr.Zero; - // Garbage collection will free up this instance. - */ + newShape.type = shapeType; + newShape.isNativeShape = true; + newShape.shapeKey = (UInt64)shapeKey; + return newShape; } + } +// ============================================================================================================ public class BSShapeMesh : BSShape { private static string LogHeader = "[BULLETSIM SHAPE MESH]"; private static Dictionary Meshes = new Dictionary(); - public BSShapeMesh() : base() + public BSShapeMesh(BulletShape pShape) : base(pShape) { } - public static BSShape GetReference() { return new BSShapeNull(); } - public override void Dereference(BSScene physicsScene) { } + public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) + { + float lod; + System.UInt64 newMeshKey = BSShapeCollection.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); + + physicsScene.DetailLog("{0},BSShapeMesh,create,oldKey={1},newKey={2},size={3},lod={4}", + prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"), prim.Size, lod); + + BSShapeMesh retMesh; + lock (Meshes) + { + if (Meshes.TryGetValue(newMeshKey, out retMesh)) + { + // The mesh has already been created. Return a new reference to same. + retMesh.IncrementReference(); + } + else + { + // An instance of this mesh has not been created. Build and remember same. + BulletShape newShape = CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod); + // Take evasive action if the mesh was not constructed. + newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim); + + retMesh = new BSShapeMesh(newShape); + + Meshes.Add(newMeshKey, retMesh); + } + } + return retMesh; + } + public override void Dereference(BSScene physicsScene) + { + lock (Meshes) + { + this.DecrementReference(); + // TODO: schedule aging and destruction of unused meshes. + } + } + + private static BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, + PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + { + BulletShape newShape = null; + + 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) + { + + 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; + } + } + } + physicsScene.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); + } + } + newShape.shapeKey = newMeshKey; + + return newShape; + } } +// ============================================================================================================ public class BSShapeHull : BSShape { private static string LogHeader = "[BULLETSIM SHAPE HULL]"; private static Dictionary Hulls = new Dictionary(); - public BSShapeHull() : base() + public BSShapeHull(BulletShape pShape) : base(pShape) + { + } + public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) + { + return new BSShapeNull(); + } + public override void Dereference(BSScene physicsScene) { } - public static BSShape GetReference() { return new BSShapeNull(); } - public override void Dereference(BSScene physicsScene) { } } +// ============================================================================================================ public class BSShapeCompound : BSShape { private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; @@ -216,6 +354,7 @@ public class BSShapeCompound : BSShape public override void Dereference(BSScene physicsScene) { } } +// ============================================================================================================ public class BSShapeAvatar : BSShape { private static string LogHeader = "[BULLETSIM SHAPE AVATAR]"; -- cgit v1.1 From 890cb6a29373a54dde2d06b13e42d07676710dc2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 27 Apr 2013 14:00:58 -0700 Subject: BulletSim: complete BSShape classes. --- .../Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 327 ++++++++++++++++++++- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 6 +- 3 files changed, 316 insertions(+), 19 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index bc26460..0f9b3c3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -499,7 +499,7 @@ public sealed class BSShapeCollection : IDisposable } // return 'true' if this shape description does not include any cutting or twisting. - private bool PrimHasNoCuts(PrimitiveBaseShape pbs) + public static bool PrimHasNoCuts(PrimitiveBaseShape pbs) { return pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 && pbs.ProfileHollow == 0 diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index dd5ae1a..e427dbc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -31,6 +31,7 @@ using System.Text; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; +using OpenSim.Region.Physics.ConvexDecompositionDotNet; using OMV = OpenMetaverse; @@ -73,7 +74,7 @@ public abstract class BSShape 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(prim); + ret = BSShapeCompound.GetReference(physicsScene, prim); physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret); } @@ -92,6 +93,7 @@ public abstract class BSShape } 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; @@ -209,7 +211,7 @@ public class BSShapeNative : BSShape public class BSShapeMesh : BSShape { private static string LogHeader = "[BULLETSIM SHAPE MESH]"; - private static Dictionary Meshes = new Dictionary(); + public static Dictionary Meshes = new Dictionary(); public BSShapeMesh(BulletShape pShape) : base(pShape) { @@ -219,10 +221,10 @@ public class BSShapeMesh : BSShape float lod; System.UInt64 newMeshKey = BSShapeCollection.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - physicsScene.DetailLog("{0},BSShapeMesh,create,oldKey={1},newKey={2},size={3},lod={4}", + 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); - BSShapeMesh retMesh; + BSShapeMesh retMesh = new BSShapeMesh(new BulletShape()); lock (Meshes) { if (Meshes.TryGetValue(newMeshKey, out retMesh)) @@ -233,13 +235,17 @@ public class BSShapeMesh : BSShape else { // An instance of this mesh has not been created. Build and remember same. - BulletShape newShape = CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod); - // Take evasive action if the mesh was not constructed. - newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim); + BulletShape newShape = retMesh.CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod); - retMesh = new BSShapeMesh(newShape); + // Check to see if mesh was created (might require an asset). + newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim); + if (newShape.type == BSPhysicsShapeType.SHAPE_MESH) + { + // If a mesh was what was created, remember the built shape for later sharing. + Meshes.Add(newMeshKey, retMesh); + } - Meshes.Add(newMeshKey, retMesh); + retMesh.physShapeInfo = newShape; } } return retMesh; @@ -252,8 +258,28 @@ public class BSShapeMesh : BSShape // TODO: schedule aging and destruction of unused meshes. } } + // Loop through all the known meshes and return the description based on the physical address. + public static bool TryGetMeshByPtr(BulletShape pShape, out BSShapeMesh outMesh) + { + bool ret = false; + BSShapeMesh foundDesc = null; + lock (Meshes) + { + foreach (BSShapeMesh sm in Meshes.Values) + { + if (sm.physShapeInfo.ReferenceSame(pShape)) + { + foundDesc = sm; + ret = true; + break; + } - private static BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, + } + } + outMesh = foundDesc; + return ret; + } + private BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = null; @@ -326,32 +352,301 @@ public class BSShapeMesh : BSShape public class BSShapeHull : BSShape { private static string LogHeader = "[BULLETSIM SHAPE HULL]"; - private static Dictionary Hulls = new Dictionary(); + public static Dictionary Hulls = new Dictionary(); public BSShapeHull(BulletShape pShape) : base(pShape) { } public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) { - return new BSShapeNull(); + float lod; + System.UInt64 newHullKey = BSShapeCollection.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); + + BSShapeHull retHull = new BSShapeHull(new BulletShape()); + lock (Hulls) + { + if (Hulls.TryGetValue(newHullKey, out retHull)) + { + // The mesh has already been created. Return a new reference to same. + retHull.IncrementReference(); + } + else + { + // An instance of this mesh has not been created. Build and remember same. + 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) + { + // If a mesh was what was created, remember the built shape for later sharing. + Hulls.Add(newHullKey, retHull); + } + + retHull = new BSShapeHull(newShape); + retHull.physShapeInfo = newShape; + } + } + return retHull; } public override void Dereference(BSScene physicsScene) { } + List m_hulls; + private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey, + PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + { + BulletShape newShape = new BulletShape(); + IntPtr hullPtr = IntPtr.Zero; + + if (BSParam.ShouldUseBulletHACD) + { + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID); + BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim); + + if (meshShape.physShapeInfo.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); + + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape); + newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms); + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); + } + // Now done with the mesh shape. + meshShape.DecrementReference(); + physicsScene.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 (BSShapeCollection.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); + + physicsScene.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; + } + // Loop through all the known hulls and return the description based on the physical address. + public static bool TryGetHullByPtr(BulletShape pShape, out BSShapeHull outHull) + { + bool ret = false; + BSShapeHull foundDesc = null; + lock (Hulls) + { + foreach (BSShapeHull sh in Hulls.Values) + { + if (sh.physShapeInfo.ReferenceSame(pShape)) + { + foundDesc = sh; + ret = true; + break; + } + + } + } + outHull = foundDesc; + return ret; + } } + // ============================================================================================================ public class BSShapeCompound : BSShape { private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; - public BSShapeCompound() : base() + public BSShapeCompound(BulletShape pShape) : base(pShape) { } - public static BSShape GetReference(BSPhysObject prim) + public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim) { - return new BSShapeNull(); + // Compound shapes are not shared so a new one is created every time. + return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene, prim)); + } + // Dereferencing a compound shape releases the hold on all the child shapes. + public override void Dereference(BSScene physicsScene) + { + if (!physicsScene.PE.IsCompound(physShapeInfo)) + { + // 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); + physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", + BSScene.DetailLogZero, physShapeInfo.type, physShapeInfo.AddrString); + return; + } + + int numChildren = physicsScene.PE.GetNumberOfCompoundChildren(physShapeInfo); + physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", + BSScene.DetailLogZero, physShapeInfo, numChildren); + + // Loop through all the children dereferencing each. + for (int ii = numChildren - 1; ii >= 0; ii--) + { + BulletShape childShape = physicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(physShapeInfo, ii); + DereferenceAnonCollisionShape(physicsScene, childShape); + } + physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo); + } + private static BulletShape CreatePhysicalCompoundShape(BSScene physicsScene, BSPhysObject prim) + { + BulletShape cShape = physicsScene.PE.CreateCompoundShape(physicsScene.World, false); + return cShape; + } + // 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(BSScene physicsScene, BulletShape pShape) + { + BSShapeMesh meshDesc; + if (BSShapeMesh.TryGetMeshByPtr(pShape, out meshDesc)) + { + meshDesc.Dereference(physicsScene); + } + else + { + BSShapeHull hullDesc; + if (BSShapeHull.TryGetHullByPtr(pShape, out hullDesc)) + { + hullDesc.Dereference(physicsScene); + } + else + { + if (physicsScene.PE.IsCompound(pShape)) + { + BSShapeCompound recursiveCompound = new BSShapeCompound(pShape); + recursiveCompound.Dereference(physicsScene); + } + else + { + if (physicsScene.PE.IsNativeShape(pShape)) + { + BSShapeNative nativeShape = new BSShapeNative(pShape); + nativeShape.Dereference(physicsScene); + } + } + } + } } - public override void Dereference(BSScene physicsScene) { } } // ============================================================================================================ diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 1284ae7..c67081a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -11,6 +11,8 @@ Deleting a linkset while standing on the root will leave the physical shape of t Linkset child rotations. Nebadon spiral tube has middle sections which are rotated wrong. Select linked spiral tube. Delink and note where the middle section ends up. +Refarb compound linkset creation to create a pseudo-root for center-of-mass + Let children change their shape to physical indendently and just add shapes to compound Vehicle angular vertical attraction vehicle angular banking Center-of-gravity @@ -27,14 +29,13 @@ llLookAt Avatars walking up stairs (HALF DONE) Avatar movement flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) - walking up stairs is not calibrated correctly (stairs out of Kepler cabin) + walking up stairs is not calibrated correctly (stairs out of Kepler cabin) (DONE) avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution) Vehicle script tuning/debugging Avanti speed script Weapon shooter script Move material definitions (friction, ...) into simulator. Add material densities to the material types. -Terrain detail: double terrain mesh detail One sided meshes? Should terrain be built into a closed shape? When meshes get partially wedged into the terrain, they cannot push themselves out. It is possible that Bullet processes collisions whether entering or leaving a mesh. @@ -347,4 +348,5 @@ Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. DONE 20130120: BulletSim properly applies force in vehicle relative coordinates. Nebadon vehicles turning funny in arena (DONE) Lock axis (DONE 20130401) +Terrain detail: double terrain mesh detail (DONE) -- cgit v1.1 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(") is its center-of-mass - OMV.Vector3 centerOfMassW = LinksetRoot.RawPosition; - if (!disableCOM) // DEBUG DEBUG - { - // Compute a center-of-mass in world coordinates. - centerOfMassW = ComputeLinksetCenterOfMass(); - } + OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass(); OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); @@ -414,20 +416,7 @@ public sealed class BSLinksetCompound : BSLinkset OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; LinksetRoot.SetEffectiveCenterOfMassW(centerDisplacement); - // This causes the physical position of the root prim to be offset to accomodate for the displacements - 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.physShapeInfo, 0 /* childIndex , - -centerDisplacement, - OMV.Quaternion.Identity, // LinksetRoot.RawOrientation, - 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); - - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", - LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); + // TODO: add phantom root shape to be the center-of-mass // Add a shape for each of the other children in the linkset int memberIndex = 1; @@ -440,56 +429,31 @@ public sealed class BSLinksetCompound : BSLinkset else { cPrim.LinksetChildIndex = memberIndex; + } - if (cPrim.PhysShape.isNativeShape) - { - // A native shape is turned into a hull collision shape because native - // shapes are not shared so we have to hullify it so it will be tracked - // and freed at the correct time. This also solves the scaling problem - // (native shapes scale but hull/meshes are assumed to not be). - // TODO: decide of the native shape can just be used in the compound shape. - // Use call to CreateGeomNonSpecial(). - BulletShape saveShape = cPrim.PhysShape; - cPrim.PhysShape.Clear(); // Don't let the create free the child's shape - PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); - BulletShape newShape = cPrim.PhysShape; - cPrim.PhysShape = saveShape; - - OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; - OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, offsetPos, offsetRot); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", - LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, newShape, offsetPos, offsetRot); - } - else - { - // For the shared shapes (meshes and hulls), just use the shape in the child. - // The reference count added here will be decremented when the compound shape - // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced). - if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape)) - { - PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", - LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); - } - OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; - OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNonNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", + BSShape childShape = cPrim.PhysShape; + childShape.IncrementReference(); + OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; + OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); - } - memberIndex++; - } + memberIndex++; + return false; // 'false' says to move onto the next child in the list }); + // Sneak the built compound shape in as the shape of the root prim. + // Note this doesn't touch the root prim's PhysShape so be sure the manage the difference. + PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); + // With all of the linkset packed into the root prim, it has the mass of everyone. LinksetMass = ComputeLinksetMass(); LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); // 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 { -- cgit v1.1 From ad1787770ed02f71feaa002ab689467e187803bb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 28 Apr 2013 21:50:47 -0700 Subject: BulletSim: rename variable 'PhysicsScene' to be either 'PhysScene' or 'm_physicsScene' to match coding conventions and reduce confusion. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 112 ++++++------ OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 8 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 10 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 34 ++-- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 16 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 52 +++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 188 ++++++++++----------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 8 +- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 28 +-- .../Physics/BulletSPlugin/BSTerrainManager.cs | 56 +++--- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 52 +++--- 11 files changed, 282 insertions(+), 282 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index da23a262..e12fc8e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -95,18 +95,18 @@ public sealed class BSCharacter : BSPhysObject // the avatar seeking to reach the motor's target speed. // This motor runs as a prestep action for the avatar so it will keep the avatar // standing as well as moving. Destruction of the avatar will destroy the pre-step action. - m_moveActor = new BSActorAvatarMove(PhysicsScene, this, AvatarMoveActorName); + m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName); PhysicalActors.Add(AvatarMoveActorName, m_moveActor); DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, Density, _avatarVolume, RawMass); // do actual creation in taint time - PhysicsScene.TaintedObject("BSCharacter.create", delegate() + PhysScene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); // New body and shape into PhysBody and PhysShape - PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this); + PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this); SetPhysicalProperties(); }); @@ -119,18 +119,18 @@ public sealed class BSCharacter : BSPhysObject base.Destroy(); DetailLog("{0},BSCharacter.Destroy", LocalID); - PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() + PhysScene.TaintedObject("BSCharacter.destroy", delegate() { - PhysicsScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */); + PhysScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */); PhysBody.Clear(); - PhysShape.Dereference(PhysicsScene); + PhysShape.Dereference(PhysScene); PhysShape = new BSShapeNull(); }); } private void SetPhysicalProperties() { - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody); + PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); ZeroMotion(true); ForcePosition = _position; @@ -145,35 +145,35 @@ public sealed class BSCharacter : BSPhysObject // Needs to be reset especially when an avatar is recreated after crossing a region boundry. Flying = _flying; - PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); - PhysicsScene.PE.SetMargin(PhysShape.physShapeInfo, PhysicsScene.Params.collisionMargin); - PhysicsScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); - PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); + PhysScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); + PhysScene.PE.SetMargin(PhysShape.physShapeInfo, PhysScene.Params.collisionMargin); + PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); + PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); if (BSParam.CcdMotionThreshold > 0f) { - PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); - PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); + PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); + PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); } UpdatePhysicalMassProperties(RawMass, false); // Make so capsule does not fall over - PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero); + PhysScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero); // The avatar mover sets some parameters. PhysicalActors.Refresh(); - PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); + PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); + PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody); // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); - PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION); - PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); + PhysScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION); + PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody); // Do this after the object has been added to the world PhysBody.collisionType = CollisionType.Avatar; - PhysBody.ApplyCollisionMask(PhysicsScene); + PhysBody.ApplyCollisionMask(PhysScene); } @@ -203,14 +203,14 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, Density, _avatarVolume, RawMass); - PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() + PhysScene.TaintedObject("BSCharacter.setSize", delegate() { if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape) { - PhysicsScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); + PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); UpdatePhysicalMassProperties(RawMass, true); // Make sure this change appears as a property update event - PhysicsScene.PE.PushUpdate(PhysBody); + PhysScene.PE.PushUpdate(PhysBody); } }); @@ -247,24 +247,24 @@ public sealed class BSCharacter : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.ClearAllForces(PhysBody); + PhysScene.PE.ClearAllForces(PhysBody); }); } public override void ZeroAngularMotion(bool inTaintTime) { _rotationalVelocity = OMV.Vector3.Zero; - PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero); - PhysicsScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero); + PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero); + PhysScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero); // The next also get rid of applied linear force but the linear velocity is untouched. - PhysicsScene.PE.ClearForces(PhysBody); + PhysScene.PE.ClearForces(PhysBody); } }); } @@ -286,7 +286,7 @@ public sealed class BSCharacter : BSPhysObject set { _position = value; - PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() + PhysScene.TaintedObject("BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); PositionSanityCheck(); @@ -296,14 +296,14 @@ public sealed class BSCharacter : BSPhysObject } public override OMV.Vector3 ForcePosition { get { - _position = PhysicsScene.PE.GetPosition(PhysBody); + _position = PhysScene.PE.GetPosition(PhysBody); return _position; } set { _position = value; if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); } } } @@ -317,18 +317,18 @@ public sealed class BSCharacter : BSPhysObject bool ret = false; // TODO: check for out of bounds - if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) + if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) { // The character is out of the known/simulated area. // Force the avatar position to be within known. ScenePresence will use the position // plus the velocity to decide if the avatar is moving out of the region. - RawPosition = PhysicsScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition); + RawPosition = PhysScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition); DetailLog("{0},BSCharacter.PositionSanityCheck,notWithinKnownTerrain,clampedPos={1}", LocalID, RawPosition); return true; } // If below the ground, move the avatar up - float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); + float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); if (Position.Z < terrainHeight) { DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, _position, terrainHeight); @@ -337,7 +337,7 @@ public sealed class BSCharacter : BSPhysObject } if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); if (Position.Z < waterHeight) { _position.Z = waterHeight; @@ -358,7 +358,7 @@ public sealed class BSCharacter : BSPhysObject { // The new position value must be pushed into the physics engine but we can't // just assign to "Position" because of potential call loops. - PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() + PhysScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); ForcePosition = _position; @@ -376,8 +376,8 @@ public sealed class BSCharacter : BSPhysObject } public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) { - OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); - PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia); + OMV.Vector3 localInertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); + PhysScene.PE.SetMassProps(PhysBody, physMass, localInertia); } public override OMV.Vector3 Force { @@ -385,11 +385,11 @@ public sealed class BSCharacter : BSPhysObject set { RawForce = value; // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); - PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() + PhysScene.TaintedObject("BSCharacter.SetForce", delegate() { DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce); if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetObjectForce(PhysBody, RawForce); + PhysScene.PE.SetObjectForce(PhysBody, RawForce); }); } } @@ -432,7 +432,7 @@ public sealed class BSCharacter : BSPhysObject set { RawVelocity = value; // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, RawVelocity); - PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() + PhysScene.TaintedObject("BSCharacter.setVelocity", delegate() { if (m_moveActor != null) m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, true /* inTaintTime */); @@ -445,11 +445,11 @@ public sealed class BSCharacter : BSPhysObject public override OMV.Vector3 ForceVelocity { get { return RawVelocity; } set { - PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); + PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity"); RawVelocity = value; - PhysicsScene.PE.SetLinearVelocity(PhysBody, RawVelocity); - PhysicsScene.PE.Activate(PhysBody, true); + PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity); + PhysScene.PE.Activate(PhysBody, true); } } public override OMV.Vector3 Torque { @@ -479,7 +479,7 @@ public sealed class BSCharacter : BSPhysObject if (_orientation != value) { _orientation = value; - PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() + PhysScene.TaintedObject("BSCharacter.setOrientation", delegate() { ForceOrientation = _orientation; }); @@ -491,7 +491,7 @@ public sealed class BSCharacter : BSPhysObject { get { - _orientation = PhysicsScene.PE.GetOrientation(PhysBody); + _orientation = PhysScene.PE.GetOrientation(PhysBody); return _orientation; } set @@ -500,7 +500,7 @@ public sealed class BSCharacter : BSPhysObject if (PhysBody.HasPhysicalBody) { // _position = PhysicsScene.PE.GetPosition(BSBody); - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); } } } @@ -549,14 +549,14 @@ public sealed class BSCharacter : BSPhysObject public override bool FloatOnWater { set { _floatOnWater = value; - PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() + PhysScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() { if (PhysBody.HasPhysicalBody) { if (_floatOnWater) - CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); else - CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); } }); } @@ -577,7 +577,7 @@ public sealed class BSCharacter : BSPhysObject public override float Buoyancy { get { return _buoyancy; } set { _buoyancy = value; - PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate() + PhysScene.TaintedObject("BSCharacter.setBuoyancy", delegate() { DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); ForceBuoyancy = _buoyancy; @@ -587,7 +587,7 @@ public sealed class BSCharacter : BSPhysObject public override float ForceBuoyancy { get { return _buoyancy; } set { - PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy"); + PhysScene.AssertInTaintTime("BSCharacter.ForceBuoyancy"); _buoyancy = value; DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); @@ -595,7 +595,7 @@ public sealed class BSCharacter : BSPhysObject float grav = BSParam.Gravity * (1f - _buoyancy); Gravity = new OMV.Vector3(0f, 0f, grav); if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetGravity(PhysBody, Gravity); + PhysScene.PE.SetGravity(PhysBody, Gravity); } } @@ -613,7 +613,7 @@ public sealed class BSCharacter : BSPhysObject public override void AddForce(OMV.Vector3 force, bool pushforce) { // Since this force is being applied in only one step, make this a force per second. - OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; + OMV.Vector3 addForce = force / PhysScene.LastTimeStep; AddForce(addForce, pushforce, false); } private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { @@ -622,13 +622,13 @@ public sealed class BSCharacter : BSPhysObject OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce); - PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate() + PhysScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate() { // Bullet adds this central force to the total force for this tick // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); + PhysScene.PE.ApplyCentralForce(PhysBody, addForce); } }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index e2e807e..56d2415 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -789,7 +789,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos) { lastRememberedHeightPos = pos; - m_knownTerrainHeight = ControllingPrim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); + m_knownTerrainHeight = ControllingPrim.PhysScene.TerrainManager.GetTerrainHeightAtXYZ(pos); m_knownHas |= m_knownChangedTerrainHeight; } return m_knownTerrainHeight; @@ -801,7 +801,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((m_knownHas & m_knownChangedWaterLevel) == 0) { - m_knownWaterLevel = ControllingPrim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); + m_knownWaterLevel = ControllingPrim.PhysScene.TerrainManager.GetWaterLevelAtXYZ(pos); m_knownHas |= m_knownChangedWaterLevel; } return (float)m_knownWaterLevel; @@ -1637,8 +1637,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Invoke the detailed logger and output something if it's enabled. private void VDetailLog(string msg, params Object[] args) { - if (ControllingPrim.PhysicsScene.VehicleLoggingEnabled) - ControllingPrim.PhysicsScene.DetailLog(msg, args); + if (ControllingPrim.PhysScene.VehicleLoggingEnabled) + ControllingPrim.PhysScene.DetailLog(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index df1dd34..6d0d0eb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -80,7 +80,7 @@ public abstract class BSLinkset public BSPrimLinkable LinksetRoot { get; protected set; } - public BSScene PhysicsScene { get; private set; } + protected BSScene m_physicsScene { get; private set; } static int m_nextLinksetID = 1; public int LinksetID { get; private set; } @@ -115,7 +115,7 @@ public abstract class BSLinkset // We create LOTS of linksets. if (m_nextLinksetID <= 0) m_nextLinksetID = 1; - PhysicsScene = scene; + m_physicsScene = scene; LinksetRoot = parent; m_children = new HashSet(); LinksetMass = parent.RawMass; @@ -158,7 +158,7 @@ public abstract class BSLinkset } // The child is down to a linkset of just itself - return BSLinkset.Factory(PhysicsScene, child); + return BSLinkset.Factory(m_physicsScene, child); } // Return 'true' if the passed object is the root object of this linkset @@ -316,8 +316,8 @@ public abstract class BSLinkset // Invoke the detailed logger and output something if it's enabled. protected 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/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index be01808..01ada3f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -121,7 +121,7 @@ public sealed class BSLinksetCompound : BSLinkset // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. if (!Rebuilding && HasAnyChildren) { - PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() + m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() { if (HasAnyChildren) RecomputeLinksetCompound(); @@ -147,10 +147,10 @@ public sealed class BSLinksetCompound : BSLinkset { // The origional prims are removed from the world as the shape of the root compound // shape takes over. - PhysicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); - PhysicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION); + m_physicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + m_physicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION); // We don't want collisions from the old linkset children. - PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); child.PhysBody.collisionType = CollisionType.LinksetChild; @@ -175,12 +175,12 @@ public sealed class BSLinksetCompound : BSLinkset else { // The non-physical children can come back to life. - PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); child.PhysBody.collisionType = CollisionType.LinksetChild; // Don't force activation so setting of DISABLE_SIMULATION can stay if used. - PhysicsScene.PE.Activate(child.PhysBody, false); + m_physicsScene.PE.Activate(child.PhysBody, false); ret = true; } return ret; @@ -196,7 +196,7 @@ public sealed class BSLinksetCompound : BSLinkset // but it also means all the child positions get updated. // What would cause an unnecessary rebuild so we make sure the linkset is in a // region before bothering to do a rebuild. - if (!IsRoot(updated) && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) + if (!IsRoot(updated) && m_physicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) { // If a child of the linkset is updating only the position or rotation, that can be done // without rebuilding the linkset. @@ -209,21 +209,21 @@ public sealed class BSLinksetCompound : BSLinkset if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0) { // Find the physical instance of the child - if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo)) + if (LinksetRoot.PhysShape.HasPhysicalShape && m_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.physShapeInfo); + int numLinksetChildren = m_physicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape.physShapeInfo); if (updated.LinksetChildIndex < numLinksetChildren) { - BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex); + BulletShape linksetChildShape = m_physicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex); if (linksetChildShape.HasPhysicalShape) { // Found the child shape within the compound shape - PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex, + m_physicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex, updated.RawPosition - LinksetRoot.RawPosition, updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation), true /* shouldRecalculateLocalAabb */); @@ -401,9 +401,9 @@ public sealed class BSLinksetCompound : BSLinkset // Here we build the compound shape made up of all the children. // Free up any shape we'd previously built. - LinksetShape.Dereference(PhysicsScene); + LinksetShape.Dereference(m_physicsScene); - LinksetShape = BSShapeCompound.GetReference(PhysicsScene, LinksetRoot); + LinksetShape = BSShapeCompound.GetReference(m_physicsScene, LinksetRoot); // 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. @@ -435,7 +435,7 @@ public sealed class BSLinksetCompound : BSLinkset childShape.IncrementReference(); OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); + m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); @@ -446,14 +446,14 @@ public sealed class BSLinksetCompound : BSLinkset // Sneak the built compound shape in as the shape of the root prim. // Note this doesn't touch the root prim's PhysShape so be sure the manage the difference. - PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); + m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); // With all of the linkset packed into the root prim, it has the mass of everyone. LinksetMass = ComputeLinksetMass(); LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); // 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); + m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); } finally { @@ -461,7 +461,7 @@ public sealed class BSLinksetCompound : BSLinkset } // See that the Aabb surrounds the new shape - PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo); + m_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 1811772..a06a44d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -51,7 +51,7 @@ public sealed class BSLinksetConstraints : BSLinkset if (HasAnyChildren && IsRoot(requestor)) { // Queue to happen after all the other taint processing - PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() + m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() { if (HasAnyChildren && IsRoot(requestor)) RecomputeLinksetConstraints(); @@ -142,7 +142,7 @@ public sealed class BSLinksetConstraints : BSLinkset rootx.LocalID, rootx.PhysBody.AddrString, childx.LocalID, childx.PhysBody.AddrString); - PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate() + m_physicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate() { PhysicallyUnlinkAChildFromRoot(rootx, childx); }); @@ -187,7 +187,7 @@ public sealed class BSLinksetConstraints : BSLinkset // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 BSConstraint6Dof constrain = new BSConstraint6Dof( - PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true ); + m_physicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true ); // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true ); /* NOTE: below is an attempt to build constraint with full frame computation, etc. @@ -216,7 +216,7 @@ public sealed class BSLinksetConstraints : BSLinkset // ================================================================================== */ - PhysicsScene.Constraints.AddConstraint(constrain); + m_physicsScene.Constraints.AddConstraint(constrain); // zero linear and angular limits makes the objects unable to move in relation to each other constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); @@ -248,10 +248,10 @@ public sealed class BSLinksetConstraints : BSLinkset childPrim.LocalID, childPrim.PhysBody.AddrString); // Find the constraint for this link and get rid of it from the overall collection and from my list - if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) + if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) { // Make the child refresh its location - PhysicsScene.PE.PushUpdate(childPrim.PhysBody); + m_physicsScene.PE.PushUpdate(childPrim.PhysBody); ret = true; } @@ -265,7 +265,7 @@ public sealed class BSLinksetConstraints : BSLinkset { DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); - return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody); + return m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody); } // Call each of the constraints that make up this linkset and recompute the @@ -289,7 +289,7 @@ public sealed class BSLinksetConstraints : BSLinkset child.UpdatePhysicalMassProperties(linksetMass, true); BSConstraint constrain; - if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) + if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) { // If constraint doesn't exist yet, create it. constrain = BuildConstraint(LinksetRoot, child); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index b6eb619..6a3ada2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -72,14 +72,14 @@ public abstract class BSPhysObject : PhysicsActor } protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) { - PhysicsScene = parentScene; + PhysScene = parentScene; LocalID = localID; PhysObjectName = name; Name = name; // PhysicsActor also has the name of the object. Someday consolidate. TypeName = typeName; // The collection of things that push me around - PhysicalActors = new BSActorCollection(PhysicsScene); + PhysicalActors = new BSActorCollection(PhysScene); // Initialize variables kept in base. GravModifier = 1.0f; @@ -112,13 +112,13 @@ public abstract class BSPhysObject : PhysicsActor public virtual void Destroy() { PhysicalActors.Enable(false); - PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate() + PhysScene.TaintedObject("BSPhysObject.Destroy", delegate() { PhysicalActors.Dispose(); }); } - public BSScene PhysicsScene { get; protected set; } + public BSScene PhysScene { get; protected set; } // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor public string PhysObjectName { get; protected set; } public string TypeName { get; protected set; } @@ -270,7 +270,7 @@ public abstract class BSPhysObject : PhysicsActor public void ActivateIfPhysical(bool forceIt) { if (IsPhysical && PhysBody.HasPhysicalBody) - PhysicsScene.PE.Activate(PhysBody, forceIt); + PhysScene.PE.Activate(PhysBody, forceIt); } // 'actors' act on the physical object to change or constrain its motion. These can range from @@ -333,29 +333,29 @@ public abstract class BSPhysObject : PhysicsActor protected long CollisionAccumulation { get; set; } public override bool IsColliding { - get { return (CollidingStep == PhysicsScene.SimulationStep); } + get { return (CollidingStep == PhysScene.SimulationStep); } set { if (value) - CollidingStep = PhysicsScene.SimulationStep; + CollidingStep = PhysScene.SimulationStep; else CollidingStep = 0; } } public override bool CollidingGround { - get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } + get { return (CollidingGroundStep == PhysScene.SimulationStep); } set { if (value) - CollidingGroundStep = PhysicsScene.SimulationStep; + CollidingGroundStep = PhysScene.SimulationStep; else CollidingGroundStep = 0; } } public override bool CollidingObj { - get { return (CollidingObjectStep == PhysicsScene.SimulationStep); } + get { return (CollidingObjectStep == PhysScene.SimulationStep); } set { if (value) - CollidingObjectStep = PhysicsScene.SimulationStep; + CollidingObjectStep = PhysScene.SimulationStep; else CollidingObjectStep = 0; } @@ -380,14 +380,14 @@ public abstract class BSPhysObject : PhysicsActor bool ret = false; // The following lines make IsColliding(), CollidingGround() and CollidingObj work - CollidingStep = PhysicsScene.SimulationStep; - if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID) + CollidingStep = PhysScene.SimulationStep; + if (collidingWith <= PhysScene.TerrainManager.HighestTerrainID) { - CollidingGroundStep = PhysicsScene.SimulationStep; + CollidingGroundStep = PhysScene.SimulationStep; } else { - CollidingObjectStep = PhysicsScene.SimulationStep; + CollidingObjectStep = PhysScene.SimulationStep; } CollisionAccumulation++; @@ -397,10 +397,10 @@ public abstract class BSPhysObject : PhysicsActor // Make a collection of the collisions that happened the last simulation tick. // This is different than the collection created for sending up to the simulator as it is cleared every tick. - if (CollisionsLastTickStep != PhysicsScene.SimulationStep) + if (CollisionsLastTickStep != PhysScene.SimulationStep) { CollisionsLastTick = new CollisionEventUpdate(); - CollisionsLastTickStep = PhysicsScene.SimulationStep; + CollisionsLastTickStep = PhysScene.SimulationStep; } CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); @@ -427,9 +427,9 @@ public abstract class BSPhysObject : PhysicsActor bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0); // throttle the collisions to the number of milliseconds specified in the subscription - if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) + if (force || (PhysScene.SimulationNowTime >= NextCollisionOkTime)) { - NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs; + NextCollisionOkTime = PhysScene.SimulationNowTime + SubscribedEventsMs; // We are called if we previously had collisions. If there are no collisions // this time, send up one last empty event so OpenSim can sense collision end. @@ -464,10 +464,10 @@ public abstract class BSPhysObject : PhysicsActor // make sure first collision happens NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); - PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() + PhysScene.TaintedObject(TypeName+".SubscribeEvents", delegate() { if (PhysBody.HasPhysicalBody) - CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } else @@ -479,11 +479,11 @@ public abstract class BSPhysObject : PhysicsActor public override void UnSubscribeEvents() { // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); SubscribedEventsMs = 0; - PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() + PhysScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() { // Make sure there is a body there because sometimes destruction happens in an un-ideal order. if (PhysBody.HasPhysicalBody) - CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } // Return 'true' if the simulator wants collision events @@ -497,7 +497,7 @@ public abstract class BSPhysObject : PhysicsActor { // Scale the collision count by the time since the last collision. // The "+1" prevents dividing by zero. - long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1; + long timeAgo = PhysScene.SimulationStep - CollidingStep + 1; CollisionScore = CollisionAccumulation / timeAgo; } public override float CollisionScore { get; set; } @@ -524,8 +524,8 @@ public abstract class BSPhysObject : PhysicsActor // High performance detailed logging routine used by the physical objects. protected void DetailLog(string msg, params Object[] args) { - if (PhysicsScene.PhysicsLogging.Enabled) - PhysicsScene.DetailLog(msg, args); + if (PhysScene.PhysicsLogging.Enabled) + PhysScene.DetailLog(msg, args); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 5d12338..0d45579 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -101,21 +101,21 @@ public class BSPrim : BSPhysObject _isVolumeDetect = false; // We keep a handle to the vehicle actor so we can set vehicle parameters later. - VehicleActor = new BSDynamics(PhysicsScene, this, VehicleActorName); + VehicleActor = new BSDynamics(PhysScene, this, VehicleActorName); PhysicalActors.Add(VehicleActorName, VehicleActor); _mass = CalculateMass(); // DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time - PhysicsScene.TaintedObject("BSPrim.create", delegate() + PhysScene.TaintedObject("BSPrim.create", delegate() { // Make sure the object is being created with some sanity. ExtremeSanityCheck(true /* inTaintTime */); CreateGeomAndObject(true); - CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody); + CurrentCollisionFlags = PhysScene.PE.GetCollisionFlags(PhysBody); }); } @@ -128,13 +128,13 @@ public class BSPrim : BSPhysObject // Undo any vehicle properties this.VehicleType = (int)Vehicle.TYPE_NONE; - PhysicsScene.TaintedObject("BSPrim.Destroy", delegate() + PhysScene.TaintedObject("BSPrim.Destroy", delegate() { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // If there are physical body and shape, release my use of same. - PhysicsScene.Shapes.DereferenceBody(PhysBody, null); + PhysScene.Shapes.DereferenceBody(PhysBody, null); PhysBody.Clear(); - PhysShape.Dereference(PhysicsScene); + PhysShape.Dereference(PhysScene); PhysShape = new BSShapeNull(); }); } @@ -163,7 +163,7 @@ public class BSPrim : BSPhysObject } public override bool ForceBodyShapeRebuild(bool inTaintTime) { - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() { _mass = CalculateMass(); // changing the shape changes the mass CreateGeomAndObject(true); @@ -180,7 +180,7 @@ public class BSPrim : BSPhysObject if (value != _isSelected) { _isSelected = value; - PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() + PhysScene.TaintedObject("BSPrim.setSelected", delegate() { DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); SetObjectDynamic(false); @@ -226,23 +226,23 @@ public class BSPrim : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties in the physics engine - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.ClearAllForces(PhysBody); + PhysScene.PE.ClearAllForces(PhysBody); }); } public override void ZeroAngularMotion(bool inTaintTime) { _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties in the physics engine - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() { // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); - PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); + PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); + PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); } }); } @@ -260,11 +260,11 @@ public class BSPrim : BSPhysObject EnableActor(LockedAxis != LockedAxisFree, LockedAxisActorName, delegate() { - return new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName); + return new BSActorLockAxis(PhysScene, this, LockedAxisActorName); }); // Update parameters so the new actor's Refresh() action is called at the right time. - PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate() + PhysScene.TaintedObject("BSPrim.LockAngularMotion", delegate() { UpdatePhysicalParameters(); }); @@ -294,7 +294,7 @@ public class BSPrim : BSPhysObject _position = value; PositionSanityCheck(false); - PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() + PhysScene.TaintedObject("BSPrim.setPosition", delegate() { DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); ForcePosition = _position; @@ -304,14 +304,14 @@ public class BSPrim : BSPhysObject public override OMV.Vector3 ForcePosition { get { - _position = PhysicsScene.PE.GetPosition(PhysBody); + _position = PhysScene.PE.GetPosition(PhysBody); return _position; } set { _position = value; if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); ActivateIfPhysical(false); } } @@ -328,7 +328,7 @@ public class BSPrim : BSPhysObject if (!IsPhysicallyActive) return ret; - if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) + if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) { // The physical object is out of the known/simulated area. // Upper levels of code will handle the transition to other areas so, for @@ -336,7 +336,7 @@ public class BSPrim : BSPhysObject return ret; } - float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); + float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); OMV.Vector3 upForce = OMV.Vector3.Zero; float approxSize = Math.Max(Size.X, Math.Max(Size.Y, Size.Z)); if ((RawPosition.Z + approxSize / 2f) < terrainHeight) @@ -357,7 +357,7 @@ public class BSPrim : BSPhysObject if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); // TODO: a floating motor so object will bob in the water if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f) { @@ -365,7 +365,7 @@ public class BSPrim : BSPhysObject upForce.Z = (waterHeight - RawPosition.Z) * 1f; // Apply upforce and overcome gravity. - OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity; + OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity; DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); AddForce(correctionForce, false, inTaintTime); ret = true; @@ -431,10 +431,10 @@ public class BSPrim : BSPhysObject { if (IsStatic) { - PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity); + PhysScene.PE.SetGravity(PhysBody, PhysScene.DefaultGravity); Inertia = OMV.Vector3.Zero; - PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia); - PhysicsScene.PE.UpdateInertiaTensor(PhysBody); + PhysScene.PE.SetMassProps(PhysBody, 0f, Inertia); + PhysScene.PE.UpdateInertiaTensor(PhysBody); } else { @@ -443,16 +443,16 @@ public class BSPrim : BSPhysObject // Changing interesting properties doesn't change proxy and collision cache // information. The Bullet solution is to re-add the object to the world // after parameters are changed. - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody); + PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); } // The computation of mass props requires gravity to be set on the object. Gravity = ComputeGravity(Buoyancy); - PhysicsScene.PE.SetGravity(PhysBody, Gravity); + PhysScene.PE.SetGravity(PhysBody, Gravity); - Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); - PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia); - PhysicsScene.PE.UpdateInertiaTensor(PhysBody); + Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); + PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia); + PhysScene.PE.UpdateInertiaTensor(PhysBody); DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, Gravity, inWorld); @@ -468,7 +468,7 @@ public class BSPrim : BSPhysObject // Return what gravity should be set to this very moment public OMV.Vector3 ComputeGravity(float buoyancy) { - OMV.Vector3 ret = PhysicsScene.DefaultGravity; + OMV.Vector3 ret = PhysScene.DefaultGravity; if (!IsStatic) { @@ -497,7 +497,7 @@ public class BSPrim : BSPhysObject RawForce = value; EnableActor(RawForce != OMV.Vector3.Zero, SetForceActorName, delegate() { - return new BSActorSetForce(PhysicsScene, this, SetForceActorName); + return new BSActorSetForce(PhysScene, this, SetForceActorName); }); } } @@ -509,7 +509,7 @@ public class BSPrim : BSPhysObject set { Vehicle type = (Vehicle)value; - PhysicsScene.TaintedObject("setVehicleType", delegate() + PhysScene.TaintedObject("setVehicleType", delegate() { // Vehicle code changes the parameters for this vehicle type. VehicleActor.ProcessTypeChange(type); @@ -519,7 +519,7 @@ public class BSPrim : BSPhysObject } public override void VehicleFloatParam(int param, float value) { - PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() + PhysScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { VehicleActor.ProcessFloatVehicleParam((Vehicle)param, value); ActivateIfPhysical(false); @@ -527,7 +527,7 @@ public class BSPrim : BSPhysObject } public override void VehicleVectorParam(int param, OMV.Vector3 value) { - PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() + PhysScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { VehicleActor.ProcessVectorVehicleParam((Vehicle)param, value); ActivateIfPhysical(false); @@ -535,7 +535,7 @@ public class BSPrim : BSPhysObject } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { - PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() + PhysScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { VehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation); ActivateIfPhysical(false); @@ -543,7 +543,7 @@ public class BSPrim : BSPhysObject } public override void VehicleFlags(int param, bool remove) { - PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate() + PhysScene.TaintedObject("BSPrim.VehicleFlags", delegate() { VehicleActor.ProcessVehicleFlags(param, remove); }); @@ -555,7 +555,7 @@ public class BSPrim : BSPhysObject if (_isVolumeDetect != newValue) { _isVolumeDetect = newValue; - PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() + PhysScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() { // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); SetObjectDynamic(true); @@ -566,7 +566,7 @@ public class BSPrim : BSPhysObject public override void SetMaterial(int material) { base.SetMaterial(material); - PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate() + PhysScene.TaintedObject("BSPrim.SetMaterial", delegate() { UpdatePhysicalParameters(); }); @@ -579,7 +579,7 @@ public class BSPrim : BSPhysObject if (base.Friction != value) { base.Friction = value; - PhysicsScene.TaintedObject("BSPrim.setFriction", delegate() + PhysScene.TaintedObject("BSPrim.setFriction", delegate() { UpdatePhysicalParameters(); }); @@ -594,7 +594,7 @@ public class BSPrim : BSPhysObject if (base.Restitution != value) { base.Restitution = value; - PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate() + PhysScene.TaintedObject("BSPrim.setRestitution", delegate() { UpdatePhysicalParameters(); }); @@ -611,7 +611,7 @@ public class BSPrim : BSPhysObject if (base.Density != value) { base.Density = value; - PhysicsScene.TaintedObject("BSPrim.setDensity", delegate() + PhysScene.TaintedObject("BSPrim.setDensity", delegate() { UpdatePhysicalParameters(); }); @@ -626,7 +626,7 @@ public class BSPrim : BSPhysObject if (base.GravModifier != value) { base.GravModifier = value; - PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate() + PhysScene.TaintedObject("BSPrim.setGravityModifier", delegate() { UpdatePhysicalParameters(); }); @@ -637,7 +637,7 @@ public class BSPrim : BSPhysObject get { return RawVelocity; } set { RawVelocity = value; - PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() + PhysScene.TaintedObject("BSPrim.setVelocity", delegate() { // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, RawVelocity); ForceVelocity = RawVelocity; @@ -647,13 +647,13 @@ public class BSPrim : BSPhysObject public override OMV.Vector3 ForceVelocity { get { return RawVelocity; } set { - PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity"); + PhysScene.AssertInTaintTime("BSPrim.ForceVelocity"); RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity); if (PhysBody.HasPhysicalBody) { DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, RawVelocity); - PhysicsScene.PE.SetLinearVelocity(PhysBody, RawVelocity); + PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity); ActivateIfPhysical(false); } } @@ -664,7 +664,7 @@ public class BSPrim : BSPhysObject RawTorque = value; EnableActor(RawTorque != OMV.Vector3.Zero, SetTorqueActorName, delegate() { - return new BSActorSetTorque(PhysicsScene, this, SetTorqueActorName); + return new BSActorSetTorque(PhysScene, this, SetTorqueActorName); }); DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, RawTorque); } @@ -687,7 +687,7 @@ public class BSPrim : BSPhysObject return; _orientation = value; - PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() + PhysScene.TaintedObject("BSPrim.setOrientation", delegate() { ForceOrientation = _orientation; }); @@ -698,14 +698,14 @@ public class BSPrim : BSPhysObject { get { - _orientation = PhysicsScene.PE.GetOrientation(PhysBody); + _orientation = PhysScene.PE.GetOrientation(PhysBody); return _orientation; } set { _orientation = value; if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); } } public override int PhysicsActorType { @@ -718,7 +718,7 @@ public class BSPrim : BSPhysObject if (_isPhysical != value) { _isPhysical = value; - PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() + PhysScene.TaintedObject("BSPrim.setIsPhysical", delegate() { DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); SetObjectDynamic(true); @@ -773,7 +773,7 @@ public class BSPrim : BSPhysObject // Mangling all the physical properties requires the object not be in the physical world. // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody); + PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); // Set up the object physicalness (does gravity and collisions move this object) MakeDynamic(IsStatic); @@ -790,7 +790,7 @@ public class BSPrim : BSPhysObject AddObjectToPhysicalWorld(); // Rebuild its shape - PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); + PhysScene.PE.UpdateSingleAabb(PhysScene.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(), @@ -807,28 +807,28 @@ public class BSPrim : BSPhysObject if (makeStatic) { // Become a Bullet 'static' object type - CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement ZeroMotion(true); // Set various physical properties so other object interact properly - PhysicsScene.PE.SetFriction(PhysBody, Friction); - PhysicsScene.PE.SetRestitution(PhysBody, Restitution); - PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); + PhysScene.PE.SetFriction(PhysBody, Friction); + PhysScene.PE.SetRestitution(PhysBody, Restitution); + PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); // Mass is zero which disables a bunch of physics stuff in Bullet UpdatePhysicalMassProperties(0f, false); // Set collision detection parameters if (BSParam.CcdMotionThreshold > 0f) { - PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); - PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); + PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); + PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); } // The activation state is 'disabled' so Bullet will not try to act on it. // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION); // Start it out sleeping and physical actions could wake it up. - PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING); + PhysScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING); // This collides like a static object PhysBody.collisionType = CollisionType.Static; @@ -836,11 +836,11 @@ public class BSPrim : BSPhysObject else { // Not a Bullet static object - CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT); // Set various physical properties so other object interact properly - PhysicsScene.PE.SetFriction(PhysBody, Friction); - PhysicsScene.PE.SetRestitution(PhysBody, Restitution); + PhysScene.PE.SetFriction(PhysBody, Friction); + PhysScene.PE.SetRestitution(PhysBody, Restitution); // DetailLog("{0},BSPrim.MakeDynamic,frict={1},rest={2}", LocalID, Friction, Restitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 @@ -858,22 +858,22 @@ public class BSPrim : BSPhysObject // Set collision detection parameters if (BSParam.CcdMotionThreshold > 0f) { - PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); - PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); + PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); + PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); } // Various values for simulation limits - PhysicsScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping); - PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime); - PhysicsScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); - PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); + PhysScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping); + PhysScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime); + PhysScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); + PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); // This collides like an object. PhysBody.collisionType = CollisionType.Dynamic; // Force activation of the object so Bullet will act on it. // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. - PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); + PhysScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); } } @@ -883,7 +883,7 @@ public class BSPrim : BSPhysObject // the functions after this one set up the state of a possibly newly created collision body. private void MakeSolid(bool makeSolid) { - CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(PhysBody); + CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysScene.PE.GetBodyType(PhysBody); if (makeSolid) { // Verify the previous code created the correct shape for this type of thing. @@ -891,7 +891,7 @@ public class BSPrim : BSPhysObject { m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType); } - CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); } else { @@ -899,7 +899,7 @@ public class BSPrim : BSPhysObject { m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); } - CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); // Change collision info from a static object to a ghosty collision object PhysBody.collisionType = CollisionType.VolumeDetect; @@ -911,11 +911,11 @@ public class BSPrim : BSPhysObject { if (wantsCollisionEvents) { - CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } else { - CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } } @@ -926,7 +926,7 @@ public class BSPrim : BSPhysObject { if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); + PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody); } else { @@ -961,12 +961,12 @@ public class BSPrim : BSPhysObject public override bool FloatOnWater { set { _floatOnWater = value; - PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() + PhysScene.TaintedObject("BSPrim.setFloatOnWater", delegate() { if (_floatOnWater) - CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); else - CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); }); } } @@ -978,7 +978,7 @@ public class BSPrim : BSPhysObject _rotationalVelocity = value; Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity); // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); - PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() + PhysScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { ForceRotationalVelocity = _rotationalVelocity; }); @@ -993,7 +993,7 @@ public class BSPrim : BSPhysObject if (PhysBody.HasPhysicalBody) { DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); - PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); + PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); ActivateIfPhysical(false); } @@ -1009,7 +1009,7 @@ public class BSPrim : BSPhysObject get { return _buoyancy; } set { _buoyancy = value; - PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() + PhysScene.TaintedObject("BSPrim.setBuoyancy", delegate() { ForceBuoyancy = _buoyancy; }); @@ -1032,7 +1032,7 @@ public class BSPrim : BSPhysObject base.MoveToTargetActive = value; EnableActor(MoveToTargetActive, MoveToTargetActorName, delegate() { - return new BSActorMoveToTarget(PhysicsScene, this, MoveToTargetActorName); + return new BSActorMoveToTarget(PhysScene, this, MoveToTargetActorName); }); } } @@ -1044,7 +1044,7 @@ public class BSPrim : BSPhysObject base.HoverActive = value; EnableActor(HoverActive, HoverActorName, delegate() { - return new BSActorHover(PhysicsScene, this, HoverActorName); + return new BSActorHover(PhysScene, this, HoverActorName); }); } } @@ -1054,7 +1054,7 @@ public class BSPrim : BSPhysObject OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); // Since this force is being applied in only one step, make this a force per second. - addForce /= PhysicsScene.LastTimeStep; + addForce /= PhysScene.LastTimeStep; AddForce(addForce, pushforce, false /* inTaintTime */); } @@ -1069,13 +1069,13 @@ public class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); OMV.Vector3 addForce = force; - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() { // Bullet adds this central force to the total force for this tick DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); + PhysScene.PE.ApplyCentralForce(PhysBody, addForce); ActivateIfPhysical(false); } }); @@ -1097,13 +1097,13 @@ public class BSPrim : BSPhysObject OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude); // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse); - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate() { // Bullet adds this impulse immediately to the velocity DetailLog("{0},BSPrim.addForceImpulse,taint,impulseforce={1}", LocalID, addImpulse); if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.ApplyCentralImpulse(PhysBody, addImpulse); + PhysScene.PE.ApplyCentralImpulse(PhysBody, addImpulse); ActivateIfPhysical(false); } }); @@ -1122,12 +1122,12 @@ public class BSPrim : BSPhysObject if (force.IsFinite()) { OMV.Vector3 angForce = force; - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() { if (PhysBody.HasPhysicalBody) { DetailLog("{0},BSPrim.AddAngularForce,taint,angForce={1}", LocalID, angForce); - PhysicsScene.PE.ApplyTorque(PhysBody, angForce); + PhysScene.PE.ApplyTorque(PhysBody, angForce); ActivateIfPhysical(false); } }); @@ -1146,11 +1146,11 @@ public class BSPrim : BSPhysObject public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime) { OMV.Vector3 applyImpulse = impulse; - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() { if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse); + PhysScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse); ActivateIfPhysical(false); } }); @@ -1452,7 +1452,7 @@ 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, delegate(BulletBody pBody, BulletShape pShape) + PhysScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysScene.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. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 81104ec..5236909 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -47,9 +47,9 @@ public class BSPrimLinkable : BSPrimDisplaced OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) { - Linkset = BSLinkset.Factory(PhysicsScene, this); + Linkset = BSLinkset.Factory(PhysScene, this); - PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate() + PhysScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate() { Linkset.Refresh(this); }); @@ -99,7 +99,7 @@ public class BSPrimLinkable : BSPrimDisplaced set { base.Position = value; - PhysicsScene.TaintedObject("BSPrimLinkset.setPosition", delegate() + PhysScene.TaintedObject("BSPrimLinkset.setPosition", delegate() { Linkset.UpdateProperties(UpdatedProperties.Position, this); }); @@ -113,7 +113,7 @@ public class BSPrimLinkable : BSPrimDisplaced set { base.Orientation = value; - PhysicsScene.TaintedObject("BSPrimLinkset.setOrientation", delegate() + PhysScene.TaintedObject("BSPrimLinkset.setOrientation", delegate() { Linkset.UpdateProperties(UpdatedProperties.Orientation, this); }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index e4fecc3..5a19797 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -92,7 +92,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys private void BuildHeightmapTerrain() { // Create the terrain shape from the mapInfo - m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID, + m_mapInfo.terrainShape = m_physicsScene.PE.CreateTerrainShape( m_mapInfo.ID, new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ, m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin); @@ -103,26 +103,26 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); - m_mapInfo.terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, + m_mapInfo.terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, m_mapInfo.ID, centerPos, Quaternion.Identity); // Set current terrain attributes - PhysicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction); - PhysicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction); - PhysicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution); - PhysicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT); + m_physicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction); + m_physicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction); + m_physicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution); + m_physicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT); // Return the new terrain to the world of physical objects - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_mapInfo.terrainBody); + m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_mapInfo.terrainBody); // redo its bounding box now that it is in the world - PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody); + m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_mapInfo.terrainBody); m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; - m_mapInfo.terrainBody.ApplyCollisionMask(PhysicsScene); + m_mapInfo.terrainBody.ApplyCollisionMask(m_physicsScene); // Make it so the terrain will not move or be considered for movement. - PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION); + m_physicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION); return; } @@ -134,9 +134,9 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { if (m_mapInfo.terrainBody.HasPhysicalBody) { - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody); + m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_mapInfo.terrainBody); // Frees both the body and the shape. - PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody); + m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_mapInfo.terrainBody); } } m_mapInfo = null; @@ -155,7 +155,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys catch { // Sometimes they give us wonky values of X and Y. Give a warning and return something. - PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", + m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", LogHeader, m_mapInfo.terrainRegionBase, pos); ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; } @@ -165,7 +165,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys // The passed position is relative to the base of the region. public override float GetWaterLevelAtXYZ(Vector3 pos) { - return PhysicsScene.SimpleWaterLevel; + return m_physicsScene.SimpleWaterLevel; } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 5240ad8..0d16eda 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -50,14 +50,14 @@ public abstract class BSTerrainPhys : IDisposable Mesh = 1 } - public BSScene PhysicsScene { get; private set; } + protected BSScene m_physicsScene { get; private set; } // Base of the region in world coordinates. Coordinates inside the region are relative to this. public Vector3 TerrainBase { get; private set; } public uint ID { get; private set; } public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id) { - PhysicsScene = physicsScene; + m_physicsScene = physicsScene; TerrainBase = regionBase; ID = id; } @@ -86,7 +86,7 @@ public sealed class BSTerrainManager : IDisposable public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); // The scene that I am part of - private BSScene PhysicsScene { get; set; } + private BSScene m_physicsScene { get; set; } // The ground plane created to keep thing from falling to infinity. private BulletBody m_groundPlane; @@ -113,7 +113,7 @@ public sealed class BSTerrainManager : IDisposable public BSTerrainManager(BSScene physicsScene) { - PhysicsScene = physicsScene; + m_physicsScene = physicsScene; m_terrains = new Dictionary(); // Assume one region of default size @@ -132,21 +132,21 @@ public sealed class BSTerrainManager : IDisposable // safe to call Bullet in real time. We hope no one is moving prims around yet. public void CreateInitialGroundPlaneAndTerrain() { - DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, PhysicsScene.RegionName); + DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName); // The ground plane is here to catch things that are trying to drop to negative infinity - BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); - m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, + BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); + m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity); - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_groundPlane); - PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_groundPlane); + m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_groundPlane); + m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_groundPlane); // Ground plane does not move - PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION); + m_physicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION); // Everything collides with the ground plane. m_groundPlane.collisionType = CollisionType.Groundplane; - m_groundPlane.ApplyCollisionMask(PhysicsScene); + m_groundPlane.ApplyCollisionMask(m_physicsScene); - BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); + BSTerrainPhys initialTerrain = new BSTerrainHeightmap(m_physicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); lock (m_terrains) { // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. @@ -157,12 +157,12 @@ public sealed class BSTerrainManager : IDisposable // Release all the terrain structures we might have allocated public void ReleaseGroundPlaneAndTerrain() { - DetailLog("{0},BSTerrainManager.ReleaseGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, PhysicsScene.RegionName); + DetailLog("{0},BSTerrainManager.ReleaseGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName); if (m_groundPlane.HasPhysicalBody) { - if (PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_groundPlane)) + if (m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_groundPlane)) { - PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_groundPlane); + m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_groundPlane); } m_groundPlane.Clear(); } @@ -188,7 +188,7 @@ public sealed class BSTerrainManager : IDisposable float[] localHeightMap = heightMap; // If there are multiple requests for changes to the same terrain between ticks, // only do that last one. - PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate() + m_physicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate() { if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null) { @@ -219,7 +219,7 @@ public sealed class BSTerrainManager : IDisposable private void AddMegaRegionChildTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { // Since we are called by another region's thread, the action must be rescheduled onto our processing thread. - PhysicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + minCoords.ToString(), id, delegate() + m_physicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + minCoords.ToString(), id, delegate() { UpdateTerrain(id, heightMap, minCoords, maxCoords); }); @@ -318,26 +318,26 @@ public sealed class BSTerrainManager : IDisposable // TODO: redo terrain implementation selection to allow other base types than heightMap. private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { - PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", - LogHeader, PhysicsScene.RegionName, terrainRegionBase, + m_physicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", + LogHeader, m_physicsScene.RegionName, terrainRegionBase, (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation); BSTerrainPhys newTerrainPhys = null; switch ((int)BSParam.TerrainImplementation) { case (int)BSTerrainPhys.TerrainImplementation.Heightmap: - newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, + newTerrainPhys = new BSTerrainHeightmap(m_physicsScene, terrainRegionBase, id, heightMap, minCoords, maxCoords); break; case (int)BSTerrainPhys.TerrainImplementation.Mesh: - newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id, + newTerrainPhys = new BSTerrainMesh(m_physicsScene, terrainRegionBase, id, heightMap, minCoords, maxCoords); break; default: - PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", + m_physicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", LogHeader, (int)BSParam.TerrainImplementation, BSParam.TerrainImplementation, - PhysicsScene.RegionName, terrainRegionBase); + m_physicsScene.RegionName, terrainRegionBase); break; } return newTerrainPhys; @@ -429,8 +429,8 @@ public sealed class BSTerrainManager : IDisposable } else { - PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", - LogHeader, PhysicsScene.RegionName, tX, tY); + m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", + LogHeader, m_physicsScene.RegionName, tX, tY); DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}", BSScene.DetailLogZero, pos, terrainBaseXYZ); } @@ -451,8 +451,8 @@ public sealed class BSTerrainManager : IDisposable } else { - PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}", - LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret); + m_physicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}", + LogHeader, m_physicsScene.RegionName, pos, terrainBaseXYZ, ret); } return ret; } @@ -564,7 +564,7 @@ public sealed class BSTerrainManager : IDisposable private void DetailLog(string msg, params Object[] args) { - PhysicsScene.PhysicsLogging.Write(msg, args); + m_physicsScene.PhysicsLogging.Write(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 2ce1513..ee2a1f2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -80,7 +80,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys if (BSParam.TerrainMeshMagnification == 1) { // If a magnification of one, use the old routine that is tried and true. - meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, + meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh(m_physicsScene, initialMap, m_sizeX, m_sizeY, // input size Vector3.Zero, // base for mesh out indicesCount, out indices, out verticesCount, out vertices); @@ -88,7 +88,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys else { // Other magnifications use the newer routine - meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh2(PhysicsScene, + meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh2(m_physicsScene, initialMap, m_sizeX, m_sizeY, // input size BSParam.TerrainMeshMagnification, physicsScene.TerrainManager.DefaultRegionSize, @@ -98,21 +98,21 @@ public sealed class BSTerrainMesh : BSTerrainPhys if (!meshCreationSuccess) { // DISASTER!! - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}", BSScene.DetailLogZero, ID); - PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase); + m_physicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}", BSScene.DetailLogZero, ID); + m_physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase); // Something is very messed up and a crash is in our future. return; } - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}", + m_physicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}", BSScene.DetailLogZero, ID, indicesCount, indices.Length, verticesCount, vertices.Length); - m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount, vertices); + m_terrainShape = m_physicsScene.PE.CreateMeshShape(m_physicsScene.World, indicesCount, indices, verticesCount, vertices); if (!m_terrainShape.HasPhysicalShape) { // DISASTER!! - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero, ID); - PhysicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); + m_physicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero, ID); + m_physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); // Something is very messed up and a crash is in our future. return; } @@ -120,52 +120,52 @@ public sealed class BSTerrainMesh : BSTerrainPhys Vector3 pos = regionBase; Quaternion rot = Quaternion.Identity; - m_terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot); + m_terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot); if (!m_terrainBody.HasPhysicalBody) { // DISASTER!! - PhysicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); + m_physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); // Something is very messed up and a crash is in our future. return; } physicsScene.PE.SetShapeCollisionMargin(m_terrainShape, BSParam.TerrainCollisionMargin); // Set current terrain attributes - PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction); - PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction); - PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution); - PhysicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold); - PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT); + m_physicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction); + m_physicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction); + m_physicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution); + m_physicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold); + m_physicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT); // Static objects are not very massive. - PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero); + m_physicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero); // Put the new terrain to the world of physical objects - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody); + m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_terrainBody); // Redo its bounding box now that it is in the world - PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody); + m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_terrainBody); m_terrainBody.collisionType = CollisionType.Terrain; - m_terrainBody.ApplyCollisionMask(PhysicsScene); + m_terrainBody.ApplyCollisionMask(m_physicsScene); if (BSParam.UseSingleSidedMeshes) { - PhysicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id); - PhysicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); + m_physicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id); + m_physicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); } // Make it so the terrain will not move or be considered for movement. - PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION); + m_physicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION); } public override void Dispose() { if (m_terrainBody.HasPhysicalBody) { - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_terrainBody); + m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_terrainBody); // Frees both the body and the shape. - PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody); + m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_terrainBody); m_terrainBody.Clear(); m_terrainShape.Clear(); } @@ -185,7 +185,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys catch { // Sometimes they give us wonky values of X and Y. Give a warning and return something. - PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", + m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", LogHeader, TerrainBase, pos); ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; } @@ -195,7 +195,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys // The passed position is relative to the base of the region. public override float GetWaterLevelAtXYZ(Vector3 pos) { - return PhysicsScene.SimpleWaterLevel; + return m_physicsScene.SimpleWaterLevel; } // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). -- cgit v1.1 From 92ee288d666963aae2a058cc964be009a504f084 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Apr 2013 07:54:50 -0700 Subject: BulletSim: remove trailing white space to make git happier. No functional changes. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 6 +- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 138 ++++++++++----------- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 2 +- .../Physics/BulletSPlugin/BSActorLockAxis.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 2 +- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 6 +- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 6 +- .../Physics/BulletSPlugin/BSConstraintHinge.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 22 ++-- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 12 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 8 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 20 +-- .../Physics/BulletSPlugin/BSTerrainHeightmap.cs | 6 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 10 +- .../Region/Physics/BulletSPlugin/BSTerrainMesh.cs | 6 +- .../Region/Physics/BulletSPlugin/BulletSimData.cs | 42 +++---- 20 files changed, 152 insertions(+), 152 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 8a22bc7..231f0f8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -75,7 +75,7 @@ private sealed class BulletBodyUnman : BulletBody private sealed class BulletShapeUnman : BulletShape { public IntPtr ptr; - public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) + public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) : base() { ptr = xx; @@ -255,7 +255,7 @@ public override BulletShape CreateHullShape(BulletWorld world, int hullCount, fl { BulletWorldUnman worldu = world as BulletWorldUnman; return new BulletShapeUnman( - BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), + BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), BSPhysicsShapeType.SHAPE_HULL); } @@ -1503,7 +1503,7 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj); public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, +public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float scaleFactor, float collisionMargin); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 1ef8b17..59780ae 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -81,7 +81,7 @@ private sealed class BulletBodyXNA : BulletBody private sealed class BulletShapeXNA : BulletShape { public CollisionShape shape; - public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) + public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) : base() { shape = xx; @@ -137,8 +137,8 @@ private sealed class BulletConstraintXNA : BulletConstraint internal int LastEntityProperty = 0; internal EntityProperties[] UpdatedObjects; - internal Dictionary specialCollisionObjects; - + internal Dictionary specialCollisionObjects; + private static int m_collisionsThisFrame; private BSScene PhysicsScene { get; set; } @@ -151,7 +151,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } /// - /// + /// /// /// /// @@ -174,7 +174,7 @@ private sealed class BulletConstraintXNA : BulletConstraint DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects); - + return true; } @@ -300,7 +300,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) { DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; return world.GetForceUpdateAllAabbs(); - + } public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce) { @@ -404,7 +404,7 @@ private sealed class BulletConstraintXNA : BulletConstraint IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); mat._origin = vposition; collisionObject.SetWorldTransform(mat); - + } public override Vector3 GetPosition(BulletBody pCollisionObject) @@ -457,7 +457,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; collisionObject.Activate(pforceactivation); - + } public override Quaternion GetOrientation(BulletBody pCollisionObject) @@ -486,7 +486,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; return collisionObject.GetCcdSweptSphereRadius(); - + } public override IntPtr GetUserPointer(BulletBody pCollisionObject) @@ -559,8 +559,8 @@ private sealed class BulletConstraintXNA : BulletConstraint } - public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, - Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, + public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, + Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) { @@ -604,7 +604,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } /// - /// + /// /// /// /// @@ -824,7 +824,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { RigidBody body = (pBody as BulletBodyXNA).rigidBody; float angularDamping = body.GetAngularDamping(); - body.SetDamping(lin_damping, angularDamping); + body.SetDamping(lin_damping, angularDamping); } public override float GetLinearDamping(BulletBody pBody) @@ -907,7 +907,7 @@ private sealed class BulletConstraintXNA : BulletConstraint RigidBody bo = co as RigidBody; if (bo == null) { - + if (world.IsInWorld(co)) { world.RemoveCollisionObject(co); @@ -915,7 +915,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } else { - + if (world.IsInWorld(bo)) { world.RemoveRigidBody(bo); @@ -947,7 +947,7 @@ private sealed class BulletConstraintXNA : BulletConstraint // TODO: Turn this from a reference copy to a Value Copy. BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType())); - + return shape2; } @@ -957,7 +957,7 @@ private sealed class BulletConstraintXNA : BulletConstraint return false; } //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); - + public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) { CollisionWorld world = (pWorld as BulletWorldXNA).world; @@ -993,11 +993,11 @@ private sealed class BulletConstraintXNA : BulletConstraint m_startWorldTransform = IndexedMatrix.Identity; */ body.SetUserPointer(pLocalID); - + return new BulletBodyXNA(pLocalID, body); } - + public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) { @@ -1025,7 +1025,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) { - /* TODO */ + /* TODO */ return Vector3.Zero; } public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } @@ -1035,7 +1035,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; return collisionObject.IsStaticObject(); - + } public override bool IsKinematicObject(BulletBody pCollisionObject) { @@ -1098,10 +1098,10 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); } - private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, + private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray, - int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, + int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, object mDebugLogCallbackHandle) { CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); @@ -1138,9 +1138,9 @@ private sealed class BulletConstraintXNA : BulletConstraint p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth; p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight; p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold; - + p.vehicleAngularDamping = BSParam.VehicleAngularDamping; - + p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; @@ -1160,7 +1160,7 @@ private sealed class BulletConstraintXNA : BulletConstraint p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations; p.physicsLoggingFrames = o[0].physicsLoggingFrames; DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); - + DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); @@ -1263,7 +1263,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } } return ret; - + } public override float GetAngularMotionDisc(BulletShape pShape) @@ -1353,10 +1353,10 @@ private sealed class BulletConstraintXNA : BulletConstraint CollisionShape shape = (pShape as BulletShapeXNA).shape; gObj.SetCollisionShape(shape); gObj.SetUserPointer(pLocalID); - + if (specialCollisionObjects.ContainsKey(pLocalID)) specialCollisionObjects[pLocalID] = gObj; - else + else specialCollisionObjects.Add(pLocalID, gObj); // TODO: Add to Special CollisionObjects! @@ -1447,8 +1447,8 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType())); } - public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { - + public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { + if (cShape == null) return null; CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape; @@ -1456,7 +1456,7 @@ private sealed class BulletConstraintXNA : BulletConstraint BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); - return retShape; + return retShape; } public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) @@ -1598,8 +1598,8 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); } - public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, - Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, + public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, + Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) { @@ -1745,7 +1745,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; CompoundShape compoundshape = new CompoundShape(false); - + compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); int ii = 1; @@ -1761,7 +1761,7 @@ private sealed class BulletConstraintXNA : BulletConstraint int ender = ((ii + 4) + (vertexCount*3)); for (int iii = ii + 4; iii < ender; iii+=3) { - + virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); } ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); @@ -1769,7 +1769,7 @@ private sealed class BulletConstraintXNA : BulletConstraint compoundshape.AddChildShape(ref childTrans, convexShape); ii += (vertexCount*3 + 4); } - + return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); } @@ -1791,13 +1791,13 @@ private sealed class BulletConstraintXNA : BulletConstraint public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) { //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); - + for (int iter = 0; iter < pVerticesCount; iter++) { if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; } - + ObjectArray indicesarr = new ObjectArray(indices); ObjectArray vertices = new ObjectArray(verticesAsFloats); DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); @@ -1811,7 +1811,7 @@ private sealed class BulletConstraintXNA : BulletConstraint mesh.m_vertexStride = 3; mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; mesh.m_triangleIndexStride = 3; - + TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); @@ -1822,7 +1822,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } public static void DumpRaw(ObjectArrayindices, ObjectArray vertices, int pIndicesCount,int pVerticesCount ) { - + String fileName = "objTest3.raw"; String completePath = System.IO.Path.Combine(Util.configDir(), fileName); StreamWriter sw = new StreamWriter(completePath); @@ -1848,7 +1848,7 @@ private sealed class BulletConstraintXNA : BulletConstraint string s = vertices[indices[i * 3]].ToString("0.0000"); s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); - + sw.Write(s + "\n"); } @@ -1870,7 +1870,7 @@ private sealed class BulletConstraintXNA : BulletConstraint mesh.m_vertexStride = 3; mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; mesh.m_triangleIndexStride = 3; - + TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); @@ -1901,7 +1901,7 @@ private sealed class BulletConstraintXNA : BulletConstraint sw.Close(); } - public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, + public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, float scaleFactor, float collisionMargin) { const int upAxis = 2; @@ -1943,14 +1943,14 @@ private sealed class BulletConstraintXNA : BulletConstraint /* TODO */ updatedEntityCount = 0; collidersCount = 0; - + int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray); return ret; } - private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, + private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders) { @@ -1959,24 +1959,24 @@ private sealed class BulletConstraintXNA : BulletConstraint return epic; } - private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, + private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates) { int numSimSteps = 0; Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length); Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length); LastEntityProperty=0; - + LastCollisionDesc=0; - + updatedEntityCount = 0; collidersCount = 0; - + if (pWorld is BulletWorldXNA) { @@ -2033,7 +2033,7 @@ private sealed class BulletConstraintXNA : BulletConstraint collidersCount = LastCollisionDesc; colliders = UpdatedCollisions; - + } else @@ -2041,15 +2041,15 @@ private sealed class BulletConstraintXNA : BulletConstraint //if (updatedEntities is null) //updatedEntities = new List(); //updatedEntityCount = 0; - - + + //collidersCount = 0; - + updatedEntities = new EntityProperties[0]; - + colliders = new CollisionDesc[0]; - + } return numSimSteps; } @@ -2057,7 +2057,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { IOverlappingPairCache cache = obj.GetOverlappingPairCache(); ObjectArray pairs = cache.GetOverlappingPairArray(); - + DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world; PersistentManifoldArray manifoldArray = new PersistentManifoldArray(); BroadphasePair collisionPair; @@ -2069,7 +2069,7 @@ private sealed class BulletConstraintXNA : BulletConstraint ManifoldPoint pt; int numPairs = pairs.Count; - + for (int i = 0; i < numPairs; i++) { manifoldArray.Clear(); @@ -2078,7 +2078,7 @@ private sealed class BulletConstraintXNA : BulletConstraint collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1); if (collisionPair == null) continue; - + collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray); for (int j = 0; j < manifoldArray.Count; j++) { @@ -2101,7 +2101,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration) { - + IndexedVector3 contactNormal = norm; if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) @@ -2171,11 +2171,11 @@ private sealed class BulletConstraintXNA : BulletConstraint if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) { CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body; - + IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); using ( - ClosestNotMeRayResultCallback rayCallback = + ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody) ) { @@ -2191,9 +2191,9 @@ private sealed class BulletConstraintXNA : BulletConstraint return false; } } - - + + public class SimMotionState : DefaultMotionState { @@ -2286,12 +2286,12 @@ private sealed class BulletConstraintXNA : BulletConstraint m_lastProperties = m_properties; if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length) m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties); - + //(*m_updatesThisFrame)[m_properties.ID] = &m_properties; } - - - + + + } public override void SetRigidBody(RigidBody body) @@ -2314,7 +2314,7 @@ private sealed class BulletConstraintXNA : BulletConstraint (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) && (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon))); } - + } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index ac05979..4e067b5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -115,7 +115,7 @@ public class BSActorAvatarMove : BSActor if (m_velocityMotor == null) { // Infinite decay and timescale values so motor only changes current to target values. - m_velocityMotor = new BSVMotor("BSCharacter.Velocity", + m_velocityMotor = new BSVMotor("BSCharacter.Velocity", 0.2f, // time scale BSMotor.Infinite, // decay time scale BSMotor.InfiniteVector, // friction timescale diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index 6059af5..7801d8e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -63,7 +63,7 @@ public class BSActorLockAxis : BSActor // BSActor.Refresh() public override void Refresh() { - m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", + m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", m_controllingPrim.LocalID, m_controllingPrim.LockedAxis, Enabled, m_controllingPrim.IsPhysicallyActive); // If all the axis are free, we don't need to exist if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs index 5e3f1c4..fff63e4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -117,7 +117,7 @@ public class BSActorCollection /// Each physical object can have 'actors' who are pushing the object around. /// This can be used for hover, locking axis, making vehicles, etc. /// Each physical object can have multiple actors acting on it. -/// +/// /// An actor usually registers itself with physics scene events (pre-step action) /// and modifies the parameters on the host physical object. /// diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index bfeec24..3378c93 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -298,7 +298,7 @@ public abstract class BSAPITemplate { // Returns the name of the underlying Bullet engine public abstract string BulletEngineName { get; } -public abstract string BulletEngineVersion { get; protected set;} +public abstract string BulletEngineVersion { get; protected set;} // Initialization and simulation public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, @@ -373,7 +373,7 @@ public abstract void DestroyObject(BulletWorld sim, BulletBody obj); // ===================================================================================== public abstract BulletShape CreateGroundPlaneShape(UInt32 id, float height, float collisionMargin); -public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, +public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, float scaleFactor, float collisionMargin); // ===================================================================================== @@ -388,7 +388,7 @@ public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); public abstract BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1, - Vector3 frameInBloc, Quaternion frameInBrot, + Vector3 frameInBloc, Quaternion frameInBrot, bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies); public abstract BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e12fc8e..542f732 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -371,7 +371,7 @@ public sealed class BSCharacter : BSPhysObject public override float Mass { get { return _mass; } } // used when we only want this prim's mass and not the linkset thing - public override float RawMass { + public override float RawMass { get {return _mass; } } public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) @@ -586,7 +586,7 @@ public sealed class BSCharacter : BSPhysObject } public override float ForceBuoyancy { get { return _buoyancy; } - set { + set { PhysScene.AssertInTaintTime("BSCharacter.ForceBuoyancy"); _buoyancy = value; @@ -647,7 +647,7 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size) { OMV.Vector3 newScale; - + // Bullet's capsule total height is the "passed height + radius * 2"; // The base capsule is 1 diameter and 2 height (passed radius=0.5, passed height = 1) // The number we pass in for 'scaling' is the multiplier to get that base diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs index 7714a03..ed89f63 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs @@ -45,7 +45,7 @@ public sealed class BSConstraintHinge : BSConstraint m_body1 = obj1; m_body2 = obj2; m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2, - pivotInA, pivotInB, axisInA, axisInB, + pivotInA, pivotInB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); m_enabled = true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 56d2415..f535e50 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1019,7 +1019,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG VehicleVelocity /= VehicleVelocity.Length(); VehicleVelocity *= BSParam.VehicleMaxLinearVelocity; - VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", + VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity); } else if (newVelocityLengthSq < 0.001f) @@ -1094,7 +1094,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (VehiclePosition.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = VehiclePosition.Z; } - + if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) { if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f) @@ -1188,7 +1188,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // used with conjunction with banking: the strength of the banking will decay when the // vehicle no longer experiences collisions. The decay timescale is the same as // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering - // when they are in mid jump. + // when they are in mid jump. // TODO: this code is wrong. Also, what should it do for boats (height from water)? // This is just using the ground and a general collision check. Should really be using // a downward raycast to find what is below. @@ -1254,7 +1254,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleAddForce(appliedGravity); - VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}", + VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}", ControllingPrim.LocalID, m_VehicleGravity, ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); } @@ -1330,7 +1330,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : // This flag prevents linear deflection parallel to world z-axis. This is useful // for preventing ground vehicles with large linear deflection, like bumper cars, - // from climbing their linear deflection into the sky. + // from climbing their linear deflection into the sky. // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement // TODO: This is here because this is where ODE put it but documentation says it // is a linear effect. Where should this check go? @@ -1463,7 +1463,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleRotationalVelocity += (vertContributionV * VehicleOrientation); VDetailLog("{0}, MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}", - Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, + Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV); */ } @@ -1530,13 +1530,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude // of the yaw effect will be proportional to the // VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's - // velocity along its preferred axis of motion. + // velocity along its preferred axis of motion. // The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any // positive rotation (by the right-hand rule) about the roll-axis will effect a // (negative) torque around the yaw-axis, making it turn to the right--that is the // vehicle will lean into the turn, which is how real airplanes and motorcycle's work. // Negating the banking coefficient will make it so that the vehicle leans to the - // outside of the turn (not very "physical" but might allow interesting vehicles so why not?). + // outside of the turn (not very "physical" but might allow interesting vehicles so why not?). // The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making // banking vehicles do what you want rather than what the laws of physics allow. // For example, consider a real motorcycle...it must be moving forward in order for @@ -1548,11 +1548,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // totally static (0.0) and totally dynamic (1.0). By "static" we mean that the // banking effect depends only on the vehicle's rotation about its roll-axis compared // to "dynamic" where the banking is also proportional to its velocity along its - // roll-axis. Finding the best value of the "mixture" will probably require trial and error. + // roll-axis. Finding the best value of the "mixture" will probably require trial and error. // The time it takes for the banking behavior to defeat a preexisting angular velocity about the // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to // bank quickly then give it a banking timescale of about a second or less, otherwise you can - // make a sluggish vehicle by giving it a timescale of several seconds. + // make a sluggish vehicle by giving it a timescale of several seconds. public void ComputeAngularBanking() { if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) @@ -1581,7 +1581,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin //VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; VehicleRotationalVelocity += bankingContributionV; - + VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", ControllingPrim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 6d0d0eb..76c2187 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -214,7 +214,7 @@ public abstract class BSLinkset // I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. protected abstract void AddChildToLinkset(BSPrimLinkable child); - + // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. protected abstract void RemoveChildFromLinkset(BSPrimLinkable child); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 01ada3f..1fd541f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -114,7 +114,7 @@ public sealed class BSLinksetCompound : BSLinkset // Schedule a refresh to happen after all the other taint processing. private void ScheduleRebuild(BSPrimLinkable requestor) { - DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", + DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. @@ -208,7 +208,7 @@ 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 + // Find the physical instance of the child if (LinksetRoot.PhysShape.HasPhysicalShape && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo)) { // It is possible that the linkset is still under construction and the child is not yet diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 9501e2d..0128d8d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -102,7 +102,7 @@ public class BSVMotor : BSMotor return ErrorIsZero(LastError); } public virtual bool ErrorIsZero(Vector3 err) - { + { return (err == Vector3.Zero || err.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)); } @@ -115,7 +115,7 @@ public class BSVMotor : BSMotor CurrentValue = TargetValue = Vector3.Zero; ErrorZeroThreshold = 0.001f; } - public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) + public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) : this(useName) { TimeScale = timeScale; @@ -237,7 +237,7 @@ public class BSVMotor : BSMotor MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName); MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}", BSScene.DetailLogZero, UseName, - TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, + TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, CurrentValue, TargetValue); LastError = BSMotor.InfiniteVector; @@ -248,7 +248,7 @@ public class BSVMotor : BSMotor BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep); } MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName); - + } @@ -279,7 +279,7 @@ public class BSFMotor : BSMotor return ErrorIsZero(LastError); } public virtual bool ErrorIsZero(float err) - { + { return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold); } @@ -410,7 +410,7 @@ public class BSPIDVMotor : BSVMotor // The factors are vectors for the three dimensions. This is the proportional of each // that is applied. This could be multiplied through the actual factors but it // is sometimes easier to manipulate the factors and their mix separately. - // to + // to public Vector3 FactorMix; // Arbritrary factor range. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 980d405..5ebeace 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -37,7 +37,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public static class BSParam { - private static string LogHeader = "[BULLETSIM PARAMETERS]"; + private static string LogHeader = "[BULLETSIM PARAMETERS]"; // Tuning notes: // From: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6575 @@ -51,7 +51,7 @@ public static class BSParam // This is separate/independent from the collision margin. The collision margin increases the object a bit // to improve collision detection performance and accuracy. // =================== - // From: + // From: // Level of Detail values kept as float because that's what the Meshmerizer wants public static float MeshLOD { get; private set; } @@ -636,7 +636,7 @@ public static class BSParam new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", false, (s) => { return ShouldDisableContactPoolDynamicAllocation; }, - (s,v) => { ShouldDisableContactPoolDynamicAllocation = v; + (s,v) => { ShouldDisableContactPoolDynamicAllocation = v; s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = NumericBool(v); } ), new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", false, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 6a3ada2..28d4bd7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -38,7 +38,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin * Class to wrap all objects. * The rest of BulletSim doesn't need to keep checking for avatars or prims * unless the difference is significant. - * + * * Variables in the physicsl objects are in three forms: * VariableName: used by the simulator and performs taint operations, etc * RawVariableName: direct reference to the BulletSim storage for the variable value @@ -52,7 +52,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v - * BS.ApplyCentralForce BS.ApplyTorque + * BS.ApplyCentralForce BS.ApplyTorque */ // Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc. @@ -353,7 +353,7 @@ public abstract class BSPhysObject : PhysicsActor } public override bool CollidingObj { get { return (CollidingObjectStep == PhysScene.SimulationStep); } - set { + set { if (value) CollidingObjectStep = PhysScene.SimulationStep; else @@ -447,7 +447,7 @@ public abstract class BSPhysObject : PhysicsActor // The CollisionCollection instance is passed around in the simulator. // Make sure we don't have a handle to that one and that a new one is used for next time. - // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, + // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, // a race condition is created for the other users of this instance. CollisionCollection = new CollisionEventUpdate(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 0d45579..7e2af78 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -420,7 +420,7 @@ public class BSPrim : BSPhysObject get { return _mass; } } // used when we only want this prim's mass and not the linkset thing - public override float RawMass { + public override float RawMass { get { return _mass; } } // Set the physical mass to the passed mass. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index bfc7ae7..5c58ad5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -142,7 +142,7 @@ public abstract class BSShape // 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. @@ -155,7 +155,7 @@ public abstract class BSShape else { // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset - if (prim.BaseShape.SculptEntry + if (prim.BaseShape.SculptEntry && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Failed && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting && prim.BaseShape.SculptTexture != OMV.UUID.Zero @@ -164,7 +164,7 @@ public abstract class BSShape physicsScene.DetailLog("{0},BSShape.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 { @@ -245,8 +245,8 @@ public class BSShapeNative : BSShape { } - public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, - BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) + public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, + BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) { // Native shapes are not shared and are always built anew. return new BSShapeNative(CreatePhysicalNativeShape(physicsScene, prim, shapeType, shapeKey)); @@ -379,7 +379,7 @@ public class BSShapeMesh : BSShape { BulletShape newShape = null; - IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, + 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 ); @@ -671,8 +671,8 @@ public class BSShapeCompound : BSShape public BSShapeCompound(BulletShape pShape) : base(pShape) { } - public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim) - { + public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim) + { // Compound shapes are not shared so a new one is created every time. return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene, prim)); } @@ -750,8 +750,8 @@ public class BSShapeAvatar : BSShape public BSShapeAvatar() : base() { } - public static BSShape GetReference(BSPhysObject prim) - { + public static BSShape GetReference(BSPhysObject prim) + { return new BSShapeNull(); } public override void Dereference(BSScene physicsScene) { } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 5a19797..c7deb4e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -68,7 +68,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys // This minCoords and maxCoords passed in give the size of the terrain (min and max Z // are the high and low points of the heightmap). - public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, + public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, Vector3 minCoords, Vector3 maxCoords) : base(physicsScene, regionBase, id) { @@ -92,7 +92,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys private void BuildHeightmapTerrain() { // Create the terrain shape from the mapInfo - m_mapInfo.terrainShape = m_physicsScene.PE.CreateTerrainShape( m_mapInfo.ID, + m_mapInfo.terrainShape = m_physicsScene.PE.CreateTerrainShape( m_mapInfo.ID, new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ, m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin); @@ -103,7 +103,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); - m_mapInfo.terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, + m_mapInfo.terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, m_mapInfo.ID, centerPos, Quaternion.Identity); // Set current terrain attributes diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 0d16eda..c4807c4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -135,7 +135,7 @@ public sealed class BSTerrainManager : IDisposable DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName); // The ground plane is here to catch things that are trying to drop to negative infinity BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); - m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, + m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity); m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_groundPlane); @@ -318,8 +318,8 @@ public sealed class BSTerrainManager : IDisposable // TODO: redo terrain implementation selection to allow other base types than heightMap. private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { - m_physicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", - LogHeader, m_physicsScene.RegionName, terrainRegionBase, + m_physicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", + LogHeader, m_physicsScene.RegionName, terrainRegionBase, (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation); BSTerrainPhys newTerrainPhys = null; switch ((int)BSParam.TerrainImplementation) @@ -334,8 +334,8 @@ public sealed class BSTerrainManager : IDisposable break; default: m_physicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", - LogHeader, - (int)BSParam.TerrainImplementation, + LogHeader, + (int)BSParam.TerrainImplementation, BSParam.TerrainImplementation, m_physicsScene.RegionName, terrainRegionBase); break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index ee2a1f2..e4ca098 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -51,7 +51,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys BulletShape m_terrainShape; BulletBody m_terrainBody; - public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) : base(physicsScene, regionBase, id) { } @@ -62,7 +62,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys } // Create terrain mesh from a heightmap. - public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, Vector3 minCoords, Vector3 maxCoords) : base(physicsScene, regionBase, id) { @@ -104,7 +104,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys return; } - m_physicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}", + m_physicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}", BSScene.DetailLogZero, ID, indicesCount, indices.Length, verticesCount, vertices.Length); m_terrainShape = m_physicsScene.PE.CreateMeshShape(m_physicsScene.World, indicesCount, indices, verticesCount, vertices); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 906e4f9..d5060e3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -224,42 +224,42 @@ public static class BulletSimData // As mentioned above, don't use the CollisionFilterGroups definitions directly in the code // but, instead, use references to this dictionary. Finding and debugging // collision flag problems will be made easier. -public static Dictionary CollisionTypeMasks +public static Dictionary CollisionTypeMasks = new Dictionary() { - { CollisionType.Avatar, - new CollisionTypeFilterGroup(CollisionType.Avatar, - (uint)CollisionFilterGroups.BCharacterGroup, + { CollisionType.Avatar, + new CollisionTypeFilterGroup(CollisionType.Avatar, + (uint)CollisionFilterGroups.BCharacterGroup, (uint)CollisionFilterGroups.BAllGroup) }, - { CollisionType.Groundplane, - new CollisionTypeFilterGroup(CollisionType.Groundplane, - (uint)CollisionFilterGroups.BGroundPlaneGroup, + { CollisionType.Groundplane, + new CollisionTypeFilterGroup(CollisionType.Groundplane, + (uint)CollisionFilterGroups.BGroundPlaneGroup, (uint)CollisionFilterGroups.BAllGroup) }, - { CollisionType.Terrain, - new CollisionTypeFilterGroup(CollisionType.Terrain, - (uint)CollisionFilterGroups.BTerrainGroup, + { CollisionType.Terrain, + new CollisionTypeFilterGroup(CollisionType.Terrain, + (uint)CollisionFilterGroups.BTerrainGroup, (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup)) }, - { CollisionType.Static, - new CollisionTypeFilterGroup(CollisionType.Static, - (uint)CollisionFilterGroups.BStaticGroup, + { CollisionType.Static, + new CollisionTypeFilterGroup(CollisionType.Static, + (uint)CollisionFilterGroups.BStaticGroup, (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) }, - { CollisionType.Dynamic, - new CollisionTypeFilterGroup(CollisionType.Dynamic, - (uint)CollisionFilterGroups.BSolidGroup, + { CollisionType.Dynamic, + new CollisionTypeFilterGroup(CollisionType.Dynamic, + (uint)CollisionFilterGroups.BSolidGroup, (uint)(CollisionFilterGroups.BAllGroup)) }, - { CollisionType.VolumeDetect, - new CollisionTypeFilterGroup(CollisionType.VolumeDetect, - (uint)CollisionFilterGroups.BSensorTrigger, + { CollisionType.VolumeDetect, + new CollisionTypeFilterGroup(CollisionType.VolumeDetect, + (uint)CollisionFilterGroups.BSensorTrigger, (uint)(~CollisionFilterGroups.BSensorTrigger)) }, { CollisionType.LinksetChild, - new CollisionTypeFilterGroup(CollisionType.LinksetChild, - (uint)CollisionFilterGroups.BLinksetChildGroup, + new CollisionTypeFilterGroup(CollisionType.LinksetChild, + (uint)CollisionFilterGroups.BLinksetChildGroup, (uint)(CollisionFilterGroups.BNoneGroup)) // (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) }, -- cgit v1.1 From 15a3f80e2eb82c5e4726d5cd93cfed32da5d6768 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Apr 2013 17:30:38 -0700 Subject: BulletSim: LinksetCompound work to disable collision for root and child prims so compound shape can do all collisions. Don't try to build a compound linkset for non-physical linksets. Remove and replace root body when compound shape is added so collision cache is rebuilt. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 44 +++++++++++++++------- 1 file changed, 30 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 1fd541f..e967dfc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -143,19 +143,18 @@ public sealed class BSLinksetCompound : BSLinkset // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. ScheduleRebuild(LinksetRoot); } - else - { - // The origional prims are removed from the world as the shape of the root compound - // shape takes over. - m_physicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); - m_physicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION); - // We don't want collisions from the old linkset children. - m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - child.PhysBody.collisionType = CollisionType.LinksetChild; + // The origional prims are removed from the world as the shape of the root compound + // shape takes over. + m_physicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + m_physicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION); + // We don't want collisions from the old linkset children. + m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + + child.PhysBody.collisionType = CollisionType.LinksetChild; + + ret = true; - ret = true; - } return ret; } @@ -190,6 +189,13 @@ public sealed class BSLinksetCompound : BSLinkset // Called at taint-time. public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated) { + if (!LinksetRoot.IsPhysicallyActive) + { + // No reason to do this physical stuff for static linksets. + DetailLog("{0},BSLinksetCompound.UpdateProperties,notPhysical", LinksetRoot.LocalID); + return; + } + // The user moving a child around requires the rebuilding of the linkset compound shape // One problem is this happens when a border is crossed -- the simulator implementation // stores the position into the group which causes the move of the object @@ -392,6 +398,13 @@ public sealed class BSLinksetCompound : BSLinkset private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged private void RecomputeLinksetCompound() { + if (!LinksetRoot.IsPhysicallyActive) + { + // There is no reason to build all this physical stuff for a non-physical linkset + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); + return; + } + try { // This replaces the physical shape of the root prim with a compound shape made up of the root @@ -403,7 +416,8 @@ public sealed class BSLinksetCompound : BSLinkset // Free up any shape we'd previously built. LinksetShape.Dereference(m_physicsScene); - LinksetShape = BSShapeCompound.GetReference(m_physicsScene, LinksetRoot); + // Get a new compound shape to build the linkset shape in. + LinksetShape = BSShapeCompound.GetReference(m_physicsScene); // 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. @@ -431,8 +445,7 @@ public sealed class BSLinksetCompound : BSLinkset cPrim.LinksetChildIndex = memberIndex; } - BSShape childShape = cPrim.PhysShape; - childShape.IncrementReference(); + BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); @@ -446,7 +459,10 @@ public sealed class BSLinksetCompound : BSLinkset // Sneak the built compound shape in as the shape of the root prim. // Note this doesn't touch the root prim's PhysShape so be sure the manage the difference. + // Object removed and added to world to get collision cache rebuilt for new shape. + m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody); m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); + m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody); // With all of the linkset packed into the root prim, it has the mass of everyone. LinksetMass = ComputeLinksetMass(); -- cgit v1.1 From d322625f9062d7748a1a896b6fd37c51f7f41435 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Apr 2013 17:30:54 -0700 Subject: BulletSim: Add non-static BSShape.GetReference for getting another reference to an existing shape instance. BSShapeNative rebuilds shape for all references. BSShapeCompound returns another reference copy if the compound shape already exists (for linksets). --- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 125 +++++++++++++++------ .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 9 ++ 2 files changed, 102 insertions(+), 32 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 5c58ad5..f0c9fd5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -47,26 +47,31 @@ public abstract class BSShape public BSShape() { - referenceCount = 0; + referenceCount = 1; lastReferenced = DateTime.Now; physShapeInfo = new BulletShape(); } public BSShape(BulletShape pShape) { - referenceCount = 0; + referenceCount = 1; lastReferenced = DateTime.Now; physShapeInfo = pShape; } + // Get another reference to this shape. + public abstract BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim); + // Called when this shape is being used again. - public virtual void IncrementReference() + // Used internally. External callers should call instance.GetReference() to properly copy/reference + // the shape. + protected virtual void IncrementReference() { referenceCount++; lastReferenced = DateTime.Now; } // Called when this shape is being used again. - public virtual void DecrementReference() + protected virtual void DecrementReference() { referenceCount--; lastReferenced = DateTime.Now; @@ -99,12 +104,19 @@ public abstract class BSShape // Returns a string for debugging that uniquily identifies the memory used by this instance public virtual string AddrString { - get { return "unknown"; } + get + { + if (physShapeInfo != null) + return physShapeInfo.AddrString; + return "unknown"; + } } public override string ToString() { StringBuilder buff = new StringBuilder(); + buff.Append(" m_hulls; private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey, @@ -520,7 +562,7 @@ public class BSShapeHull : BSShape physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } // Now done with the mesh shape. - meshShape.DecrementReference(); + meshShape.Dereference(physicsScene); physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } if (!newShape.HasPhysicalShape) @@ -671,37 +713,52 @@ public class BSShapeCompound : BSShape public BSShapeCompound(BulletShape pShape) : base(pShape) { } - public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim) + public static BSShape GetReference(BSScene physicsScene) + { + // Base compound shapes are not shared so this returns a raw shape. + // A built compound shape can be reused in linksets. + return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene)); + } + public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim) { - // Compound shapes are not shared so a new one is created every time. - return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene, prim)); + // Calling this reference means we want another handle to an existing compound shape + // (usually linksets) so return this copy. + IncrementReference(); + return this; } // Dereferencing a compound shape releases the hold on all the child shapes. public override void Dereference(BSScene physicsScene) { - if (!physicsScene.PE.IsCompound(physShapeInfo)) + lock (physShapeInfo) { - // Failed the sanity check!! - physicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", - LogHeader, physShapeInfo.shapeType, physShapeInfo.AddrString); - physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", - BSScene.DetailLogZero, physShapeInfo.shapeType, physShapeInfo.AddrString); - return; - } + Dereference(physicsScene); + if (referenceCount <= 0) + { + if (!physicsScene.PE.IsCompound(physShapeInfo)) + { + // Failed the sanity check!! + physicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", + LogHeader, physShapeInfo.shapeType, physShapeInfo.AddrString); + physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", + BSScene.DetailLogZero, physShapeInfo.shapeType, physShapeInfo.AddrString); + return; + } - int numChildren = physicsScene.PE.GetNumberOfCompoundChildren(physShapeInfo); - physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", - BSScene.DetailLogZero, physShapeInfo, numChildren); + int numChildren = physicsScene.PE.GetNumberOfCompoundChildren(physShapeInfo); + physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", + BSScene.DetailLogZero, physShapeInfo, numChildren); - // Loop through all the children dereferencing each. - for (int ii = numChildren - 1; ii >= 0; ii--) - { - BulletShape childShape = physicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(physShapeInfo, ii); - DereferenceAnonCollisionShape(physicsScene, childShape); + // Loop through all the children dereferencing each. + for (int ii = numChildren - 1; ii >= 0; ii--) + { + BulletShape childShape = physicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(physShapeInfo, ii); + DereferenceAnonCollisionShape(physicsScene, childShape); + } + physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo); + } } - physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo); } - private static BulletShape CreatePhysicalCompoundShape(BSScene physicsScene, BSPhysObject prim) + private static BulletShape CreatePhysicalCompoundShape(BSScene physicsScene) { BulletShape cShape = physicsScene.PE.CreateCompoundShape(physicsScene.World, false); return cShape; @@ -754,6 +811,10 @@ public class BSShapeAvatar : BSShape { return new BSShapeNull(); } + public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) + { + return new BSShapeNull(); + } public override void Dereference(BSScene physicsScene) { } // From the front: diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index c67081a..559a73f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,3 +1,12 @@ +PROBLEMS TO LOOK INTO +================================================= +Nebadon vehicle ride, get up, ride again. Second time vehicle does not act correctly. + Have to rez new vehicle and delete the old to fix situation. +Hitting RESET on Nebadon's vehicle while riding causes vehicle to get into odd + position state where it will not settle onto ground properly, etc +Two of Nebadon vehicles in a sim max the CPU. This is new. +A sitting, active vehicle bobs up and down a small amount. + CURRENT PRIORITIES ================================================= Use the HACD convex hull routine in Bullet rather than the C# version. -- cgit v1.1 From 7cdb07b386ffe88749fcc6cabadd9851f254699d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 30 Apr 2013 11:42:11 -0700 Subject: BulletSim: improvements to LinksetCompound and PrimDisplaced. Not all working yet. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 37 ++++++++++++++++------ .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 3 +- .../Physics/BulletSPlugin/BSPrimDisplaced.cs | 22 ++++++++++--- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 2 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 3 ++ 5 files changed, 50 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index e967dfc..e3ce7fb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -395,7 +395,8 @@ public sealed class BSLinksetCompound : BSLinkset // Constraint linksets are rebuilt every time. // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! - private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged + private bool UseBulletSimRootOffsetHack = false; + private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting private void RecomputeLinksetCompound() { if (!LinksetRoot.IsPhysicallyActive) @@ -428,11 +429,19 @@ public sealed class BSLinksetCompound : BSLinkset // 'centerDisplacement' is the value to subtract from children to give physical offset position OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; - LinksetRoot.SetEffectiveCenterOfMassW(centerDisplacement); - - // TODO: add phantom root shape to be the center-of-mass + if (UseBulletSimRootOffsetHack || disableCOM) + { + centerDisplacement = OMV.Vector3.Zero; + LinksetRoot.ClearDisplacement(); + } + else + { + LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacement); + } + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", + LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacement); - // Add a shape for each of the other children in the linkset + // Add the shapes of all the components of the linkset int memberIndex = 1; ForEachMember(delegate(BSPrimLinkable cPrim) { @@ -449,8 +458,8 @@ public sealed class BSLinksetCompound : BSLinkset OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", - LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1}cShape={2},offPos={3},offRot={4}", + LinksetRoot.LocalID, memberIndex, cPrim.PhysShape, offsetPos, offsetRot); memberIndex++; @@ -463,13 +472,21 @@ public sealed class BSLinksetCompound : BSLinkset m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody); m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}", + LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetShape); // With all of the linkset packed into the root prim, it has the mass of everyone. LinksetMass = ComputeLinksetMass(); LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); - // Enable the physical position updator to return the position and rotation of the root shape - m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); + if (UseBulletSimRootOffsetHack) + { + // Enable the physical position updator to return the position and rotation of the root shape. + // This enables a feature in the C++ code to return the world coordinates of the first shape in the + // compound shape. This eleviates the need to offset the returned physical position by the + // center-of-mass offset. + m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); + } } finally { @@ -477,7 +494,7 @@ public sealed class BSLinksetCompound : BSLinkset } // See that the Aabb surrounds the new shape - m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo); + m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetShape.physShapeInfo); } } } \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 28d4bd7..7eba851 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -259,7 +259,8 @@ public abstract class BSPhysObject : PhysicsActor // The user can optionally set the center of mass. The user's setting will override any // computed center-of-mass (like in linksets). - public OMV.Vector3? UserSetCenterOfMass { get; set; } + // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass. + public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; } public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index f1c3b5c..f5ee671 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -78,14 +78,16 @@ public class BSPrimDisplaced : BSPrim // Set this sets and computes the displacement from the passed prim to the center-of-mass. // A user set value for center-of-mass overrides whatever might be passed in here. // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates). - public virtual void SetEffectiveCenterOfMassW(Vector3 centerOfMassDisplacement) + public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement) { Vector3 comDisp; - if (UserSetCenterOfMass.HasValue) - comDisp = (OMV.Vector3)UserSetCenterOfMass; + if (UserSetCenterOfMassDisplacement.HasValue) + comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement; else comDisp = centerOfMassDisplacement; + DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}", + LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp); if (comDisp == Vector3.Zero) { // If there is no diplacement. Things get reset. @@ -107,9 +109,15 @@ public class BSPrimDisplaced : BSPrim set { if (PositionDisplacement != OMV.Vector3.Zero) - base.ForcePosition = value - (PositionDisplacement * RawOrientation); + { + OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation); + DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos); + base.ForcePosition = displacedPos; + } else + { base.ForcePosition = value; + } } } @@ -118,6 +126,7 @@ public class BSPrimDisplaced : BSPrim get { return base.ForceOrientation; } set { + // TODO: base.ForceOrientation = value; } } @@ -143,7 +152,10 @@ public class BSPrimDisplaced : BSPrim { // Correct for any rotation around the center-of-mass // TODO!!! - entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation); + + OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation); + DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos); + entprop.Position = displacedPos; // entprop.Rotation = something; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index f0c9fd5..3faa484 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -117,7 +117,7 @@ public abstract class BSShape StringBuilder buff = new StringBuilder(); buff.Append(""); @@ -184,21 +189,21 @@ public abstract class BSShape BSPhysObject xprim = prim; Util.FireAndForget(delegate { - physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,inFireAndForget", xprim.LocalID); + // physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,inFireAndForget", xprim.LocalID); RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod; if (assetProvider != null) { BSPhysObject yprim = xprim; // probably not necessary, but, just in case. assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) { - physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,assetProviderCallback", xprim.LocalID); + // physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,assetProviderCallback", xprim.LocalID); 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 = (byte[])asset.Data.Clone(); + 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. @@ -290,7 +295,7 @@ public class BSShapeNative : BSShape { if (physShapeInfo.HasPhysicalShape) { - physicsScene.DetailLog("{0},BSShapeNative.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); + physicsScene.DetailLog("{0},BSShapeNative.Dereference,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo); } physShapeInfo.Clear(); @@ -347,9 +352,8 @@ public class BSShapeMesh : BSShape float 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.physShapeInfo.shapeKey.ToString("X"), - newMeshKey.ToString("X"), prim.Size, lod); + physicsScene.DetailLog("{0},BSShapeMesh,getReference,newKey={1},size={2},lod={3}", + prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod); BSShapeMesh retMesh = null; lock (Meshes) @@ -389,6 +393,7 @@ public class BSShapeMesh : BSShape lock (Meshes) { this.DecrementReference(); + physicsScene.DetailLog("{0},BSShapeMesh.Dereference,shape={1}", BSScene.DetailLogZero, this); // TODO: schedule aging and destruction of unused meshes. } } @@ -425,6 +430,12 @@ public class BSShapeMesh : BSShape if (meshData != null) { + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) + { + // Release the fetched asset data once it has been used. + pbs.SculptData = new byte[0]; + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown; + } int[] indices = meshData.getIndexListAsInt(); int realIndicesIndex = indices.Length; @@ -462,8 +473,8 @@ public class BSShapeMesh : BSShape } } } - physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,origTri={1},realTri={2},numVerts={3}", - BSScene.DetailLogZero, indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3); + physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,key={1},origTri={2},realTri={3},numVerts={4}", + BSScene.DetailLogZero, newMeshKey.ToString("X"), indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3); if (realIndicesIndex != 0) { @@ -496,8 +507,8 @@ public class BSShapeHull : BSShape float 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.physShapeInfo.shapeKey.ToString("X"), newHullKey.ToString("X"), prim.Size, lod); + physicsScene.DetailLog("{0},BSShapeHull,getReference,newKey={1},size={2},lod={3}", + prim.LocalID, newHullKey.ToString("X"), prim.Size, lod); BSShapeHull retHull = null; lock (Hulls) @@ -537,6 +548,7 @@ public class BSShapeHull : BSShape lock (Hulls) { this.DecrementReference(); + physicsScene.DetailLog("{0},BSShapeHull.Dereference,shape={1}", BSScene.DetailLogZero, this); // TODO: schedule aging and destruction of unused meshes. } } @@ -549,6 +561,8 @@ public class BSShapeHull : BSShape if (BSParam.ShouldUseBulletHACD) { + // Build the hull shape from an existing mesh shape. + // The mesh should have already been created in Bullet. physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID); BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim); @@ -568,18 +582,26 @@ public class BSShapeHull : BSShape physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape); newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms); physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); + + // Now done with the mesh shape. + meshShape.Dereference(physicsScene); } - // Now done with the mesh shape. - meshShape.Dereference(physicsScene); physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } if (!newShape.HasPhysicalShape) { - // Build a new hull in the physical world. + // Build a new hull in the physical world using the C# HACD algorigthm. // 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) { + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) + { + // Release the fetched asset data once it has been used. + pbs.SculptData = new byte[0]; + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown; + } + int[] indices = meshData.getIndexListAsInt(); List vertices = meshData.getVertexList(); @@ -740,6 +762,7 @@ public class BSShapeCompound : BSShape lock (physShapeInfo) { this.DecrementReference(); + physicsScene.DetailLog("{0},BSShapeCompound.Dereference,shape={1}", BSScene.DetailLogZero, this); if (referenceCount <= 0) { if (!physicsScene.PE.IsCompound(physShapeInfo)) -- cgit v1.1 From 4042c82a7293c40955a14d04d9e5ae05d35ef7cf Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 2 May 2013 12:27:30 -0700 Subject: BulletSim: prims with no cuts created with single convex hull shape. Parameter added to enable/disable this feature. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 5 ++ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 3 + .../Physics/BulletSPlugin/BSShapeCollection.cs | 19 +++++- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 74 ++++++++++++++++++++++ 4 files changed, 99 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 5ebeace..2ac68e3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -87,6 +87,7 @@ public static class BSParam public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects public static bool ShouldRemoveZeroWidthTriangles { get; private set; } public static bool ShouldUseBulletHACD { get; set; } + public static bool ShouldUseSingleConvexHullForPrims { get; set; } public static float TerrainImplementation { get; private set; } public static int TerrainMeshMagnification { get; private set; } @@ -342,6 +343,10 @@ public static class BSParam false, (s) => { return ShouldUseBulletHACD; }, (s,v) => { ShouldUseBulletHACD = v; } ), + new ParameterDefn("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims", + true, + (s) => { return ShouldUseSingleConvexHullForPrims; }, + (s,v) => { ShouldUseSingleConvexHullForPrims = v; } ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", 5, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 8e05b58..a4a8794 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -316,7 +316,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters break; case "bulletxna": ret = new BSAPIXNA(engineName, this); + // Disable some features that are not implemented in BulletXNA + m_log.InfoFormat("{0} Disabling some physics features not implemented by BulletXNA", LogHeader); BSParam.ShouldUseBulletHACD = false; + BSParam.ShouldUseSingleConvexHullForPrims = false; break; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 809435d..794857c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -226,8 +226,23 @@ public sealed class BSShapeCollection : IDisposable // made. Native shapes work in either case. if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects) { - // Update prim.BSShape to reference a hull of this shape. - BSShape potentialHull = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim); + // Use a simple, single mesh convex hull shape if the object is simple enough + BSShape potentialHull = null; + + PrimitiveBaseShape pbs = prim.BaseShape; + if (BSParam.ShouldUseSingleConvexHullForPrims + && pbs != null + && !pbs.SculptEntry + && PrimHasNoCuts(pbs) + ) + { + potentialHull = BSShapeConvexHull.GetReference(m_physicsScene, false /* forceRebuild */, prim); + } + else + { + potentialHull = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim); + } + // If the current shape is not what is on the prim at the moment, time to change. if (!prim.PhysShape.HasPhysicalShape || potentialHull.ShapeType != prim.PhysShape.ShapeType diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 3346626..9ef2923 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -832,6 +832,80 @@ public class BSShapeCompound : BSShape } // ============================================================================================================ +public class BSShapeConvexHull : BSShape +{ + private static string LogHeader = "[BULLETSIM SHAPE CONVEX HULL]"; + public static Dictionary ConvexHulls = new Dictionary(); + + public BSShapeConvexHull(BulletShape pShape) : base(pShape) + { + } + public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) + { + float lod; + System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); + + physicsScene.DetailLog("{0},BSShapeMesh,getReference,newKey={1},size={2},lod={3}", + prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod); + + BSShapeConvexHull retConvexHull = null; + lock (ConvexHulls) + { + if (ConvexHulls.TryGetValue(newMeshKey, out retConvexHull)) + { + // The mesh has already been created. Return a new reference to same. + retConvexHull.IncrementReference(); + } + else + { + retConvexHull = new BSShapeConvexHull(new BulletShape()); + BulletShape convexShape = null; + + // Get a handle to a mesh to build the hull from + BSShape baseMesh = BSShapeMesh.GetReference(physicsScene, false /* forceRebuild */, prim); + if (baseMesh.physShapeInfo.isNativeShape) + { + // We get here if the mesh was not creatable. Could be waiting for an asset from the disk. + // In the short term, we return the native shape and a later ForceBodyShapeRebuild should + // get back to this code with a buildable mesh. + // TODO: not sure the temp native shape is freed when the mesh is rebuilt. When does this get freed? + convexShape = baseMesh.physShapeInfo; + } + else + { + convexShape = physicsScene.PE.BuildConvexHullShapeFromMesh(physicsScene.World, baseMesh.physShapeInfo); + convexShape.shapeKey = newMeshKey; + ConvexHulls.Add(convexShape.shapeKey, retConvexHull); + } + + // Done with the base mesh + baseMesh.Dereference(physicsScene); + + retConvexHull.physShapeInfo = convexShape; + } + } + return retConvexHull; + } + public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim) + { + // Calling this reference means we want another handle to an existing shape + // (usually linksets) so return this copy. + IncrementReference(); + return this; + } + // Dereferencing a compound shape releases the hold on all the child shapes. + public override void Dereference(BSScene physicsScene) + { + lock (ConvexHulls) + { + this.DecrementReference(); + physicsScene.DetailLog("{0},BSShapeConvexHull.Dereference,shape={1}", BSScene.DetailLogZero, this); + // TODO: schedule aging and destruction of unused meshes. + } + } +} + +// ============================================================================================================ public class BSShapeAvatar : BSShape { private static string LogHeader = "[BULLETSIM SHAPE AVATAR]"; -- cgit v1.1 From 5d25bb3084937d266375cba61b3a2c802bd57717 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 3 May 2013 14:23:53 -0700 Subject: BulletSim: zero vehicle motion when changing vehicle type. Rebuild compound linkset of any child in the linkset changes shape. Comments and better detailed logging messages. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 6 +++--- .../Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 16 +++++----------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 4 ++++ .../Region/Physics/BulletSPlugin/BSShapeCollection.cs | 7 +++---- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 9 ++------- 6 files changed, 18 insertions(+), 26 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index b9bd909..c5bee6d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -559,9 +559,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; } - // Update any physical parameters based on this type. - Refresh(); - m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f); @@ -589,6 +586,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin { RegisterForSceneEvents(); } + + // Update any physical parameters based on this type. + Refresh(); } #endregion // Vehicle parameter setting diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 20eb871..1f16cc8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -246,7 +246,8 @@ public sealed class BSLinksetCompound : BSLinkset } // Routine called when rebuilding the body of some member of the linkset. - // Since we don't keep in world relationships, do nothing unless it's a child changing. + // If one of the bodies is being changed, the linkset needs rebuilding. + // For instance, a linkset is built and then a mesh asset is read in and the mesh is recreated. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! public override bool RemoveDependencies(BSPrimLinkable child) @@ -256,14 +257,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child)); - if (!IsRoot(child)) - { - child.LinksetInfo = null; - } - - // Cannot schedule a refresh/rebuild here because this routine is called when - // the linkset is being rebuilt. - // InternalRefresh(LinksetRoot); + ScheduleRebuild(child); return ret; } @@ -322,7 +316,7 @@ public sealed class BSLinksetCompound : BSLinkset // Constraint linksets are rebuilt every time. // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! - private bool UseBulletSimRootOffsetHack = false; + private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting private void RecomputeLinksetCompound() { @@ -382,7 +376,7 @@ public sealed class BSLinksetCompound : BSLinkset OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", - LinksetRoot.LocalID, memberIndex, cPrim.PhysShape, offsetPos, offsetRot); + LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot); // Since we are borrowing the shape of the child, disable the origional child body if (!IsRoot(cPrim)) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 3d68d7f..d3f3475 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -511,7 +511,7 @@ public class BSPrim : BSPhysObject PhysScene.TaintedObject("setVehicleType", delegate() { - // Vehicle code changes the parameters for this vehicle type. + ZeroMotion(true /* inTaintTime */); VehicleActor.ProcessTypeChange(type); ActivateIfPhysical(false); }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 5236909..235da78 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -182,6 +182,10 @@ public class BSPrimLinkable : BSPrimDisplaced { return false; } + + // TODO: handle collisions of other objects with with children of linkset. + // This is a problem for LinksetCompound since the children are packed into the root. + return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 794857c..64aaa15 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -254,10 +254,10 @@ public sealed class BSShapeCollection : IDisposable } else { + // The current shape on the prim is the correct one. We don't need the potential reference. potentialHull.Dereference(m_physicsScene); } - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X")); + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1}", prim.LocalID, prim.PhysShape); } else { @@ -277,8 +277,7 @@ public sealed class BSShapeCollection : IDisposable // We don't need this reference to the mesh that is already being using. potentialMesh.Dereference(m_physicsScene); } - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X")); + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1}", prim.LocalID, prim.PhysShape); } return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 9ef2923..3e4ee5a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -352,9 +352,6 @@ public class BSShapeMesh : BSShape float lod; System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - physicsScene.DetailLog("{0},BSShapeMesh,getReference,newKey={1},size={2},lod={3}", - prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod); - BSShapeMesh retMesh = null; lock (Meshes) { @@ -380,6 +377,7 @@ public class BSShapeMesh : BSShape retMesh.physShapeInfo = newShape; } } + physicsScene.DetailLog("{0},BSShapeMesh,getReference,mesh={1},size={2},lod={3}", prim.LocalID, retMesh, prim.Size, lod); return retMesh; } public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) @@ -507,9 +505,6 @@ public class BSShapeHull : BSShape float lod; System.UInt64 newHullKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - physicsScene.DetailLog("{0},BSShapeHull,getReference,newKey={1},size={2},lod={3}", - prim.LocalID, newHullKey.ToString("X"), prim.Size, lod); - BSShapeHull retHull = null; lock (Hulls) { @@ -531,10 +526,10 @@ public class BSShapeHull : BSShape // If a mesh was what was created, remember the built shape for later sharing. Hulls.Add(newHullKey, retHull); } - retHull.physShapeInfo = newShape; } } + physicsScene.DetailLog("{0},BSShapeHull,getReference,hull={1},size={2},lod={3}", prim.LocalID, retHull, prim.Size, lod); return retHull; } public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) -- cgit v1.1 From f9fb1484aa00f8bfadead06ce71d004502fb564e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 3 May 2013 15:46:35 -0700 Subject: BulletSim: extend BSActorLockAxis to allow locking linear movement in addition to angular movement. Not enabled by anything yet. --- .../Physics/BulletSPlugin/BSActorLockAxis.cs | 25 +++++++++++++++++----- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 9 +++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++-- 3 files changed, 28 insertions(+), 10 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index 7801d8e..8b0fdeb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -64,9 +64,9 @@ public class BSActorLockAxis : BSActor public override void Refresh() { m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", - m_controllingPrim.LocalID, m_controllingPrim.LockedAxis, Enabled, m_controllingPrim.IsPhysicallyActive); + m_controllingPrim.LocalID, m_controllingPrim.LockedAngularAxis, Enabled, m_controllingPrim.IsPhysicallyActive); // If all the axis are free, we don't need to exist - if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree) + if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree) { Enabled = false; } @@ -123,23 +123,38 @@ public class BSActorLockAxis : BSActor // Free to move linearly in the region OMV.Vector3 linearLow = OMV.Vector3.Zero; OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize; + if (m_controllingPrim.LockedLinearAxis.X != BSPhysObject.FreeAxis) + { + linearLow.X = m_controllingPrim.RawPosition.X; + linearHigh.X = m_controllingPrim.RawPosition.X; + } + if (m_controllingPrim.LockedLinearAxis.Y != BSPhysObject.FreeAxis) + { + linearLow.Y = m_controllingPrim.RawPosition.Y; + linearHigh.Y = m_controllingPrim.RawPosition.Y; + } + if (m_controllingPrim.LockedLinearAxis.Z != BSPhysObject.FreeAxis) + { + linearLow.Z = m_controllingPrim.RawPosition.Z; + linearHigh.Z = m_controllingPrim.RawPosition.Z; + } axisConstrainer.SetLinearLimits(linearLow, linearHigh); // Angular with some axis locked float fPI = (float)Math.PI; OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI); OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI); - if (m_controllingPrim.LockedAxis.X != 1f) + if (m_controllingPrim.LockedAngularAxis.X != BSPhysObject.FreeAxis) { angularLow.X = 0f; angularHigh.X = 0f; } - if (m_controllingPrim.LockedAxis.Y != 1f) + if (m_controllingPrim.LockedAngularAxis.Y != BSPhysObject.FreeAxis) { angularLow.Y = 0f; angularHigh.Y = 0f; } - if (m_controllingPrim.LockedAxis.Z != 1f) + if (m_controllingPrim.LockedAngularAxis.Z != BSPhysObject.FreeAxis) { angularLow.Z = 0f; angularHigh.Z = 0f; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index e796804..cca887a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -108,7 +108,8 @@ public abstract class BSPhysObject : PhysicsActor CollisionScore = 0; // All axis free. - LockedAxis = LockedAxisFree; + LockedLinearAxis = LockedAxisFree; + LockedAngularAxis = LockedAxisFree; } // Tell the object to clean up. @@ -265,8 +266,10 @@ public abstract class BSPhysObject : PhysicsActor // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass. public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; } - public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. - public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free + public OMV.Vector3 LockedLinearAxis { get; set; } // zero means locked. one means free. + public OMV.Vector3 LockedAngularAxis { get; set; } // zero means locked. one means free. + public const float FreeAxis = 1f; + public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(FreeAxis, FreeAxis, FreeAxis); // All axis are free // Enable physical actions. Bullet will keep sleeping non-moving physical objects so // they need waking up when parameters are changed. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d3f3475..f5b0361 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -256,9 +256,9 @@ public class BSPrim : BSPhysObject if (axis.X != 1) locking.X = 0f; if (axis.Y != 1) locking.Y = 0f; if (axis.Z != 1) locking.Z = 0f; - LockedAxis = locking; + LockedAngularAxis = locking; - EnableActor(LockedAxis != LockedAxisFree, LockedAxisActorName, delegate() + EnableActor(LockedAngularAxis != LockedAxisFree, LockedAxisActorName, delegate() { return new BSActorLockAxis(PhysScene, this, LockedAxisActorName); }); -- cgit v1.1 From bf318969836bf38dbd0325f24fa3d1bd12f34d77 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 3 May 2013 17:14:31 -0700 Subject: BulletSim: simplify parameter specification by reducing the number of specifications required for simple properties with defaults. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 283 +++++++-------------- 2 files changed, 94 insertions(+), 191 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index c5bee6d..0dd2aa5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -146,7 +146,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin enableAngularVerticalAttraction = true; enableAngularDeflection = false; enableAngularBanking = true; - if (BSParam.VehicleDebuggingEnabled) + if (BSParam.VehicleDebuggingEnable) { enableAngularVerticalAttraction = true; enableAngularDeflection = false; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 2ac68e3..3ca7e16 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -26,6 +26,7 @@ */ using System; using System.Collections.Generic; +using System.Reflection; using System.Text; using OpenSim.Region.Physics.Manager; @@ -144,7 +145,7 @@ public static class BSParam public static Vector3 VehicleAngularFactor { get; private set; } public static float VehicleGroundGravityFudge { get; private set; } public static float VehicleAngularBankingTimescaleFudge { get; private set; } - public static bool VehicleDebuggingEnabled { get; private set; } + public static bool VehicleDebuggingEnable { get; private set; } // Convex Hulls public static int CSHullMaxDepthSplit { get; private set; } @@ -236,17 +237,41 @@ public static class BSParam getter = pGetter; objectSet = pObjSetter; } - /* Wish I could simplify using this definition but CLR doesn't store references so closure around delegates of references won't work - * TODO: Maybe use reflection and the name of the variable to create a reference for the getter/setter. - public ParameterDefn(string pName, string pDesc, T pDefault, ref T loc) + // Simple parameter variable where property name is the same as the INI file name + // and the value is only a simple get and set. + public ParameterDefn(string pName, string pDesc, T pDefault) : base(pName, pDesc) { defaultValue = pDefault; - setter = (s, v) => { loc = v; }; - getter = (s) => { return loc; }; + setter = (s, v) => { SetValueByName(s, name, v); }; + getter = (s) => { return GetValueByName(s, name); }; objectSet = null; } - */ + // Use reflection to find the property named 'pName' in BSParam and assign 'val' to same. + private void SetValueByName(BSScene s, string pName, T val) + { + PropertyInfo prop = typeof(BSParam).GetProperty(pName, BindingFlags.Public | BindingFlags.Static | BindingFlags.FlattenHierarchy); + if (prop == null) + { + // This should only be output when someone adds a new INI parameter and misspells the name. + s.Logger.ErrorFormat("{0} SetValueByName: did not find '{1}'. Verify specified property name is the same as the given INI parameters name.", LogHeader, pName); + } + else + { + prop.SetValue(null, val, null); + } + } + // Use reflection to find the property named 'pName' in BSParam and return the value in same. + private T GetValueByName(BSScene s, string pName) + { + PropertyInfo prop = typeof(BSParam).GetProperty(pName, BindingFlags.Public | BindingFlags.Static | BindingFlags.FlattenHierarchy); + if (prop == null) + { + // This should only be output when someone adds a new INI parameter and misspells the name. + s.Logger.ErrorFormat("{0} GetValueByName: did not find '{1}'. Verify specified property name is the same as the given INI parameter name.", LogHeader, pName); + } + return (T)prop.GetValue(null, null); + } public override void AssignDefault(BSScene s) { setter(s, defaultValue); @@ -336,26 +361,16 @@ public static class BSParam (s) => { return ShouldUseHullsForPhysicalObjects; }, (s,v) => { ShouldUseHullsForPhysicalObjects = v; } ), new ParameterDefn("ShouldRemoveZeroWidthTriangles", "If true, remove degenerate triangles from meshes", - true, - (s) => { return ShouldRemoveZeroWidthTriangles; }, - (s,v) => { ShouldRemoveZeroWidthTriangles = v; } ), + true ), new ParameterDefn("ShouldUseBulletHACD", "If true, use the Bullet version of HACD", - false, - (s) => { return ShouldUseBulletHACD; }, - (s,v) => { ShouldUseBulletHACD = v; } ), + false ), new ParameterDefn("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims", - true, - (s) => { return ShouldUseSingleConvexHullForPrims; }, - (s,v) => { ShouldUseSingleConvexHullForPrims = v; } ), + true ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", - 5, - (s) => { return CrossingFailuresBeforeOutOfBounds; }, - (s,v) => { CrossingFailuresBeforeOutOfBounds = v; } ), + 5 ), new ParameterDefn("UpdateVelocityChangeThreshold", "Change in updated velocity required before reporting change to simulator", - 0.1f, - (s) => { return UpdateVelocityChangeThreshold; }, - (s,v) => { UpdateVelocityChangeThreshold = v; } ), + 0.1f ), new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 32f, @@ -422,18 +437,12 @@ public static class BSParam (s,v) => { MaxAddForceMagnitude = v; MaxAddForceMagnitudeSquared = v * v; } ), // Density is passed around as 100kg/m3. This scales that to 1kg/m3. new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)", - 0.01f, - (s) => { return DensityScaleFactor; }, - (s,v) => { DensityScaleFactor = v; } ), + 0.01f ), new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", - 2200f, - (s) => { return (float)PID_D; }, - (s,v) => { PID_D = v; } ), + 2200f ), new ParameterDefn("PID_P", "Parameteric factor for motion smoothing", - 900f, - (s) => { return (float)PID_P; }, - (s,v) => { PID_P = v; } ), + 900f ), new ParameterDefn("DefaultFriction", "Friction factor used on new objects", 0.2f, @@ -500,94 +509,50 @@ public static class BSParam (s,o) => { s.PE.SetContactProcessingThreshold(o.PhysBody, ContactProcessingThreshold); } ), new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", - (float)BSTerrainPhys.TerrainImplementation.Mesh, - (s) => { return TerrainImplementation; }, - (s,v) => { TerrainImplementation = v; } ), + (float)BSTerrainPhys.TerrainImplementation.Mesh ), new ParameterDefn("TerrainMeshMagnification", "Number of times the 256x256 heightmap is multiplied to create the terrain mesh" , - 2, - (s) => { return TerrainMeshMagnification; }, - (s,v) => { TerrainMeshMagnification = v; } ), + 2 ), new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , - 0.3f, - (s) => { return TerrainFriction; }, - (s,v) => { TerrainFriction = v; /* TODO: set on real terrain */} ), + 0.3f ), new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , - 0.8f, - (s) => { return TerrainHitFraction; }, - (s,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ), + 0.8f ), new ParameterDefn("TerrainRestitution", "Bouncyness" , - 0f, - (s) => { return TerrainRestitution; }, - (s,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ), + 0f ), new ParameterDefn("TerrainContactProcessingThreshold", "Distance from terrain to stop processing collisions" , - 0.0f, - (s) => { return TerrainContactProcessingThreshold; }, - (s,v) => { TerrainContactProcessingThreshold = v; /* TODO: set on real terrain */ } ), + 0.0f ), new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , - 0.08f, - (s) => { return TerrainCollisionMargin; }, - (s,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ), + 0.08f ), new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", - 0.2f, - (s) => { return AvatarFriction; }, - (s,v) => { AvatarFriction = v; } ), + 0.2f ), new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", - 0.95f, - (s) => { return AvatarStandingFriction; }, - (s,v) => { AvatarStandingFriction = v; } ), + 0.95f ), new ParameterDefn("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run", - 1.3f, - (s) => { return AvatarAlwaysRunFactor; }, - (s,v) => { AvatarAlwaysRunFactor = v; } ), + 1.3f ), new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", - 3.5f, - (s) => { return AvatarDensity; }, - (s,v) => { AvatarDensity = v; } ), + 3.5f) , new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", - 0f, - (s) => { return AvatarRestitution; }, - (s,v) => { AvatarRestitution = v; } ), + 0f ), new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", - 0.6f, - (s) => { return AvatarCapsuleWidth; }, - (s,v) => { AvatarCapsuleWidth = v; } ), + 0.6f ) , new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", - 0.45f, - (s) => { return AvatarCapsuleDepth; }, - (s,v) => { AvatarCapsuleDepth = v; } ), + 0.45f ), new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", - 1.5f, - (s) => { return AvatarCapsuleHeight; }, - (s,v) => { AvatarCapsuleHeight = v; } ), + 1.5f ), new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", - 0.1f, - (s) => { return AvatarContactProcessingThreshold; }, - (s,v) => { AvatarContactProcessingThreshold = v; } ), + 0.1f ), new ParameterDefn("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground", - 1.0f, - (s) => { return AvatarBelowGroundUpCorrectionMeters; }, - (s,v) => { AvatarBelowGroundUpCorrectionMeters = v; } ), + 1.0f ), new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction", - 0.6f, - (s) => { return AvatarStepHeight; }, - (s,v) => { AvatarStepHeight = v; } ), + 0.6f ) , new ParameterDefn("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)", - 0.6f, - (s) => { return AvatarStepApproachFactor; }, - (s,v) => { AvatarStepApproachFactor = v; } ), + 0.6f ), new ParameterDefn("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step", - 1.0f, - (s) => { return AvatarStepForceFactor; }, - (s,v) => { AvatarStepForceFactor = v; } ), + 1.0f ), new ParameterDefn("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step", - 1.0f, - (s) => { return AvatarStepUpCorrectionFactor; }, - (s,v) => { AvatarStepUpCorrectionFactor = v; } ), + 1.0f ), new ParameterDefn("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs", - 2, - (s) => { return AvatarStepSmoothingSteps; }, - (s,v) => { AvatarStepSmoothingSteps = v; } ), + 2 ), new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle", 1000.0f, @@ -598,37 +563,21 @@ public static class BSParam (s) => { return (float)VehicleMaxAngularVelocity; }, (s,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ), new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", - 0.0f, - (s) => { return VehicleAngularDamping; }, - (s,v) => { VehicleAngularDamping = v; } ), + 0.0f ), new ParameterDefn("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (<0,0,0> to <1,1,1>)", - new Vector3(1f, 1f, 1f), - (s) => { return VehicleLinearFactor; }, - (s,v) => { VehicleLinearFactor = v; } ), + new Vector3(1f, 1f, 1f) ), new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (<0,0,0> to <1,1,1>)", - new Vector3(1f, 1f, 1f), - (s) => { return VehicleAngularFactor; }, - (s,v) => { VehicleAngularFactor = v; } ), + new Vector3(1f, 1f, 1f) ), new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)", - 0.0f, - (s) => { return VehicleFriction; }, - (s,v) => { VehicleFriction = v; } ), + 0.0f ), new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", - 0.0f, - (s) => { return VehicleRestitution; }, - (s,v) => { VehicleRestitution = v; } ), + 0.0f ), new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", - 0.2f, - (s) => { return VehicleGroundGravityFudge; }, - (s,v) => { VehicleGroundGravityFudge = v; } ), + 0.2f ), new ParameterDefn("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.", - 60.0f, - (s) => { return VehicleAngularBankingTimescaleFudge; }, - (s,v) => { VehicleAngularBankingTimescaleFudge = v; } ), + 60.0f ), new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging", - false, - (s) => { return VehicleDebuggingEnabled; }, - (s,v) => { VehicleDebuggingEnabled = v; } ), + false ), new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 0f, @@ -673,99 +622,53 @@ public static class BSParam (s,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ), new ParameterDefn("CSHullMaxDepthSplit", "CS impl: max depth to split for hull. 1-10 but > 7 is iffy", - 7, - (s) => { return CSHullMaxDepthSplit; }, - (s,v) => { CSHullMaxDepthSplit = v; } ), + 7 ), new ParameterDefn("CSHullMaxDepthSplitForSimpleShapes", "CS impl: max depth setting for simple prim shapes", - 2, - (s) => { return CSHullMaxDepthSplitForSimpleShapes; }, - (s,v) => { CSHullMaxDepthSplitForSimpleShapes = v; } ), + 2 ), new ParameterDefn("CSHullConcavityThresholdPercent", "CS impl: concavity threshold percent (0-20)", - 5f, - (s) => { return CSHullConcavityThresholdPercent; }, - (s,v) => { CSHullConcavityThresholdPercent = v; } ), + 5f ), new ParameterDefn("CSHullVolumeConservationThresholdPercent", "percent volume conservation to collapse hulls (0-30)", - 5f, - (s) => { return CSHullVolumeConservationThresholdPercent; }, - (s,v) => { CSHullVolumeConservationThresholdPercent = v; } ), + 5f ), new ParameterDefn("CSHullMaxVertices", "CS impl: maximum number of vertices in output hulls. Keep < 50.", - 32, - (s) => { return CSHullMaxVertices; }, - (s,v) => { CSHullMaxVertices = v; } ), + 32 ), new ParameterDefn("CSHullMaxSkinWidth", "CS impl: skin width to apply to output hulls.", - 0f, - (s) => { return CSHullMaxSkinWidth; }, - (s,v) => { CSHullMaxSkinWidth = v; } ), + 0f ), new ParameterDefn("BHullMaxVerticesPerHull", "Bullet impl: max number of vertices per created hull", - 100f, - (s) => { return BHullMaxVerticesPerHull; }, - (s,v) => { BHullMaxVerticesPerHull = v; } ), + 100f ), new ParameterDefn("BHullMinClusters", "Bullet impl: minimum number of hulls to create per mesh", - 2f, - (s) => { return BHullMinClusters; }, - (s,v) => { BHullMinClusters = v; } ), + 2f ), new ParameterDefn("BHullCompacityWeight", "Bullet impl: weight factor for how compact to make hulls", - 2f, - (s) => { return BHullCompacityWeight; }, - (s,v) => { BHullCompacityWeight = v; } ), + 0.1f ), new ParameterDefn("BHullVolumeWeight", "Bullet impl: weight factor for volume in created hull", - 0.1f, - (s) => { return BHullVolumeWeight; }, - (s,v) => { BHullVolumeWeight = v; } ), + 0f ), new ParameterDefn("BHullConcavity", "Bullet impl: weight factor for how convex a created hull can be", - 100f, - (s) => { return BHullConcavity; }, - (s,v) => { BHullConcavity = v; } ), + 100f ), new ParameterDefn("BHullAddExtraDistPoints", "Bullet impl: whether to add extra vertices for long distance vectors", - false, - (s) => { return BHullAddExtraDistPoints; }, - (s,v) => { BHullAddExtraDistPoints = v; } ), + false ), new ParameterDefn("BHullAddNeighboursDistPoints", "Bullet impl: whether to add extra vertices between neighbor hulls", - false, - (s) => { return BHullAddNeighboursDistPoints; }, - (s,v) => { BHullAddNeighboursDistPoints = v; } ), + false ), new ParameterDefn("BHullAddFacesPoints", "Bullet impl: whether to add extra vertices to break up hull faces", - false, - (s) => { return BHullAddFacesPoints; }, - (s,v) => { BHullAddFacesPoints = v; } ), + false ), new ParameterDefn("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin", - false, - (s) => { return BHullShouldAdjustCollisionMargin; }, - (s,v) => { BHullShouldAdjustCollisionMargin = v; } ), + false ), new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", - (float)BSLinkset.LinksetImplementation.Compound, - (s) => { return LinksetImplementation; }, - (s,v) => { LinksetImplementation = v; } ), + (float)BSLinkset.LinksetImplementation.Compound ), new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", - false, - (s) => { return LinkConstraintUseFrameOffset; }, - (s,v) => { LinkConstraintUseFrameOffset = v; } ), + false ), new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", - true, - (s) => { return LinkConstraintEnableTransMotor; }, - (s,v) => { LinkConstraintEnableTransMotor = v; } ), + true ), new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints", - 5.0f, - (s) => { return LinkConstraintTransMotorMaxVel; }, - (s,v) => { LinkConstraintTransMotorMaxVel = v; } ), + 5.0f ), new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints", - 0.1f, - (s) => { return LinkConstraintTransMotorMaxForce; }, - (s,v) => { LinkConstraintTransMotorMaxForce = v; } ), + 0.1f ), new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1", - 0.1f, - (s) => { return LinkConstraintCFM; }, - (s,v) => { LinkConstraintCFM = v; } ), + 0.1f ), new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", - 0.1f, - (s) => { return LinkConstraintERP; }, - (s,v) => { LinkConstraintERP = v; } ), + 0.1f ), new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", - 40, - (s) => { return LinkConstraintSolverIterations; }, - (s,v) => { LinkConstraintSolverIterations = v; } ), + 40 ), new ParameterDefn("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)", 0, -- cgit v1.1 From 045aaa838ac0a6e129ff1d8ec65053508df1d51a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 6 May 2013 13:29:19 -0700 Subject: BulletSim: remove friction calcuation from BSMotor and move linear and angular friction computation into linear and angular movement code. The friction wasn't being applied properly. This will make it so vehicles don't drift as much and the drift is tunable by changing the friction timescales. --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 1 - .../Region/Physics/BulletSPlugin/BSActorHover.cs | 1 - .../Physics/BulletSPlugin/BSActorMoveToTarget.cs | 1 - .../Physics/BulletSPlugin/BSActorSetForce.cs | 2 +- .../Physics/BulletSPlugin/BSActorSetTorque.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 44 ++++++++++----- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 63 +++++----------------- 7 files changed, 47 insertions(+), 67 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 4e067b5..ac8c30c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -118,7 +118,6 @@ public class BSActorAvatarMove : BSActor m_velocityMotor = new BSVMotor("BSCharacter.Velocity", 0.2f, // time scale BSMotor.Infinite, // decay time scale - BSMotor.InfiniteVector, // friction timescale 1f // efficiency ); // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs index 3630ca8..8a79809 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs @@ -102,7 +102,6 @@ public class BSActorHover : BSActor m_hoverMotor = new BSFMotor("BSActorHover", m_controllingPrim.HoverTau, // timeScale BSMotor.Infinite, // decay time scale - BSMotor.Infinite, // friction timescale 1f // efficiency ); m_hoverMotor.SetTarget(ComputeCurrentHoverHeight()); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs index 1b598fd..75ff24e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs @@ -105,7 +105,6 @@ public class BSActorMoveToTarget : BSActor m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate", m_controllingPrim.MoveToTargetTau, // timeScale BSMotor.Infinite, // decay time scale - BSMotor.InfiniteVector, // friction timescale 1f // efficiency ); m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs index c0f40fd..96fa0b6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs @@ -101,7 +101,7 @@ public class BSActorSetForce : BSActor if (m_forceMotor == null) { // A fake motor that might be used someday - m_forceMotor = new BSFMotor("setForce", 1f, 1f, 1f, 1f); + m_forceMotor = new BSFMotor("setForce", 1f, 1f, 1f); m_physicsScene.BeforeStep += Mover; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs index b3806e1..65098e1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs @@ -101,7 +101,7 @@ public class BSActorSetTorque : BSActor if (m_torqueMotor == null) { // A fake motor that might be used someday - m_torqueMotor = new BSFMotor("setTorque", 1f, 1f, 1f, 1f); + m_torqueMotor = new BSFMotor("setTorque", 1f, 1f, 1f); m_physicsScene.BeforeStep += Mover; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 0dd2aa5..272a162 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -235,7 +235,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // set all of the components to the same value case Vehicle.ANGULAR_FRICTION_TIMESCALE: m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); - m_angularMotor.FrictionTimescale = m_angularFrictionTimescale; break; case Vehicle.ANGULAR_MOTOR_DIRECTION: m_angularMotorDirection = new Vector3(pValue, pValue, pValue); @@ -244,7 +243,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); - m_linearMotor.FrictionTimescale = m_linearFrictionTimescale; break; case Vehicle.LINEAR_MOTOR_DIRECTION: m_linearMotorDirection = new Vector3(pValue, pValue, pValue); @@ -265,7 +263,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin { case Vehicle.ANGULAR_FRICTION_TIMESCALE: m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_angularMotor.FrictionTimescale = m_angularFrictionTimescale; break; case Vehicle.ANGULAR_MOTOR_DIRECTION: // Limit requested angular speed to 2 rps= 4 pi rads/sec @@ -278,7 +275,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_linearMotor.FrictionTimescale = m_linearFrictionTimescale; break; case Vehicle.LINEAR_MOTOR_DIRECTION: m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); @@ -559,14 +555,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; } - m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, - m_linearMotorDecayTimescale, m_linearFrictionTimescale, - 1f); + m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, 1f); m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) - m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, - m_angularMotorDecayTimescale, m_angularFrictionTimescale, - 1f); + m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, m_angularMotorDecayTimescale, 1f); m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) /* Not implemented @@ -574,7 +566,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin BSMotor.Infinite, BSMotor.InfiniteVector, m_verticalAttractionEfficiency); // Z goes away and we keep X and Y - m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f); m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) */ @@ -1050,8 +1041,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Add this correction to the velocity to make it faster/slower. VehicleVelocity += linearMotorVelocityW; - VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5}", - ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity); + // Friction reduces vehicle motion + Vector3 frictionFactor = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep); + VehicleVelocity -= (VehicleVelocity * frictionFactor); + + VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}", + ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, + linearMotorVelocityW, VehicleVelocity, frictionFactor); } public void ComputeLinearTerrainHeightCorrection(float pTimestep) @@ -1342,6 +1338,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // } VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; + + // Reduce any velocity by friction. + Vector3 frictionFactor = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep); + VehicleRotationalVelocity -= (VehicleRotationalVelocity * frictionFactor); + VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", ControllingPrim.LocalID, angularMotorContributionV); } @@ -1629,6 +1630,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin } + // Given a friction vector (reduction in seconds) and a timestep, return the factor to reduce + // some value by to apply this friction. + private Vector3 ComputeFrictionFactor(Vector3 friction, float pTimestep) + { + Vector3 frictionFactor = Vector3.Zero; + if (friction != BSMotor.InfiniteVector) + { + // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; + // Individual friction components can be 'infinite' so compute each separately. + frictionFactor.X = (friction.X == BSMotor.Infinite) ? 0f : (1f / friction.X); + frictionFactor.Y = (friction.Y == BSMotor.Infinite) ? 0f : (1f / friction.Y); + frictionFactor.Z = (friction.Z == BSMotor.Infinite) ? 0f : (1f / friction.Z); + frictionFactor *= pTimestep; + } + return frictionFactor; + } + private float ClampInRange(float low, float val, float high) { return Math.Max(low, Math.Min(val, high)); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 0128d8d..ef662b5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -65,13 +65,11 @@ public abstract class BSMotor } // Motor which moves CurrentValue to TargetValue over TimeScale seconds. -// The TargetValue decays in TargetValueDecayTimeScale and -// the CurrentValue will be held back by FrictionTimeScale. +// The TargetValue decays in TargetValueDecayTimeScale. // This motor will "zero itself" over time in that the targetValue will // decay to zero and the currentValue will follow it to that zero. // The overall effect is for the returned correction value to go from large -// values (the total difference between current and target minus friction) -// to small and eventually zero values. +// values to small and eventually zero values. // TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay. // For instance, if something is moving at speed X and the desired speed is Y, @@ -88,7 +86,6 @@ public class BSVMotor : BSMotor public virtual float TimeScale { get; set; } public virtual float TargetValueDecayTimeScale { get; set; } - public virtual Vector3 FrictionTimescale { get; set; } public virtual float Efficiency { get; set; } public virtual float ErrorZeroThreshold { get; set; } @@ -111,16 +108,14 @@ public class BSVMotor : BSMotor { TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite; Efficiency = 1f; - FrictionTimescale = BSMotor.InfiniteVector; CurrentValue = TargetValue = Vector3.Zero; ErrorZeroThreshold = 0.001f; } - public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) + public BSVMotor(string useName, float timeScale, float decayTimeScale, float efficiency) : this(useName) { TimeScale = timeScale; TargetValueDecayTimeScale = decayTimeScale; - FrictionTimescale = frictionTimeScale; Efficiency = efficiency; CurrentValue = TargetValue = Vector3.Zero; } @@ -165,26 +160,11 @@ public class BSVMotor : BSMotor TargetValue *= (1f - decayFactor); } - // The amount we can correct the error is reduced by the friction - Vector3 frictionFactor = Vector3.Zero; - if (FrictionTimescale != BSMotor.InfiniteVector) - { - // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; - // Individual friction components can be 'infinite' so compute each separately. - frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X); - frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y); - frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z); - frictionFactor *= timeStep; - CurrentValue *= (Vector3.One - frictionFactor); - } - MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, timeStep, error, correction); - MDetailLog("{0}, BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}", - BSScene.DetailLogZero, UseName, - TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor, - TargetValue, CurrentValue); + MDetailLog("{0}, BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}", + BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue); } else { @@ -235,9 +215,9 @@ public class BSVMotor : BSMotor // maximum number of outputs to generate. int maxOutput = 50; MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName); - MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}", + MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},eff={4},curr={5},tgt={6}", BSScene.DetailLogZero, UseName, - TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, + TimeScale, TargetValueDecayTimeScale, Efficiency, CurrentValue, TargetValue); LastError = BSMotor.InfiniteVector; @@ -254,8 +234,8 @@ public class BSVMotor : BSMotor public override string ToString() { - return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>", - UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale); + return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>", + UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale); } } @@ -265,7 +245,6 @@ public class BSFMotor : BSMotor { public virtual float TimeScale { get; set; } public virtual float TargetValueDecayTimeScale { get; set; } - public virtual float FrictionTimescale { get; set; } public virtual float Efficiency { get; set; } public virtual float ErrorZeroThreshold { get; set; } @@ -283,12 +262,11 @@ public class BSFMotor : BSMotor return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold); } - public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency) + public BSFMotor(string useName, float timeScale, float decayTimescale, float efficiency) : base(useName) { TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite; Efficiency = 1f; - FrictionTimescale = BSMotor.Infinite; CurrentValue = TargetValue = 0f; ErrorZeroThreshold = 0.01f; } @@ -331,24 +309,11 @@ public class BSFMotor : BSMotor TargetValue *= (1f - decayFactor); } - // The amount we can correct the error is reduced by the friction - float frictionFactor = 0f; - if (FrictionTimescale != BSMotor.Infinite) - { - // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; - // Individual friction components can be 'infinite' so compute each separately. - frictionFactor = 1f / FrictionTimescale; - frictionFactor *= timeStep; - CurrentValue *= (1f - frictionFactor); - } - MDetailLog("{0}, BSFMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, timeStep, error, correction); - MDetailLog("{0}, BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}", - BSScene.DetailLogZero, UseName, - TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor, - TargetValue, CurrentValue); + MDetailLog("{0}, BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}", + BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue); } else { @@ -390,8 +355,8 @@ public class BSFMotor : BSMotor public override string ToString() { - return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>", - UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale); + return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>", + UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale); } } -- cgit v1.1 From 93e1986d690cda415c9cce639a2656bc773a9a29 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 6 May 2013 16:48:01 -0700 Subject: BulletSim: apply linear and angular friction in vehicle coordinates and not world coordinates. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 272a162..04ea289 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1042,12 +1042,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleVelocity += linearMotorVelocityW; // Friction reduces vehicle motion - Vector3 frictionFactor = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep); - VehicleVelocity -= (VehicleVelocity * frictionFactor); + Vector3 frictionFactorW = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep) * VehicleOrientation; + VehicleVelocity -= (VehicleVelocity * frictionFactorW); VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}", ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, - linearMotorVelocityW, VehicleVelocity, frictionFactor); + linearMotorVelocityW, VehicleVelocity, frictionFactorW); } public void ComputeLinearTerrainHeightCorrection(float pTimestep) @@ -1340,10 +1340,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; // Reduce any velocity by friction. - Vector3 frictionFactor = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep); - VehicleRotationalVelocity -= (VehicleRotationalVelocity * frictionFactor); + Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep) * VehicleOrientation; + VehicleRotationalVelocity -= (VehicleRotationalVelocity * frictionFactorW); - VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", ControllingPrim.LocalID, angularMotorContributionV); + VDetailLog("{0}, MoveAngular,angularTurning,angContribV={1}", ControllingPrim.LocalID, angularMotorContributionV); } // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: -- cgit v1.1 From 84118c5735f49bb38ded2ccc72b1bd7d39c09010 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 6 May 2013 18:05:37 -0700 Subject: BulletSim: properly free references to simple convex hull shapes. Didn't loose memory since shapes are shared but did mess up usage accounting. --- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 45 +++++++++++++++++++----- 1 file changed, 37 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 3e4ee5a..9d47657 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -117,11 +117,11 @@ public abstract class BSShape StringBuilder buff = new StringBuilder(); if (physShapeInfo == null) { - buff.Append(",noPhys"); + buff.Append(" --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 04ea289..e93dbd7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1028,6 +1028,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation); Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV); + // Friction reduces vehicle motion + Vector3 frictionFactorW = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep); + linearMotorCorrectionV -= (currentVelV * frictionFactorW); + // Motor is vehicle coordinates. Rotate it to world coordinates Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation; @@ -1041,9 +1045,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Add this correction to the velocity to make it faster/slower. VehicleVelocity += linearMotorVelocityW; - // Friction reduces vehicle motion - Vector3 frictionFactorW = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep) * VehicleOrientation; - VehicleVelocity -= (VehicleVelocity * frictionFactorW); + VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}", ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, -- cgit v1.1 From ac6dcd35fb77f118fc6c3d72cb029591306c7e99 Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Mon, 6 May 2013 21:19:48 -0400 Subject: Bulletsim: and the rotational friction. Signed-off-by: Robert Adams --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index e93dbd7..c16b7d3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1339,11 +1339,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // angularMotorContributionV.Y = 0f; // } + // Reduce any velocity by friction. + Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep); + angularMotorContributionV -= (currentAngularV * frictionFactorW); + VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; - // Reduce any velocity by friction. - Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep) * VehicleOrientation; - VehicleRotationalVelocity -= (VehicleRotationalVelocity * frictionFactorW); + VDetailLog("{0}, MoveAngular,angularTurning,angContribV={1}", ControllingPrim.LocalID, angularMotorContributionV); } -- cgit v1.1 From a42bb799cca27c0dddbecbd2edd2bd5e6d379472 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 10 May 2013 14:48:52 -0700 Subject: BulletSim: fix CPU loop that occurs when any 'degenerate' sculptie is in a region. This fixes the high CPU usage for regions with nothing else going on. --- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 9d47657..262d734 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -368,9 +368,10 @@ public class BSShapeMesh : BSShape // Check to see if mesh was created (might require an asset). newShape = VerifyMeshCreated(physicsScene, newShape, prim); - if (!newShape.isNativeShape) + if (!newShape.isNativeShape || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) { // If a mesh was what was created, remember the built shape for later sharing. + // Also note that if meshing failed we put it in the mesh list as there is nothing else to do about the mesh. Meshes.Add(newMeshKey, retMesh); } @@ -481,8 +482,11 @@ public class BSShapeMesh : BSShape } else { + // Force the asset condition to 'failed' so we won't try to keep fetching and processing this mesh. + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; physicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim {1} at {2} in {3}", LogHeader, prim.PhysObjectName, prim.RawPosition, physicsScene.Name); + physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,allDegenerate,key={1}", prim.LocalID, newMeshKey); } } newShape.shapeKey = newMeshKey; @@ -521,7 +525,7 @@ public class BSShapeHull : BSShape // Check to see if hull was created (might require an asset). newShape = VerifyMeshCreated(physicsScene, newShape, prim); - if (!newShape.isNativeShape) + if (!newShape.isNativeShape || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) { // If a mesh was what was created, remember the built shape for later sharing. Hulls.Add(newHullKey, retHull); -- cgit v1.1 From 45f37e11ad6e9a9917a6ea07ec52dec9058393f0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 13 May 2013 08:40:24 -0700 Subject: BulletSim: use heightmap terrain when using BulletXNA. Output messages on features disabled when using BulletXNA. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++++ 2 files changed, 5 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 3ca7e16..5504478 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -90,7 +90,7 @@ public static class BSParam public static bool ShouldUseBulletHACD { get; set; } public static bool ShouldUseSingleConvexHullForPrims { get; set; } - public static float TerrainImplementation { get; private set; } + public static float TerrainImplementation { get; set; } public static int TerrainMeshMagnification { get; private set; } public static float TerrainFriction { get; private set; } public static float TerrainHitFraction { get; private set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index a4a8794..3f407ce 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -318,8 +318,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters ret = new BSAPIXNA(engineName, this); // Disable some features that are not implemented in BulletXNA m_log.InfoFormat("{0} Disabling some physics features not implemented by BulletXNA", LogHeader); + m_log.InfoFormat("{0} Disabling ShouldUseBulletHACD", LogHeader); BSParam.ShouldUseBulletHACD = false; + m_log.InfoFormat("{0} Disabling ShouldUseSingleConvexHullForPrims", LogHeader); BSParam.ShouldUseSingleConvexHullForPrims = false; + m_log.InfoFormat("{0} Setting terrain implimentation to Heightmap", LogHeader); + BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap; break; } -- cgit v1.1 From 15360cbb6ba83e40f474cca84082c908af49c58e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 13 May 2013 13:03:13 -0700 Subject: BulletSim: add adjustment for avatar capsule height scaling. Makes avatar standing on ground view better and enables tuning. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 27 ++++++++++++++++++---- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 9 ++++++++ 2 files changed, 32 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 542f732..3671fc2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -1,4 +1,4 @@ -/* +/* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * @@ -649,12 +649,12 @@ public sealed class BSCharacter : BSPhysObject OMV.Vector3 newScale; // Bullet's capsule total height is the "passed height + radius * 2"; - // The base capsule is 1 diameter and 2 height (passed radius=0.5, passed height = 1) + // The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1) // The number we pass in for 'scaling' is the multiplier to get that base // shape to be the size desired. // So, when creating the scale for the avatar height, we take the passed height // (size.Z) and remove the caps. - // Another oddity of the Bullet capsule implementation is that it presumes the Y + // An oddity of the Bullet capsule implementation is that it presumes the Y // dimension is the radius of the capsule. Even though some of the code allows // for a asymmetrical capsule, other parts of the code presume it is cylindrical. @@ -662,8 +662,27 @@ public sealed class BSCharacter : BSPhysObject newScale.X = size.X / 2f; newScale.Y = size.Y / 2f; + float heightAdjust = BSParam.AvatarHeightMidFudge; + if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f) + { + // An avatar is between 1.61 and 2.12 meters. Midpoint is 1.87m. + // The "times 4" relies on the fact that the difference from the midpoint to the extremes is exactly 0.25 + float midHeightOffset = size.Z - 1.87f; + if (midHeightOffset < 0f) + { + // Small avatar. Add the adjustment based on the distance from midheight + heightAdjust += -1f * midHeightOffset * 4f * BSParam.AvatarHeightLowFudge; + } + else + { + // Large avatar. Add the adjustment based on the distance from midheight + heightAdjust += midHeightOffset * 4f * BSParam.AvatarHeightHighFudge; + } + } // The total scale height is the central cylindar plus the caps on the two ends. - newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2)) / 2f; + newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f; + // m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale); + // If smaller than the endcaps, just fake like we're almost that small if (newScale.Z < 0) newScale.Z = 0.1f; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 5504478..d33292f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -125,6 +125,9 @@ public static class BSParam public static float AvatarCapsuleWidth { get; private set; } public static float AvatarCapsuleDepth { get; private set; } public static float AvatarCapsuleHeight { get; private set; } + public static float AvatarHeightLowFudge { get; private set; } + public static float AvatarHeightMidFudge { get; private set; } + public static float AvatarHeightHighFudge { get; private set; } public static float AvatarContactProcessingThreshold { get; private set; } public static float AvatarBelowGroundUpCorrectionMeters { get; private set; } public static float AvatarStepHeight { get; private set; } @@ -539,6 +542,12 @@ public static class BSParam 0.45f ), new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", 1.5f ), + new ParameterDefn("AvatarHeightLowFudge", "A fudge factor to make small avatars stand on the ground", + -0.2f ), + new ParameterDefn("AvatarHeightMidFudge", "A fudge distance to adjust average sized avatars to be standing on ground", + 0.1f ), + new ParameterDefn("AvatarHeightHighFudge", "A fudge factor to make tall avatars stand on the ground", + 0.1f ), new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 0.1f ), new ParameterDefn("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground", -- cgit v1.1 From c86e828dbfed8b9cf72c7e7e8d1dad0c0e9f8940 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 13 May 2013 13:05:27 -0700 Subject: BulletSim: add a lock to try and catch a native shape creation/destruction race condition. --- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 262d734..72d039b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -283,8 +283,13 @@ public class BSShapeNative : BSShape public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) { // Native shapes are not shared so we return a new shape. - return new BSShapeNative(CreatePhysicalNativeShape(pPhysicsScene, pPrim, - physShapeInfo.shapeType, (FixedShapeKey)physShapeInfo.shapeKey) ); + BSShape ret = null; + lock (physShapeInfo) + { + ret = new BSShapeNative(CreatePhysicalNativeShape(pPhysicsScene, pPrim, + physShapeInfo.shapeType, (FixedShapeKey)physShapeInfo.shapeKey)); + } + return ret; } // Make this reference to the physical shape go away since native shapes are not shared. -- cgit v1.1 From b135f1d58a1f3532cb198bf25680864e335d4cb1 Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Thu, 9 May 2013 10:25:44 -0400 Subject: BulletSim: Fix for mantis 6487, also minor adjustment to fix flying while you are running. Signed-off-by: Robert Adams --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 3671fc2..ff5b6ab 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -419,7 +419,7 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value); m_targetVelocity = value; OMV.Vector3 targetVel = value; - if (_setAlwaysRun) + if (_setAlwaysRun && !_flying) targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 0f); if (m_moveActor != null) @@ -481,7 +481,10 @@ public sealed class BSCharacter : BSPhysObject _orientation = value; PhysScene.TaintedObject("BSCharacter.setOrientation", delegate() { - ForceOrientation = _orientation; + // Bullet assumes we know what we are doing when forcing orientation + // so it lets us go against all the rules and just compensates for them later. + // This keeps us from flipping the capsule over which the veiwer does not understand. + ForceOrientation = new OMV.Quaternion(0, 0, _orientation.Z,0); }); } } -- cgit v1.1 From 214bae14799c05c12595b067ff2eb0e2e5b4eeb2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 17 May 2013 14:43:53 -0700 Subject: BulletSim: fix BulletSim crashing if there is no [BulletSim] section in any INI file. Update TODO list. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 6 ++++++ OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 14 ++++++-------- 2 files changed, 12 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 3f407ce..9ed2d06 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -268,6 +268,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Do any replacements in the parameters m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName); } + else + { + BulletEngineName = "BulletUnmanaged"; + m_physicsLoggingEnabled = false; + VehicleLoggingEnabled = false; + } // The material characteristics. BSMaterials.InitializeFromDefaults(Params); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 5792ae6..df1da63 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,16 +1,12 @@ -PROBLEMS TO LOOK INTO +CURRENT PROBLEMS TO FIX AND/OR LOOK AT ================================================= -Nebadon vehicle ride, get up, ride again. Second time vehicle does not act correctly. +Script changing rotation of child prim while vehicle moving (eg turning wheel) causes + the wheel to appear to jump back. Looks like sending position from previous update. +Vehicle ride, get up, ride again. Second time vehicle does not act correctly. Have to rez new vehicle and delete the old to fix situation. Hitting RESET on Nebadon's vehicle while riding causes vehicle to get into odd position state where it will not settle onto ground properly, etc Two of Nebadon vehicles in a sim max the CPU. This is new. -A sitting, active vehicle bobs up and down a small amount. - -CURRENT PRIORITIES -================================================= -Use the HACD convex hull routine in Bullet rather than the C# version. - Speed up hullifying large meshes. Enable vehicle border crossings (at least as poorly as ODE) Terrain skirts Avatar created in previous region and not new region when crossing border @@ -361,4 +357,6 @@ Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. Nebadon vehicles turning funny in arena (DONE) Lock axis (DONE 20130401) Terrain detail: double terrain mesh detail (DONE) +Use the HACD convex hull routine in Bullet rather than the C# version. + Speed up hullifying large meshes. (DONE) -- cgit v1.1 From 9de3979f5b91ae4bf9b05b89ec59999c43514f90 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 17 May 2013 21:17:54 -0700 Subject: BulletSim: add gImpact shape type. Add logic to use gImpact shape for prims that have cuts or holes. Default logic to 'off' as it needs debugging. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 15 +++ OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 11 +- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 5 + OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 + OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 + .../Physics/BulletSPlugin/BSShapeCollection.cs | 15 ++- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 130 +++++++++++++++++++-- 7 files changed, 167 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 231f0f8..12a0c17 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -251,6 +251,16 @@ public override BulletShape CreateMeshShape(BulletWorld world, BSPhysicsShapeType.SHAPE_MESH); } +public override BulletShape CreateGImpactShape(BulletWorld world, + int indicesCount, int[] indices, + int verticesCount, float[] vertices) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateGImpactShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices), + BSPhysicsShapeType.SHAPE_GIMPACT); +} + public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls) { BulletWorldUnman worldu = world as BulletWorldUnman; @@ -1426,6 +1436,11 @@ public static extern IntPtr CreateMeshShape2(IntPtr world, int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateGImpactShape2(IntPtr world, + int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, + int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateHullShape2(IntPtr world, int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 59780ae..6db5f5e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -1475,7 +1475,7 @@ private sealed class BulletConstraintXNA : BulletConstraint ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_MESH; + ret = BSPhysicsShapeType.SHAPE_CONVEXHULL; break; case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE: ret = BSPhysicsShapeType.SHAPE_HULL; @@ -1503,7 +1503,7 @@ private sealed class BulletConstraintXNA : BulletConstraint ret = BSPhysicsShapeType.SHAPE_CONE; break; case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_CONVEXHULL; break; case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: ret = BSPhysicsShapeType.SHAPE_CYLINDER; @@ -1547,7 +1547,7 @@ private sealed class BulletConstraintXNA : BulletConstraint break; ///Used for GIMPACT Trimesh integration case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_MESH; + ret = BSPhysicsShapeType.SHAPE_GIMPACT; break; ///Multimaterial mesh case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE: @@ -1820,6 +1820,11 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH); } + public override BulletShape CreateGImpactShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) + { + // TODO: + return null; + } public static void DumpRaw(ObjectArrayindices, ObjectArray vertices, int pIndicesCount,int pVerticesCount ) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 3378c93..6cdc112 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -71,6 +71,7 @@ public enum BSPhysicsShapeType SHAPE_HEIGHTMAP = 23, SHAPE_AVATAR = 24, SHAPE_CONVEXHULL= 25, + SHAPE_GIMPACT = 26, }; // The native shapes have predefined shape hash keys @@ -321,6 +322,10 @@ public abstract BulletShape CreateMeshShape(BulletWorld world, int indicesCount, int[] indices, int verticesCount, float[] vertices ); +public abstract BulletShape CreateGImpactShape(BulletWorld world, + int indicesCount, int[] indices, + int verticesCount, float[] vertices ); + public abstract BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index d33292f..9a9e527 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -89,6 +89,7 @@ public static class BSParam public static bool ShouldRemoveZeroWidthTriangles { get; private set; } public static bool ShouldUseBulletHACD { get; set; } public static bool ShouldUseSingleConvexHullForPrims { get; set; } + public static bool ShouldUseGImpactShapeForPrims { get; set; } public static float TerrainImplementation { get; set; } public static int TerrainMeshMagnification { get; private set; } @@ -369,6 +370,8 @@ public static class BSParam false ), new ParameterDefn("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims", true ), + new ParameterDefn("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists", + false ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", 5 ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 9ed2d06..39f5b0a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -328,6 +328,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters BSParam.ShouldUseBulletHACD = false; m_log.InfoFormat("{0} Disabling ShouldUseSingleConvexHullForPrims", LogHeader); BSParam.ShouldUseSingleConvexHullForPrims = false; + m_log.InfoFormat("{0} Disabling ShouldUseGImpactShapeForPrims", LogHeader); + BSParam.ShouldUseGImpactShapeForPrims = false; m_log.InfoFormat("{0} Setting terrain implimentation to Heightmap", LogHeader); BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap; break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 64aaa15..32bbc8f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -230,6 +230,7 @@ public sealed class BSShapeCollection : IDisposable BSShape potentialHull = null; PrimitiveBaseShape pbs = prim.BaseShape; + // Use a simple, one section convex shape for prims that are probably convex (no cuts or twists) if (BSParam.ShouldUseSingleConvexHullForPrims && pbs != null && !pbs.SculptEntry @@ -238,7 +239,17 @@ public sealed class BSShapeCollection : IDisposable { potentialHull = BSShapeConvexHull.GetReference(m_physicsScene, false /* forceRebuild */, prim); } - else + // Use the GImpact shape if it is a prim that has some concaveness + if (potentialHull == null + && BSParam.ShouldUseGImpactShapeForPrims + && pbs != null + && !pbs.SculptEntry + ) + { + potentialHull = BSShapeGImpact.GetReference(m_physicsScene, false /* forceRebuild */, prim); + } + // If not any of the simple cases, just make a hull + if (potentialHull == null) { potentialHull = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim); } @@ -261,7 +272,7 @@ public sealed class BSShapeCollection : IDisposable } else { - // Update prim.BSShape to reference a mesh of this shape. + // Non-physical objects should be just meshes. BSShape potentialMesh = BSShapeMesh.GetReference(m_physicsScene, false /*forceRebuild*/, prim); // If the current shape is not what is on the prim at the moment, time to change. if (!prim.PhysShape.HasPhysicalShape diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 72d039b..0152233 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -422,9 +422,22 @@ public class BSShapeMesh : BSShape outMesh = foundDesc; return ret; } + + public delegate BulletShape CreateShapeCall(BulletWorld world, int indicesCount, int[] indices, int verticesCount, float[] vertices ); private BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { + return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod, + (w, iC, i, vC, v) => physicsScene.PE.CreateMeshShape(w, iC, i, vC, v) ); + } + + // Code that uses the mesher to create the index/vertices info for a trimesh shape. + // This is used by the passed 'makeShape' call to create the Bullet mesh shape. + // The actual build call is passed so this logic can be used by several of the shapes that use a + // simple mesh as their base shape. + public static BulletShape CreatePhysicalMeshShape(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, + PrimitiveBaseShape pbs, OMV.Vector3 size, float lod, CreateShapeCall makeShape) + { BulletShape newShape = new BulletShape(); IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, @@ -482,8 +495,7 @@ public class BSShapeMesh : BSShape if (realIndicesIndex != 0) { - newShape = physicsScene.PE.CreateMeshShape(physicsScene.World, - realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats); + newShape = makeShape(physicsScene.World, realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats); } else { @@ -803,6 +815,7 @@ public class BSShapeCompound : BSShape // Called at taint-time. private void DereferenceAnonCollisionShape(BSScene physicsScene, BulletShape pShape) { + // TODO: figure a better way to go through all the shape types and find a possible instance. BSShapeMesh meshDesc; if (BSShapeMesh.TryGetMeshByPtr(pShape, out meshDesc)) { @@ -824,17 +837,25 @@ public class BSShapeCompound : BSShape } else { - if (physicsScene.PE.IsCompound(pShape)) + BSShapeGImpact gImpactDesc; + if (BSShapeGImpact.TryGetGImpactByPtr(pShape, out gImpactDesc)) { - BSShapeCompound recursiveCompound = new BSShapeCompound(pShape); - recursiveCompound.Dereference(physicsScene); + gImpactDesc.Dereference(physicsScene); } else { - if (physicsScene.PE.IsNativeShape(pShape)) + if (physicsScene.PE.IsCompound(pShape)) + { + BSShapeCompound recursiveCompound = new BSShapeCompound(pShape); + recursiveCompound.Dereference(physicsScene); + } + else { - BSShapeNative nativeShape = new BSShapeNative(pShape); - nativeShape.Dereference(physicsScene); + if (physicsScene.PE.IsNativeShape(pShape)) + { + BSShapeNative nativeShape = new BSShapeNative(pShape); + nativeShape.Dereference(physicsScene); + } } } } @@ -857,7 +878,7 @@ public class BSShapeConvexHull : BSShape float lod; System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - physicsScene.DetailLog("{0},BSShapeMesh,getReference,newKey={1},size={2},lod={3}", + physicsScene.DetailLog("{0},BSShapeConvexHull,getReference,newKey={1},size={2},lod={3}", prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod); BSShapeConvexHull retConvexHull = null; @@ -937,6 +958,97 @@ public class BSShapeConvexHull : BSShape return ret; } } +// ============================================================================================================ +public class BSShapeGImpact : BSShape +{ + private static string LogHeader = "[BULLETSIM SHAPE GIMPACT]"; + public static Dictionary GImpacts = new Dictionary(); + + public BSShapeGImpact(BulletShape pShape) : base(pShape) + { + } + public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) + { + float lod; + System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); + + physicsScene.DetailLog("{0},BSShapeGImpact,getReference,newKey={1},size={2},lod={3}", + prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod); + + BSShapeGImpact retGImpact = null; + lock (GImpacts) + { + if (GImpacts.TryGetValue(newMeshKey, out retGImpact)) + { + // The mesh has already been created. Return a new reference to same. + retGImpact.IncrementReference(); + } + else + { + retGImpact = new BSShapeGImpact(new BulletShape()); + BulletShape newShape = retGImpact.CreatePhysicalGImpact(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod); + + // Check to see if mesh was created (might require an asset). + newShape = VerifyMeshCreated(physicsScene, newShape, prim); + if (!newShape.isNativeShape || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) + { + // If a mesh was what was created, remember the built shape for later sharing. + // Also note that if meshing failed we put it in the mesh list as there is nothing else to do about the mesh. + GImpacts.Add(newMeshKey, retGImpact); + } + + retGImpact.physShapeInfo = newShape; + } + } + return retGImpact; + } + + private BulletShape CreatePhysicalGImpact(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, + PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + { + return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod, + (w, iC, i, vC, v) => physicsScene.PE.CreateGImpactShape(w, iC, i, vC, v) ); + } + + public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim) + { + // Calling this reference means we want another handle to an existing shape + // (usually linksets) so return this copy. + IncrementReference(); + return this; + } + // Dereferencing a compound shape releases the hold on all the child shapes. + public override void Dereference(BSScene physicsScene) + { + lock (GImpacts) + { + this.DecrementReference(); + physicsScene.DetailLog("{0},BSShapeGImpact.Dereference,shape={1}", BSScene.DetailLogZero, this); + // TODO: schedule aging and destruction of unused meshes. + } + } + // Loop through all the known hulls and return the description based on the physical address. + public static bool TryGetGImpactByPtr(BulletShape pShape, out BSShapeGImpact outHull) + { + bool ret = false; + BSShapeGImpact foundDesc = null; + lock (GImpacts) + { + foreach (BSShapeGImpact sh in GImpacts.Values) + { + if (sh.physShapeInfo.ReferenceSame(pShape)) + { + foundDesc = sh; + ret = true; + break; + } + + } + } + outHull = foundDesc; + return ret; + } +} // ============================================================================================================ public class BSShapeAvatar : BSShape -- cgit v1.1 From 2fd8819a043269f9308cb46c71893e6eb35a426e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 21 May 2013 21:32:30 -0700 Subject: BulletSim: add code to experimentally use asset hull data. Default to 'off' as it needs debugging. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 ++ OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 55 ++++++++++++++++++++++-- 2 files changed, 54 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 9a9e527..5cff668 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -90,6 +90,7 @@ public static class BSParam public static bool ShouldUseBulletHACD { get; set; } public static bool ShouldUseSingleConvexHullForPrims { get; set; } public static bool ShouldUseGImpactShapeForPrims { get; set; } + public static bool ShouldUseAssetHulls { get; set; } public static float TerrainImplementation { get; set; } public static int TerrainMeshMagnification { get; private set; } @@ -372,6 +373,8 @@ public static class BSParam true ), new ParameterDefn("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists", false ), + new ParameterDefn("UseAssetHulls", "If true, use hull if specified in the mesh asset info", + false ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", 5 ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 0152233..b7f7e6c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -31,6 +31,7 @@ using System.Text; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; +using OpenSim.Region.Physics.Meshing; using OpenSim.Region.Physics.ConvexDecompositionDotNet; using OMV = OpenMetaverse; @@ -573,9 +574,56 @@ public class BSShapeHull : BSShape PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = new BulletShape(); - IntPtr hullPtr = IntPtr.Zero; + newShape.shapeKey = newHullKey; - if (BSParam.ShouldUseBulletHACD) + // 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 there is hull data in the mesh asset, build the hull from that + if (meshData != null && BSParam.ShouldUseAssetHulls) + { + Meshmerizer realMesher = physicsScene.mesher as Meshmerizer; + if (realMesher != null) + { + List> allHulls = realMesher.GetConvexHulls(size); + if (allHulls != null) + { + int hullCount = allHulls.Count; + int totalVertices = 1; // include one for the count of the hulls + // Using the structure described for HACD hulls, create the memory sturcture + // to pass the hull data to the creater. + foreach (List hullVerts in allHulls) + { + totalVertices += 4; // add four for the vertex count and centroid + totalVertices += hullVerts.Count * 3; // one vertex is three dimensions + } + float[] convHulls = new float[totalVertices]; + + convHulls[0] = (float)hullCount; + int jj = 1; + foreach (List hullVerts in allHulls) + { + convHulls[jj + 0] = hullVerts.Count; + convHulls[jj + 1] = 0f; // centroid x,y,z + convHulls[jj + 2] = 0f; + convHulls[jj + 3] = 0f; + jj += 4; + foreach (OMV.Vector3 oneVert in hullVerts) + { + convHulls[jj + 0] = oneVert.X; + convHulls[jj + 1] = oneVert.Y; + convHulls[jj + 2] = oneVert.Z; + jj += 3; + } + } + + // create the hull data structure in Bullet + newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); + } + } + } + // If no hull specified in the asset and we should use Bullet's HACD approximation... + if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD) { // Build the hull shape from an existing mesh shape. // The mesh should have already been created in Bullet. @@ -604,11 +652,10 @@ public class BSShapeHull : BSShape } physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } + // If no hull specified, use our HACD hull approximation. if (!newShape.HasPhysicalShape) { // Build a new hull in the physical world using the C# HACD algorigthm. - // 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) { if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) -- cgit v1.1 From 6596a1de806d1ec509f3a570a0944ab9aff5947c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 21 May 2013 22:16:18 -0700 Subject: Revert "BulletSim: add code to experimentally use asset hull data." This reverts commit 2fd8819a043269f9308cb46c71893e6eb35a426e. Remove this code until I can figure out why the references that are clearly in prebuild.xml doesn't work for the 'using OpenSim.Region.Physics.Meshing' in BSShape.cs. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 -- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 55 ++---------------------- 2 files changed, 4 insertions(+), 54 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 5cff668..9a9e527 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -90,7 +90,6 @@ public static class BSParam public static bool ShouldUseBulletHACD { get; set; } public static bool ShouldUseSingleConvexHullForPrims { get; set; } public static bool ShouldUseGImpactShapeForPrims { get; set; } - public static bool ShouldUseAssetHulls { get; set; } public static float TerrainImplementation { get; set; } public static int TerrainMeshMagnification { get; private set; } @@ -373,8 +372,6 @@ public static class BSParam true ), new ParameterDefn("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists", false ), - new ParameterDefn("UseAssetHulls", "If true, use hull if specified in the mesh asset info", - false ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", 5 ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index b7f7e6c..0152233 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -31,7 +31,6 @@ using System.Text; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; -using OpenSim.Region.Physics.Meshing; using OpenSim.Region.Physics.ConvexDecompositionDotNet; using OMV = OpenMetaverse; @@ -574,56 +573,9 @@ public class BSShapeHull : BSShape PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = new BulletShape(); - newShape.shapeKey = newHullKey; + IntPtr hullPtr = IntPtr.Zero; - // 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 there is hull data in the mesh asset, build the hull from that - if (meshData != null && BSParam.ShouldUseAssetHulls) - { - Meshmerizer realMesher = physicsScene.mesher as Meshmerizer; - if (realMesher != null) - { - List> allHulls = realMesher.GetConvexHulls(size); - if (allHulls != null) - { - int hullCount = allHulls.Count; - int totalVertices = 1; // include one for the count of the hulls - // Using the structure described for HACD hulls, create the memory sturcture - // to pass the hull data to the creater. - foreach (List hullVerts in allHulls) - { - totalVertices += 4; // add four for the vertex count and centroid - totalVertices += hullVerts.Count * 3; // one vertex is three dimensions - } - float[] convHulls = new float[totalVertices]; - - convHulls[0] = (float)hullCount; - int jj = 1; - foreach (List hullVerts in allHulls) - { - convHulls[jj + 0] = hullVerts.Count; - convHulls[jj + 1] = 0f; // centroid x,y,z - convHulls[jj + 2] = 0f; - convHulls[jj + 3] = 0f; - jj += 4; - foreach (OMV.Vector3 oneVert in hullVerts) - { - convHulls[jj + 0] = oneVert.X; - convHulls[jj + 1] = oneVert.Y; - convHulls[jj + 2] = oneVert.Z; - jj += 3; - } - } - - // create the hull data structure in Bullet - newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); - } - } - } - // If no hull specified in the asset and we should use Bullet's HACD approximation... - if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD) + if (BSParam.ShouldUseBulletHACD) { // Build the hull shape from an existing mesh shape. // The mesh should have already been created in Bullet. @@ -652,10 +604,11 @@ public class BSShapeHull : BSShape } physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } - // If no hull specified, use our HACD hull approximation. if (!newShape.HasPhysicalShape) { // Build a new hull in the physical world using the C# HACD algorigthm. + // 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) { if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) -- cgit v1.1 From 61cdf9390d8dc124b0ef3afabb5bcb63328686eb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 22 May 2013 16:06:06 -0700 Subject: BulletSim: fix problem with walking up stairs that are oriented in certain directions. The problem was really that the avatar capsule orientation was being set incorrectly. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index ff5b6ab..48f842e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -483,8 +483,15 @@ public sealed class BSCharacter : BSPhysObject { // Bullet assumes we know what we are doing when forcing orientation // so it lets us go against all the rules and just compensates for them later. - // This keeps us from flipping the capsule over which the veiwer does not understand. - ForceOrientation = new OMV.Quaternion(0, 0, _orientation.Z,0); + // This forces rotation to be only around the Z axis and doesn't change any of the other axis. + // This keeps us from flipping the capsule over which the veiwer does not understand. + float oRoll, oPitch, oYaw; + _orientation.GetEulerAngles(out oRoll, out oPitch, out oYaw); + OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw); + // DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}", + // LocalID, _orientation, OMV.Vector3.UnitX * _orientation, + // trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation); + ForceOrientation = trimmedOrientation; }); } } -- cgit v1.1 From ffc9b3dda766c15e053b9296d15356533f7e99f8 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 21 May 2013 21:32:30 -0700 Subject: BulletSim: add code to experimentally use asset hull data. Default to 'off' as it needs debugging. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 ++ OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 55 ++++++++++++++++++++++-- 2 files changed, 54 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 9a9e527..5cff668 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -90,6 +90,7 @@ public static class BSParam public static bool ShouldUseBulletHACD { get; set; } public static bool ShouldUseSingleConvexHullForPrims { get; set; } public static bool ShouldUseGImpactShapeForPrims { get; set; } + public static bool ShouldUseAssetHulls { get; set; } public static float TerrainImplementation { get; set; } public static int TerrainMeshMagnification { get; private set; } @@ -372,6 +373,8 @@ public static class BSParam true ), new ParameterDefn("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists", false ), + new ParameterDefn("UseAssetHulls", "If true, use hull if specified in the mesh asset info", + false ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", 5 ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 0152233..b7f7e6c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -31,6 +31,7 @@ using System.Text; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; +using OpenSim.Region.Physics.Meshing; using OpenSim.Region.Physics.ConvexDecompositionDotNet; using OMV = OpenMetaverse; @@ -573,9 +574,56 @@ public class BSShapeHull : BSShape PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = new BulletShape(); - IntPtr hullPtr = IntPtr.Zero; + newShape.shapeKey = newHullKey; - if (BSParam.ShouldUseBulletHACD) + // 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 there is hull data in the mesh asset, build the hull from that + if (meshData != null && BSParam.ShouldUseAssetHulls) + { + Meshmerizer realMesher = physicsScene.mesher as Meshmerizer; + if (realMesher != null) + { + List> allHulls = realMesher.GetConvexHulls(size); + if (allHulls != null) + { + int hullCount = allHulls.Count; + int totalVertices = 1; // include one for the count of the hulls + // Using the structure described for HACD hulls, create the memory sturcture + // to pass the hull data to the creater. + foreach (List hullVerts in allHulls) + { + totalVertices += 4; // add four for the vertex count and centroid + totalVertices += hullVerts.Count * 3; // one vertex is three dimensions + } + float[] convHulls = new float[totalVertices]; + + convHulls[0] = (float)hullCount; + int jj = 1; + foreach (List hullVerts in allHulls) + { + convHulls[jj + 0] = hullVerts.Count; + convHulls[jj + 1] = 0f; // centroid x,y,z + convHulls[jj + 2] = 0f; + convHulls[jj + 3] = 0f; + jj += 4; + foreach (OMV.Vector3 oneVert in hullVerts) + { + convHulls[jj + 0] = oneVert.X; + convHulls[jj + 1] = oneVert.Y; + convHulls[jj + 2] = oneVert.Z; + jj += 3; + } + } + + // create the hull data structure in Bullet + newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); + } + } + } + // If no hull specified in the asset and we should use Bullet's HACD approximation... + if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD) { // Build the hull shape from an existing mesh shape. // The mesh should have already been created in Bullet. @@ -604,11 +652,10 @@ public class BSShapeHull : BSShape } physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } + // If no hull specified, use our HACD hull approximation. if (!newShape.HasPhysicalShape) { // Build a new hull in the physical world using the C# HACD algorigthm. - // 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) { if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) -- cgit v1.1 From 5efce21abc92fa1005fa8651a5622fe72cf83ff3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 22 May 2013 21:57:07 -0700 Subject: BulletSim: correct errors caused by misspelled INI parameter spec. Add debugging messages for hull asset use. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 9 ++++++--- 2 files changed, 7 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 5cff668..c19eda1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -373,7 +373,7 @@ public static class BSParam true ), new ParameterDefn("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists", false ), - new ParameterDefn("UseAssetHulls", "If true, use hull if specified in the mesh asset info", + new ParameterDefn("ShouldUseAssetHulls", "If true, use hull if specified in the mesh asset info", false ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index b7f7e6c..6729d6b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -619,6 +619,9 @@ public class BSShapeHull : BSShape // create the hull data structure in Bullet newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); + + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,hulls={1},totVert={2},shape={3}", + prim.LocalID, hullCount, totalVertices, newShape); } } } @@ -627,7 +630,7 @@ public class BSShapeHull : BSShape { // Build the hull shape from an existing mesh shape. // The mesh should have already been created in Bullet. - physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID); + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,entry", prim.LocalID); BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim); if (meshShape.physShapeInfo.HasPhysicalShape) @@ -645,12 +648,12 @@ public class BSShapeHull : BSShape physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape); newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms); - physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,shape={1}", prim.LocalID, newShape); // Now done with the mesh shape. meshShape.Dereference(physicsScene); } - physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } // If no hull specified, use our HACD hull approximation. if (!newShape.HasPhysicalShape) -- cgit v1.1 From 29b3b44fab46a44f911e582ab284025086cf3692 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 23 May 2013 14:40:16 -0700 Subject: BulletSim: add locking around Meshmerizer use to eliminate possible race condition when extracting the convex hulls. --- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 302 ++++++++++++----------- 1 file changed, 157 insertions(+), 145 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 6729d6b..48f1394 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -441,10 +441,14 @@ public class BSShapeMesh : BSShape { BulletShape newShape = new BulletShape(); - 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 - ); + IMesh meshData = null; + lock (physicsScene.mesher) + { + 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) { @@ -576,55 +580,67 @@ public class BSShapeHull : BSShape BulletShape newShape = new BulletShape(); newShape.shapeKey = newHullKey; - // 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 there is hull data in the mesh asset, build the hull from that - if (meshData != null && BSParam.ShouldUseAssetHulls) + IMesh meshData = null; + List> allHulls = null; + lock (physicsScene.mesher) { - Meshmerizer realMesher = physicsScene.mesher as Meshmerizer; - if (realMesher != null) + // Pass true for physicalness as this prevents the creation of bounding box which is not needed + meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); + + // If we should use the asset's hull info, fetch it out of the locked mesher + if (meshData != null && BSParam.ShouldUseAssetHulls) { - List> allHulls = realMesher.GetConvexHulls(size); - if (allHulls != null) + Meshmerizer realMesher = physicsScene.mesher as Meshmerizer; + if (realMesher != null) { - int hullCount = allHulls.Count; - int totalVertices = 1; // include one for the count of the hulls - // Using the structure described for HACD hulls, create the memory sturcture - // to pass the hull data to the creater. - foreach (List hullVerts in allHulls) - { - totalVertices += 4; // add four for the vertex count and centroid - totalVertices += hullVerts.Count * 3; // one vertex is three dimensions - } - float[] convHulls = new float[totalVertices]; - - convHulls[0] = (float)hullCount; - int jj = 1; - foreach (List hullVerts in allHulls) - { - convHulls[jj + 0] = hullVerts.Count; - convHulls[jj + 1] = 0f; // centroid x,y,z - convHulls[jj + 2] = 0f; - convHulls[jj + 3] = 0f; - jj += 4; - foreach (OMV.Vector3 oneVert in hullVerts) - { - convHulls[jj + 0] = oneVert.X; - convHulls[jj + 1] = oneVert.Y; - convHulls[jj + 2] = oneVert.Z; - jj += 3; - } - } + allHulls = realMesher.GetConvexHulls(size); + } + if (allHulls == null) + { + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,noAssetHull", prim.LocalID); + } + } + } - // create the hull data structure in Bullet - newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); + // If there is hull data in the mesh asset, build the hull from that + if (allHulls != null && BSParam.ShouldUseAssetHulls) + { + int hullCount = allHulls.Count; + int totalVertices = 1; // include one for the count of the hulls + // Using the structure described for HACD hulls, create the memory sturcture + // to pass the hull data to the creater. + foreach (List hullVerts in allHulls) + { + totalVertices += 4; // add four for the vertex count and centroid + totalVertices += hullVerts.Count * 3; // one vertex is three dimensions + } + float[] convHulls = new float[totalVertices]; - physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,hulls={1},totVert={2},shape={3}", - prim.LocalID, hullCount, totalVertices, newShape); + convHulls[0] = (float)hullCount; + int jj = 1; + foreach (List hullVerts in allHulls) + { + convHulls[jj + 0] = hullVerts.Count; + convHulls[jj + 1] = 0f; // centroid x,y,z + convHulls[jj + 2] = 0f; + convHulls[jj + 3] = 0f; + jj += 4; + foreach (OMV.Vector3 oneVert in hullVerts) + { + convHulls[jj + 0] = oneVert.X; + convHulls[jj + 1] = oneVert.Y; + convHulls[jj + 2] = oneVert.Z; + jj += 3; } } + + // create the hull data structure in Bullet + newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); + + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,hulls={1},totVert={2},shape={3}", + prim.LocalID, hullCount, totalVertices, newShape); } + // If no hull specified in the asset and we should use Bullet's HACD approximation... if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD) { @@ -655,120 +671,116 @@ public class BSShapeHull : BSShape } physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } - // If no hull specified, use our HACD hull approximation. - if (!newShape.HasPhysicalShape) + + // If no other hull specifications, use our HACD hull approximation. + if (!newShape.HasPhysicalShape && meshData != null) { - // Build a new hull in the physical world using the C# HACD algorigthm. - if (meshData != null) + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) { - if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) - { - // Release the fetched asset data once it has been used. - pbs.SculptData = new byte[0]; - prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown; - } + // Release the fetched asset data once it has been used. + pbs.SculptData = new byte[0]; + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown; + } - int[] indices = meshData.getIndexListAsInt(); - List vertices = meshData.getVertexList(); + 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)); - } + //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) + 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 (BSShapeCollection.PrimHasNoCuts(pbs)) { - // 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 (BSShapeCollection.PrimHasNoCuts(pbs)) - { - maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes; - } + 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); + + physicsScene.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]; - // 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); - - physicsScene.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) + 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) { - totalVertices += 4; // add four for the vertex count and centroid - totalVertices += cr.HullIndices.Count * 3; // we pass just triangles + verts[kk++] = ff; } - float[] convHulls = new float[totalVertices]; - convHulls[0] = (float)hullCount; - int jj = 1; - foreach (ConvexResult cr in m_hulls) + // 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) { - // 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; - } + 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; + // create the hull data structure in Bullet + newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); } return newShape; } -- cgit v1.1 From 4979940def5561015cb56bc660c6ec721722b9fc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 24 May 2013 16:23:10 -0700 Subject: BulletSim: properly set mesh hash key in use tracking structure. Shouldn't see any functional difference. --- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 48f1394..81edc12 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -578,7 +578,6 @@ public class BSShapeHull : BSShape PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = new BulletShape(); - newShape.shapeKey = newHullKey; IMesh meshData = null; List> allHulls = null; @@ -782,6 +781,7 @@ public class BSShapeHull : BSShape // 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. @@ -906,6 +906,7 @@ public class BSShapeCompound : BSShape } else { + // Didn't find it in the lists of specific types. It could be compound. if (physicsScene.PE.IsCompound(pShape)) { BSShapeCompound recursiveCompound = new BSShapeCompound(pShape); @@ -913,6 +914,7 @@ public class BSShapeCompound : BSShape } else { + // If none of the above, maybe it is a simple native shape. if (physicsScene.PE.IsNativeShape(pShape)) { BSShapeNative nativeShape = new BSShapeNative(pShape); @@ -1052,6 +1054,7 @@ public class BSShapeGImpact : BSShape // Check to see if mesh was created (might require an asset). newShape = VerifyMeshCreated(physicsScene, newShape, prim); + newShape.shapeKey = newMeshKey; if (!newShape.isNativeShape || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) { // If a mesh was what was created, remember the built shape for later sharing. -- cgit v1.1 From 5f1f5ea5ab5badf5944471fefe0a45f7b4f41b91 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 24 May 2013 16:24:16 -0700 Subject: BulletSim: add VehicleInertiaFactor to allow modifying inertia. Another parameter for vehicle operation tuning. Default to <1,1,1> which means nothing is different under normal use. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 3 ++- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 +++ 2 files changed, 5 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index c16b7d3..311cf4f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -617,7 +617,8 @@ 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.physShapeInfo, m_vehicleMass); + Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass); + ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor; m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index c19eda1..e98a7fb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -148,6 +148,7 @@ public static class BSParam public static float VehicleRestitution { get; private set; } public static Vector3 VehicleLinearFactor { get; private set; } public static Vector3 VehicleAngularFactor { get; private set; } + public static Vector3 VehicleInertiaFactor { get; private set; } public static float VehicleGroundGravityFudge { get; private set; } public static float VehicleAngularBankingTimescaleFudge { get; private set; } public static bool VehicleDebuggingEnable { get; private set; } @@ -583,6 +584,8 @@ public static class BSParam new Vector3(1f, 1f, 1f) ), new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (<0,0,0> to <1,1,1>)", new Vector3(1f, 1f, 1f) ), + new ParameterDefn("VehicleInertiaFactor", "Fraction of physical inertia applied (<0,0,0> to <1,1,1>)", + new Vector3(1f, 1f, 1f) ), new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)", 0.0f ), new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", -- cgit v1.1 From 0c35d28933ddb2cae7b4f095b35ed4e386a1b71b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 26 May 2013 17:35:12 -0700 Subject: BulletSim: enable GImpact shape for prims with cuts. Include DLLs and SOs which recompute GImpact shape bounding box after creation as Bullet doesn't do that itself (something it does for nearly every other shape). Now, physical prims without cuts become single mesh convex meshes. Physical prims with cuts become GImpact meshes. Meshes become a set of convex hulls approximated from the mesh unless the hulls are specified in the mesh asset data. The use of GImpact shapes should make some mechanical physics more stable. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index e98a7fb..0f0a494 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -373,7 +373,7 @@ public static class BSParam new ParameterDefn("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims", true ), new ParameterDefn("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists", - false ), + true ), new ParameterDefn("ShouldUseAssetHulls", "If true, use hull if specified in the mesh asset info", false ), -- cgit v1.1 From 7c3a46cceaf9dac694b1c387f37adc2c51c6ee40 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 27 May 2013 14:38:59 -0700 Subject: BulletSim: default using mesh asset hulls to 'true'. This means that, if the mesh asset specifies physics hulls, BulletSim will fetch and use same rather than approximating the hulls. If physics hulls are not specified, the representation will fall back to the regular physics mesh. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 0f0a494..2651e3b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -373,9 +373,9 @@ public static class BSParam new ParameterDefn("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims", true ), new ParameterDefn("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists", - true ), - new ParameterDefn("ShouldUseAssetHulls", "If true, use hull if specified in the mesh asset info", false ), + new ParameterDefn("ShouldUseAssetHulls", "If true, use hull if specified in the mesh asset info", + true ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", 5 ), -- cgit v1.1 From ae0d6ab28a03ec23c91eaf6a8ac94b890916a1ca Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 28 May 2013 09:19:08 -0700 Subject: BulletSim: don't zero motion when changing vehicle type. Some vehicle scripts change type on the fly as an easy way of setting all the parameters (like a plane changing to a car when on the ground). --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index f5b0361..e11e365 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -511,7 +511,10 @@ public class BSPrim : BSPhysObject PhysScene.TaintedObject("setVehicleType", delegate() { - ZeroMotion(true /* inTaintTime */); + // Some vehicle scripts change vehicle type on the fly as an easy way to + // change all the parameters. Like a plane changing to CAR when on the + // ground. In this case, don't want to zero motion. + // ZeroMotion(true /* inTaintTime */); VehicleActor.ProcessTypeChange(type); ActivateIfPhysical(false); }); -- cgit v1.1 From 07058b044be59b6e07efedeca36b2b464e984195 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 1 Jun 2013 14:52:44 -0700 Subject: BulletSim: experimental movement of physics execution off of heartbeat thread. Off by default until more testing. Setting "[BulletSim]UseSeparatePhysicsThread=true" causes the physics engine to be called on its own thread and the heartbeat thread only handles the reporting of property updates and collisions. Physics frame rate is about right but physics execution time goes to zero as accounted by the heartbeat loop. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 8 + OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 3 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 271 +++++++++++++++++------- 3 files changed, 209 insertions(+), 73 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 2651e3b..afd547a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -54,6 +54,9 @@ public static class BSParam // =================== // From: + public static bool UseSeparatePhysicsThread { get; private set; } + public static float PhysicsTimeStep { get; private set; } + // Level of Detail values kept as float because that's what the Meshmerizer wants public static float MeshLOD { get; private set; } public static float MeshCircularLOD { get; private set; } @@ -354,6 +357,11 @@ public static class BSParam // v = value (appropriate type) private static ParameterDefnBase[] ParameterDefinitions = { + new ParameterDefn("UseSeparatePhysicsThread", "If 'true', the physics engine runs independent from the simulator heartbeat", + false ), + new ParameterDefn("PhysicsTimeStep", "If separate thread, seconds to simulate each interval", + 0.1f ), + new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", true, (s) => { return ShouldMeshSculptedPrim; }, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e11e365..95bdc7b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1513,7 +1513,8 @@ public class BSPrim : BSPhysObject CurrentEntityProperties = entprop; // Note that BSPrim can be overloaded by BSPrimLinkable which controls updates from root and children prims. - base.RequestPhysicsterseUpdate(); + + PhysScene.PostUpdate(this); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 39f5b0a..423c389 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -56,12 +56,23 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public string BulletEngineName { get; private set; } public BSAPITemplate PE; + // If the physics engine is running on a separate thread + public Thread m_physicsThread; + public Dictionary PhysObjects; public BSShapeCollection Shapes; // Keeping track of the objects with collisions so we can report begin and end of a collision public HashSet ObjectsWithCollisions = new HashSet(); public HashSet ObjectsWithNoMoreCollisions = new HashSet(); + + // All the collision processing is protected with this lock object + public Object CollisionLock = new Object(); + + // Properties are updated here + public Object UpdateLock = new Object(); + public HashSet ObjectsWithUpdates = new HashSet(); + // Keep track of all the avatars so we can send them a collision event // every tick so OpenSim will update its animation. private HashSet m_avatars = new HashSet(); @@ -77,12 +88,19 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public BSConstraintCollection Constraints { get; private set; } // Simulation parameters + internal float m_physicsStepTime; // if running independently, the interval simulated by default + internal int m_maxSubSteps; internal float m_fixedTimeStep; - internal long m_simulationStep = 0; - internal float NominalFrameRate { get; set; } + + internal float m_simulatedTime; // the time simulated previously. Used for physics framerate calc. + + internal long m_simulationStep = 0; // The current simulation step. public long SimulationStep { get { return m_simulationStep; } } - internal float LastTimeStep { get; private set; } + + internal float LastTimeStep { get; private set; } // The simulation time from the last invocation of Simulate() + + internal float NominalFrameRate { get; set; } // Parameterized ideal frame rate that simulation is scaled to // Physical objects can register for prestep or poststep events public delegate void PreStepAction(float timeStep); @@ -90,7 +108,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public event PreStepAction BeforeStep; public event PostStepAction AfterStep; - // A value of the time now so all the collision and update routines do not have to get their own + // A value of the time 'now' so all the collision and update routines do not have to get their own // Set to 'now' just before all the prims and actors are called for collisions and updates public int SimulationNowTime { get; private set; } @@ -188,6 +206,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters PhysObjects = new Dictionary(); Shapes = new BSShapeCollection(this); + m_simulatedTime = 0f; + LastTimeStep = 0.1f; + // Allocate pinned memory to pass parameters. UnmanagedParams = new ConfigurationParameters[1]; @@ -227,10 +248,20 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters TerrainManager = new BSTerrainManager(this); TerrainManager.CreateInitialGroundPlaneAndTerrain(); + // Put some informational messages into the log file. m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation); InTaintTime = false; m_initialized = true; + + // If the physics engine runs on its own thread, start same. + if (BSParam.UseSeparatePhysicsThread) + { + // The physics simulation should happen independently of the heartbeat loop + m_physicsThread = new Thread(BulletSPluginPhysicsThread); + m_physicsThread.Name = BulletEngineName; + m_physicsThread.Start(); + } } // All default parameter values are set here. There should be no values set in the @@ -270,6 +301,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } else { + // Nothing in the configuration INI file so assume unmanaged and other defaults. BulletEngineName = "BulletUnmanaged"; m_physicsLoggingEnabled = false; VehicleLoggingEnabled = false; @@ -317,6 +349,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters switch (selectionName) { + case "bullet": case "bulletunmanaged": ret = new BSAPIUnman(engineName, this); break; @@ -494,25 +527,41 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #endregion // Prim and Avatar addition and removal #region Simulation - // Simulate one timestep + + // Call from the simulator to send physics information to the simulator objects. + // This pushes all the collision and property update events into the objects in + // the simulator and, since it is on the heartbeat thread, there is an implicit + // locking of those data structures from other heartbeat events. + // If the physics engine is running on a separate thread, the update information + // will be in the ObjectsWithCollions and ObjectsWithUpdates structures. public override float Simulate(float timeStep) { + if (!BSParam.UseSeparatePhysicsThread) + { + DoPhysicsStep(timeStep); + } + return SendUpdatesToSimulator(timeStep); + } + + // Call the physics engine to do one 'timeStep' and collect collisions and updates + // into ObjectsWithCollisions and ObjectsWithUpdates data structures. + private void DoPhysicsStep(float timeStep) + { // prevent simulation until we've been initialized - if (!m_initialized) return 5.0f; + if (!m_initialized) return; LastTimeStep = timeStep; int updatedEntityCount = 0; int collidersCount = 0; - int beforeTime = 0; + int beforeTime = Util.EnvironmentTickCount(); int simTime = 0; - // update the prim states while we know the physics engine is not busy int numTaints = _taintOperations.Count; - InTaintTime = true; // Only used for debugging so locking is not necessary. + // update the prim states while we know the physics engine is not busy ProcessTaints(); // Some of the physical objects requre individual, pre-step calls @@ -535,18 +584,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters int numSubSteps = 0; try { - if (PhysicsLogging.Enabled) - beforeTime = Util.EnvironmentTickCount(); - numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount); - if (PhysicsLogging.Enabled) - { - simTime = Util.EnvironmentTickCountSubtract(beforeTime); - DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", - DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, - updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); - } } catch (Exception e) { @@ -558,77 +597,62 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters collidersCount = 0; } + // Make the physics engine dump useful statistics periodically if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0)) PE.DumpPhysicsStatistics(World); // Get a value for 'now' so all the collision and update routines don't have to get their own. SimulationNowTime = Util.EnvironmentTickCount(); - // If there were collisions, process them by sending the event to the prim. - // Collisions must be processed before updates. - if (collidersCount > 0) + // Send collision information to the colliding objects. The objects decide if the collision + // is 'real' (like linksets don't collide with themselves) and the individual objects + // know if the simulator has subscribed to collisions. + lock (CollisionLock) { - for (int ii = 0; ii < collidersCount; ii++) + if (collidersCount > 0) { - uint cA = m_collisionArray[ii].aID; - uint cB = m_collisionArray[ii].bID; - Vector3 point = m_collisionArray[ii].point; - Vector3 normal = m_collisionArray[ii].normal; - float penetration = m_collisionArray[ii].penetration; - SendCollision(cA, cB, point, normal, penetration); - SendCollision(cB, cA, point, -normal, penetration); - } - } - - // The above SendCollision's batch up the collisions on the objects. - // Now push the collisions into the simulator. - if (ObjectsWithCollisions.Count > 0) - { - foreach (BSPhysObject bsp in ObjectsWithCollisions) - if (!bsp.SendCollisions()) + for (int ii = 0; ii < collidersCount; ii++) { - // If the object is done colliding, see that it's removed from the colliding list - ObjectsWithNoMoreCollisions.Add(bsp); + uint cA = m_collisionArray[ii].aID; + uint cB = m_collisionArray[ii].bID; + Vector3 point = m_collisionArray[ii].point; + Vector3 normal = m_collisionArray[ii].normal; + float penetration = m_collisionArray[ii].penetration; + SendCollision(cA, cB, point, normal, penetration); + SendCollision(cB, cA, point, -normal, penetration); } + } } - // This is a kludge to get avatar movement updates. - // The simulator expects collisions for avatars even if there are have been no collisions. - // The event updates avatar animations and stuff. - // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. - foreach (BSPhysObject bsp in m_avatars) - if (!ObjectsWithCollisions.Contains(bsp)) // don't call avatars twice - bsp.SendCollisions(); - - // Objects that are done colliding are removed from the ObjectsWithCollisions list. - // Not done above because it is inside an iteration of ObjectWithCollisions. - // This complex collision processing is required to create an empty collision - // event call after all real collisions have happened on an object. This enables - // the simulator to generate the 'collision end' event. - if (ObjectsWithNoMoreCollisions.Count > 0) - { - foreach (BSPhysObject po in ObjectsWithNoMoreCollisions) - ObjectsWithCollisions.Remove(po); - ObjectsWithNoMoreCollisions.Clear(); - } - // Done with collisions. - - // If any of the objects had updated properties, tell the object it has been changed by the physics engine - if (updatedEntityCount > 0) + // If any of the objects had updated properties, tell the managed objects about the update + // and remember that there was a change so it will be passed to the simulator. + lock (UpdateLock) { - for (int ii = 0; ii < updatedEntityCount; ii++) + if (updatedEntityCount > 0) { - EntityProperties entprop = m_updateArray[ii]; - BSPhysObject pobj; - if (PhysObjects.TryGetValue(entprop.ID, out pobj)) + for (int ii = 0; ii < updatedEntityCount; ii++) { - pobj.UpdateProperties(entprop); + EntityProperties entprop = m_updateArray[ii]; + BSPhysObject pobj; + if (PhysObjects.TryGetValue(entprop.ID, out pobj)) + { + pobj.UpdateProperties(entprop); + } } } } + // Some actors want to know when the simulation step is complete. TriggerPostStepEvent(timeStep); + simTime = Util.EnvironmentTickCountSubtract(beforeTime); + if (PhysicsLogging.Enabled) + { + DetailLog("{0},DoPhysicsStep,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", + DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, + updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); + } + // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. // Only enable this in a limited test world with few objects. if (m_physicsPhysicalDumpEnabled) @@ -637,7 +661,84 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. // Multiply by a fixed nominal frame rate to give a rate similar to the simulator (usually 55). - return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate; + m_simulatedTime += (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate; + } + + // Called by a BSPhysObject to note that it has changed properties and this information + // should be passed up to the simulator at the proper time. + // Note: this is called by the BSPhysObject from invocation via DoPhysicsStep() above so + // this is is under UpdateLock. + public void PostUpdate(BSPhysObject updatee) + { + ObjectsWithUpdates.Add(updatee); + } + + // The simulator thinks it is physics time so return all the collisions and position + // updates that were collected in actual physics simulation. + private float SendUpdatesToSimulator(float timeStep) + { + if (!m_initialized) return 5.0f; + + DetailLog("{0},SendUpdatesToSimulator,collisions={1},updates={2},simedTime={3}", + BSScene.DetailLogZero, ObjectsWithCollisions.Count, ObjectsWithUpdates.Count, m_simulatedTime); + // Push the collisions into the simulator. + lock (CollisionLock) + { + if (ObjectsWithCollisions.Count > 0) + { + foreach (BSPhysObject bsp in ObjectsWithCollisions) + if (!bsp.SendCollisions()) + { + // If the object is done colliding, see that it's removed from the colliding list + ObjectsWithNoMoreCollisions.Add(bsp); + } + } + + // This is a kludge to get avatar movement updates. + // The simulator expects collisions for avatars even if there are have been no collisions. + // The event updates avatar animations and stuff. + // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. + foreach (BSPhysObject bsp in m_avatars) + if (!ObjectsWithCollisions.Contains(bsp)) // don't call avatars twice + bsp.SendCollisions(); + + // Objects that are done colliding are removed from the ObjectsWithCollisions list. + // Not done above because it is inside an iteration of ObjectWithCollisions. + // This complex collision processing is required to create an empty collision + // event call after all real collisions have happened on an object. This allows + // the simulator to generate the 'collision end' event. + if (ObjectsWithNoMoreCollisions.Count > 0) + { + foreach (BSPhysObject po in ObjectsWithNoMoreCollisions) + ObjectsWithCollisions.Remove(po); + ObjectsWithNoMoreCollisions.Clear(); + } + } + + // Call the simulator for each object that has physics property updates. + HashSet updatedObjects = null; + lock (UpdateLock) + { + if (ObjectsWithUpdates.Count > 0) + { + updatedObjects = ObjectsWithUpdates; + ObjectsWithUpdates = new HashSet(); + } + } + if (updatedObjects != null) + { + foreach (BSPhysObject obj in updatedObjects) + { + obj.RequestPhysicsterseUpdate(); + } + updatedObjects.Clear(); + } + + // Return the framerate simulated to give the above returned results. + // (Race condition here but this is just bookkeeping so rare mistakes do not merit a lock). + float simTime = m_simulatedTime; + m_simulatedTime = 0f; + return simTime; } // Something has collided @@ -656,7 +757,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters return; } - // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called. + // Note: the terrain is not in the physical object list so 'collidee' can be null when Collide() is called. BSPhysObject collidee = null; PhysObjects.TryGetValue(collidingWith, out collidee); @@ -664,13 +765,39 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) { - // If a collision was posted, remember to send it to the simulator + // If a collision was 'good', remember to send it to the simulator ObjectsWithCollisions.Add(collider); } return; } + public void BulletSPluginPhysicsThread() + { + while (m_initialized) + { + int beginSimulationRealtimeMS = Util.EnvironmentTickCount(); + DoPhysicsStep(BSParam.PhysicsTimeStep); + int simulationRealtimeMS = Util.EnvironmentTickCountSubtract(beginSimulationRealtimeMS); + int simulationTimeVsRealtimeDifferenceMS = ((int)(BSParam.PhysicsTimeStep*1000f)) - simulationRealtimeMS; + + if (simulationTimeVsRealtimeDifferenceMS > 0) + { + // The simulation of the time interval took less than realtime. + // Do a sleep for the rest of realtime. + DetailLog("{0},BulletSPluginPhysicsThread,sleeping={1}", BSScene.DetailLogZero, simulationTimeVsRealtimeDifferenceMS); + Thread.Sleep(simulationTimeVsRealtimeDifferenceMS); + } + else + { + // The simulation took longer than realtime. + // Do some scaling of simulation time. + // TODO. + DetailLog("{0},BulletSPluginPhysicsThread,longerThanRealtime={1}", BSScene.DetailLogZero, simulationTimeVsRealtimeDifferenceMS); + } + } + } + #endregion // Simulation public override void GetResults() { } -- cgit v1.1 From 0c971d148cbee691136a8e6f6c0b3dd40ba4e78a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 5 Jun 2013 07:09:43 -0700 Subject: BulletSim: fix corner case when rebuilding a compound linkset while a mesh/hull while a mesh or hull is being rebuilt when its asset is fetched. This fixes a 'pure virtual function' crash when changing physical state of complex linksets that include many meshes. --- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 57 +++++++++++++++++++----- 1 file changed, 46 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 81edc12..867d2ab 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -389,9 +389,21 @@ public class BSShapeMesh : BSShape } public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) { - // Another reference to this shape is just counted. - IncrementReference(); - return this; + BSShape ret = null; + // If the underlying shape is native, the actual shape has not been build (waiting for asset) + // and we must create a copy of the native shape since they are never shared. + if (physShapeInfo.HasPhysicalShape && physShapeInfo.isNativeShape) + { + // TODO: decide when the native shapes should be freed. Check in Dereference? + ret = BSShapeNative.GetReference(pPhysicsScene, pPrim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); + } + else + { + // Another reference to this shape is just counted. + IncrementReference(); + ret = this; + } + return ret; } public override void Dereference(BSScene physicsScene) { @@ -560,9 +572,21 @@ public class BSShapeHull : BSShape } public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) { - // Another reference to this shape is just counted. - IncrementReference(); - return this; + BSShape ret = null; + // If the underlying shape is native, the actual shape has not been build (waiting for asset) + // and we must create a copy of the native shape since they are never shared. + if (physShapeInfo.HasPhysicalShape && physShapeInfo.isNativeShape) + { + // TODO: decide when the native shapes should be freed. Check in Dereference? + ret = BSShapeNative.GetReference(pPhysicsScene, pPrim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); + } + else + { + // Another reference to this shape is just counted. + IncrementReference(); + ret = this; + } + return ret; } public override void Dereference(BSScene physicsScene) { @@ -1075,12 +1099,23 @@ public class BSShapeGImpact : BSShape (w, iC, i, vC, v) => physicsScene.PE.CreateGImpactShape(w, iC, i, vC, v) ); } - public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim) + public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) { - // Calling this reference means we want another handle to an existing shape - // (usually linksets) so return this copy. - IncrementReference(); - return this; + BSShape ret = null; + // If the underlying shape is native, the actual shape has not been build (waiting for asset) + // and we must create a copy of the native shape since they are never shared. + if (physShapeInfo.HasPhysicalShape && physShapeInfo.isNativeShape) + { + // TODO: decide when the native shapes should be freed. Check in Dereference? + ret = BSShapeNative.GetReference(pPhysicsScene, pPrim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); + } + else + { + // Another reference to this shape is just counted. + IncrementReference(); + ret = this; + } + return ret; } // Dereferencing a compound shape releases the hold on all the child shapes. public override void Dereference(BSScene physicsScene) -- cgit v1.1 From b5d0ac4c42629812523f5af4384f61dee00ef495 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 5 Jun 2013 07:12:14 -0700 Subject: BulletSim: default PhysicsTimeStep to same as the simulator's heartbeat timestep when running the physics engine on a separate thread. This reduces the occurance of heartbeats that happen when there is no physics step which is seen as vehicle jerkyness. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index afd547a..aad1108 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -360,7 +360,7 @@ public static class BSParam new ParameterDefn("UseSeparatePhysicsThread", "If 'true', the physics engine runs independent from the simulator heartbeat", false ), new ParameterDefn("PhysicsTimeStep", "If separate thread, seconds to simulate each interval", - 0.1f ), + 0.089f ), new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", true, -- cgit v1.1 From 795acaa6aa8e32ad0281226208a6b1bbc2292bf5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 10 Jun 2013 14:12:45 -0700 Subject: BulletSim: add failure flag for meshing failure vs asset fetch failure so error messages make more sense. Change some BulletSim status log messages from WARN to INFO. Update TODO list. --- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 35 ++++++++++++----- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 44 +++++++++++----------- 4 files changed, 51 insertions(+), 34 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index cca887a..a4c5e08 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -148,7 +148,7 @@ public abstract class BSPhysObject : PhysicsActor // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'. public enum PrimAssetCondition { - Unknown, Waiting, Failed, Fetched + Unknown, Waiting, FailedAssetFetch, FailedMeshing, Fetched } public PrimAssetCondition PrimAssetState { get; set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 423c389..dec6b6f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -249,7 +249,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters TerrainManager.CreateInitialGroundPlaneAndTerrain(); // Put some informational messages into the log file. - m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation); + m_log.InfoFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation); InTaintTime = false; m_initialized = true; @@ -374,7 +374,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } else { - m_log.WarnFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion); + m_log.InfoFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion); } return ret; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 867d2ab..202a4ce 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -167,7 +167,7 @@ public abstract class BSShape // Prevent trying to keep fetching the mesh by declaring failure. if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) { - prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing; physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}", LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,setFailed,objNam={1},tex={2}", @@ -177,7 +177,8 @@ public abstract class BSShape { // 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.FailedAssetFetch + && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.FailedMeshing && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting && prim.BaseShape.SculptTexture != OMV.UUID.Zero ) @@ -219,7 +220,7 @@ public abstract class BSShape } if (!assetFound) { - yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; + yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch; } physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAssetCallback,found={1},isSculpt={2},ids={3}", yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs ); @@ -227,7 +228,7 @@ public abstract class BSShape } else { - xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; + xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch; physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}", LogHeader, physicsScene.Name); } @@ -235,13 +236,20 @@ public abstract class BSShape } else { - if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch) { physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}", LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailed,objNam={1},tex={2}", prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture); } + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing) + { + physicsScene.Logger.WarnFormat("{0} Mesh asset would not mesh. obj={1}, texture={2}", + LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); + physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailedMeshing,objNam={1},tex={2}", + prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture); + } } } @@ -374,7 +382,9 @@ public class BSShapeMesh : BSShape // Check to see if mesh was created (might require an asset). newShape = VerifyMeshCreated(physicsScene, newShape, prim); - if (!newShape.isNativeShape || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) + if (!newShape.isNativeShape + || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing + || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch) { // If a mesh was what was created, remember the built shape for later sharing. // Also note that if meshing failed we put it in the mesh list as there is nothing else to do about the mesh. @@ -517,7 +527,7 @@ public class BSShapeMesh : BSShape else { // Force the asset condition to 'failed' so we won't try to keep fetching and processing this mesh. - prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing; physicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim {1} at {2} in {3}", LogHeader, prim.PhysObjectName, prim.RawPosition, physicsScene.Name); physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,allDegenerate,key={1}", prim.LocalID, newMeshKey); @@ -559,7 +569,9 @@ public class BSShapeHull : BSShape // Check to see if hull was created (might require an asset). newShape = VerifyMeshCreated(physicsScene, newShape, prim); - if (!newShape.isNativeShape || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) + if (!newShape.isNativeShape + || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing + || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch) { // If a mesh was what was created, remember the built shape for later sharing. Hulls.Add(newHullKey, retHull); @@ -1079,10 +1091,13 @@ public class BSShapeGImpact : BSShape // Check to see if mesh was created (might require an asset). newShape = VerifyMeshCreated(physicsScene, newShape, prim); newShape.shapeKey = newMeshKey; - if (!newShape.isNativeShape || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) + if (!newShape.isNativeShape + || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing + || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch) { // If a mesh was what was created, remember the built shape for later sharing. - // Also note that if meshing failed we put it in the mesh list as there is nothing else to do about the mesh. + // Also note that if meshing failed we put it in the mesh list as there is nothing + // else to do about the mesh. GImpacts.Add(newMeshKey, retGImpact); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index df1da63..1e01526 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -2,11 +2,6 @@ CURRENT PROBLEMS TO FIX AND/OR LOOK AT ================================================= Script changing rotation of child prim while vehicle moving (eg turning wheel) causes the wheel to appear to jump back. Looks like sending position from previous update. -Vehicle ride, get up, ride again. Second time vehicle does not act correctly. - Have to rez new vehicle and delete the old to fix situation. -Hitting RESET on Nebadon's vehicle while riding causes vehicle to get into odd - position state where it will not settle onto ground properly, etc -Two of Nebadon vehicles in a sim max the CPU. This is new. Enable vehicle border crossings (at least as poorly as ODE) Terrain skirts Avatar created in previous region and not new region when crossing border @@ -23,24 +18,17 @@ vehicle angular banking Center-of-gravity Vehicle angular deflection Preferred orientation angular correction fix -when should angular and linear motor targets be zeroed? when selected? - Need a vehicle.clear()? Or an 'else' in prestep if not physical. Teravus llMoveToTarget script debug Mixing of hover, buoyancy/gravity, moveToTarget, into one force Setting hover height to zero disables hover even if hover flags are on (from SL wiki) limitMotorUp calibration (more down?) llRotLookAt llLookAt -Avatars walking up stairs (HALF DONE) -Avatar movement - flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) - walking up stairs is not calibrated correctly (stairs out of Kepler cabin) (DONE) - avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution) +Convert to avatar mesh capsule. Include rotation of capsule. Vehicle script tuning/debugging Avanti speed script Weapon shooter script Move material definitions (friction, ...) into simulator. -Add material densities to the material types. One sided meshes? Should terrain be built into a closed shape? When meshes get partially wedged into the terrain, they cannot push themselves out. It is possible that Bullet processes collisions whether entering or leaving a mesh. @@ -53,12 +41,8 @@ LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers. Same for other velocity settings. UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims: https://github.com/UbitUmarov/Ubit-opensim -Border crossing with linked vehicle causes crash - 20121129.1411: editting/moving phys object across region boundries causes crash - getPos-> btRigidBody::upcast -> getBodyType -> BOOM Vehicles (Move smoothly) Some vehicles should not be able to turn if no speed or off ground. -What to do if vehicle and prim buoyancy differ? Cannot edit/move a vehicle being ridden: it jumps back to the origional position. Neb car jiggling left and right Happens on terrain and any other mesh object. Flat cubes are much smoother. @@ -68,8 +52,6 @@ For limitMotorUp, use raycast down to find if vehicle is in the air. Verify llGetVel() is returning a smooth and good value for vehicle movement. llGetVel() should return the root's velocity if requested in a child prim. Implement function efficiency for lineaar and angular motion. -After getting off a vehicle, the root prim is phantom (can be walked through) - Need to force a position update for the root prim after compound shape destruction Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint) Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties(). A kludge that isn't fixing the real problem of Bullet adding extra motion. @@ -78,11 +60,10 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl creates over-correction and over-shoot and wabbling. Vehicle attributes are not restored when a vehicle is rezzed on region creation Create vehicle, setup vehicle properties, restart region, vehicle is not reinitialized. +What to do if vehicle and prim buoyancy differ? GENERAL TODO LIST: ================================================= -Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects. - Regular triangle meshes don't do physical collisions. Resitution of a prim works on another prim but not on terrain. The dropped prim doesn't bounce properly on the terrain. Add a sanity check for PIDTarget location. @@ -359,4 +340,25 @@ Lock axis (DONE 20130401) Terrain detail: double terrain mesh detail (DONE) Use the HACD convex hull routine in Bullet rather than the C# version. Speed up hullifying large meshes. (DONE) +Vehicle ride, get up, ride again. Second time vehicle does not act correctly. + Have to rez new vehicle and delete the old to fix situation. + (DONE 20130520: normalize rotations) +Hitting RESET on Nebadon's vehicle while riding causes vehicle to get into odd + position state where it will not settle onto ground properly, etc + (DONE 20130520: normalize rotations) +Two of Nebadon vehicles in a sim max the CPU. This is new. + (DONE 20130520: two problems: if asset failed to mesh, constantly refetched + asset; vehicle was sending too many messages to all linkset members) +Add material densities to the material types. (WILL NOT BE DONE: not how it is done) +Avatars walking up stairs (DONE) +Avatar movement + flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) + walking up stairs is not calibrated correctly (stairs out of Kepler cabin) (DONE) + avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution) +After getting off a vehicle, the root prim is phantom (can be walked through) + Need to force a position update for the root prim after compound shape destruction + (DONE) +Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects. + Regular triangle meshes don't do physical collisions. + (DONE: discovered GImpact is VERY CPU intensive) -- cgit v1.1 From 3cb65f0d3166f976713a7c095eb37e6de05061d0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Jun 2013 17:58:08 -0700 Subject: BulletSim: when meshing or asset fetching fails, include position and region with the offending object's name in the error message. --- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 40 ++++++++++++++-------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 4 +++ 2 files changed, 30 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 202a4ce..006a9c1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -168,10 +168,10 @@ public abstract class BSShape if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) { prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing; - physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}", - LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); - physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,setFailed,objNam={1},tex={2}", - prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture); + physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. prim={1}, texture={2}", + LogHeader, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture); + physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,setFailed,prim={1},tex={2}", + prim.LocalID, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture); } else { @@ -238,17 +238,17 @@ public abstract class BSShape { if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch) { - physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}", - LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); - physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailed,objNam={1},tex={2}", - prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture); + physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. prim={1}, texture={2}", + LogHeader, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture); + physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailed,prim={1},tex={2}", + prim.LocalID, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture); } if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing) { - physicsScene.Logger.WarnFormat("{0} Mesh asset would not mesh. obj={1}, texture={2}", - LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); - physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailedMeshing,objNam={1},tex={2}", - prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture); + physicsScene.Logger.WarnFormat("{0} Mesh asset would not mesh. prim={1}, texture={2}", + LogHeader, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture); + physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailedMeshing,prim={1},tex={2}", + prim.LocalID, UsefulPrimInfo(physicsScene, prim), prim.BaseShape.SculptTexture); } } } @@ -260,6 +260,19 @@ public abstract class BSShape return fillShape.physShapeInfo; } + public static String UsefulPrimInfo(BSScene pScene, BSPhysObject prim) + { + StringBuilder buff = new StringBuilder(prim.PhysObjectName); + buff.Append("/pos="); + buff.Append(prim.RawPosition.ToString()); + if (pScene != null) + { + buff.Append("/rgn="); + buff.Append(pScene.Name); + } + return buff.ToString(); + } + #endregion // Common shape routines } @@ -528,8 +541,7 @@ public class BSShapeMesh : BSShape { // Force the asset condition to 'failed' so we won't try to keep fetching and processing this mesh. prim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedMeshing; - physicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim {1} at {2} in {3}", - LogHeader, prim.PhysObjectName, prim.RawPosition, physicsScene.Name); + physicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim={1}", LogHeader, UsefulPrimInfo(physicsScene, prim) ); physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,allDegenerate,key={1}", prim.LocalID, newMeshKey); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 1e01526..4357ef1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,5 +1,9 @@ CURRENT PROBLEMS TO FIX AND/OR LOOK AT ================================================= +Vehicle buoyancy. Computed correctly? Possibly creating very large effective mass. + Interaction of llSetBuoyancy and vehicle buoyancy. Should be additive? + Negative buoyancy computed correctly +Computation of mesh mass. How done? How should it be done? Script changing rotation of child prim while vehicle moving (eg turning wheel) causes the wheel to appear to jump back. Looks like sending position from previous update. Enable vehicle border crossings (at least as poorly as ODE) -- cgit v1.1 From bbeff4b8ca34a4567f2215ed5e90637a00d8c81e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 20 Jun 2013 09:55:40 -0700 Subject: BulletSim: rework velocity updating when not colliding and not flying to prevent infinite jumps. Now jumps last only AvatarJumpFrames long (default 4) which is about as high as in SL. TODO: jumping should only depend on standing (collision with feet) rather than collision anywhere on the avatar. --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 44 +++++++++++++++++++--- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 ++ 2 files changed, 42 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index ac8c30c..928b350 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -43,8 +43,14 @@ public class BSActorAvatarMove : BSActor // Set to true if we think we're going up stairs. // This state is remembered because collisions will turn on and off as we go up stairs. int m_walkingUpStairs; + // The amount the step up is applying. Used to smooth stair walking. float m_lastStepUp; + // Jumping happens over several frames. If use applies up force while colliding, start the + // jump and allow the jump to continue for this number of frames. + int m_jumpFrames = 0; + float m_jumpVelocity = 0f; + public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName) : base(physicsScene, pObj, actorName) { @@ -206,17 +212,45 @@ public class BSActorAvatarMove : BSActor if (m_controllingPrim.Friction != BSParam.AvatarFriction) { - // Probably starting up walking. Set friction to moving friction. + // Probably starting to walk. Set friction to moving friction. m_controllingPrim.Friction = BSParam.AvatarFriction; m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction); } - // If falling, we keep the world's downward vector no matter what the other axis specify. - // The check for RawVelocity.Z < 0 makes jumping work (temporary upward force). if (!m_controllingPrim.Flying && !m_controllingPrim.IsColliding) { - if (m_controllingPrim.RawVelocity.Z < 0) + stepVelocity.Z = m_controllingPrim.RawVelocity.Z; + } + + + // Colliding and not flying with an upward force. The avatar must be trying to jump. + if (!m_controllingPrim.Flying && m_controllingPrim.IsColliding && stepVelocity.Z > 0) + { + // We allow the upward force to happen for this many frames. + m_jumpFrames = BSParam.AvatarJumpFrames; + m_jumpVelocity = stepVelocity.Z; + } + + // The case where the avatar is not colliding and is not flying is special. + // The avatar is either falling or jumping and the user can be applying force to the avatar + // (force in some direction or force up or down). + // If the avatar has negative Z velocity and is not colliding, presume we're falling and keep the velocity. + // If the user is trying to apply upward force but we're not colliding, assume the avatar + // is trying to jump and don't apply the upward force if not touching the ground any more. + if (!m_controllingPrim.Flying && !m_controllingPrim.IsColliding) + { + // If upward velocity is being applied, this must be a jump and only allow that to go on so long + if (m_jumpFrames > 0) + { + // Since not touching the ground, only apply upward force for so long. + m_jumpFrames--; + stepVelocity.Z = m_jumpVelocity; + } + else + { + // Since we're not affected by anything, whatever vertical motion the avatar has, continue that. stepVelocity.Z = m_controllingPrim.RawVelocity.Z; + } // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); } @@ -241,7 +275,7 @@ public class BSActorAvatarMove : BSActor m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4},avHeight={5}", m_controllingPrim.LocalID, m_controllingPrim.IsColliding, m_controllingPrim.Flying, m_controllingPrim.TargetVelocitySpeed, m_controllingPrim.CollisionsLastTick.Count, m_controllingPrim.Size.Z); - // This test is done if moving forward, not flying and is colliding with something. + // Check for stairs climbing if colliding, not flying and moving forward if ( m_controllingPrim.IsColliding && !m_controllingPrim.Flying diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index aad1108..6437b04 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -134,6 +134,7 @@ public static class BSParam public static float AvatarHeightMidFudge { get; private set; } public static float AvatarHeightHighFudge { get; private set; } public static float AvatarContactProcessingThreshold { get; private set; } + public static int AvatarJumpFrames { get; private set; } public static float AvatarBelowGroundUpCorrectionMeters { get; private set; } public static float AvatarStepHeight { get; private set; } public static float AvatarStepApproachFactor { get; private set; } @@ -567,6 +568,8 @@ public static class BSParam 0.1f ), new ParameterDefn("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground", 1.0f ), + new ParameterDefn("AvatarJumpFrames", "Number of frames to allow jump forces. Changes jump height.", + 4 ), new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction", 0.6f ) , new ParameterDefn("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)", -- cgit v1.1 From a5de4f692bd0de5faccdcf32a923a72949bb3cca Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Sat, 15 Jun 2013 17:23:43 -0400 Subject: BulletSim: Implementation of Linear Deflection, it is a partial help for the vehicle tuning diffrence between Opensim and Second life. Signed-off-by: Robert Adams --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 38 +++++++++++++++++++--- 1 file changed, 33 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 311cf4f..51207f1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -209,7 +209,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_VhoverTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: - m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f); + m_linearDeflectionEfficiency = ClampInRange(0f, pValue, 1f); break; case Vehicle.LINEAR_DEFLECTION_TIMESCALE: m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); @@ -1029,9 +1029,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation); Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV); + //Compute Linear deflection. + Vector3 linearDeflectionFactorV = ComputeLinearDeflection(m_linearDeflectionEfficiency, currentVelV, pTimestep); + linearMotorCorrectionV += linearDeflectionFactorV; + // Friction reduces vehicle motion - Vector3 frictionFactorW = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep); - linearMotorCorrectionV -= (currentVelV * frictionFactorW); + Vector3 frictionFactorV = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep); + linearMotorCorrectionV -= (currentVelV * frictionFactorV); // Motor is vehicle coordinates. Rotate it to world coordinates Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation; @@ -1048,9 +1052,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin - VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}", + VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6},LinearDeflec={7}", ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, - linearMotorVelocityW, VehicleVelocity, frictionFactorW); + linearMotorVelocityW, VehicleVelocity, frictionFactorV, linearDeflectionFactorV); } public void ComputeLinearTerrainHeightCorrection(float pTimestep) @@ -1651,6 +1655,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin } return frictionFactor; } + //Given a Deflection Effiency and a Velocity, Returns a Velocity that is Partially Deflected onto the X Axis + //Clamped so that a DeflectionTimescale of less then 1 does not increase force over original velocity + private Vector3 ComputeLinearDeflection(float DeflectionEfficiency,Vector3 Velocity,float pTimestep) + { + Vector3 LinearDeflection = Vector3.Zero; + LinearDeflection.Y = SortedClampInRange(0, (Velocity.Y * DeflectionEfficiency) / m_linearDeflectionTimescale, Velocity.Y); + LinearDeflection.Z = SortedClampInRange(0, (Velocity.Z * DeflectionEfficiency) / m_linearDeflectionTimescale, Velocity.Z); + LinearDeflection.X += Math.Abs(LinearDeflection.Y); + LinearDeflection.X += Math.Abs(LinearDeflection.Z); + LinearDeflection *= pTimestep; + return LinearDeflection*=new Vector3(1,-1,-1); + + } + private float SortedClampInRange(float clampa, float val, float clampb) + { + if (clampa > clampb) + { + float temp = clampa; + clampa = clampb; + clampb = temp; + } + return ClampInRange(clampa, val, clampb); + + } private float ClampInRange(float low, float val, float high) { -- cgit v1.1 From 74539659f6f9be557dbd07fdefa1adae1c59ce87 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 21 Jun 2013 10:46:21 -0700 Subject: BulletSim: move new linear deflection code to own routine. Remove VehicleForwardVelocity changed storage since the value will be modified as movement is processed. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 64 ++++++++++++---------- 1 file changed, 35 insertions(+), 29 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 51207f1..07e87d1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -707,7 +707,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Vector3 m_knownRotationalVelocity; private Vector3 m_knownRotationalForce; private Vector3 m_knownRotationalImpulse; - private Vector3 m_knownForwardVelocity; // vehicle relative forward speed private const int m_knownChangedPosition = 1 << 0; private const int m_knownChangedVelocity = 1 << 1; @@ -719,7 +718,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin private const int m_knownChangedRotationalImpulse = 1 << 7; private const int m_knownChangedTerrainHeight = 1 << 8; private const int m_knownChangedWaterLevel = 1 << 9; - private const int m_knownChangedForwardVelocity = 1 <<10; public void ForgetKnownVehicleProperties() { @@ -923,12 +921,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { get { - if ((m_knownHas & m_knownChangedForwardVelocity) == 0) - { - m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation)); - m_knownHas |= m_knownChangedForwardVelocity; - } - return m_knownForwardVelocity; + return VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation)); } } private float VehicleForwardSpeed @@ -981,6 +974,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin { ComputeLinearVelocity(pTimestep); + ComputeLinearDeflection(pTimestep); + ComputeLinearTerrainHeightCorrection(pTimestep); ComputeLinearHover(pTimestep); @@ -1026,14 +1021,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // Step the motor from the current value. Get the correction needed this step. Vector3 origVelW = VehicleVelocity; // DEBUG - Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation); + Vector3 currentVelV = VehicleForwardVelocity; Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV); - //Compute Linear deflection. - Vector3 linearDeflectionFactorV = ComputeLinearDeflection(m_linearDeflectionEfficiency, currentVelV, pTimestep); - linearMotorCorrectionV += linearDeflectionFactorV; - - // Friction reduces vehicle motion + // Friction reduces vehicle motion based on absolute speed. Slow vehicle down by friction. Vector3 frictionFactorV = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep); linearMotorCorrectionV -= (currentVelV * frictionFactorV); @@ -1050,11 +1041,38 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Add this correction to the velocity to make it faster/slower. VehicleVelocity += linearMotorVelocityW; + VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}", + ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, + linearMotorVelocityW, VehicleVelocity, frictionFactorV); + } + //Given a Deflection Effiency and a Velocity, Returns a Velocity that is Partially Deflected onto the X Axis + //Clamped so that a DeflectionTimescale of less then 1 does not increase force over original velocity + private void ComputeLinearDeflection(float pTimestep) + { + Vector3 linearDeflectionV = Vector3.Zero; + Vector3 velocityV = VehicleForwardVelocity; - VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6},LinearDeflec={7}", - ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, - linearMotorVelocityW, VehicleVelocity, frictionFactorV, linearDeflectionFactorV); + // Velocity in Y and Z dimensions is movement to the side or turning. + // Compute deflection factor from the to the side and rotational velocity + linearDeflectionV.Y = SortedClampInRange(0, (velocityV.Y * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Y); + linearDeflectionV.Z = SortedClampInRange(0, (velocityV.Z * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Z); + + // Velocity to the side and around is corrected and moved into the forward direction + linearDeflectionV.X += Math.Abs(linearDeflectionV.Y); + linearDeflectionV.X += Math.Abs(linearDeflectionV.Z); + + // Scale the deflection to the fractional simulation time + linearDeflectionV *= pTimestep; + + // Subtract the sideways and rotational velocity deflection factors while adding the correction forward + linearDeflectionV *= new Vector3(1,-1,-1); + + // Correciont is vehicle relative. Convert to world coordinates and add to the velocity + VehicleVelocity += linearDeflectionV * VehicleOrientation; + + VDetailLog("{0}, MoveLinear,LinearDeflection,linDefEff={1},linDefTS={2},linDeflectionV={3}", + ControllingPrim.LocalID, m_linearDeflectionEfficiency, m_linearDeflectionTimescale, linearDeflectionV); } public void ComputeLinearTerrainHeightCorrection(float pTimestep) @@ -1655,19 +1673,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } return frictionFactor; } - //Given a Deflection Effiency and a Velocity, Returns a Velocity that is Partially Deflected onto the X Axis - //Clamped so that a DeflectionTimescale of less then 1 does not increase force over original velocity - private Vector3 ComputeLinearDeflection(float DeflectionEfficiency,Vector3 Velocity,float pTimestep) - { - Vector3 LinearDeflection = Vector3.Zero; - LinearDeflection.Y = SortedClampInRange(0, (Velocity.Y * DeflectionEfficiency) / m_linearDeflectionTimescale, Velocity.Y); - LinearDeflection.Z = SortedClampInRange(0, (Velocity.Z * DeflectionEfficiency) / m_linearDeflectionTimescale, Velocity.Z); - LinearDeflection.X += Math.Abs(LinearDeflection.Y); - LinearDeflection.X += Math.Abs(LinearDeflection.Z); - LinearDeflection *= pTimestep; - return LinearDeflection*=new Vector3(1,-1,-1); - } private float SortedClampInRange(float clampa, float val, float clampb) { if (clampa > clampb) -- cgit v1.1 From 2f4a729d408acfd311c8b7bc53d2cbff9d2ddfad Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 29 Jun 2013 06:42:38 -0700 Subject: BulletSim: add inTaintTime parameter to collision cache clear function. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 6437b04..d17c8e7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -706,7 +706,7 @@ public static class BSParam new ParameterDefn("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool", 0f, (s) => { return 0f; }, - (s,v) => { BSParam.ResetBroadphasePoolTainted(s, v); } ), + (s,v) => { BSParam.ResetBroadphasePoolTainted(s, v, false /* inTaintTime */); } ), new ParameterDefn("ResetConstraintSolver", "Setting this is any value resets the constraint solver", 0f, (s) => { return 0f; }, @@ -792,10 +792,10 @@ public static class BSParam // ===================================================================== // There are parameters that, when set, cause things to happen in the physics engine. // This causes the broadphase collision cache to be cleared. - private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v) + private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v, bool inTaintTime) { BSScene physScene = pPhysScene; - physScene.TaintedObject("BSParam.ResetBroadphasePoolTainted", delegate() + physScene.TaintedObject(inTaintTime, "BSParam.ResetBroadphasePoolTainted", delegate() { physScene.PE.ResetBroadphasePool(physScene.World); }); -- cgit v1.1 From 23516717e48095011c1c06d64785ef7d91754ff2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 30 Jun 2013 13:39:58 -0700 Subject: BulletSim: a better version of llMoveToTarget that doesn't go crazy. There is still some overshoot but mostly fixes Mantis 6693. Fix bug where moveToTarget was active for non-physical objects and while selected. Fix bug where move target was not getting changed if the script changed the target during a move. --- .../Physics/BulletSPlugin/BSActorMoveToTarget.cs | 80 +++++++++++++++++++--- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 15 ++-- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 19 ++++- 5 files changed, 98 insertions(+), 19 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs index 75ff24e..bdf4bc0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs @@ -50,7 +50,8 @@ public class BSActorMoveToTarget : BSActor // BSActor.isActive public override bool isActive { - get { return Enabled; } + // MoveToTarget only works on physical prims + get { return Enabled && m_controllingPrim.IsPhysicallyActive; } } // Release any connections and resources used by the actor. @@ -102,16 +103,28 @@ public class BSActorMoveToTarget : BSActor // We're taking over after this. m_controllingPrim.ZeroMotion(true); - m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate", - m_controllingPrim.MoveToTargetTau, // timeScale - BSMotor.Infinite, // decay time scale - 1f // efficiency + /* Someday use the PID controller + m_targetMotor = new BSPIDVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString()); + m_targetMotor.TimeScale = m_controllingPrim.MoveToTargetTau; + m_targetMotor.Efficiency = 1f; + */ + m_targetMotor = new BSVMotor("BSActorMoveToTarget-" + m_controllingPrim.LocalID.ToString(), + m_controllingPrim.MoveToTargetTau, // timeScale + BSMotor.Infinite, // decay time scale + 1f // efficiency ); m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages. m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget); m_targetMotor.SetCurrent(m_controllingPrim.RawPosition); - m_physicsScene.BeforeStep += Mover; + // m_physicsScene.BeforeStep += Mover; + m_physicsScene.BeforeStep += Mover2; + } + else + { + // If already allocated, make sure the target and other paramters are current + m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget); + m_targetMotor.SetCurrent(m_controllingPrim.RawPosition); } } @@ -119,12 +132,16 @@ public class BSActorMoveToTarget : BSActor { if (m_targetMotor != null) { - m_physicsScene.BeforeStep -= Mover; + // m_physicsScene.BeforeStep -= Mover; + m_physicsScene.BeforeStep -= Mover2; m_targetMotor = null; } } - // Called just before the simulation step. Update the vertical position for hoverness. + // Origional mover that set the objects position to move to the target. + // The problem was that gravity would keep trying to push the object down so + // the overall downward velocity would increase to infinity. + // Called just before the simulation step. private void Mover(float timeStep) { // Don't do hovering while the object is selected. @@ -142,6 +159,7 @@ public class BSActorMoveToTarget : BSActor m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}", m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass); m_controllingPrim.ForcePosition = m_targetMotor.TargetValue; + m_controllingPrim.ForceVelocity = OMV.Vector3.Zero; // Setting the position does not cause the physics engine to generate a property update. Force it. m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); } @@ -151,7 +169,51 @@ public class BSActorMoveToTarget : BSActor // Setting the position does not cause the physics engine to generate a property update. Force it. m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); } - m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition); + m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}", + m_controllingPrim.LocalID, origPosition, movePosition); + } + + // Version of mover that applies forces to move the physical object to the target. + // Also overcomes gravity so the object doesn't just drop to the ground. + // Called just before the simulation step. + private void Mover2(float timeStep) + { + // Don't do hovering while the object is selected. + if (!isActive) + return; + + OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below) + OMV.Vector3 addedForce = OMV.Vector3.Zero; + + // CorrectionVector is the movement vector required this step + OMV.Vector3 correctionVector = m_targetMotor.Step(timeStep, m_controllingPrim.RawPosition); + + // If we are very close to our target, turn off the movement motor. + if (m_targetMotor.ErrorIsZero()) + { + m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,zeroMovement,pos={1},mass={2}", + m_controllingPrim.LocalID, m_controllingPrim.RawPosition, m_controllingPrim.Mass); + m_controllingPrim.ForcePosition = m_targetMotor.TargetValue; + m_controllingPrim.ForceVelocity = OMV.Vector3.Zero; + // Setting the position does not cause the physics engine to generate a property update. Force it. + m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody); + } + else + { + // First force to move us there -- the motor return a timestep scaled value. + addedForce = correctionVector / timeStep; + // Remove the existing velocity (only the moveToTarget force counts) + addedForce -= m_controllingPrim.RawVelocity; + // Overcome gravity. + addedForce -= m_controllingPrim.Gravity; + + // Add enough force to overcome the mass of the object + addedForce *= m_controllingPrim.Mass; + + m_controllingPrim.AddForce(addedForce, false /* pushForce */, true /* inTaintTime */); + } + m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}", + m_controllingPrim.LocalID, origPosition, addedForce); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 48f842e..5ef6992 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -626,7 +626,7 @@ public sealed class BSCharacter : BSPhysObject OMV.Vector3 addForce = force / PhysScene.LastTimeStep; AddForce(addForce, pushforce, false); } - private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { + public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { if (force.IsFinite()) { OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index ef662b5..1214703 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -144,7 +144,6 @@ public class BSVMotor : BSMotor Vector3 correction = Vector3.Zero; Vector3 error = TargetValue - CurrentValue; - LastError = error; if (!ErrorIsZero(error)) { correction = StepError(timeStep, error); @@ -179,6 +178,7 @@ public class BSVMotor : BSMotor MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue); } + LastError = error; return correction; } @@ -293,7 +293,6 @@ public class BSFMotor : BSMotor float correction = 0f; float error = TargetValue - CurrentValue; - LastError = error; if (!ErrorIsZero(error)) { correction = StepError(timeStep, error); @@ -328,6 +327,7 @@ public class BSFMotor : BSMotor MDetailLog("{0}, BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); } + LastError = error; return CurrentValue; } @@ -363,7 +363,7 @@ public class BSFMotor : BSMotor // ============================================================================ // ============================================================================ -// Proportional, Integral, Derivitive Motor +// Proportional, Integral, Derivitive ("PID") Motor // Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors. public class BSPIDVMotor : BSVMotor { @@ -434,15 +434,14 @@ public class BSPIDVMotor : BSVMotor // A simple derivitive is the rate of change from the last error. Vector3 derivitive = (error - LastError) * timeStep; - LastError = error; // Correction = (proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError) - Vector3 ret = error * timeStep * proportionFactor * FactorMix.X - + RunningIntegration * integralFactor * FactorMix.Y - + derivitive * derivFactor * FactorMix.Z + Vector3 ret = error / TimeScale * timeStep * proportionFactor * FactorMix.X + + RunningIntegration / TimeScale * integralFactor * FactorMix.Y + + derivitive / TimeScale * derivFactor * FactorMix.Z ; - MDetailLog("{0},BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}", + MDetailLog("{0}, BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}", BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret); return ret; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index a4c5e08..a0d5c42 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -210,6 +210,7 @@ public abstract class BSPhysObject : PhysicsActor AddAngularForce(force, pushforce, false); } public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime); + public abstract void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime); public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 95bdc7b..90f74df 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -450,6 +450,9 @@ public class BSPrim : BSPhysObject Gravity = ComputeGravity(Buoyancy); PhysScene.PE.SetGravity(PhysBody, Gravity); + OMV.Vector3 currentScale = PhysScene.PE.GetLocalScaling(PhysShape.physShapeInfo); // DEBUG DEBUG + DetailLog("{0},BSPrim.UpdateMassProperties,currentScale{1},shape={2}", LocalID, currentScale, PhysShape.physShapeInfo); // DEBUG DEBUG + Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia); PhysScene.PE.UpdateInertiaTensor(PhysBody); @@ -1040,6 +1043,20 @@ public class BSPrim : BSPhysObject } } + public override OMV.Vector3 PIDTarget + { + set + { + base.PIDTarget = value; + BSActor actor; + if (PhysicalActors.TryGetActor(MoveToTargetActorName, out actor)) + { + // if the actor exists, tell it to refresh its values. + actor.Refresh(); + } + + } + } // Used for llSetHoverHeight and maybe vehicle height // Hover Height will override MoveTo target's Z public override bool PIDHoverActive { @@ -1063,7 +1080,7 @@ public class BSPrim : BSPhysObject // Applying a force just adds this to the total force on the object. // This added force will only last the next simulation tick. - public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { + public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { // for an object, doesn't matter if force is a pushforce or not if (IsPhysicallyActive) { -- cgit v1.1 From 425d2a2a972de34c1853c6049727d4c0eea38af4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 30 Jun 2013 13:48:27 -0700 Subject: BulletSim: set linkset type to be prim specific rather than a simulator wide default. This allows individual prims to differ in the underlying linkset implementation. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 16 ++++------------ .../Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 2 -- OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 5 ++++- 3 files changed, 8 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 76c2187..ad8e10f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -33,14 +33,6 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -// A BSPrim can get individual information about its linkedness attached -// to it through an instance of a subclass of LinksetInfo. -// Each type of linkset will define the information needed for its type. -public abstract class BSLinksetInfo -{ - public virtual void Clear() { } -} - public abstract class BSLinkset { // private static string LogHeader = "[BULLETSIM LINKSET]"; @@ -56,15 +48,15 @@ public abstract class BSLinkset { BSLinkset ret = null; - switch ((int)BSParam.LinksetImplementation) + switch (parent.LinksetType) { - case (int)LinksetImplementation.Constraint: + case LinksetImplementation.Constraint: ret = new BSLinksetConstraints(physScene, parent); break; - case (int)LinksetImplementation.Compound: + case LinksetImplementation.Compound: ret = new BSLinksetCompound(physScene, parent); break; - case (int)LinksetImplementation.Manual: + case LinksetImplementation.Manual: // ret = new BSLinksetManual(physScene, parent); break; default: diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 350a5d1..308cf13 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -238,7 +238,6 @@ public sealed class BSLinksetCompound : BSLinkset // there will already be a rebuild scheduled. DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}", updated.LocalID, whichUpdated); - updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed. ScheduleRebuild(updated); } } @@ -294,7 +293,6 @@ public sealed class BSLinksetCompound : BSLinkset child.LocalID, child.PhysBody.AddrString); // Cause the child's body to be rebuilt and thus restored to normal operation - child.LinksetInfo = null; child.ForceBodyShapeRebuild(false); if (!HasAnyChildren) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 235da78..87eed98 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -41,12 +41,15 @@ public class BSPrimLinkable : BSPrimDisplaced // The index of this child prim. public int LinksetChildIndex { get; set; } - public BSLinksetInfo LinksetInfo { get; set; } + public BSLinkset.LinksetImplementation LinksetType { get; set; } public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) { + // Default linkset implementation for this prim + LinksetType = (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation; + Linkset = BSLinkset.Factory(PhysScene, this); PhysScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate() -- cgit v1.1 From 9d5ae759504f01dceac5d3f859da1e43e28797ad Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 30 Jun 2013 17:06:27 -0700 Subject: BulletSim: remove the handle to the vehicle actor and cause routines that need it to look it up. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 70 ++++++++++++++++------ .../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 32 +++++----- 2 files changed, 70 insertions(+), 32 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 90f74df..b2947c6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -70,18 +70,17 @@ public class BSPrim : BSPhysObject private int CrossingFailures { get; set; } // Keep a handle to the vehicle actor so it is easy to set parameters on same. - public BSDynamics VehicleActor; public const string VehicleActorName = "BasicVehicle"; // Parameters for the hover actor - public const string HoverActorName = "HoverActor"; + public const string HoverActorName = "BSPrim.HoverActor"; // Parameters for the axis lock actor public const String LockedAxisActorName = "BSPrim.LockedAxis"; // Parameters for the move to target actor - public const string MoveToTargetActorName = "MoveToTargetActor"; + public const string MoveToTargetActorName = "BSPrim.MoveToTargetActor"; // Parameters for the setForce and setTorque actors - public const string SetForceActorName = "SetForceActor"; - public const string SetTorqueActorName = "SetTorqueActor"; + public const string SetForceActorName = "BSPrim.SetForceActor"; + public const string SetTorqueActorName = "BSPrim.SetTorqueActor"; public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) @@ -100,9 +99,8 @@ public class BSPrim : BSPhysObject _isPhysical = pisPhysical; _isVolumeDetect = false; - // We keep a handle to the vehicle actor so we can set vehicle parameters later. - VehicleActor = new BSDynamics(PhysScene, this, VehicleActorName); - PhysicalActors.Add(VehicleActorName, VehicleActor); + // Add a dynamic vehicle to our set of actors that can move this prim. + PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName)); _mass = CalculateMass(); @@ -505,9 +503,25 @@ public class BSPrim : BSPhysObject } } + // Find and return a handle to the current vehicle actor. + // Return 'null' if there is no vehicle actor. + public BSDynamics GetVehicleActor() + { + BSDynamics ret = null; + BSActor actor; + if (PhysicalActors.TryGetActor(VehicleActorName, out actor)) + { + ret = actor as BSDynamics; + } + return ret; + } public override int VehicleType { get { - return (int)VehicleActor.Type; + int ret = (int)Vehicle.TYPE_NONE; + BSDynamics vehicleActor = GetVehicleActor(); + if (vehicleActor != null) + ret = (int)vehicleActor.Type; + return ret; } set { Vehicle type = (Vehicle)value; @@ -518,8 +532,12 @@ public class BSPrim : BSPhysObject // change all the parameters. Like a plane changing to CAR when on the // ground. In this case, don't want to zero motion. // ZeroMotion(true /* inTaintTime */); - VehicleActor.ProcessTypeChange(type); - ActivateIfPhysical(false); + BSDynamics vehicleActor = GetVehicleActor(); + if (vehicleActor != null) + { + vehicleActor.ProcessTypeChange(type); + ActivateIfPhysical(false); + } }); } } @@ -527,31 +545,47 @@ public class BSPrim : BSPhysObject { PhysScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { - VehicleActor.ProcessFloatVehicleParam((Vehicle)param, value); - ActivateIfPhysical(false); + BSDynamics vehicleActor = GetVehicleActor(); + if (vehicleActor != null) + { + vehicleActor.ProcessFloatVehicleParam((Vehicle)param, value); + ActivateIfPhysical(false); + } }); } public override void VehicleVectorParam(int param, OMV.Vector3 value) { PhysScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { - VehicleActor.ProcessVectorVehicleParam((Vehicle)param, value); - ActivateIfPhysical(false); + BSDynamics vehicleActor = GetVehicleActor(); + if (vehicleActor != null) + { + vehicleActor.ProcessVectorVehicleParam((Vehicle)param, value); + ActivateIfPhysical(false); + } }); } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { PhysScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { - VehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation); - ActivateIfPhysical(false); + BSDynamics vehicleActor = GetVehicleActor(); + if (vehicleActor != null) + { + vehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation); + ActivateIfPhysical(false); + } }); } public override void VehicleFlags(int param, bool remove) { PhysScene.TaintedObject("BSPrim.VehicleFlags", delegate() { - VehicleActor.ProcessVehicleFlags(param, remove); + BSDynamics vehicleActor = GetVehicleActor(); + if (vehicleActor != null) + { + vehicleActor.ProcessVehicleFlags(param, remove); + } }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs index b040e21..583c436 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs @@ -114,21 +114,25 @@ public class BasicVehicles : OpenSimTestCase // Instead the appropriate values are set and calls are made just the parts of the // controller we want to exercise. Stepping the physics engine then applies // the actions of that one feature. - TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); - TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale); - TestVehicle.VehicleActor.enableAngularVerticalAttraction = true; - - TestVehicle.IsPhysical = true; - PhysicsScene.ProcessTaints(); - - // Step the simulator a bunch of times and vertical attraction should orient the vehicle up - for (int ii = 0; ii < simSteps; ii++) + BSDynamics vehicleActor = TestVehicle.GetVehicleActor(); + if (vehicleActor != null) { - TestVehicle.VehicleActor.ForgetKnownVehicleProperties(); - TestVehicle.VehicleActor.ComputeAngularVerticalAttraction(); - TestVehicle.VehicleActor.PushKnownChanged(); - - PhysicsScene.Simulate(simulationTimeStep); + vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); + vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale); + vehicleActor.enableAngularVerticalAttraction = true; + + TestVehicle.IsPhysical = true; + PhysicsScene.ProcessTaints(); + + // Step the simulator a bunch of times and vertical attraction should orient the vehicle up + for (int ii = 0; ii < simSteps; ii++) + { + vehicleActor.ForgetKnownVehicleProperties(); + vehicleActor.ComputeAngularVerticalAttraction(); + vehicleActor.PushKnownChanged(); + + PhysicsScene.Simulate(simulationTimeStep); + } } TestVehicle.IsPhysical = false; -- cgit v1.1 From c24c99f4bab0ef2e926ebc46235ffed25fdd9add Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 30 Jun 2013 19:08:15 -0700 Subject: BulletSim: fix an occasional crash with flushing log files. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index dec6b6f..155d143 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -223,8 +223,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // can be left in and every call doesn't have to check for null. if (m_physicsLoggingEnabled) { - PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); - PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages. + PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes, m_physicsLoggingDoFlush); + PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output its own error messages. } else { @@ -1106,8 +1106,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public void DetailLog(string msg, params Object[] args) { PhysicsLogging.Write(msg, args); - // Add the Flush() if debugging crashes. Gets all the messages written out. - if (m_physicsLoggingDoFlush) PhysicsLogging.Flush(); } // Used to fill in the LocalID when there isn't one. It's the correct number of characters. public const string DetailLogZero = "0000000000"; -- cgit v1.1 From 8eb86c9ec91ee41699ab455fc5e788a4bff53071 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 30 Jun 2013 19:22:43 -0700 Subject: BulletSim: add the reset of the last commit for flush log file problems. Fix small typo in one log message. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 07e87d1..aa247dd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1276,7 +1276,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleAddForce(appliedGravity); - VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}", + VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={5}", ControllingPrim.LocalID, m_VehicleGravity, ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 155d143..1645c98 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -223,7 +223,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // can be left in and every call doesn't have to check for null. if (m_physicsLoggingEnabled) { - PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes, m_physicsLoggingDoFlush); + PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes, m_physicsLoggingDoFlush); PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output its own error messages. } else -- cgit v1.1 From 5f97c6f8f06f0b90ab815a1d44358dc256ec5a50 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 4 Jul 2013 12:16:33 -0700 Subject: BulletSim: non-functional updates. Comments and formatting. Update TODO list. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 14 +++- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 15 +++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 75 +++++++++++++--------- 4 files changed, 67 insertions(+), 43 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index aa247dd..c27d3f0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -774,7 +774,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Since the computation of terrain height can be a little involved, this routine // is used to fetch the height only once for each vehicle simulation step. - Vector3 lastRememberedHeightPos; + Vector3 lastRememberedHeightPos = new Vector3(-1, -1, -1); private float GetTerrainHeight(Vector3 pos) { if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos) @@ -788,14 +788,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Since the computation of water level can be a little involved, this routine // is used ot fetch the level only once for each vehicle simulation step. + Vector3 lastRememberedWaterHeightPos = new Vector3(-1, -1, -1); private float GetWaterLevel(Vector3 pos) { - if ((m_knownHas & m_knownChangedWaterLevel) == 0) + if ((m_knownHas & m_knownChangedWaterLevel) == 0 || pos != lastRememberedWaterHeightPos) { + lastRememberedWaterHeightPos = pos; m_knownWaterLevel = ControllingPrim.PhysScene.TerrainManager.GetWaterLevelAtXYZ(pos); m_knownHas |= m_knownChangedWaterLevel; } - return (float)m_knownWaterLevel; + return m_knownWaterLevel; } private Vector3 VehiclePosition @@ -991,11 +993,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin { Vector3 vel = VehicleVelocity; if ((m_flags & (VehicleFlag.NO_X)) != 0) + { vel.X = 0; + } if ((m_flags & (VehicleFlag.NO_Y)) != 0) + { vel.Y = 0; + } if ((m_flags & (VehicleFlag.NO_Z)) != 0) + { vel.Z = 0; + } VehicleVelocity = vel; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 1214703..7693195 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -188,6 +188,8 @@ public class BSVMotor : BSMotor CurrentValue = current; return Step(timeStep); } + // Given and error, computer a correction for this step. + // Simple scaling of the error by the timestep. public virtual Vector3 StepError(float timeStep, Vector3 error) { if (!Enabled) return Vector3.Zero; @@ -221,7 +223,7 @@ public class BSVMotor : BSMotor CurrentValue, TargetValue); LastError = BSMotor.InfiniteVector; - while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) + while (maxOutput-- > 0 && !ErrorIsZero()) { Vector3 lastStep = Step(timeStep); MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}", @@ -375,7 +377,6 @@ public class BSPIDVMotor : BSVMotor // The factors are vectors for the three dimensions. This is the proportional of each // that is applied. This could be multiplied through the actual factors but it // is sometimes easier to manipulate the factors and their mix separately. - // to public Vector3 FactorMix; // Arbritrary factor range. @@ -413,14 +414,14 @@ public class BSPIDVMotor : BSVMotor // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot. // If efficiency is low (0f), use a factor value that overcorrects. // TODO: might want to vary contribution of different factor depending on efficiency. - float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f; - // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow; + // float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f; + float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow; proportionFactor = new Vector3(factor, factor, factor); integralFactor = new Vector3(factor, factor, factor); derivFactor = new Vector3(factor, factor, factor); - MDetailLog("{0},BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor); + MDetailLog("{0}, BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor); } } @@ -441,8 +442,8 @@ public class BSPIDVMotor : BSVMotor + derivitive / TimeScale * derivFactor * FactorMix.Z ; - MDetailLog("{0}, BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}", - BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret); + MDetailLog("{0}, BSPIDVMotor.step,ts={1},err={2},lerr={3},runnInt={4},deriv={5},ret={6}", + BSScene.DetailLogZero, timeStep, error, LastError, RunningIntegration, derivitive, ret); return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b2947c6..f0858ca 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1125,7 +1125,9 @@ public class BSPrim : BSPhysObject OMV.Vector3 addForce = force; PhysScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() { - // Bullet adds this central force to the total force for this tick + // Bullet adds this central force to the total force for this tick. + // Deep down in Bullet: + // linearVelocity += totalForce / mass * timeStep; DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) { @@ -1493,6 +1495,8 @@ public class BSPrim : BSPhysObject returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); // DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass); + DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3},pathB={4},pathE={5},profB={6},profE={7},siz={8}", + LocalID, Density, volume, returnMass, pathBegin, pathEnd, profileBegin, profileEnd, _size); return returnMass; }// end CalculateMass diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 4357ef1..0453376 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -3,25 +3,21 @@ CURRENT PROBLEMS TO FIX AND/OR LOOK AT Vehicle buoyancy. Computed correctly? Possibly creating very large effective mass. Interaction of llSetBuoyancy and vehicle buoyancy. Should be additive? Negative buoyancy computed correctly +Center-of-gravity Computation of mesh mass. How done? How should it be done? -Script changing rotation of child prim while vehicle moving (eg turning wheel) causes - the wheel to appear to jump back. Looks like sending position from previous update. Enable vehicle border crossings (at least as poorly as ODE) Terrain skirts Avatar created in previous region and not new region when crossing border Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) +User settable terrain mesh + Allow specifying as convex or concave and use different getHeight functions depending +Boats, when turning nose down into the water + Acts like rotation around Z is also effecting rotation around X and Y Deleting a linkset while standing on the root will leave the physical shape of the root behind. Not sure if it is because standing on it. Done with large prim linksets. Linkset child rotations. Nebadon spiral tube has middle sections which are rotated wrong. Select linked spiral tube. Delink and note where the middle section ends up. -Refarb compound linkset creation to create a pseudo-root for center-of-mass - Let children change their shape to physical indendently and just add shapes to compound -Vehicle angular vertical attraction -vehicle angular banking -Center-of-gravity -Vehicle angular deflection - Preferred orientation angular correction fix Teravus llMoveToTarget script debug Mixing of hover, buoyancy/gravity, moveToTarget, into one force Setting hover height to zero disables hover even if hover flags are on (from SL wiki) @@ -33,10 +29,16 @@ Vehicle script tuning/debugging Avanti speed script Weapon shooter script Move material definitions (friction, ...) into simulator. +osGetPhysicsEngineVerion() and create a version code for the C++ DLL One sided meshes? Should terrain be built into a closed shape? When meshes get partially wedged into the terrain, they cannot push themselves out. It is possible that Bullet processes collisions whether entering or leaving a mesh. Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869 +Small physical objects do not interact correctly + Create chain of .5x.5x.1 torui and make all but top physical so to hang. + The chain will fall apart and pairs will dance around on ground + Chains of 1x1x.2 will stay connected but will dance. + Chains above 2x2x.4 are more stable and get stablier as torui get larger. VEHICLES TODO LIST: ================================================= @@ -45,14 +47,12 @@ LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers. Same for other velocity settings. UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims: https://github.com/UbitUmarov/Ubit-opensim -Vehicles (Move smoothly) Some vehicles should not be able to turn if no speed or off ground. Cannot edit/move a vehicle being ridden: it jumps back to the origional position. Neb car jiggling left and right Happens on terrain and any other mesh object. Flat cubes are much smoother. This has been reduced but not eliminated. Implement referenceFrame for all the motion routines. -For limitMotorUp, use raycast down to find if vehicle is in the air. Verify llGetVel() is returning a smooth and good value for vehicle movement. llGetVel() should return the root's velocity if requested in a child prim. Implement function efficiency for lineaar and angular motion. @@ -93,29 +93,15 @@ Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. Duplicating a physical prim causes old prim to jump away Dup a phys prim and the original become unselected and thus interacts w/ selected prim. Scenes with hundred of thousands of static objects take a lot of physics CPU time. -BSPrim.Force should set a continious force on the prim. The force should be - applied each tick. Some limits? Gun sending shooter flying. Collision margin (gap between physical objects lying on each other) Boundry checking (crashes related to crossing boundry) Add check for border edge position for avatars and objects. Verify the events are created for border crossings. -Avatar rotation (check out changes to ScenePresence for physical rotation) -Avatar running (what does phys engine need to do?) -Small physical objects do not interact correctly - Create chain of .5x.5x.1 torui and make all but top physical so to hang. - The chain will fall apart and pairs will dance around on ground - Chains of 1x1x.2 will stay connected but will dance. - Chains above 2x2x.4 are more stable and get stablier as torui get larger. -Add PID motor for avatar movement (slow to stop, ...) -setForce should set a constant force. Different than AddImpulse. -Implement raycast. Implement ShapeCollection.Dispose() -Implement water as a plain so raycasting and collisions can happen with same. +Implement water as a plain or mesh so raycasting and collisions can happen with same. Add collision penetration return Add field passed back by BulletSim.dll and fill with info in ManifoldConstact.GetDistance() -Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE - Also osGetPhysicsEngineVerion() maybe. Linkset.Position and Linkset.Orientation requre rewrite to properly return child position. LinksetConstraint acts like it's at taint time!! Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F) @@ -127,9 +113,6 @@ Selecting and deselecting physical objects causes CPU processing time to jump Re-implement buoyancy as a separate force on the object rather than diddling gravity. Register a pre-step event to add the force. More efficient memory usage when passing hull information from BSPrim to BulletSim -Avatar movement motor check for zero or small movement. Somehow suppress small movements - when avatar has stopped and is just standing. Simple test for near zero has - the problem of preventing starting up (increase from zero) especially when falling. Physical and phantom will drop through the terrain @@ -172,7 +155,6 @@ Do we need to do convex hulls all the time? Can complex meshes be left meshes? There is some problem with meshes and collisions Hulls are not as detailed as meshes. Hulled vehicles insides are different shape. Debounce avatar contact so legs don't keep folding up when standing. -Implement LSL physics controls. Like STATUS_ROTATE_X. Add border extensions to terrain to help region crossings and objects leaving region. Use a different capsule shape for avatar when sitting LL uses a pyrimidal shape scaled by the avatar's bounding box @@ -205,8 +187,6 @@ Keep avatar scaling correct. http://pennycow.blogspot.fr/2011/07/matter-of-scale INTERNAL IMPROVEMENT/CLEANUP ================================================= -Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to - BSScene.TaintedObject() could immediately execute the callback if already in taint time. Create the physical wrapper classes (BulletBody, BulletShape) by methods on BSAPITemplate and make their actual implementation Bullet engine specific. For the short term, just call the existing functions in ShapeCollection. @@ -365,4 +345,35 @@ After getting off a vehicle, the root prim is phantom (can be walked through) Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects. Regular triangle meshes don't do physical collisions. (DONE: discovered GImpact is VERY CPU intensive) +Script changing rotation of child prim while vehicle moving (eg turning wheel) causes + the wheel to appear to jump back. Looks like sending position from previous update. + (DONE: redo of compound linksets fixed problem) +Refarb compound linkset creation to create a pseudo-root for center-of-mass + Let children change their shape to physical indendently and just add shapes to compound + (DONE: redo of compound linkset fixed problem) +Vehicle angular vertical attraction (DONE: vegaslon code) +vehicle angular banking (DONE: vegaslon code) +Vehicle angular deflection (DONE: vegaslon code) + Preferred orientation angular correction fix +Vehicles (Move smoothly) +For limitMotorUp, use raycast down to find if vehicle is in the air. + (WILL NOT BE DONE: gravity does the job well enough) +BSPrim.Force should set a continious force on the prim. The force should be + applied each tick. Some limits? + (DONE: added physical actors. Implemented SetForce, SetTorque, ...) +Implement LSL physics controls. Like STATUS_ROTATE_X. (DONE) +Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE +Avatar rotation (check out changes to ScenePresence for physical rotation) (DONE) +Avatar running (what does phys engine need to do?) (DONE: multiplies run factor by walking force) +setForce should set a constant force. Different than AddImpulse. (DONE) +Add PID motor for avatar movement (slow to stop, ...) (WNBD: current works ok) +Avatar movement motor check for zero or small movement. Somehow suppress small movements + when avatar has stopped and is just standing. Simple test for near zero has + the problem of preventing starting up (increase from zero) especially when falling. + (DONE: avatar movement actor knows if standing on stationary object and zeros motion) +Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to + BSScene.TaintedObject() could immediately execute the callback if already in taint time. + (DONE) + + -- cgit v1.1 From 03268d85c41c94e7b35802b9dea1ce08299e5426 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 2 Jun 2013 10:04:15 -0700 Subject: BulletSim: comments and non-functional changes working toward the center-of-gravity implementation. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 11 +++++---- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 +++ .../Physics/BulletSPlugin/BSPrimDisplaced.cs | 26 +++++++++++++--------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 19 ++++++++++++---- 4 files changed, 39 insertions(+), 20 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 308cf13..30f6c8c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -315,7 +315,6 @@ public sealed class BSLinksetCompound : BSLinkset // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape - private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting private void RecomputeLinksetCompound() { try @@ -331,9 +330,7 @@ public sealed class BSLinksetCompound : BSLinkset // There is no reason to build all this physical stuff for a non-physical linkset. if (!LinksetRoot.IsPhysicallyActive) { - // Clean up any old linkset shape and make sure the root shape is set to the root object. DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); - return; // Note the 'finally' clause at the botton which will get executed. } @@ -347,9 +344,9 @@ public sealed class BSLinksetCompound : BSLinkset OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation)); - // 'centerDisplacement' is the value to subtract from children to give physical offset position + // 'centerDisplacementV' is the value to subtract from children to give physical offset position OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; - if (UseBulletSimRootOffsetHack || disableCOM) + if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass) { centerDisplacementV = OMV.Vector3.Zero; LinksetRoot.ClearDisplacement(); @@ -357,6 +354,8 @@ public sealed class BSLinksetCompound : BSLinkset else { LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV); + // The actual center-of-mass could have been set by the user. + centerDisplacementV = LinksetRoot.PositionDisplacement; } DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacementV); @@ -409,7 +408,7 @@ public sealed class BSLinksetCompound : BSLinkset { // Enable the physical position updator to return the position and rotation of the root shape. // This enables a feature in the C++ code to return the world coordinates of the first shape in the - // compound shape. This eleviates the need to offset the returned physical position by the + // compound shape. This aleviates the need to offset the returned physical position by the // center-of-mass offset. m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index d17c8e7..0f84bf7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -176,6 +176,7 @@ public static class BSParam // Linkset implementation parameters public static float LinksetImplementation { get; private set; } + public static bool LinksetOffsetCenterOfMass { get; private set; } public static bool LinkConstraintUseFrameOffset { get; private set; } public static bool LinkConstraintEnableTransMotor { get; private set; } public static float LinkConstraintTransMotorMaxVel { get; private set; } @@ -684,6 +685,8 @@ public static class BSParam new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", (float)BSLinkset.LinksetImplementation.Compound ), + new ParameterDefn("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same", + false ), new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", false ), new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index f5ee671..9a05349 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -44,12 +44,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSPrimDisplaced : BSPrim { - // The purpose of this module is to do any mapping between what the simulator thinks + // The purpose of this subclass is to do any mapping between what the simulator thinks // the prim position and orientation is and what the physical position/orientation. // This difference happens because Bullet assumes the center-of-mass is the <0,0,0> - // of the prim/linkset. The simulator tracks the location of the prim/linkset by - // the location of the root prim. So, if center-of-mass is anywhere but the origin - // of the root prim, the physical origin is displaced from the simulator origin. + // of the prim/linkset. The simulator, on the other hand, tracks the location of + // the prim/linkset by the location of the root prim. So, if center-of-mass is anywhere + // but the origin of the root prim, the physical origin is displaced from the simulator origin. // // This routine works by capturing the Force* setting of position/orientation/... and // adjusting the simulator values (being set) into the physical values. @@ -61,6 +61,7 @@ public class BSPrimDisplaced : BSPrim public virtual OMV.Vector3 PositionDisplacement { get; set; } public virtual OMV.Quaternion OrientationDisplacement { get; set; } + public virtual OMV.Quaternion OrientationDisplacementOrigInv { get; set; } public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) @@ -99,7 +100,8 @@ public class BSPrimDisplaced : BSPrim // Remember the displacement from root as well as the origional rotation of the // new center-of-mass. PositionDisplacement = comDisp; - OrientationDisplacement = OMV.Quaternion.Identity; + OrientationDisplacement = Quaternion.Normalize(RawOrientation); + OrientationDisplacementOrigInv = Quaternion.Inverse(OrientationDisplacement); } } @@ -110,7 +112,7 @@ public class BSPrimDisplaced : BSPrim { if (PositionDisplacement != OMV.Vector3.Zero) { - OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation); + OMV.Vector3 displacedPos = value - (PositionDisplacement * (OrientationDisplacementOrigInv * RawOrientation)); DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos); base.ForcePosition = displacedPos; } @@ -126,7 +128,8 @@ public class BSPrimDisplaced : BSPrim get { return base.ForceOrientation; } set { - // TODO: + // Changing orientation also changes the position of the center-of-mass since + // the orientation passed is for a rotation around the root prim's center. base.ForceOrientation = value; } } @@ -150,10 +153,13 @@ public class BSPrimDisplaced : BSPrim // Undo any center-of-mass displacement that might have been done. if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity) { - // Correct for any rotation around the center-of-mass - // TODO!!! + // The origional shape was offset from 'zero' by PositionDisplacement and rotated by OrientationDisplacement. + // These physical locations and rotation must be back converted to be centered around the displaced + // root shape. + + // The root position is the reported position displaced by the rotated displacement. + OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * (entprop.Rotation * OrientationDisplacementOrigInv)); - OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation); DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos); entprop.Position = displacedPos; // entprop.Rotation = something; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 87eed98..6d7de35 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -37,6 +37,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSPrimLinkable : BSPrimDisplaced { + // The purpose of this subclass is to add linkset functionality to the prim. This overrides + // operations necessary for keeping the linkset created and, additionally, this + // calls the linkset implementation for its creation and management. + + // This adds the overrides for link() and delink() so the prim is linkable. + public BSLinkset Linkset { get; set; } // The index of this child prim. public int LinksetChildIndex { get; set; } @@ -69,8 +75,8 @@ public class BSPrimLinkable : BSPrimDisplaced BSPrimLinkable parent = obj as BSPrimLinkable; if (parent != null) { - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; + BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG + int childrenBefore = Linkset.NumberOfChildren; // DEBUG Linkset = parent.Linkset.AddMeToLinkset(this); @@ -85,8 +91,8 @@ public class BSPrimLinkable : BSPrimDisplaced // TODO: decide if this parent checking needs to happen at taint time // Race condition here: if link() and delink() in same simulation tick, the delink will not happen - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; + BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG + int childrenBefore = Linkset.NumberOfChildren; // DEBUG Linkset = Linkset.RemoveMeFromLinkset(this); @@ -128,6 +134,7 @@ public class BSPrimLinkable : BSPrimDisplaced get { return Linkset.LinksetMass; } } + // Refresh the linkset structure and parameters when the prim's physical parameters are changed. public override void UpdatePhysicalParameters() { base.UpdatePhysicalParameters(); @@ -139,6 +146,7 @@ public class BSPrimLinkable : BSPrimDisplaced Linkset.Refresh(this); } + // When the prim is made dynamic or static, the linkset needs to change. protected override void MakeDynamic(bool makeStatic) { base.MakeDynamic(makeStatic); @@ -155,6 +163,8 @@ public class BSPrimLinkable : BSPrimDisplaced base.RemoveDependencies(); } + // Called after a simulation step for the changes in physical object properties. + // Do any filtering/modification needed for linksets. public override void UpdateProperties(EntityProperties entprop) { if (Linkset.IsRoot(this)) @@ -176,6 +186,7 @@ public class BSPrimLinkable : BSPrimDisplaced Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); } + // Called after a simulation step to post a collision with this object. public override bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { -- cgit v1.1 From 97698ae3119e01ecd2c98f7a17ad37204b9bfd9c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 10 Jun 2013 06:40:07 -0700 Subject: BulletSim: More tweaking on center-of-mass. Almost there. Changes have no effect if LinksetOffsetCenterOfMass=false (the default). --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 78 +++++----------------- .../Physics/BulletSPlugin/BSPrimDisplaced.cs | 63 +++++++---------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 10 +++ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 - 4 files changed, 51 insertions(+), 101 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 30f6c8c..96626ca 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -35,62 +35,6 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { - /* -// When a child is linked, the relationship position of the child to the parent -// is remembered so the child's world position can be recomputed when it is -// removed from the linkset. -sealed class BSLinksetCompoundInfo : BSLinksetInfo -{ - public int Index; - public OMV.Vector3 OffsetFromRoot; - public OMV.Vector3 OffsetFromCenterOfMass; - public OMV.Quaternion OffsetRot; - public BSLinksetCompoundInfo(int indx, OMV.Vector3 p, OMV.Quaternion r) - { - Index = indx; - OffsetFromRoot = p; - OffsetFromCenterOfMass = p; - OffsetRot = r; - } - // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape) - public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement) - { - // Each child position and rotation is given relative to the center-of-mass. - OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation); - OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation; - OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement; - OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation; - - // Save relative position for recomputing child's world position after moving linkset. - Index = indx; - OffsetFromRoot = displacementFromRoot; - OffsetFromCenterOfMass = displacementFromCOM; - OffsetRot = displacementRot; - } - public override void Clear() - { - Index = 0; - OffsetFromRoot = OMV.Vector3.Zero; - OffsetFromCenterOfMass = OMV.Vector3.Zero; - OffsetRot = OMV.Quaternion.Identity; - } - public override string ToString() - { - StringBuilder buff = new StringBuilder(); - buff.Append(""); - return buff.ToString(); - } -}; - */ - public sealed class BSLinksetCompound : BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; @@ -151,7 +95,9 @@ public sealed class BSLinksetCompound : BSLinkset public override bool MakeStatic(BSPrimLinkable child) { bool ret = false; + DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); + child.ClearDisplacement(); if (IsRoot(child)) { // Schedule a rebuild to verify that the root shape is set to the real shape. @@ -364,16 +310,28 @@ public sealed class BSLinksetCompound : BSLinkset int memberIndex = 1; ForEachMember(delegate(BSPrimLinkable cPrim) { - // Root shape is always index zero. - cPrim.LinksetChildIndex = IsRoot(cPrim) ? 0 : memberIndex; + if (IsRoot(cPrim)) + { + // Root shape is always index zero. + cPrim.LinksetChildIndex = 0; + } + else + { + cPrim.LinksetChildIndex = memberIndex; + memberIndex++; + } // Get a reference to the shape of the child and add that shape to the linkset compound shape BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); + + // Offset the child shape from the center-of-mass and rotate it to vehicle relative OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacementV; OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; + + // Add the child shape to the compound shape being built m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", - LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot); + LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); // Since we are borrowing the shape of the child, disable the origional child body if (!IsRoot(cPrim)) @@ -385,8 +343,6 @@ public sealed class BSLinksetCompound : BSLinkset cPrim.PhysBody.collisionType = CollisionType.LinksetChild; } - memberIndex++; - return false; // 'false' says to move onto the next child in the list }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index 9a05349..a11bca0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -51,7 +51,7 @@ public class BSPrimDisplaced : BSPrim // the prim/linkset by the location of the root prim. So, if center-of-mass is anywhere // but the origin of the root prim, the physical origin is displaced from the simulator origin. // - // This routine works by capturing the Force* setting of position/orientation/... and + // This routine works by capturing ForcePosition and // adjusting the simulator values (being set) into the physical values. // The conversion is also done in the opposite direction (physical origin -> simulator origin). // @@ -60,8 +60,6 @@ public class BSPrimDisplaced : BSPrim // class. public virtual OMV.Vector3 PositionDisplacement { get; set; } - public virtual OMV.Quaternion OrientationDisplacement { get; set; } - public virtual OMV.Quaternion OrientationDisplacementOrigInv { get; set; } public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) @@ -70,15 +68,17 @@ public class BSPrimDisplaced : BSPrim ClearDisplacement(); } + // Clears any center-of-mass displacement introduced by linksets, etc. + // Does not clear the displacement set by the user. public void ClearDisplacement() { - PositionDisplacement = OMV.Vector3.Zero; - OrientationDisplacement = OMV.Quaternion.Identity; + SetEffectiveCenterOfMassDisplacement(OMV.Vector3.Zero); } // Set this sets and computes the displacement from the passed prim to the center-of-mass. // A user set value for center-of-mass overrides whatever might be passed in here. // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates). + // Called at taint time. public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement) { Vector3 comDisp; @@ -87,21 +87,17 @@ public class BSPrimDisplaced : BSPrim else comDisp = centerOfMassDisplacement; + if (comDisp.ApproxEquals(Vector3.Zero, 0.01f) ) + comDisp = Vector3.Zero; + DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}", LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp); - if (comDisp == Vector3.Zero) + if ( comDisp != PositionDisplacement ) { - // If there is no diplacement. Things get reset. - PositionDisplacement = OMV.Vector3.Zero; - OrientationDisplacement = OMV.Quaternion.Identity; - } - else - { - // Remember the displacement from root as well as the origional rotation of the - // new center-of-mass. + // Displacement setting is changing. + // The relationship between the physical object and simulated object must be aligned. PositionDisplacement = comDisp; - OrientationDisplacement = Quaternion.Normalize(RawOrientation); - OrientationDisplacementOrigInv = Quaternion.Inverse(OrientationDisplacement); + this.ForcePosition = RawPosition; } } @@ -112,7 +108,11 @@ public class BSPrimDisplaced : BSPrim { if (PositionDisplacement != OMV.Vector3.Zero) { - OMV.Vector3 displacedPos = value - (PositionDisplacement * (OrientationDisplacementOrigInv * RawOrientation)); + // The displacement is always relative to the vehicle so, when setting position, + // the caller means to set the position of the root prim. + // This offsets the setting value to the center-of-mass and sends that to the + // physics engine. + OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation); DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos); base.ForcePosition = displacedPos; } @@ -123,26 +123,12 @@ public class BSPrimDisplaced : BSPrim } } - public override Quaternion ForceOrientation - { - get { return base.ForceOrientation; } - set - { - // Changing orientation also changes the position of the center-of-mass since - // the orientation passed is for a rotation around the root prim's center. - base.ForceOrientation = value; - } - } - - // TODO: decide if this is the right place for these variables. - // Somehow incorporate the optional settability by the user. - // Is this used? + // These are also overridden by BSPrimLinkable if the prim can be part of a linkset public override OMV.Vector3 CenterOfMass { get { return RawPosition; } } - // Is this used? public override OMV.Vector3 GeometricCenter { get { return RawPosition; } @@ -151,18 +137,17 @@ public class BSPrimDisplaced : BSPrim public override void UpdateProperties(EntityProperties entprop) { // Undo any center-of-mass displacement that might have been done. - if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity) + if (PositionDisplacement != OMV.Vector3.Zero) { - // The origional shape was offset from 'zero' by PositionDisplacement and rotated by OrientationDisplacement. - // These physical locations and rotation must be back converted to be centered around the displaced + // The origional shape was offset from 'zero' by PositionDisplacement. + // These physical location must be back converted to be centered around the displaced // root shape. // The root position is the reported position displaced by the rotated displacement. - OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * (entprop.Rotation * OrientationDisplacementOrigInv)); - - DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos); + OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation); + DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},newPos={3}", + LocalID, entprop.Position, PositionDisplacement, displacedPos); entprop.Position = displacedPos; - // entprop.Rotation = something; } base.UpdateProperties(entprop); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 6d7de35..7058646 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -134,6 +134,16 @@ public class BSPrimLinkable : BSPrimDisplaced get { return Linkset.LinksetMass; } } + public override OMV.Vector3 CenterOfMass + { + get { return Linkset.CenterOfMass; } + } + + public override OMV.Vector3 GeometricCenter + { + get { return Linkset.GeometricCenter; } + } + // Refresh the linkset structure and parameters when the prim's physical parameters are changed. public override void UpdatePhysicalParameters() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 1645c98..e56a6f6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -785,7 +785,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { // The simulation of the time interval took less than realtime. // Do a sleep for the rest of realtime. - DetailLog("{0},BulletSPluginPhysicsThread,sleeping={1}", BSScene.DetailLogZero, simulationTimeVsRealtimeDifferenceMS); Thread.Sleep(simulationTimeVsRealtimeDifferenceMS); } else -- cgit v1.1 From a65cec3986431f5a2f4f9eb2424157def0d035c8 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 6 Jul 2013 08:22:59 -0700 Subject: BulletSim: implementation of linkset center-of-mass. Default off, for the moment, until more testing. Add separate thread and center-of-mass flags to OpenSimDefaults.ini. Clean up comments in OpenSimDefaults.ini. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 20 +++++--- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 3 ++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 5 +- .../Physics/BulletSPlugin/BSPrimDisplaced.cs | 60 ++++++++++++++++------ .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 11 ++-- 5 files changed, 70 insertions(+), 29 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 96626ca..1d94142 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -271,6 +271,8 @@ public sealed class BSLinksetCompound : BSLinkset // to what they should be as if the root was not in a linkset. // Not that bad since we only get into this routine if there are children in the linkset and // something has been updated/changed. + // Have to do the rebuild before checking for physical because this might be a linkset + // being destructed and going non-physical. LinksetRoot.ForceBodyShapeRebuild(true); // There is no reason to build all this physical stuff for a non-physical linkset. @@ -283,28 +285,29 @@ public sealed class BSLinksetCompound : BSLinkset // Get a new compound shape to build the linkset shape in. BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene); - // 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. // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass(); OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation)); + OMV.Vector3 origRootPosition = LinksetRoot.RawPosition; - // 'centerDisplacementV' is the value to subtract from children to give physical offset position + // 'centerDisplacementV' is the vehicle relative distance from the simulator root position to the center-of-mass OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass) { + // Zero everything if center-of-mass displacement is not being done. centerDisplacementV = OMV.Vector3.Zero; LinksetRoot.ClearDisplacement(); } else { - LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV); // The actual center-of-mass could have been set by the user. - centerDisplacementV = LinksetRoot.PositionDisplacement; + centerDisplacementV = LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV); } + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", - LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacementV); + LinksetRoot.LocalID, origRootPosition, centerOfMassW, centerDisplacementV); // Add the shapes of all the components of the linkset int memberIndex = 1; @@ -321,11 +324,11 @@ public sealed class BSLinksetCompound : BSLinkset memberIndex++; } - // Get a reference to the shape of the child and add that shape to the linkset compound shape + // Get a reference to the shape of the child for adding of that shape to the linkset compound shape BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); - // Offset the child shape from the center-of-mass and rotate it to vehicle relative - OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacementV; + // Offset the child shape from the center-of-mass and rotate it to vehicle relative. + OMV.Vector3 offsetPos = (cPrim.RawPosition - origRootPosition) * invRootOrientation - centerDisplacementV; OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; // Add the child shape to the compound shape being built @@ -366,6 +369,7 @@ public sealed class BSLinksetCompound : BSLinkset // This enables a feature in the C++ code to return the world coordinates of the first shape in the // compound shape. This aleviates the need to offset the returned physical position by the // center-of-mass offset. + // TODO: either debug this feature or remove it. m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index a0d5c42..738e2d0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -90,6 +90,8 @@ public abstract class BSPhysObject : PhysicsActor PhysBody = new BulletBody(localID); PhysShape = new BSShapeNull(); + UserSetCenterOfMassDisplacement = null; + PrimAssetState = PrimAssetCondition.Unknown; // Default material type. Also sets Friction, Restitution and Density. @@ -180,6 +182,7 @@ public abstract class BSPhysObject : PhysicsActor Material = (MaterialAttributes.Material)material; // Setting the material sets the material attributes also. + // TODO: decide if this is necessary -- the simulator does this. MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); Friction = matAttrib.friction; Restitution = matAttrib.restitution; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index f0858ca..ce4c3da 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -802,6 +802,7 @@ public class BSPrim : BSPhysObject // isSolid: other objects bounce off of this object // isVolumeDetect: other objects pass through but can generate collisions // collisionEvents: whether this object returns collision events + // NOTE: overloaded by BSPrimLinkable to also update linkset physical parameters. public virtual void UpdatePhysicalParameters() { if (!PhysBody.HasPhysicalBody) @@ -1532,6 +1533,8 @@ public class BSPrim : BSPhysObject // The physics engine says that properties have updated. Update same and inform // the world that things have changed. + // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimLinkable which modifies updates from root and children prims. + // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimDisplaced which handles mapping physical position to simulator position. public override void UpdateProperties(EntityProperties entprop) { // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator. @@ -1567,8 +1570,6 @@ public class BSPrim : BSPhysObject LastEntityProperties = CurrentEntityProperties; CurrentEntityProperties = entprop; - // Note that BSPrim can be overloaded by BSPrimLinkable which controls updates from root and children prims. - PhysScene.PostUpdate(this); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index a11bca0..35d5a08 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -59,6 +59,7 @@ public class BSPrimDisplaced : BSPrim // are converted into simulator origin values before being passed to the base // class. + // PositionDisplacement is the vehicle relative distance from the root prim position to the center-of-mass. public virtual OMV.Vector3 PositionDisplacement { get; set; } public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, @@ -72,49 +73,77 @@ public class BSPrimDisplaced : BSPrim // Does not clear the displacement set by the user. public void ClearDisplacement() { - SetEffectiveCenterOfMassDisplacement(OMV.Vector3.Zero); + if (UserSetCenterOfMassDisplacement.HasValue) + PositionDisplacement = (OMV.Vector3)UserSetCenterOfMassDisplacement; + else + PositionDisplacement = OMV.Vector3.Zero; } // Set this sets and computes the displacement from the passed prim to the center-of-mass. // A user set value for center-of-mass overrides whatever might be passed in here. // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates). + // Returns the relative offset from the root position to the center-of-mass. // Called at taint time. - public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement) + public virtual Vector3 SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement) { + PhysScene.AssertInTaintTime("BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement"); Vector3 comDisp; if (UserSetCenterOfMassDisplacement.HasValue) comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement; else comDisp = centerOfMassDisplacement; + // Eliminate any jitter caused be very slight differences in masses and positions if (comDisp.ApproxEquals(Vector3.Zero, 0.01f) ) comDisp = Vector3.Zero; DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}", LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp); - if ( comDisp != PositionDisplacement ) + if ( !comDisp.ApproxEquals(PositionDisplacement, 0.01f) ) { // Displacement setting is changing. // The relationship between the physical object and simulated object must be aligned. PositionDisplacement = comDisp; this.ForcePosition = RawPosition; } + + return PositionDisplacement; } + // 'ForcePosition' is the one way to set the physical position of the body in the physics engine. + // Displace the simulator idea of position (center of root prim) to the physical position. public override Vector3 ForcePosition { - get { return base.ForcePosition; } + get { + OMV.Vector3 physPosition = base.ForcePosition; + if (PositionDisplacement != OMV.Vector3.Zero) + { + // If there is some displacement, return the physical position (center-of-mass) + // location minus the displacement to give the center of the root prim. + OMV.Vector3 displacement = PositionDisplacement * ForceOrientation; + DetailLog("{0},BSPrimDisplaced.ForcePosition,get,physPos={1},disp={2},simPos={3}", + LocalID, physPosition, displacement, physPosition - displacement); + physPosition -= displacement; + } + return physPosition; + } set { if (PositionDisplacement != OMV.Vector3.Zero) { - // The displacement is always relative to the vehicle so, when setting position, - // the caller means to set the position of the root prim. - // This offsets the setting value to the center-of-mass and sends that to the - // physics engine. - OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation); - DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos); - base.ForcePosition = displacedPos; + // This value is the simulator's idea of where the prim is: the center of the root prim + RawPosition = value; + + // Move the passed root prim postion to the center-of-mass position and set in the physics engine. + OMV.Vector3 displacement = PositionDisplacement * RawOrientation; + OMV.Vector3 displacedPos = RawPosition + displacement; + DetailLog("{0},BSPrimDisplaced.ForcePosition,set,simPos={1},disp={2},physPos={3}", + LocalID, RawPosition, displacement, displacedPos); + if (PhysBody.HasPhysicalBody) + { + PhysScene.PE.SetTranslation(PhysBody, displacedPos, RawOrientation); + ActivateIfPhysical(false); + } } else { @@ -143,10 +172,11 @@ public class BSPrimDisplaced : BSPrim // These physical location must be back converted to be centered around the displaced // root shape. - // The root position is the reported position displaced by the rotated displacement. - OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation); - DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},newPos={3}", - LocalID, entprop.Position, PositionDisplacement, displacedPos); + // Move the returned center-of-mass location to the root prim location. + OMV.Vector3 displacement = PositionDisplacement * entprop.Rotation; + OMV.Vector3 displacedPos = entprop.Position - displacement; + DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},simPos={3}", + LocalID, entprop.Position, displacement, displacedPos); entprop.Position = displacedPos; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 7058646..1fbcfcc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -160,10 +160,13 @@ public class BSPrimLinkable : BSPrimDisplaced protected override void MakeDynamic(bool makeStatic) { base.MakeDynamic(makeStatic); - if (makeStatic) - Linkset.MakeStatic(this); - else - Linkset.MakeDynamic(this); + if (Linkset != null) // null can happen during initialization + { + if (makeStatic) + Linkset.MakeStatic(this); + else + Linkset.MakeDynamic(this); + } } // Body is being taken apart. Remove physical dependencies and schedule a rebuild. -- cgit v1.1 From 70d24a654b8eb0257ca927327d51bd0e47f85259 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 7 Jul 2013 05:46:24 -0700 Subject: BulletSim: rename position and orientation variables to remove the inconsistant use of Raw* and _* conventions. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 78 +++++++++----------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 84 ++++++++++------------ 3 files changed, 71 insertions(+), 95 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 5ef6992..c9e3ca0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -43,12 +43,10 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 _size; private bool _grabbed; private bool _selected; - private OMV.Vector3 _position; private float _mass; private float _avatarVolume; private float _collisionScore; private OMV.Vector3 _acceleration; - private OMV.Quaternion _orientation; private int _physicsActorType; private bool _isPhysical; private bool _flying; @@ -70,10 +68,10 @@ public sealed class BSCharacter : BSPhysObject : base(parent_scene, localID, avName, "BSCharacter") { _physicsActorType = (int)ActorTypes.Agent; - _position = pos; + RawPosition = pos; _flying = isFlying; - _orientation = OMV.Quaternion.Identity; + RawOrientation = OMV.Quaternion.Identity; RawVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; @@ -133,7 +131,7 @@ public sealed class BSCharacter : BSPhysObject PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); ZeroMotion(true); - ForcePosition = _position; + ForcePosition = RawPosition; // Set the velocity if (m_moveActor != null) @@ -272,38 +270,33 @@ public sealed class BSCharacter : BSPhysObject public override void LockAngularMotion(OMV.Vector3 axis) { return; } - public override OMV.Vector3 RawPosition - { - get { return _position; } - set { _position = value; } - } public override OMV.Vector3 Position { get { // Don't refetch the position because this function is called a zillion times - // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); - return _position; + // RawPosition = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); + return RawPosition; } set { - _position = value; + RawPosition = value; PhysScene.TaintedObject("BSCharacter.setPosition", delegate() { - DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); PositionSanityCheck(); - ForcePosition = _position; + ForcePosition = RawPosition; }); } } public override OMV.Vector3 ForcePosition { get { - _position = PhysScene.PE.GetPosition(PhysBody); - return _position; + RawPosition = PhysScene.PE.GetPosition(PhysBody); + return RawPosition; } set { - _position = value; + RawPosition = value; if (PhysBody.HasPhysicalBody) { - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } } @@ -331,16 +324,16 @@ public sealed class BSCharacter : BSPhysObject float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); if (Position.Z < terrainHeight) { - DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, _position, terrainHeight); - _position.Z = terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters; + DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight); + RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters); ret = true; } if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition); if (Position.Z < waterHeight) { - _position.Z = waterHeight; + RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, waterHeight); ret = true; } } @@ -360,8 +353,8 @@ public sealed class BSCharacter : BSPhysObject // just assign to "Position" because of potential call loops. PhysScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() { - DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - ForcePosition = _position; + DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); + ForcePosition = RawPosition; }); ret = true; } @@ -466,19 +459,14 @@ public sealed class BSCharacter : BSPhysObject get { return _acceleration; } set { _acceleration = value; } } - public override OMV.Quaternion RawOrientation - { - get { return _orientation; } - set { _orientation = value; } - } public override OMV.Quaternion Orientation { - get { return _orientation; } + get { return RawOrientation; } set { // Orientation is set zillions of times when an avatar is walking. It's like // the viewer doesn't trust us. - if (_orientation != value) + if (RawOrientation != value) { - _orientation = value; + RawOrientation = value; PhysScene.TaintedObject("BSCharacter.setOrientation", delegate() { // Bullet assumes we know what we are doing when forcing orientation @@ -486,10 +474,10 @@ public sealed class BSCharacter : BSPhysObject // This forces rotation to be only around the Z axis and doesn't change any of the other axis. // This keeps us from flipping the capsule over which the veiwer does not understand. float oRoll, oPitch, oYaw; - _orientation.GetEulerAngles(out oRoll, out oPitch, out oYaw); + RawOrientation.GetEulerAngles(out oRoll, out oPitch, out oYaw); OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw); // DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}", - // LocalID, _orientation, OMV.Vector3.UnitX * _orientation, + // LocalID, RawOrientation, OMV.Vector3.UnitX * RawOrientation, // trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation); ForceOrientation = trimmedOrientation; }); @@ -501,16 +489,16 @@ public sealed class BSCharacter : BSPhysObject { get { - _orientation = PhysScene.PE.GetOrientation(PhysBody); - return _orientation; + RawOrientation = PhysScene.PE.GetOrientation(PhysBody); + return RawOrientation; } set { - _orientation = value; + RawOrientation = value; if (PhysBody.HasPhysicalBody) { - // _position = PhysicsScene.PE.GetPosition(BSBody); - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + // RawPosition = PhysicsScene.PE.GetPosition(BSBody); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } } @@ -723,9 +711,9 @@ public sealed class BSCharacter : BSPhysObject { // Don't change position if standing on a stationary object. if (!IsStationary) - _position = entprop.Position; + RawPosition = entprop.Position; - _orientation = entprop.Rotation; + RawOrientation = entprop.Rotation; // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar // and will send agent updates to the clients if velocity changes by more than @@ -740,8 +728,8 @@ public sealed class BSCharacter : BSPhysObject // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. if (PositionSanityCheck(true)) { - DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, _position); - entprop.Position = _position; + DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, RawPosition); + entprop.Position = RawPosition; } // remember the current and last set values @@ -755,7 +743,7 @@ public sealed class BSCharacter : BSPhysObject // base.RequestPhysicsterseUpdate(); DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", - LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity); + LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 738e2d0..a41eaf8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -197,10 +197,10 @@ public abstract class BSPhysObject : PhysicsActor // Update the physical location and motion of the object. Called with data from Bullet. public abstract void UpdateProperties(EntityProperties entprop); - public abstract OMV.Vector3 RawPosition { get; set; } + public virtual OMV.Vector3 RawPosition { get; set; } public abstract OMV.Vector3 ForcePosition { get; set; } - public abstract OMV.Quaternion RawOrientation { get; set; } + public virtual OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } public OMV.Vector3 RawVelocity { get; set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index ce4c3da..d43448e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -51,12 +51,8 @@ public class BSPrim : BSPhysObject private bool _isSelected; private bool _isVolumeDetect; - // _position is what the simulator thinks the positions of the prim is. - private OMV.Vector3 _position; - private float _mass; // the mass of this object private OMV.Vector3 _acceleration; - private OMV.Quaternion _orientation; private int _physicsActorType; private bool _isPhysical; private bool _flying; @@ -88,10 +84,10 @@ public class BSPrim : BSPhysObject { // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); _physicsActorType = (int)ActorTypes.Prim; - _position = pos; + RawPosition = pos; _size = size; Scale = size; // prims are the size the user wants them to be (different for BSCharactes). - _orientation = rotation; + RawOrientation = rotation; _buoyancy = 0f; RawVelocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; @@ -270,46 +266,42 @@ public class BSPrim : BSPhysObject return; } - public override OMV.Vector3 RawPosition - { - get { return _position; } - set { _position = value; } - } public override OMV.Vector3 Position { get { // don't do the GetObjectPosition for root elements because this function is called a zillion times. - // _position = ForcePosition; - return _position; + // RawPosition = ForcePosition; + return RawPosition; } set { // If the position must be forced into the physics engine, use ForcePosition. // All positions are given in world positions. - if (_position == value) + if (RawPosition == value) { - DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); return; } - _position = value; + RawPosition = value; PositionSanityCheck(false); PhysScene.TaintedObject("BSPrim.setPosition", delegate() { - DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - ForcePosition = _position; + DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); + ForcePosition = RawPosition; }); } } + // NOTE: overloaded by BSPrimDisplaced to handle offset for center-of-gravity. public override OMV.Vector3 ForcePosition { get { - _position = PhysScene.PE.GetPosition(PhysBody); - return _position; + RawPosition = PhysScene.PE.GetPosition(PhysBody); + return RawPosition; } set { - _position = value; + RawPosition = value; if (PhysBody.HasPhysicalBody) { - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); ActivateIfPhysical(false); } } @@ -343,10 +335,10 @@ public class BSPrim : BSPhysObject float targetHeight = terrainHeight + (Size.Z / 2f); // If the object is below ground it just has to be moved up because pushing will // not get it through the terrain - _position.Z = targetHeight; + RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, targetHeight); if (inTaintTime) { - ForcePosition = _position; + ForcePosition = RawPosition; } // If we are throwing the object around, zero its other forces ZeroMotion(inTaintTime); @@ -355,7 +347,7 @@ public class BSPrim : BSPhysObject if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition); // TODO: a floating motor so object will bob in the water if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f) { @@ -364,7 +356,7 @@ public class BSPrim : BSPhysObject // Apply upforce and overcome gravity. OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity; - DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); + DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, RawPosition, upForce, correctionForce); AddForce(correctionForce, false, inTaintTime); ret = true; } @@ -383,11 +375,11 @@ public class BSPrim : BSPhysObject uint wayOutThere = Constants.RegionSize * Constants.RegionSize; // There have been instances of objects getting thrown way out of bounds and crashing // the border crossing code. - if ( _position.X < -Constants.RegionSize || _position.X > wayOutThere - || _position.Y < -Constants.RegionSize || _position.Y > wayOutThere - || _position.Z < -Constants.RegionSize || _position.Z > wayOutThere) + if ( RawPosition.X < -Constants.RegionSize || RawPosition.X > wayOutThere + || RawPosition.Y < -Constants.RegionSize || RawPosition.Y > wayOutThere + || RawPosition.Z < -Constants.RegionSize || RawPosition.Z > wayOutThere) { - _position = new OMV.Vector3(10, 10, 50); + RawPosition = new OMV.Vector3(10, 10, 50); ZeroMotion(inTaintTime); ret = true; } @@ -713,23 +705,19 @@ public class BSPrim : BSPhysObject get { return _acceleration; } set { _acceleration = value; } } - public override OMV.Quaternion RawOrientation - { - get { return _orientation; } - set { _orientation = value; } - } + public override OMV.Quaternion Orientation { get { - return _orientation; + return RawOrientation; } set { - if (_orientation == value) + if (RawOrientation == value) return; - _orientation = value; + RawOrientation = value; PhysScene.TaintedObject("BSPrim.setOrientation", delegate() { - ForceOrientation = _orientation; + ForceOrientation = RawOrientation; }); } } @@ -738,14 +726,14 @@ public class BSPrim : BSPhysObject { get { - _orientation = PhysScene.PE.GetOrientation(PhysBody); - return _orientation; + RawOrientation = PhysScene.PE.GetOrientation(PhysBody); + return RawOrientation; } set { - _orientation = value; + RawOrientation = value; if (PhysBody.HasPhysicalBody) - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } public override int PhysicsActorType { @@ -889,7 +877,7 @@ public class BSPrim : BSPhysObject // PhysicsScene.PE.ClearAllForces(BSBody); // For good measure, make sure the transform is set through to the motion state - ForcePosition = _position; + ForcePosition = RawPosition; ForceVelocity = RawVelocity; ForceRotationalVelocity = _rotationalVelocity; @@ -1543,8 +1531,8 @@ public class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG // Assign directly to the local variables so the normal set actions do not happen - _position = entprop.Position; - _orientation = entprop.Rotation; + RawPosition = entprop.Position; + RawOrientation = entprop.Rotation; // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be // very sensitive to velocity changes. if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold)) @@ -1557,13 +1545,13 @@ public class BSPrim : BSPhysObject // The sanity check can change the velocity and/or position. if (PositionSanityCheck(true /* inTaintTime */ )) { - entprop.Position = _position; + entprop.Position = RawPosition; entprop.Velocity = RawVelocity; entprop.RotationalVelocity = _rotationalVelocity; entprop.Acceleration = _acceleration; } - OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG + OMV.Vector3 direction = OMV.Vector3.UnitX * RawOrientation; // DEBUG DEBUG DEBUG DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction); // remember the current and last set values -- cgit v1.1 From 6026759406f20cb89cbc62fcfc3af324c61c5ab0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 7 Jul 2013 05:47:41 -0700 Subject: BulletSim: fix jumping up and down of linksets when center-of-mass was enabled. Didn't effect the physical position but the viewer saw the linkset jumping between its simulator center and its physical center. --- OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index 35d5a08..2eb1440 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -23,11 +23,6 @@ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial - * are Copyright (c) 2009 Linden Research, Inc and are used under their license - * of Creative Commons Attribution-Share Alike 3.0 - * (http://creativecommons.org/licenses/by-sa/3.0/). */ using System; @@ -115,7 +110,7 @@ public class BSPrimDisplaced : BSPrim public override Vector3 ForcePosition { get { - OMV.Vector3 physPosition = base.ForcePosition; + OMV.Vector3 physPosition = PhysScene.PE.GetPosition(PhysBody); if (PositionDisplacement != OMV.Vector3.Zero) { // If there is some displacement, return the physical position (center-of-mass) @@ -125,6 +120,7 @@ public class BSPrimDisplaced : BSPrim LocalID, physPosition, displacement, physPosition - displacement); physPosition -= displacement; } + RawPosition = physPosition; return physPosition; } set -- cgit v1.1 From bbc40fab620dd61e500d8f74fa1b0d64ecc7c3b6 Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Sat, 6 Jul 2013 12:53:20 -0400 Subject: BulletSim: Different Implementation of Angular Deflection for vehicles, Activates it again and fixes problem with fighting with vertical attractor removing wobble of forward axis. Comments on testing welcome, May require adjustments of this force or other forces after this commit, exact tweaking to come after testing on other hardware. Signed-off-by: Robert Adams --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 31 +++++++++++----------- 1 file changed, 16 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index c27d3f0..82fe267 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -144,7 +144,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public void SetupVehicleDebugging() { enableAngularVerticalAttraction = true; - enableAngularDeflection = false; + enableAngularDeflection = true; enableAngularBanking = true; if (BSParam.VehicleDebuggingEnable) { @@ -173,7 +173,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: - m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f); + m_angularDeflectionEfficiency = ClampInRange(0f, pValue, 1f); break; case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); @@ -1512,11 +1512,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // in that direction. // TODO: implement reference frame. public void ComputeAngularDeflection() - { - // Since angularMotorUp and angularDeflection are computed independently, they will calculate - // approximately the same X or Y correction. When added together (when contributions are combined) - // this creates an over-correction and then wabbling as the target is overshot. - // TODO: rethink how the different correction computations inter-relate. + { if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2) { @@ -1531,10 +1527,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin // The direction the vehicle is pointing Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; - pointingDirection.Normalize(); + //Predict where the Vehicle will be pointing after AngularVelocity change is applied. This will keep + // from overshooting and allow this correction to merge with the Vertical Attraction peacefully. + Vector3 predictedPointingDirection = pointingDirection * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f); + predictedPointingDirection.Normalize(); // The difference between what is and what should be. - Vector3 deflectionError = movingDirection - pointingDirection; + // Vector3 deflectionError = movingDirection - predictedPointingDirection; + Vector3 deflectionError = Vector3.Cross(movingDirection, predictedPointingDirection); // Don't try to correct very large errors (not our job) // if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X); @@ -1547,15 +1547,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError); // Scale the correction by recovery timescale and efficiency - deflectContributionV = (-deflectionError) * m_angularDeflectionEfficiency; - deflectContributionV /= m_angularDeflectionTimescale; - - VehicleRotationalVelocity += deflectContributionV * VehicleOrientation; + // Not modeling a spring so clamp the scale to no more then the arc + deflectContributionV = (-deflectionError) * ClampInRange(0, m_angularDeflectionEfficiency/m_angularDeflectionTimescale,1f); + //deflectContributionV /= m_angularDeflectionTimescale; + // VehicleRotationalVelocity += deflectContributionV * VehicleOrientation; + VehicleRotationalVelocity += deflectContributionV; VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV); - VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", - ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); + VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3},PredictedPointingDir={4}", + ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale, predictedPointingDirection); } } -- cgit v1.1 From fad4241e4ea898b0dca0176cc9b428d03ba44d1c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 8 Jul 2013 16:21:10 -0700 Subject: BulletSim: make all the different angularVerticalAttraction algorithms selectable from configuration paramters. Changed default algorithm to "1" from previous default as it seems to handle Y axis correction a little better. Add config file independent enablement of vehicle angular forces to make debugging easier (independent testing of forces). --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 261 ++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 15 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 +- .../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 4 +- 4 files changed, 146 insertions(+), 138 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 82fe267..a5f2e98 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -125,33 +125,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin static readonly float PIOverFour = ((float)Math.PI) / 4f; static readonly float PIOverTwo = ((float)Math.PI) / 2f; - // For debugging, flags to turn on and off individual corrections. - public bool enableAngularVerticalAttraction; - public bool enableAngularDeflection; - public bool enableAngularBanking; - public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName) : base(myScene, myPrim, actorName) { ControllingPrim = myPrim; Type = Vehicle.TYPE_NONE; m_haveRegisteredForSceneEvents = false; - SetupVehicleDebugging(); - } - - // Stopgap debugging enablement. Allows source level debugging but still checking - // in changes by making enablement of debugging flags from INI file. - public void SetupVehicleDebugging() - { - enableAngularVerticalAttraction = true; - enableAngularDeflection = true; - enableAngularBanking = true; - if (BSParam.VehicleDebuggingEnable) - { - enableAngularVerticalAttraction = true; - enableAngularDeflection = false; - enableAngularBanking = false; - } } // Return 'true' if this vehicle is doing vehicle things @@ -556,10 +535,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin } m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, 1f); - m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) + // m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, m_angularMotorDecayTimescale, 1f); - m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) + // m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) /* Not implemented m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale, @@ -1393,116 +1372,134 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // If vertical attaction timescale is reasonable - if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) + if (BSParam.VehicleEnableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { - //Another formula to try got from : - //http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html - - Vector3 VehicleUpAxis = Vector3.UnitZ * VehicleOrientation; - - // Flipping what was originally a timescale into a speed variable and then multiplying it by 2 - // since only computing half the distance between the angles. - float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f; - - // Make a prediction of where the up axis will be when this is applied rather then where it is now as - // this makes for a smoother adjustment and less fighting between the various forces. - Vector3 predictedUp = VehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f); - - // This is only half the distance to the target so it will take 2 seconds to complete the turn. - Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ); - - // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared - Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed; - - VehicleRotationalVelocity += vertContributionV; - - VDetailLog("{0}, MoveAngular,verticalAttraction,UpAxis={1},PredictedUp={2},torqueVector={3},contrib={4}", - ControllingPrim.LocalID, - VehicleUpAxis, - predictedUp, - torqueVector, - vertContributionV); - //===================================================================== - /* - // Possible solution derived from a discussion at: - // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no - - // Create a rotation that is only the vehicle's rotation around Z - Vector3 currentEuler = Vector3.Zero; - VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z); - Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z); - - // Create the axis that is perpendicular to the up vector and the rotated up vector. - Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation); - // Compute the angle between those to vectors. - double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation))); - // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical - - // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied. - // TODO: add 'efficiency'. - differenceAngle /= m_verticalAttractionTimescale; - - // Create the quaterian representing the correction angle - Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle); - - // Turn that quaternion into Euler values to make it into velocities to apply. - Vector3 vertContributionV = Vector3.Zero; - correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z); - vertContributionV *= -1f; - - VehicleRotationalVelocity += vertContributionV; - - VDetailLog("{0}, MoveAngular,verticalAttraction,diffAxis={1},diffAng={2},corrRot={3},contrib={4}", - ControllingPrim.LocalID, - differenceAxis, - differenceAngle, - correctionRotation, - vertContributionV); - */ - - // =================================================================== - /* - Vector3 vertContributionV = Vector3.Zero; - Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG - - // Take a vector pointing up and convert it from world to vehicle relative coords. - Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleOrientation); - - // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) - // is now: - // leaning to one side: rotated around the X axis with the Y value going - // from zero (nearly straight up) to one (completely to the side)) or - // leaning front-to-back: rotated around the Y axis with the value of X being between - // zero and one. - // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees. - - // Y error means needed rotation around X axis and visa versa. - // Since the error goes from zero to one, the asin is the corresponding angle. - vertContributionV.X = (float)Math.Asin(verticalError.Y); - // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.) - vertContributionV.Y = -(float)Math.Asin(verticalError.X); - - // If verticalError.Z is negative, the vehicle is upside down. Add additional push. - if (verticalError.Z < 0f) + Vector3 vehicleUpAxis = Vector3.UnitZ * VehicleOrientation; + switch (BSParam.VehicleAngularVerticalAttractionAlgorithm) { - vertContributionV.X += Math.Sign(vertContributionV.X) * PIOverFour; - // vertContribution.Y -= PIOverFour; + case 0: + { + //Another formula to try got from : + //http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html + + // Flipping what was originally a timescale into a speed variable and then multiplying it by 2 + // since only computing half the distance between the angles. + float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f; + + // Make a prediction of where the up axis will be when this is applied rather then where it is now as + // this makes for a smoother adjustment and less fighting between the various forces. + Vector3 predictedUp = vehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f); + + // This is only half the distance to the target so it will take 2 seconds to complete the turn. + Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ); + + // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared + Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed; + + VehicleRotationalVelocity += vertContributionV; + + VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},PredictedUp={2},torqueVector={3},contrib={4}", + ControllingPrim.LocalID, + vehicleUpAxis, + predictedUp, + torqueVector, + vertContributionV); + break; + } + case 1: + { + // Possible solution derived from a discussion at: + // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no + + // Create a rotation that is only the vehicle's rotation around Z + Vector3 currentEuler = Vector3.Zero; + VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z); + Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z); + + // Create the axis that is perpendicular to the up vector and the rotated up vector. + Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation); + // Compute the angle between those to vectors. + double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation))); + // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical + + // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied. + // TODO: add 'efficiency'. + differenceAngle /= m_verticalAttractionTimescale; + + // Create the quaterian representing the correction angle + Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle); + + // Turn that quaternion into Euler values to make it into velocities to apply. + Vector3 vertContributionV = Vector3.Zero; + correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z); + vertContributionV *= -1f; + + VehicleRotationalVelocity += vertContributionV; + + VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},diffAxis={2},diffAng={3},corrRot={4},contrib={5}", + ControllingPrim.LocalID, + vehicleUpAxis, + differenceAxis, + differenceAngle, + correctionRotation, + vertContributionV); + break; + } + case 2: + { + Vector3 vertContributionV = Vector3.Zero; + Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG + + // Take a vector pointing up and convert it from world to vehicle relative coords. + Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleOrientation); + + // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) + // is now: + // leaning to one side: rotated around the X axis with the Y value going + // from zero (nearly straight up) to one (completely to the side)) or + // leaning front-to-back: rotated around the Y axis with the value of X being between + // zero and one. + // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees. + + // Y error means needed rotation around X axis and visa versa. + // Since the error goes from zero to one, the asin is the corresponding angle. + vertContributionV.X = (float)Math.Asin(verticalError.Y); + // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.) + vertContributionV.Y = -(float)Math.Asin(verticalError.X); + + // If verticalError.Z is negative, the vehicle is upside down. Add additional push. + if (verticalError.Z < 0f) + { + vertContributionV.X += Math.Sign(vertContributionV.X) * PIOverFour; + // vertContribution.Y -= PIOverFour; + } + + // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. + // Correction happens over a number of seconds. + Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG + + // The correction happens over the user's time period + vertContributionV /= m_verticalAttractionTimescale; + + // Rotate the vehicle rotation to the world coordinates. + VehicleRotationalVelocity += (vertContributionV * VehicleOrientation); + + VDetailLog("{0}, MoveAngular,verticalAttraction,,upAxis={1},origRotVW={2},vertError={3},unscaledV={4},eff={5},ts={6},vertContribV={7}", + ControllingPrim.LocalID, + vehicleUpAxis, + origRotVelW, + verticalError, + unscaledContribVerticalErrorV, + m_verticalAttractionEfficiency, + m_verticalAttractionTimescale, + vertContributionV); + break; + } + default: + { + break; + } } - - // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. - // Correction happens over a number of seconds. - Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG - - // The correction happens over the user's time period - vertContributionV /= m_verticalAttractionTimescale; - - // Rotate the vehicle rotation to the world coordinates. - VehicleRotationalVelocity += (vertContributionV * VehicleOrientation); - - VDetailLog("{0}, MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}", - Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, - m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV); - */ } } @@ -1514,7 +1511,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public void ComputeAngularDeflection() { - if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2) + if (BSParam.VehicleEnableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2) { Vector3 deflectContributionV = Vector3.Zero; @@ -1593,7 +1590,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // make a sluggish vehicle by giving it a timescale of several seconds. public void ComputeAngularBanking() { - if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) + if (BSParam.VehicleEnableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { Vector3 bankingContributionV = Vector3.Zero; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 0f84bf7..75c3399 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -155,7 +155,10 @@ public static class BSParam public static Vector3 VehicleInertiaFactor { get; private set; } public static float VehicleGroundGravityFudge { get; private set; } public static float VehicleAngularBankingTimescaleFudge { get; private set; } - public static bool VehicleDebuggingEnable { get; private set; } + public static bool VehicleEnableAngularVerticalAttraction { get; private set; } + public static int VehicleAngularVerticalAttractionAlgorithm { get; private set; } + public static bool VehicleEnableAngularDeflection { get; private set; } + public static bool VehicleEnableAngularBanking { get; private set; } // Convex Hulls public static int CSHullMaxDepthSplit { get; private set; } @@ -606,8 +609,14 @@ public static class BSParam 0.2f ), new ParameterDefn("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.", 60.0f ), - new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging", - false ), + new ParameterDefn("VehicleEnableAngularVerticalAttraction", "Turn on/off vehicle angular vertical attraction effect", + true ), + new ParameterDefn("VehicleAngularVerticalAttractionAlgorithm", "Select vertical attraction algo. You need to look at the source.", + 1 ), + new ParameterDefn("VehicleEnableAngularDeflection", "Turn on/off vehicle angular deflection effect", + true ), + new ParameterDefn("VehicleEnableAngularBanking", "Turn on/off vehicle angular banking effect", + true ), new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 0f, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e56a6f6..214271b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1,4 +1,4 @@ -/* +/* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * @@ -648,7 +648,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters simTime = Util.EnvironmentTickCountSubtract(beforeTime); if (PhysicsLogging.Enabled) { - DetailLog("{0},DoPhysicsStep,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", + DetailLog("{0},DoPhysicsStep,complete,frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs index 583c436..48d3742 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs @@ -57,6 +57,8 @@ public class BasicVehicles : OpenSimTestCase public void Init() { Dictionary engineParams = new Dictionary(); + engineParams.Add("VehicleEnableAngularVerticalAttraction", "true"); + engineParams.Add("VehicleAngularVerticalAttractionAlgorithm", "1"); PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams); PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere(); @@ -119,7 +121,7 @@ public class BasicVehicles : OpenSimTestCase { vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale); - vehicleActor.enableAngularVerticalAttraction = true; + // vehicleActor.enableAngularVerticalAttraction = true; TestVehicle.IsPhysical = true; PhysicsScene.ProcessTaints(); -- cgit v1.1 From 2c761cef192670a6f54fe10bb5b5894b5371ea7c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 9 Jul 2013 09:33:46 -0700 Subject: BulletSim: add parameter to optionally disable vehicle linear deflection. Add parameter to not apply vehicle linear deflection Z forces if vehicle is not colliding. This defaults to 'true' so vehicles will fall even if there is some linear deflection to apply. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 42 ++++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 8 ++++- 2 files changed, 34 insertions(+), 16 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index a5f2e98..0204967 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -905,6 +905,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin return VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation)); } } + private float VehicleForwardSpeed { get @@ -1040,26 +1041,37 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 linearDeflectionV = Vector3.Zero; Vector3 velocityV = VehicleForwardVelocity; - // Velocity in Y and Z dimensions is movement to the side or turning. - // Compute deflection factor from the to the side and rotational velocity - linearDeflectionV.Y = SortedClampInRange(0, (velocityV.Y * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Y); - linearDeflectionV.Z = SortedClampInRange(0, (velocityV.Z * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Z); + if (BSParam.VehicleEnableLinearDeflection) + { + // Velocity in Y and Z dimensions is movement to the side or turning. + // Compute deflection factor from the to the side and rotational velocity + linearDeflectionV.Y = SortedClampInRange(0, (velocityV.Y * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Y); + linearDeflectionV.Z = SortedClampInRange(0, (velocityV.Z * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Z); - // Velocity to the side and around is corrected and moved into the forward direction - linearDeflectionV.X += Math.Abs(linearDeflectionV.Y); - linearDeflectionV.X += Math.Abs(linearDeflectionV.Z); + // Velocity to the side and around is corrected and moved into the forward direction + linearDeflectionV.X += Math.Abs(linearDeflectionV.Y); + linearDeflectionV.X += Math.Abs(linearDeflectionV.Z); - // Scale the deflection to the fractional simulation time - linearDeflectionV *= pTimestep; + // Scale the deflection to the fractional simulation time + linearDeflectionV *= pTimestep; - // Subtract the sideways and rotational velocity deflection factors while adding the correction forward - linearDeflectionV *= new Vector3(1,-1,-1); + // Subtract the sideways and rotational velocity deflection factors while adding the correction forward + linearDeflectionV *= new Vector3(1, -1, -1); - // Correciont is vehicle relative. Convert to world coordinates and add to the velocity - VehicleVelocity += linearDeflectionV * VehicleOrientation; + // Correction is vehicle relative. Convert to world coordinates. + Vector3 linearDeflectionW = linearDeflectionV * VehicleOrientation; - VDetailLog("{0}, MoveLinear,LinearDeflection,linDefEff={1},linDefTS={2},linDeflectionV={3}", - ControllingPrim.LocalID, m_linearDeflectionEfficiency, m_linearDeflectionTimescale, linearDeflectionV); + // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall. + if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.IsColliding) + { + linearDeflectionW.Z = 0f; + } + + VehicleVelocity += linearDeflectionW; + + VDetailLog("{0}, MoveLinear,LinearDeflection,linDefEff={1},linDefTS={2},linDeflectionV={3}", + ControllingPrim.LocalID, m_linearDeflectionEfficiency, m_linearDeflectionTimescale, linearDeflectionV); + } } public void ComputeLinearTerrainHeightCorrection(float pTimestep) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 75c3399..dcf1e83 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -155,6 +155,8 @@ public static class BSParam public static Vector3 VehicleInertiaFactor { get; private set; } public static float VehicleGroundGravityFudge { get; private set; } public static float VehicleAngularBankingTimescaleFudge { get; private set; } + public static bool VehicleEnableLinearDeflection { get; private set; } + public static bool VehicleLinearDeflectionNotCollidingNoZ { get; private set; } public static bool VehicleEnableAngularVerticalAttraction { get; private set; } public static int VehicleAngularVerticalAttractionAlgorithm { get; private set; } public static bool VehicleEnableAngularDeflection { get; private set; } @@ -609,10 +611,14 @@ public static class BSParam 0.2f ), new ParameterDefn("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.", 60.0f ), + new ParameterDefn("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect", + true ), + new ParameterDefn("VehicleLinearDeflectionNotCollidingNoZ", "Turn on/off linear deflection Z effect on non-colliding vehicles", + true ), new ParameterDefn("VehicleEnableAngularVerticalAttraction", "Turn on/off vehicle angular vertical attraction effect", true ), new ParameterDefn("VehicleAngularVerticalAttractionAlgorithm", "Select vertical attraction algo. You need to look at the source.", - 1 ), + 0 ), new ParameterDefn("VehicleEnableAngularDeflection", "Turn on/off vehicle angular deflection effect", true ), new ParameterDefn("VehicleEnableAngularBanking", "Turn on/off vehicle angular banking effect", -- cgit v1.1 From 2c8bf4aaa66a4cc9fc8fd9f89825e7cd1b43f3d6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 17 Jul 2013 10:19:44 -0700 Subject: BulletSim: fix small bug where everything looked like it was colliding before the first simulator step. --- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 13 +++++++------ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 3 +++ 2 files changed, 10 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index a41eaf8..fc4545f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -103,9 +103,10 @@ public abstract class BSPhysObject : PhysicsActor CollisionsLastTickStep = -1; SubscribedEventsMs = 0; - CollidingStep = 0; - CollidingGroundStep = 0; - CollisionAccumulation = 0; + // Crazy values that will never be true + CollidingStep = BSScene.NotASimulationStep; + CollidingGroundStep = BSScene.NotASimulationStep; + CollisionAccumulation = BSScene.NotASimulationStep; ColliderIsMoving = false; CollisionScore = 0; @@ -349,7 +350,7 @@ public abstract class BSPhysObject : PhysicsActor if (value) CollidingStep = PhysScene.SimulationStep; else - CollidingStep = 0; + CollidingStep = BSScene.NotASimulationStep; } } public override bool CollidingGround { @@ -359,7 +360,7 @@ public abstract class BSPhysObject : PhysicsActor if (value) CollidingGroundStep = PhysScene.SimulationStep; else - CollidingGroundStep = 0; + CollidingGroundStep = BSScene.NotASimulationStep; } } public override bool CollidingObj { @@ -368,7 +369,7 @@ public abstract class BSPhysObject : PhysicsActor if (value) CollidingObjectStep = PhysScene.SimulationStep; else - CollidingObjectStep = 0; + CollidingObjectStep = BSScene.NotASimulationStep; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 214271b..41aca3b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -97,6 +97,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters internal long m_simulationStep = 0; // The current simulation step. public long SimulationStep { get { return m_simulationStep; } } + // A number to use for SimulationStep that is probably not any step value + // Used by the collision code (which remembers the step when a collision happens) to remember not any simulation step. + public static long NotASimulationStep = -1234; internal float LastTimeStep { get; private set; } // The simulation time from the last invocation of Simulate() -- cgit v1.1 From 1d65b0d80296a672c8023293aee7d0a01bad4066 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 18 Jul 2013 19:09:55 -0700 Subject: BulletSim: add position resetting for stationary avatars so they don't move around when standing on a stationary object. Create proper linkage between BSCharacter and its actor by generating a UpdatedProperties event the same way BSPrim does. --- .../Region/Physics/BulletSPlugin/BSActorAvatarMove.cs | 17 ++++++++++++++++- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 8 ++++---- 2 files changed, 20 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 928b350..0f11c4a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -130,6 +130,7 @@ public class BSActorAvatarMove : BSActor SetVelocityAndTarget(m_controllingPrim.RawVelocity, m_controllingPrim.TargetVelocity, true /* inTaintTime */); m_physicsScene.BeforeStep += Mover; + m_controllingPrim.OnPreUpdateProperty += Process_OnPreUpdateProperty; m_walkingUpStairs = 0; } @@ -139,6 +140,7 @@ public class BSActorAvatarMove : BSActor { if (m_velocityMotor != null) { + m_controllingPrim.OnPreUpdateProperty -= Process_OnPreUpdateProperty; m_physicsScene.BeforeStep -= Mover; m_velocityMotor = null; } @@ -197,7 +199,7 @@ public class BSActorAvatarMove : BSActor { if (m_controllingPrim.Flying) { - // Flying and not collising and velocity nearly zero. + // Flying and not colliding and velocity nearly zero. m_controllingPrim.ZeroMotion(true /* inTaintTime */); } } @@ -266,6 +268,19 @@ public class BSActorAvatarMove : BSActor } } + // Called just as the property update is received from the physics engine. + // Do any mode necessary for avatar movement. + private void Process_OnPreUpdateProperty(ref EntityProperties entprop) + { + // Don't change position if standing on a stationary object. + if (m_controllingPrim.IsStationary) + { + entprop.Position = m_controllingPrim.RawPosition; + m_physicsScene.PE.SetTranslation(m_controllingPrim.PhysBody, entprop.Position, entprop.Rotation); + } + + } + // Decide if the character is colliding with a low object and compute a force to pop the // avatar up so it can walk up and over the low objects. private OMV.Vector3 WalkUpStairs() diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index c9e3ca0..59e7f5f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -709,10 +709,10 @@ public sealed class BSCharacter : BSPhysObject // the world that things have changed. public override void UpdateProperties(EntityProperties entprop) { - // Don't change position if standing on a stationary object. - if (!IsStationary) - RawPosition = entprop.Position; + // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator. + TriggerPreUpdatePropertyAction(ref entprop); + RawPosition = entprop.Position; RawOrientation = entprop.Rotation; // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar @@ -740,7 +740,7 @@ public sealed class BSCharacter : BSPhysObject // Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. - // base.RequestPhysicsterseUpdate(); + // PhysScene.PostUpdate(this); DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity); -- cgit v1.1 From 803632f8f32d91bb4aec678d8b45a8430c2703e1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 9 Jul 2013 16:26:17 -0700 Subject: BulletSim: freshen up the code for constraint based linksets. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 1 + .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 82 ++++++++++++++++------ 3 files changed, 64 insertions(+), 23 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 0204967..4c2c1c1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1029,8 +1029,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Add this correction to the velocity to make it faster/slower. VehicleVelocity += linearMotorVelocityW; - VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}", - ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, + VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},tgt={3},correctV={4},correctW={5},newVelW={6},fricFact={7}", + ControllingPrim.LocalID, origVelW, currentVelV, m_linearMotor.TargetValue, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity, frictionFactorV); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 1d94142..3668456 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -59,6 +59,7 @@ public sealed class BSLinksetCompound : BSLinkset { DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); + // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index a06a44d..f17d698 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -48,12 +48,22 @@ public sealed class BSLinksetConstraints : BSLinkset { base.Refresh(requestor); - if (HasAnyChildren && IsRoot(requestor)) + } + + private void ScheduleRebuild(BSPrimLinkable requestor) + { + DetailLog("{0},BSLinksetConstraint.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", + requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); + + // When rebuilding, it is possible to set properties that would normally require a rebuild. + // If already rebuilding, don't request another rebuild. + // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. + if (!Rebuilding && HasAnyChildren) { // Queue to happen after all the other taint processing m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() { - if (HasAnyChildren && IsRoot(requestor)) + if (HasAnyChildren) RecomputeLinksetConstraints(); }); } @@ -67,8 +77,14 @@ public sealed class BSLinksetConstraints : BSLinkset // Called at taint-time! public override bool MakeDynamic(BSPrimLinkable child) { - // What is done for each object in BSPrim is what we want. - return false; + bool ret = false; + DetailLog("{0},BSLinksetConstraints.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); + if (IsRoot(child)) + { + // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. + ScheduleRebuild(LinksetRoot); + } + return ret; } // The object is going static (non-physical). Do any setup necessary for a static linkset. @@ -78,8 +94,16 @@ public sealed class BSLinksetConstraints : BSLinkset // Called at taint-time! public override bool MakeStatic(BSPrimLinkable child) { - // What is done for each object in BSPrim is what we want. - return false; + bool ret = false; + + DetailLog("{0},BSLinksetConstraint.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); + child.ClearDisplacement(); + if (IsRoot(child)) + { + // Schedule a rebuild to verify that the root shape is set to the real shape. + ScheduleRebuild(LinksetRoot); + } + return ret; } // Called at taint-time!! @@ -105,7 +129,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Just undo all the constraints for this linkset. Rebuild at the end of the step. ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); // Cause the constraints, et al to be rebuilt before the next simulation step. - Refresh(LinksetRoot); + ScheduleRebuild(LinksetRoot); } return ret; } @@ -123,7 +147,7 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Cause constraints and assorted properties to be recomputed before the next simulation step. - Refresh(LinksetRoot); + ScheduleRebuild(LinksetRoot); } return; } @@ -147,7 +171,7 @@ public sealed class BSLinksetConstraints : BSLinkset PhysicallyUnlinkAChildFromRoot(rootx, childx); }); // See that the linkset parameters are recomputed at the end of the taint time. - Refresh(LinksetRoot); + ScheduleRebuild(LinksetRoot); } else { @@ -165,6 +189,7 @@ public sealed class BSLinksetConstraints : BSLinkset Refresh(rootPrim); } + // Create a static constraint between the two passed objects private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim) { // Zero motion for children so they don't interpolate @@ -281,24 +306,39 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass); - foreach (BSPrimLinkable child in m_children) + try { - // A child in the linkset physically shows the mass of the whole linkset. - // This allows Bullet to apply enough force on the child to move the whole linkset. - // (Also do the mass stuff before recomputing the constraint so mass is not zero.) - child.UpdatePhysicalMassProperties(linksetMass, true); + Rebuilding = true; - BSConstraint constrain; - if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) + // There is no reason to build all this physical stuff for a non-physical linkset. + if (!LinksetRoot.IsPhysicallyActive) { - // If constraint doesn't exist yet, create it. - constrain = BuildConstraint(LinksetRoot, child); + DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); + return; // Note the 'finally' clause at the botton which will get executed. } - constrain.RecomputeConstraintVariables(linksetMass); - // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG - } + foreach (BSPrimLinkable child in m_children) + { + // A child in the linkset physically shows the mass of the whole linkset. + // This allows Bullet to apply enough force on the child to move the whole linkset. + // (Also do the mass stuff before recomputing the constraint so mass is not zero.) + child.UpdatePhysicalMassProperties(linksetMass, true); + + BSConstraint constrain; + if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) + { + // If constraint doesn't exist yet, create it. + constrain = BuildConstraint(LinksetRoot, child); + } + constrain.RecomputeConstraintVariables(linksetMass); + // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG + } + } + finally + { + Rebuilding = false; + } } } } -- cgit v1.1 From b4c3a791aa55390bff071b3fe4bbe70c1d252703 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 11 Jul 2013 14:33:03 -0700 Subject: BulletSim: move collision processing for linksets from BSPrimLinkable into the linkset implementation classes. Add HasSomeCollision attribute that remembers of any component of a linkset has a collision. Update vehicle code (BSDynamic) to use the HasSomeCollision in place of IsColliding to make constraint based linksets properly notice the ground. Add linkset functions to change physical attributes of all the members of a linkset. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 16 ++--- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 75 +++++++++++++++++++++- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 ++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 5 +- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 32 +++++++-- 5 files changed, 121 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 4c2c1c1..1540df1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1001,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin else if (newVelocityLengthSq < 0.001f) VehicleVelocity = Vector3.Zero; - VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.IsColliding, VehicleVelocity ); + VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, VehicleVelocity ); } // end MoveLinear() @@ -1062,7 +1062,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 linearDeflectionW = linearDeflectionV * VehicleOrientation; // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall. - if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.IsColliding) + if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision) { linearDeflectionW.Z = 0f; } @@ -1222,7 +1222,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition); distanceAboveGround = VehiclePosition.Z - targetHeight; // Not colliding if the vehicle is off the ground - if (!Prim.IsColliding) + if (!Prim.HasSomeCollision) { // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); VehicleVelocity += new Vector3(0, 0, -distanceAboveGround); @@ -1233,12 +1233,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // be computed with a motor. // TODO: add interaction with banking. VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", - Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); + Prim.LocalID, distanceAboveGround, Prim.HasSomeCollision, ret); */ // Another approach is to measure if we're going up. If going up and not colliding, // the vehicle is in the air. Fix that by pushing down. - if (!ControllingPrim.IsColliding && VehicleVelocity.Z > 0.1) + if (!ControllingPrim.HasSomeCollision && VehicleVelocity.Z > 0.1) { // Get rid of any of the velocity vector that is pushing us up. float upVelocity = VehicleVelocity.Z; @@ -1260,7 +1260,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } */ VDetailLog("{0}, MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}", - ControllingPrim.LocalID, ControllingPrim.IsColliding, upVelocity, VehicleVelocity); + ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, upVelocity, VehicleVelocity); } } } @@ -1270,14 +1270,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass; // Hack to reduce downward force if the vehicle is probably sitting on the ground - if (ControllingPrim.IsColliding && IsGroundVehicle) + if (ControllingPrim.HasSomeCollision && IsGroundVehicle) appliedGravity *= BSParam.VehicleGroundGravityFudge; VehicleAddForce(appliedGravity); VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={5}", ControllingPrim.LocalID, m_VehicleGravity, - ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); + ControllingPrim.HasSomeCollision, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); } // ======================================================================= diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index ad8e10f..78c0af7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -203,6 +203,33 @@ public abstract class BSLinkset return ret; } + // Called after a simulation step to post a collision with this object. + // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have + // anything to add for the collision and it should be passed through normal processing. + // Default processing for a linkset. + public virtual bool HandleCollide(uint collidingWith, BSPhysObject collidee, + OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) + { + bool ret = false; + + // prims in the same linkset cannot collide with each other + BSPrimLinkable convCollidee = collidee as BSPrimLinkable; + if (convCollidee != null && (LinksetID == convCollidee.Linkset.LinksetID)) + { + // By returning 'true', we tell the caller the collision has been 'handled' so it won't + // do anything about this collision and thus, effectivily, ignoring the collision. + ret = true; + } + else + { + // Not a collision between members of the linkset. Must be a real collision. + // So the linkset root can know if there is a collision anywhere in the linkset. + LinksetRoot.SomeCollisionSimulationStep = m_physicsScene.SimulationStep; + } + + return ret; + } + // I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. protected abstract void AddChildToLinkset(BSPrimLinkable child); @@ -251,6 +278,53 @@ public abstract class BSLinkset public abstract bool RemoveDependencies(BSPrimLinkable child); // ================================================================ + // Some physical setting happen to all members of the linkset + public virtual void SetPhysicalFriction(float friction) + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetFriction(member.PhysBody, friction); + return false; // 'false' says to continue looping + } + ); + } + public virtual void SetPhysicalRestitution(float restitution) + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetRestitution(member.PhysBody, restitution); + return false; // 'false' says to continue looping + } + ); + } + public virtual void SetPhysicalGravity(OMV.Vector3 gravity) + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetGravity(member.PhysBody, gravity); + return false; // 'false' says to continue looping + } + ); + } + public virtual void ComputeLocalInertia() + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + { + OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass); + member.Inertia = inertia * BSParam.VehicleInertiaFactor; + m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia); + m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody); + } + return false; // 'false' says to continue looping + } + ); + } + // ================================================================ protected virtual float ComputeLinksetMass() { float mass = LinksetRoot.RawMass; @@ -311,6 +385,5 @@ public abstract class BSLinkset if (m_physicsScene.PhysicsLogging.Enabled) m_physicsScene.DetailLog(msg, args); } - } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index fc4545f..d34b797 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -353,6 +353,16 @@ public abstract class BSPhysObject : PhysicsActor CollidingStep = BSScene.NotASimulationStep; } } + // Complex objects (like linksets) need to know if there is a collision on any part of + // their shape. 'IsColliding' has an existing definition of reporting a collision on + // only this specific prim or component of linksets. + // 'HasSomeCollision' is defined as reporting if there is a collision on any part of + // the complex body that this prim is the root of. + public virtual bool HasSomeCollision + { + get { return IsColliding; } + set { IsColliding = value; } + } public override bool CollidingGround { get { return (CollidingGroundStep == PhysScene.SimulationStep); } set @@ -386,6 +396,7 @@ public abstract class BSPhysObject : PhysicsActor // Return 'true' if a collision was processed and should be sent up. // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision. // Called at taint time from within the Step() function + public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); public virtual bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d43448e..4771934 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -495,8 +495,8 @@ public class BSPrim : BSPhysObject } } - // Find and return a handle to the current vehicle actor. - // Return 'null' if there is no vehicle actor. + // Find and return a handle to the current vehicle actor. + // Return 'null' if there is no vehicle actor. public BSDynamics GetVehicleActor() { BSDynamics ret = null; @@ -507,6 +507,7 @@ public class BSPrim : BSPhysObject } return ret; } + public override int VehicleType { get { int ret = (int)Vehicle.TYPE_NONE; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 1fbcfcc..2f392da 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -200,20 +200,38 @@ public class BSPrimLinkable : BSPrimDisplaced } // Called after a simulation step to post a collision with this object. + // This returns 'true' if the collision has been queued and the SendCollisions call must + // be made at the end of the simulation step. public override bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { - // prims in the same linkset cannot collide with each other - BSPrimLinkable convCollidee = collidee as BSPrimLinkable; - if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID)) + bool ret = false; + // Ask the linkset if it wants to handle the collision + if (!Linkset.HandleCollide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth)) { - return false; + // The linkset didn't handle it so pass the collision through normal processing + ret = base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth); } + return ret; + } - // TODO: handle collisions of other objects with with children of linkset. - // This is a problem for LinksetCompound since the children are packed into the root. + // A linkset reports any collision on any part of the linkset. + public long SomeCollisionSimulationStep = 0; + public override bool HasSomeCollision + { + get + { + return (SomeCollisionSimulationStep == PhysScene.SimulationStep) || base.IsColliding; + } + set + { + if (value) + SomeCollisionSimulationStep = PhysScene.SimulationStep; + else + SomeCollisionSimulationStep = 0; - return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth); + base.HasSomeCollision = value; + } } } } -- cgit v1.1 From acb7b4a09ad564d1dfae3ad12adbb593ca3942c9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 16 Jul 2013 09:59:52 -0700 Subject: BulletSim: only create vehicle prim actor when vehicles are enabled. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 43 ++++++++++++++++------ .../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 2 +- 2 files changed, 33 insertions(+), 12 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4771934..fdb2925 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -96,7 +96,7 @@ public class BSPrim : BSPhysObject _isVolumeDetect = false; // Add a dynamic vehicle to our set of actors that can move this prim. - PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName)); + // PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName)); _mass = CalculateMass(); @@ -497,7 +497,7 @@ public class BSPrim : BSPhysObject // Find and return a handle to the current vehicle actor. // Return 'null' if there is no vehicle actor. - public BSDynamics GetVehicleActor() + public BSDynamics GetVehicleActor(bool createIfNone) { BSDynamics ret = null; BSActor actor; @@ -505,13 +505,21 @@ public class BSPrim : BSPhysObject { ret = actor as BSDynamics; } + else + { + if (createIfNone) + { + ret = new BSDynamics(PhysScene, this, VehicleActorName); + PhysicalActors.Add(ret.ActorName, ret); + } + } return ret; } public override int VehicleType { get { int ret = (int)Vehicle.TYPE_NONE; - BSDynamics vehicleActor = GetVehicleActor(); + BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */); if (vehicleActor != null) ret = (int)vehicleActor.Type; return ret; @@ -525,11 +533,24 @@ public class BSPrim : BSPhysObject // change all the parameters. Like a plane changing to CAR when on the // ground. In this case, don't want to zero motion. // ZeroMotion(true /* inTaintTime */); - BSDynamics vehicleActor = GetVehicleActor(); - if (vehicleActor != null) + if (type == Vehicle.TYPE_NONE) { - vehicleActor.ProcessTypeChange(type); - ActivateIfPhysical(false); + // Vehicle type is 'none' so get rid of any actor that may have been allocated. + BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */); + if (vehicleActor != null) + { + PhysicalActors.RemoveAndRelease(vehicleActor.ActorName); + } + } + else + { + // Vehicle type is not 'none' so create an actor and set it running. + BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); + if (vehicleActor != null) + { + vehicleActor.ProcessTypeChange(type); + ActivateIfPhysical(false); + } } }); } @@ -538,7 +559,7 @@ public class BSPrim : BSPhysObject { PhysScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { - BSDynamics vehicleActor = GetVehicleActor(); + BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) { vehicleActor.ProcessFloatVehicleParam((Vehicle)param, value); @@ -550,7 +571,7 @@ public class BSPrim : BSPhysObject { PhysScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { - BSDynamics vehicleActor = GetVehicleActor(); + BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) { vehicleActor.ProcessVectorVehicleParam((Vehicle)param, value); @@ -562,7 +583,7 @@ public class BSPrim : BSPhysObject { PhysScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { - BSDynamics vehicleActor = GetVehicleActor(); + BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) { vehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation); @@ -574,7 +595,7 @@ public class BSPrim : BSPhysObject { PhysScene.TaintedObject("BSPrim.VehicleFlags", delegate() { - BSDynamics vehicleActor = GetVehicleActor(); + BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) { vehicleActor.ProcessVehicleFlags(param, remove); diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs index 48d3742..48e74eb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs @@ -116,7 +116,7 @@ public class BasicVehicles : OpenSimTestCase // Instead the appropriate values are set and calls are made just the parts of the // controller we want to exercise. Stepping the physics engine then applies // the actions of that one feature. - BSDynamics vehicleActor = TestVehicle.GetVehicleActor(); + BSDynamics vehicleActor = TestVehicle.GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) { vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); -- cgit v1.1 From d0d654e2186c8b81c1150da89a549e4f7162a2b4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 16 Jul 2013 10:01:03 -0700 Subject: BulletSim: change BSDynamics to expect to be passed a BSPrimLinkable and start changing the logic to handle the base prim as a complex object (ie, a linkset). --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 1540df1..82d7c44 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -45,7 +45,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private static string LogHeader = "[BULLETSIM VEHICLE]"; // the prim this dynamic controller belongs to - private BSPrim ControllingPrim { get; set; } + private BSPrimLinkable ControllingPrim { get; set; } private bool m_haveRegisteredForSceneEvents; @@ -128,9 +128,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName) : base(myScene, myPrim, actorName) { - ControllingPrim = myPrim; Type = Vehicle.TYPE_NONE; m_haveRegisteredForSceneEvents = false; + + ControllingPrim = myPrim as BSPrimLinkable; + if (ControllingPrim == null) + { + // THIS CANNOT HAPPEN!! + } + VDetailLog("{0},Creation", ControllingPrim.LocalID); } // Return 'true' if this vehicle is doing vehicle things @@ -585,6 +591,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Friction affects are handled by this vehicle code m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction); m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution); + // ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction); + // ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution); // Moderate angular movement introduced by Bullet. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. @@ -595,17 +603,20 @@ 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.Linkset.SetPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS); Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass); ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor; m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); + // ControllingPrim.Linkset.ComputeLocalInertia(BSParam.VehicleInertiaFactor); // Set the gravity for the vehicle depending on the buoyancy // TODO: what should be done if prim and vehicle buoyancy differ? m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same. m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero); + // ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero); VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}", ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity, @@ -617,6 +628,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (ControllingPrim.PhysBody.HasPhysicalBody) m_physicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); + // ControllingPrim.Linkset.RemoveFromPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS); } } @@ -629,6 +641,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // BSActor.Release() public override void Dispose() { + VDetailLog("{0},Dispose", ControllingPrim.LocalID); UnregisterForSceneEvents(); Type = Vehicle.TYPE_NONE; Enabled = false; -- cgit v1.1 From b44f0e1a00eba7f76401692322e48a3b23a81164 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 16 Jul 2013 10:02:14 -0700 Subject: BulletSim: Add logic to linksets to change physical properties for whole linkset. Override physical property setting for BSLinksetCompound as there are not children to the compound spape. --- OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 6 +--- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 24 +++++++++++++-- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 36 ++++++++++++++++++++++ 3 files changed, 59 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs index fff63e4..e0ccc50 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -69,7 +69,7 @@ public class BSActorCollection { lock (m_actors) { - Release(); + ForEachActor(a => a.Dispose()); m_actors.Clear(); } } @@ -98,10 +98,6 @@ public class BSActorCollection { ForEachActor(a => a.SetEnabled(enabl)); } - public void Release() - { - ForEachActor(a => a.Dispose()); - } public void Refresh() { ForEachActor(a => a.Refresh()); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 78c0af7..960c0b4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -309,14 +309,14 @@ public abstract class BSLinkset } ); } - public virtual void ComputeLocalInertia() + public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor) { ForEachMember((member) => { if (member.PhysBody.HasPhysicalBody) { OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass); - member.Inertia = inertia * BSParam.VehicleInertiaFactor; + member.Inertia = inertia * inertiaFactor; m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia); m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody); } @@ -324,6 +324,26 @@ public abstract class BSLinkset } ); } + public virtual void SetPhysicalCollisionFlags(CollisionFlags collFlags) + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetCollisionFlags(member.PhysBody, collFlags); + return false; // 'false' says to continue looping + } + ); + } + public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + m_physicsScene.PE.RemoveFromCollisionFlags(member.PhysBody, collFlags); + return false; // 'false' says to continue looping + } + ); + } // ================================================================ protected virtual float ComputeLinksetMass() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 3668456..33ae5a5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -44,6 +44,42 @@ public sealed class BSLinksetCompound : BSLinkset { } + // ================================================================ + // Changing the physical property of the linkset only needs to change the root + public override void SetPhysicalFriction(float friction) + { + if (LinksetRoot.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction); + } + public override void SetPhysicalRestitution(float restitution) + { + if (LinksetRoot.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution); + } + public override void SetPhysicalGravity(OMV.Vector3 gravity) + { + if (LinksetRoot.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity); + } + public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor) + { + OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass); + LinksetRoot.Inertia = inertia * inertiaFactor; + m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia); + m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody); + } + public override void SetPhysicalCollisionFlags(CollisionFlags collFlags) + { + if (LinksetRoot.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags); + } + public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) + { + if (LinksetRoot.PhysBody.HasPhysicalBody) + m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags); + } + // ================================================================ + // When physical properties are changed the linkset needs to recalculate // its internal properties. public override void Refresh(BSPrimLinkable requestor) -- cgit v1.1 From 84d0699761b8da546f9faef084240d7b15f16321 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Jul 2013 12:07:42 -0700 Subject: Revert "BulletSim: Add logic to linksets to change physical properties for" The changes don't seem to be ready for prime time. This reverts commit b44f0e1a00eba7f76401692322e48a3b23a81164. --- OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 6 +++- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 24 ++------------- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 36 ---------------------- 3 files changed, 7 insertions(+), 59 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs index e0ccc50..fff63e4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -69,7 +69,7 @@ public class BSActorCollection { lock (m_actors) { - ForEachActor(a => a.Dispose()); + Release(); m_actors.Clear(); } } @@ -98,6 +98,10 @@ public class BSActorCollection { ForEachActor(a => a.SetEnabled(enabl)); } + public void Release() + { + ForEachActor(a => a.Dispose()); + } public void Refresh() { ForEachActor(a => a.Refresh()); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 960c0b4..78c0af7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -309,14 +309,14 @@ public abstract class BSLinkset } ); } - public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor) + public virtual void ComputeLocalInertia() { ForEachMember((member) => { if (member.PhysBody.HasPhysicalBody) { OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass); - member.Inertia = inertia * inertiaFactor; + member.Inertia = inertia * BSParam.VehicleInertiaFactor; m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia); m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody); } @@ -324,26 +324,6 @@ public abstract class BSLinkset } ); } - public virtual void SetPhysicalCollisionFlags(CollisionFlags collFlags) - { - ForEachMember((member) => - { - if (member.PhysBody.HasPhysicalBody) - m_physicsScene.PE.SetCollisionFlags(member.PhysBody, collFlags); - return false; // 'false' says to continue looping - } - ); - } - public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) - { - ForEachMember((member) => - { - if (member.PhysBody.HasPhysicalBody) - m_physicsScene.PE.RemoveFromCollisionFlags(member.PhysBody, collFlags); - return false; // 'false' says to continue looping - } - ); - } // ================================================================ protected virtual float ComputeLinksetMass() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 33ae5a5..3668456 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -44,42 +44,6 @@ public sealed class BSLinksetCompound : BSLinkset { } - // ================================================================ - // Changing the physical property of the linkset only needs to change the root - public override void SetPhysicalFriction(float friction) - { - if (LinksetRoot.PhysBody.HasPhysicalBody) - m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction); - } - public override void SetPhysicalRestitution(float restitution) - { - if (LinksetRoot.PhysBody.HasPhysicalBody) - m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution); - } - public override void SetPhysicalGravity(OMV.Vector3 gravity) - { - if (LinksetRoot.PhysBody.HasPhysicalBody) - m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity); - } - public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor) - { - OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass); - LinksetRoot.Inertia = inertia * inertiaFactor; - m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia); - m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody); - } - public override void SetPhysicalCollisionFlags(CollisionFlags collFlags) - { - if (LinksetRoot.PhysBody.HasPhysicalBody) - m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags); - } - public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) - { - if (LinksetRoot.PhysBody.HasPhysicalBody) - m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags); - } - // ================================================================ - // When physical properties are changed the linkset needs to recalculate // its internal properties. public override void Refresh(BSPrimLinkable requestor) -- cgit v1.1 From 7b187deb19517aa7c880458894643a5448566a94 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Jul 2013 12:08:25 -0700 Subject: Revert "BulletSim: change BSDynamics to expect to be passed a BSPrimLinkable" The changes don't seem to be ready for prime time. This reverts commit d0d654e2186c8b81c1150da89a549e4f7162a2b4. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 17 ++--------------- 1 file changed, 2 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 82d7c44..1540df1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -45,7 +45,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private static string LogHeader = "[BULLETSIM VEHICLE]"; // the prim this dynamic controller belongs to - private BSPrimLinkable ControllingPrim { get; set; } + private BSPrim ControllingPrim { get; set; } private bool m_haveRegisteredForSceneEvents; @@ -128,15 +128,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName) : base(myScene, myPrim, actorName) { + ControllingPrim = myPrim; Type = Vehicle.TYPE_NONE; m_haveRegisteredForSceneEvents = false; - - ControllingPrim = myPrim as BSPrimLinkable; - if (ControllingPrim == null) - { - // THIS CANNOT HAPPEN!! - } - VDetailLog("{0},Creation", ControllingPrim.LocalID); } // Return 'true' if this vehicle is doing vehicle things @@ -591,8 +585,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Friction affects are handled by this vehicle code m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction); m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution); - // ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction); - // ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution); // Moderate angular movement introduced by Bullet. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. @@ -603,20 +595,17 @@ 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.Linkset.SetPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS); Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass); ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor; m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); - // ControllingPrim.Linkset.ComputeLocalInertia(BSParam.VehicleInertiaFactor); // Set the gravity for the vehicle depending on the buoyancy // TODO: what should be done if prim and vehicle buoyancy differ? m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same. m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero); - // ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero); VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}", ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity, @@ -628,7 +617,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (ControllingPrim.PhysBody.HasPhysicalBody) m_physicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); - // ControllingPrim.Linkset.RemoveFromPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS); } } @@ -641,7 +629,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // BSActor.Release() public override void Dispose() { - VDetailLog("{0},Dispose", ControllingPrim.LocalID); UnregisterForSceneEvents(); Type = Vehicle.TYPE_NONE; Enabled = false; -- cgit v1.1 From 5f7b2ea81b95a60e882bc65b663a2c9fe134f92a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Jul 2013 12:08:49 -0700 Subject: Revert "BulletSim: only create vehicle prim actor when vehicles are enabled." The changes don't seem to be ready for prime time. This reverts commit acb7b4a09ad564d1dfae3ad12adbb593ca3942c9. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 43 ++++++---------------- .../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 2 +- 2 files changed, 12 insertions(+), 33 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index fdb2925..4771934 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -96,7 +96,7 @@ public class BSPrim : BSPhysObject _isVolumeDetect = false; // Add a dynamic vehicle to our set of actors that can move this prim. - // PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName)); + PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName)); _mass = CalculateMass(); @@ -497,7 +497,7 @@ public class BSPrim : BSPhysObject // Find and return a handle to the current vehicle actor. // Return 'null' if there is no vehicle actor. - public BSDynamics GetVehicleActor(bool createIfNone) + public BSDynamics GetVehicleActor() { BSDynamics ret = null; BSActor actor; @@ -505,21 +505,13 @@ public class BSPrim : BSPhysObject { ret = actor as BSDynamics; } - else - { - if (createIfNone) - { - ret = new BSDynamics(PhysScene, this, VehicleActorName); - PhysicalActors.Add(ret.ActorName, ret); - } - } return ret; } public override int VehicleType { get { int ret = (int)Vehicle.TYPE_NONE; - BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */); + BSDynamics vehicleActor = GetVehicleActor(); if (vehicleActor != null) ret = (int)vehicleActor.Type; return ret; @@ -533,24 +525,11 @@ public class BSPrim : BSPhysObject // change all the parameters. Like a plane changing to CAR when on the // ground. In this case, don't want to zero motion. // ZeroMotion(true /* inTaintTime */); - if (type == Vehicle.TYPE_NONE) - { - // Vehicle type is 'none' so get rid of any actor that may have been allocated. - BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */); - if (vehicleActor != null) - { - PhysicalActors.RemoveAndRelease(vehicleActor.ActorName); - } - } - else + BSDynamics vehicleActor = GetVehicleActor(); + if (vehicleActor != null) { - // Vehicle type is not 'none' so create an actor and set it running. - BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); - if (vehicleActor != null) - { - vehicleActor.ProcessTypeChange(type); - ActivateIfPhysical(false); - } + vehicleActor.ProcessTypeChange(type); + ActivateIfPhysical(false); } }); } @@ -559,7 +538,7 @@ public class BSPrim : BSPhysObject { PhysScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { - BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); + BSDynamics vehicleActor = GetVehicleActor(); if (vehicleActor != null) { vehicleActor.ProcessFloatVehicleParam((Vehicle)param, value); @@ -571,7 +550,7 @@ public class BSPrim : BSPhysObject { PhysScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { - BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); + BSDynamics vehicleActor = GetVehicleActor(); if (vehicleActor != null) { vehicleActor.ProcessVectorVehicleParam((Vehicle)param, value); @@ -583,7 +562,7 @@ public class BSPrim : BSPhysObject { PhysScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { - BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); + BSDynamics vehicleActor = GetVehicleActor(); if (vehicleActor != null) { vehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation); @@ -595,7 +574,7 @@ public class BSPrim : BSPhysObject { PhysScene.TaintedObject("BSPrim.VehicleFlags", delegate() { - BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); + BSDynamics vehicleActor = GetVehicleActor(); if (vehicleActor != null) { vehicleActor.ProcessVehicleFlags(param, remove); diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs index 48e74eb..48d3742 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs @@ -116,7 +116,7 @@ public class BasicVehicles : OpenSimTestCase // Instead the appropriate values are set and calls are made just the parts of the // controller we want to exercise. Stepping the physics engine then applies // the actions of that one feature. - BSDynamics vehicleActor = TestVehicle.GetVehicleActor(true /* createIfNone */); + BSDynamics vehicleActor = TestVehicle.GetVehicleActor(); if (vehicleActor != null) { vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); -- cgit v1.1 From c45659863d8821a48a32e5b687c7b2a6d90b0300 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Jul 2013 12:09:17 -0700 Subject: Revert "BulletSim: move collision processing for linksets from BSPrimLinkable" The changes don't seem to be ready for prime time. This reverts commit b4c3a791aa55390bff071b3fe4bbe70c1d252703. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 16 ++--- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 75 +--------------------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 ---- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 5 +- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 32 ++------- 5 files changed, 18 insertions(+), 121 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 1540df1..4c2c1c1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1001,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin else if (newVelocityLengthSq < 0.001f) VehicleVelocity = Vector3.Zero; - VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, VehicleVelocity ); + VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.IsColliding, VehicleVelocity ); } // end MoveLinear() @@ -1062,7 +1062,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 linearDeflectionW = linearDeflectionV * VehicleOrientation; // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall. - if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision) + if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.IsColliding) { linearDeflectionW.Z = 0f; } @@ -1222,7 +1222,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition); distanceAboveGround = VehiclePosition.Z - targetHeight; // Not colliding if the vehicle is off the ground - if (!Prim.HasSomeCollision) + if (!Prim.IsColliding) { // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); VehicleVelocity += new Vector3(0, 0, -distanceAboveGround); @@ -1233,12 +1233,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // be computed with a motor. // TODO: add interaction with banking. VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", - Prim.LocalID, distanceAboveGround, Prim.HasSomeCollision, ret); + Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); */ // Another approach is to measure if we're going up. If going up and not colliding, // the vehicle is in the air. Fix that by pushing down. - if (!ControllingPrim.HasSomeCollision && VehicleVelocity.Z > 0.1) + if (!ControllingPrim.IsColliding && VehicleVelocity.Z > 0.1) { // Get rid of any of the velocity vector that is pushing us up. float upVelocity = VehicleVelocity.Z; @@ -1260,7 +1260,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } */ VDetailLog("{0}, MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}", - ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, upVelocity, VehicleVelocity); + ControllingPrim.LocalID, ControllingPrim.IsColliding, upVelocity, VehicleVelocity); } } } @@ -1270,14 +1270,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass; // Hack to reduce downward force if the vehicle is probably sitting on the ground - if (ControllingPrim.HasSomeCollision && IsGroundVehicle) + if (ControllingPrim.IsColliding && IsGroundVehicle) appliedGravity *= BSParam.VehicleGroundGravityFudge; VehicleAddForce(appliedGravity); VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={5}", ControllingPrim.LocalID, m_VehicleGravity, - ControllingPrim.HasSomeCollision, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); + ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); } // ======================================================================= diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 78c0af7..ad8e10f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -203,33 +203,6 @@ public abstract class BSLinkset return ret; } - // Called after a simulation step to post a collision with this object. - // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have - // anything to add for the collision and it should be passed through normal processing. - // Default processing for a linkset. - public virtual bool HandleCollide(uint collidingWith, BSPhysObject collidee, - OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) - { - bool ret = false; - - // prims in the same linkset cannot collide with each other - BSPrimLinkable convCollidee = collidee as BSPrimLinkable; - if (convCollidee != null && (LinksetID == convCollidee.Linkset.LinksetID)) - { - // By returning 'true', we tell the caller the collision has been 'handled' so it won't - // do anything about this collision and thus, effectivily, ignoring the collision. - ret = true; - } - else - { - // Not a collision between members of the linkset. Must be a real collision. - // So the linkset root can know if there is a collision anywhere in the linkset. - LinksetRoot.SomeCollisionSimulationStep = m_physicsScene.SimulationStep; - } - - return ret; - } - // I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. protected abstract void AddChildToLinkset(BSPrimLinkable child); @@ -278,53 +251,6 @@ public abstract class BSLinkset public abstract bool RemoveDependencies(BSPrimLinkable child); // ================================================================ - // Some physical setting happen to all members of the linkset - public virtual void SetPhysicalFriction(float friction) - { - ForEachMember((member) => - { - if (member.PhysBody.HasPhysicalBody) - m_physicsScene.PE.SetFriction(member.PhysBody, friction); - return false; // 'false' says to continue looping - } - ); - } - public virtual void SetPhysicalRestitution(float restitution) - { - ForEachMember((member) => - { - if (member.PhysBody.HasPhysicalBody) - m_physicsScene.PE.SetRestitution(member.PhysBody, restitution); - return false; // 'false' says to continue looping - } - ); - } - public virtual void SetPhysicalGravity(OMV.Vector3 gravity) - { - ForEachMember((member) => - { - if (member.PhysBody.HasPhysicalBody) - m_physicsScene.PE.SetGravity(member.PhysBody, gravity); - return false; // 'false' says to continue looping - } - ); - } - public virtual void ComputeLocalInertia() - { - ForEachMember((member) => - { - if (member.PhysBody.HasPhysicalBody) - { - OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass); - member.Inertia = inertia * BSParam.VehicleInertiaFactor; - m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia); - m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody); - } - return false; // 'false' says to continue looping - } - ); - } - // ================================================================ protected virtual float ComputeLinksetMass() { float mass = LinksetRoot.RawMass; @@ -385,5 +311,6 @@ public abstract class BSLinkset if (m_physicsScene.PhysicsLogging.Enabled) m_physicsScene.DetailLog(msg, args); } + } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index d34b797..fc4545f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -353,16 +353,6 @@ public abstract class BSPhysObject : PhysicsActor CollidingStep = BSScene.NotASimulationStep; } } - // Complex objects (like linksets) need to know if there is a collision on any part of - // their shape. 'IsColliding' has an existing definition of reporting a collision on - // only this specific prim or component of linksets. - // 'HasSomeCollision' is defined as reporting if there is a collision on any part of - // the complex body that this prim is the root of. - public virtual bool HasSomeCollision - { - get { return IsColliding; } - set { IsColliding = value; } - } public override bool CollidingGround { get { return (CollidingGroundStep == PhysScene.SimulationStep); } set @@ -396,7 +386,6 @@ public abstract class BSPhysObject : PhysicsActor // Return 'true' if a collision was processed and should be sent up. // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision. // Called at taint time from within the Step() function - public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); public virtual bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4771934..d43448e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -495,8 +495,8 @@ public class BSPrim : BSPhysObject } } - // Find and return a handle to the current vehicle actor. - // Return 'null' if there is no vehicle actor. + // Find and return a handle to the current vehicle actor. + // Return 'null' if there is no vehicle actor. public BSDynamics GetVehicleActor() { BSDynamics ret = null; @@ -507,7 +507,6 @@ public class BSPrim : BSPhysObject } return ret; } - public override int VehicleType { get { int ret = (int)Vehicle.TYPE_NONE; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 2f392da..1fbcfcc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -200,38 +200,20 @@ public class BSPrimLinkable : BSPrimDisplaced } // Called after a simulation step to post a collision with this object. - // This returns 'true' if the collision has been queued and the SendCollisions call must - // be made at the end of the simulation step. public override bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { - bool ret = false; - // Ask the linkset if it wants to handle the collision - if (!Linkset.HandleCollide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth)) + // prims in the same linkset cannot collide with each other + BSPrimLinkable convCollidee = collidee as BSPrimLinkable; + if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID)) { - // The linkset didn't handle it so pass the collision through normal processing - ret = base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth); + return false; } - return ret; - } - // A linkset reports any collision on any part of the linkset. - public long SomeCollisionSimulationStep = 0; - public override bool HasSomeCollision - { - get - { - return (SomeCollisionSimulationStep == PhysScene.SimulationStep) || base.IsColliding; - } - set - { - if (value) - SomeCollisionSimulationStep = PhysScene.SimulationStep; - else - SomeCollisionSimulationStep = 0; + // TODO: handle collisions of other objects with with children of linkset. + // This is a problem for LinksetCompound since the children are packed into the root. - base.HasSomeCollision = value; - } + return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth); } } } -- cgit v1.1 From 44543ebe638f391fc1c7ff532fe4470006dec55a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Jul 2013 12:10:23 -0700 Subject: Revert "BulletSim: freshen up the code for constraint based linksets." The changes don't seem to be ready for prime time. This reverts commit 803632f8f32d91bb4aec678d8b45a8430c2703e1. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 1 - .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 82 ++++++---------------- 3 files changed, 23 insertions(+), 64 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 4c2c1c1..0204967 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1029,8 +1029,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Add this correction to the velocity to make it faster/slower. VehicleVelocity += linearMotorVelocityW; - VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},tgt={3},correctV={4},correctW={5},newVelW={6},fricFact={7}", - ControllingPrim.LocalID, origVelW, currentVelV, m_linearMotor.TargetValue, linearMotorCorrectionV, + VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}", + ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity, frictionFactorV); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 3668456..1d94142 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -59,7 +59,6 @@ public sealed class BSLinksetCompound : BSLinkset { DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); - // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index f17d698..a06a44d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -48,22 +48,12 @@ public sealed class BSLinksetConstraints : BSLinkset { base.Refresh(requestor); - } - - private void ScheduleRebuild(BSPrimLinkable requestor) - { - DetailLog("{0},BSLinksetConstraint.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", - requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); - - // When rebuilding, it is possible to set properties that would normally require a rebuild. - // If already rebuilding, don't request another rebuild. - // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. - if (!Rebuilding && HasAnyChildren) + if (HasAnyChildren && IsRoot(requestor)) { // Queue to happen after all the other taint processing m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() { - if (HasAnyChildren) + if (HasAnyChildren && IsRoot(requestor)) RecomputeLinksetConstraints(); }); } @@ -77,14 +67,8 @@ public sealed class BSLinksetConstraints : BSLinkset // Called at taint-time! public override bool MakeDynamic(BSPrimLinkable child) { - bool ret = false; - DetailLog("{0},BSLinksetConstraints.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); - if (IsRoot(child)) - { - // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. - ScheduleRebuild(LinksetRoot); - } - return ret; + // What is done for each object in BSPrim is what we want. + return false; } // The object is going static (non-physical). Do any setup necessary for a static linkset. @@ -94,16 +78,8 @@ public sealed class BSLinksetConstraints : BSLinkset // Called at taint-time! public override bool MakeStatic(BSPrimLinkable child) { - bool ret = false; - - DetailLog("{0},BSLinksetConstraint.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); - child.ClearDisplacement(); - if (IsRoot(child)) - { - // Schedule a rebuild to verify that the root shape is set to the real shape. - ScheduleRebuild(LinksetRoot); - } - return ret; + // What is done for each object in BSPrim is what we want. + return false; } // Called at taint-time!! @@ -129,7 +105,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Just undo all the constraints for this linkset. Rebuild at the end of the step. ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); // Cause the constraints, et al to be rebuilt before the next simulation step. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return ret; } @@ -147,7 +123,7 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Cause constraints and assorted properties to be recomputed before the next simulation step. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return; } @@ -171,7 +147,7 @@ public sealed class BSLinksetConstraints : BSLinkset PhysicallyUnlinkAChildFromRoot(rootx, childx); }); // See that the linkset parameters are recomputed at the end of the taint time. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } else { @@ -189,7 +165,6 @@ public sealed class BSLinksetConstraints : BSLinkset Refresh(rootPrim); } - // Create a static constraint between the two passed objects private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim) { // Zero motion for children so they don't interpolate @@ -306,39 +281,24 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass); - try + foreach (BSPrimLinkable child in m_children) { - Rebuilding = true; + // A child in the linkset physically shows the mass of the whole linkset. + // This allows Bullet to apply enough force on the child to move the whole linkset. + // (Also do the mass stuff before recomputing the constraint so mass is not zero.) + child.UpdatePhysicalMassProperties(linksetMass, true); - // There is no reason to build all this physical stuff for a non-physical linkset. - if (!LinksetRoot.IsPhysicallyActive) + BSConstraint constrain; + if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) { - DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); - return; // Note the 'finally' clause at the botton which will get executed. + // If constraint doesn't exist yet, create it. + constrain = BuildConstraint(LinksetRoot, child); } + constrain.RecomputeConstraintVariables(linksetMass); - foreach (BSPrimLinkable child in m_children) - { - // A child in the linkset physically shows the mass of the whole linkset. - // This allows Bullet to apply enough force on the child to move the whole linkset. - // (Also do the mass stuff before recomputing the constraint so mass is not zero.) - child.UpdatePhysicalMassProperties(linksetMass, true); - - BSConstraint constrain; - if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) - { - // If constraint doesn't exist yet, create it. - constrain = BuildConstraint(LinksetRoot, child); - } - constrain.RecomputeConstraintVariables(linksetMass); - - // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG - } - } - finally - { - Rebuilding = false; + // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG } + } } } -- cgit v1.1 From af9deed13593a85aef64205f9ca616a06711963c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 23 Jul 2013 08:11:21 -0700 Subject: Revert "Revert "BulletSim: freshen up the code for constraint based linksets."" Found that the vehicle movement problem was not caused by these physics changes. This reverts commit 44543ebe638f391fc1c7ff532fe4470006dec55a. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 1 + .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 82 ++++++++++++++++------ 3 files changed, 64 insertions(+), 23 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 0204967..4c2c1c1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1029,8 +1029,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Add this correction to the velocity to make it faster/slower. VehicleVelocity += linearMotorVelocityW; - VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}", - ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, + VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},tgt={3},correctV={4},correctW={5},newVelW={6},fricFact={7}", + ControllingPrim.LocalID, origVelW, currentVelV, m_linearMotor.TargetValue, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity, frictionFactorV); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 1d94142..3668456 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -59,6 +59,7 @@ public sealed class BSLinksetCompound : BSLinkset { DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); + // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index a06a44d..f17d698 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -48,12 +48,22 @@ public sealed class BSLinksetConstraints : BSLinkset { base.Refresh(requestor); - if (HasAnyChildren && IsRoot(requestor)) + } + + private void ScheduleRebuild(BSPrimLinkable requestor) + { + DetailLog("{0},BSLinksetConstraint.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", + requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); + + // When rebuilding, it is possible to set properties that would normally require a rebuild. + // If already rebuilding, don't request another rebuild. + // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. + if (!Rebuilding && HasAnyChildren) { // Queue to happen after all the other taint processing m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() { - if (HasAnyChildren && IsRoot(requestor)) + if (HasAnyChildren) RecomputeLinksetConstraints(); }); } @@ -67,8 +77,14 @@ public sealed class BSLinksetConstraints : BSLinkset // Called at taint-time! public override bool MakeDynamic(BSPrimLinkable child) { - // What is done for each object in BSPrim is what we want. - return false; + bool ret = false; + DetailLog("{0},BSLinksetConstraints.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); + if (IsRoot(child)) + { + // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. + ScheduleRebuild(LinksetRoot); + } + return ret; } // The object is going static (non-physical). Do any setup necessary for a static linkset. @@ -78,8 +94,16 @@ public sealed class BSLinksetConstraints : BSLinkset // Called at taint-time! public override bool MakeStatic(BSPrimLinkable child) { - // What is done for each object in BSPrim is what we want. - return false; + bool ret = false; + + DetailLog("{0},BSLinksetConstraint.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); + child.ClearDisplacement(); + if (IsRoot(child)) + { + // Schedule a rebuild to verify that the root shape is set to the real shape. + ScheduleRebuild(LinksetRoot); + } + return ret; } // Called at taint-time!! @@ -105,7 +129,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Just undo all the constraints for this linkset. Rebuild at the end of the step. ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); // Cause the constraints, et al to be rebuilt before the next simulation step. - Refresh(LinksetRoot); + ScheduleRebuild(LinksetRoot); } return ret; } @@ -123,7 +147,7 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Cause constraints and assorted properties to be recomputed before the next simulation step. - Refresh(LinksetRoot); + ScheduleRebuild(LinksetRoot); } return; } @@ -147,7 +171,7 @@ public sealed class BSLinksetConstraints : BSLinkset PhysicallyUnlinkAChildFromRoot(rootx, childx); }); // See that the linkset parameters are recomputed at the end of the taint time. - Refresh(LinksetRoot); + ScheduleRebuild(LinksetRoot); } else { @@ -165,6 +189,7 @@ public sealed class BSLinksetConstraints : BSLinkset Refresh(rootPrim); } + // Create a static constraint between the two passed objects private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim) { // Zero motion for children so they don't interpolate @@ -281,24 +306,39 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass); - foreach (BSPrimLinkable child in m_children) + try { - // A child in the linkset physically shows the mass of the whole linkset. - // This allows Bullet to apply enough force on the child to move the whole linkset. - // (Also do the mass stuff before recomputing the constraint so mass is not zero.) - child.UpdatePhysicalMassProperties(linksetMass, true); + Rebuilding = true; - BSConstraint constrain; - if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) + // There is no reason to build all this physical stuff for a non-physical linkset. + if (!LinksetRoot.IsPhysicallyActive) { - // If constraint doesn't exist yet, create it. - constrain = BuildConstraint(LinksetRoot, child); + DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); + return; // Note the 'finally' clause at the botton which will get executed. } - constrain.RecomputeConstraintVariables(linksetMass); - // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG - } + foreach (BSPrimLinkable child in m_children) + { + // A child in the linkset physically shows the mass of the whole linkset. + // This allows Bullet to apply enough force on the child to move the whole linkset. + // (Also do the mass stuff before recomputing the constraint so mass is not zero.) + child.UpdatePhysicalMassProperties(linksetMass, true); + + BSConstraint constrain; + if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) + { + // If constraint doesn't exist yet, create it. + constrain = BuildConstraint(LinksetRoot, child); + } + constrain.RecomputeConstraintVariables(linksetMass); + // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG + } + } + finally + { + Rebuilding = false; + } } } } -- cgit v1.1 From aec8852af793699a4c1093a38b992daf2dbd97f3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 23 Jul 2013 08:13:01 -0700 Subject: Revert "Revert "BulletSim: move collision processing for linksets from BSPrimLinkable"" Found that the vehicle movement problem was not caused by these physics changes. This reverts commit c45659863d8821a48a32e5b687c7b2a6d90b0300. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 16 ++--- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 75 +++++++++++++++++++++- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 ++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 5 +- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 32 +++++++-- 5 files changed, 121 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 4c2c1c1..1540df1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1001,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin else if (newVelocityLengthSq < 0.001f) VehicleVelocity = Vector3.Zero; - VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.IsColliding, VehicleVelocity ); + VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, VehicleVelocity ); } // end MoveLinear() @@ -1062,7 +1062,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 linearDeflectionW = linearDeflectionV * VehicleOrientation; // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall. - if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.IsColliding) + if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision) { linearDeflectionW.Z = 0f; } @@ -1222,7 +1222,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition); distanceAboveGround = VehiclePosition.Z - targetHeight; // Not colliding if the vehicle is off the ground - if (!Prim.IsColliding) + if (!Prim.HasSomeCollision) { // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); VehicleVelocity += new Vector3(0, 0, -distanceAboveGround); @@ -1233,12 +1233,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // be computed with a motor. // TODO: add interaction with banking. VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", - Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); + Prim.LocalID, distanceAboveGround, Prim.HasSomeCollision, ret); */ // Another approach is to measure if we're going up. If going up and not colliding, // the vehicle is in the air. Fix that by pushing down. - if (!ControllingPrim.IsColliding && VehicleVelocity.Z > 0.1) + if (!ControllingPrim.HasSomeCollision && VehicleVelocity.Z > 0.1) { // Get rid of any of the velocity vector that is pushing us up. float upVelocity = VehicleVelocity.Z; @@ -1260,7 +1260,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } */ VDetailLog("{0}, MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}", - ControllingPrim.LocalID, ControllingPrim.IsColliding, upVelocity, VehicleVelocity); + ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, upVelocity, VehicleVelocity); } } } @@ -1270,14 +1270,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass; // Hack to reduce downward force if the vehicle is probably sitting on the ground - if (ControllingPrim.IsColliding && IsGroundVehicle) + if (ControllingPrim.HasSomeCollision && IsGroundVehicle) appliedGravity *= BSParam.VehicleGroundGravityFudge; VehicleAddForce(appliedGravity); VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={5}", ControllingPrim.LocalID, m_VehicleGravity, - ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); + ControllingPrim.HasSomeCollision, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); } // ======================================================================= diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index ad8e10f..78c0af7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -203,6 +203,33 @@ public abstract class BSLinkset return ret; } + // Called after a simulation step to post a collision with this object. + // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have + // anything to add for the collision and it should be passed through normal processing. + // Default processing for a linkset. + public virtual bool HandleCollide(uint collidingWith, BSPhysObject collidee, + OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) + { + bool ret = false; + + // prims in the same linkset cannot collide with each other + BSPrimLinkable convCollidee = collidee as BSPrimLinkable; + if (convCollidee != null && (LinksetID == convCollidee.Linkset.LinksetID)) + { + // By returning 'true', we tell the caller the collision has been 'handled' so it won't + // do anything about this collision and thus, effectivily, ignoring the collision. + ret = true; + } + else + { + // Not a collision between members of the linkset. Must be a real collision. + // So the linkset root can know if there is a collision anywhere in the linkset. + LinksetRoot.SomeCollisionSimulationStep = m_physicsScene.SimulationStep; + } + + return ret; + } + // I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. protected abstract void AddChildToLinkset(BSPrimLinkable child); @@ -251,6 +278,53 @@ public abstract class BSLinkset public abstract bool RemoveDependencies(BSPrimLinkable child); // ================================================================ + // Some physical setting happen to all members of the linkset + public virtual void SetPhysicalFriction(float friction) + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetFriction(member.PhysBody, friction); + return false; // 'false' says to continue looping + } + ); + } + public virtual void SetPhysicalRestitution(float restitution) + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetRestitution(member.PhysBody, restitution); + return false; // 'false' says to continue looping + } + ); + } + public virtual void SetPhysicalGravity(OMV.Vector3 gravity) + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetGravity(member.PhysBody, gravity); + return false; // 'false' says to continue looping + } + ); + } + public virtual void ComputeLocalInertia() + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + { + OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass); + member.Inertia = inertia * BSParam.VehicleInertiaFactor; + m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia); + m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody); + } + return false; // 'false' says to continue looping + } + ); + } + // ================================================================ protected virtual float ComputeLinksetMass() { float mass = LinksetRoot.RawMass; @@ -311,6 +385,5 @@ public abstract class BSLinkset if (m_physicsScene.PhysicsLogging.Enabled) m_physicsScene.DetailLog(msg, args); } - } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index fc4545f..d34b797 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -353,6 +353,16 @@ public abstract class BSPhysObject : PhysicsActor CollidingStep = BSScene.NotASimulationStep; } } + // Complex objects (like linksets) need to know if there is a collision on any part of + // their shape. 'IsColliding' has an existing definition of reporting a collision on + // only this specific prim or component of linksets. + // 'HasSomeCollision' is defined as reporting if there is a collision on any part of + // the complex body that this prim is the root of. + public virtual bool HasSomeCollision + { + get { return IsColliding; } + set { IsColliding = value; } + } public override bool CollidingGround { get { return (CollidingGroundStep == PhysScene.SimulationStep); } set @@ -386,6 +396,7 @@ public abstract class BSPhysObject : PhysicsActor // Return 'true' if a collision was processed and should be sent up. // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision. // Called at taint time from within the Step() function + public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); public virtual bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d43448e..4771934 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -495,8 +495,8 @@ public class BSPrim : BSPhysObject } } - // Find and return a handle to the current vehicle actor. - // Return 'null' if there is no vehicle actor. + // Find and return a handle to the current vehicle actor. + // Return 'null' if there is no vehicle actor. public BSDynamics GetVehicleActor() { BSDynamics ret = null; @@ -507,6 +507,7 @@ public class BSPrim : BSPhysObject } return ret; } + public override int VehicleType { get { int ret = (int)Vehicle.TYPE_NONE; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 1fbcfcc..2f392da 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -200,20 +200,38 @@ public class BSPrimLinkable : BSPrimDisplaced } // Called after a simulation step to post a collision with this object. + // This returns 'true' if the collision has been queued and the SendCollisions call must + // be made at the end of the simulation step. public override bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { - // prims in the same linkset cannot collide with each other - BSPrimLinkable convCollidee = collidee as BSPrimLinkable; - if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID)) + bool ret = false; + // Ask the linkset if it wants to handle the collision + if (!Linkset.HandleCollide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth)) { - return false; + // The linkset didn't handle it so pass the collision through normal processing + ret = base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth); } + return ret; + } - // TODO: handle collisions of other objects with with children of linkset. - // This is a problem for LinksetCompound since the children are packed into the root. + // A linkset reports any collision on any part of the linkset. + public long SomeCollisionSimulationStep = 0; + public override bool HasSomeCollision + { + get + { + return (SomeCollisionSimulationStep == PhysScene.SimulationStep) || base.IsColliding; + } + set + { + if (value) + SomeCollisionSimulationStep = PhysScene.SimulationStep; + else + SomeCollisionSimulationStep = 0; - return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth); + base.HasSomeCollision = value; + } } } } -- cgit v1.1 From b14156aa6317b2c0ca6801730beb7c51eed97244 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 23 Jul 2013 08:13:29 -0700 Subject: Revert "Revert "BulletSim: only create vehicle prim actor when vehicles are enabled."" Found that the vehicle movement problem was not caused by these physics changes. This reverts commit 5f7b2ea81b95a60e882bc65b663a2c9fe134f92a. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 43 ++++++++++++++++------ .../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 2 +- 2 files changed, 33 insertions(+), 12 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4771934..fdb2925 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -96,7 +96,7 @@ public class BSPrim : BSPhysObject _isVolumeDetect = false; // Add a dynamic vehicle to our set of actors that can move this prim. - PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName)); + // PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName)); _mass = CalculateMass(); @@ -497,7 +497,7 @@ public class BSPrim : BSPhysObject // Find and return a handle to the current vehicle actor. // Return 'null' if there is no vehicle actor. - public BSDynamics GetVehicleActor() + public BSDynamics GetVehicleActor(bool createIfNone) { BSDynamics ret = null; BSActor actor; @@ -505,13 +505,21 @@ public class BSPrim : BSPhysObject { ret = actor as BSDynamics; } + else + { + if (createIfNone) + { + ret = new BSDynamics(PhysScene, this, VehicleActorName); + PhysicalActors.Add(ret.ActorName, ret); + } + } return ret; } public override int VehicleType { get { int ret = (int)Vehicle.TYPE_NONE; - BSDynamics vehicleActor = GetVehicleActor(); + BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */); if (vehicleActor != null) ret = (int)vehicleActor.Type; return ret; @@ -525,11 +533,24 @@ public class BSPrim : BSPhysObject // change all the parameters. Like a plane changing to CAR when on the // ground. In this case, don't want to zero motion. // ZeroMotion(true /* inTaintTime */); - BSDynamics vehicleActor = GetVehicleActor(); - if (vehicleActor != null) + if (type == Vehicle.TYPE_NONE) { - vehicleActor.ProcessTypeChange(type); - ActivateIfPhysical(false); + // Vehicle type is 'none' so get rid of any actor that may have been allocated. + BSDynamics vehicleActor = GetVehicleActor(false /* createIfNone */); + if (vehicleActor != null) + { + PhysicalActors.RemoveAndRelease(vehicleActor.ActorName); + } + } + else + { + // Vehicle type is not 'none' so create an actor and set it running. + BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); + if (vehicleActor != null) + { + vehicleActor.ProcessTypeChange(type); + ActivateIfPhysical(false); + } } }); } @@ -538,7 +559,7 @@ public class BSPrim : BSPhysObject { PhysScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { - BSDynamics vehicleActor = GetVehicleActor(); + BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) { vehicleActor.ProcessFloatVehicleParam((Vehicle)param, value); @@ -550,7 +571,7 @@ public class BSPrim : BSPhysObject { PhysScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { - BSDynamics vehicleActor = GetVehicleActor(); + BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) { vehicleActor.ProcessVectorVehicleParam((Vehicle)param, value); @@ -562,7 +583,7 @@ public class BSPrim : BSPhysObject { PhysScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { - BSDynamics vehicleActor = GetVehicleActor(); + BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) { vehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation); @@ -574,7 +595,7 @@ public class BSPrim : BSPhysObject { PhysScene.TaintedObject("BSPrim.VehicleFlags", delegate() { - BSDynamics vehicleActor = GetVehicleActor(); + BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) { vehicleActor.ProcessVehicleFlags(param, remove); diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs index 48d3742..48e74eb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs @@ -116,7 +116,7 @@ public class BasicVehicles : OpenSimTestCase // Instead the appropriate values are set and calls are made just the parts of the // controller we want to exercise. Stepping the physics engine then applies // the actions of that one feature. - BSDynamics vehicleActor = TestVehicle.GetVehicleActor(); + BSDynamics vehicleActor = TestVehicle.GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) { vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); -- cgit v1.1 From 75686e0e49308a21ca013d246544f88cd8e90cbd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 23 Jul 2013 08:13:56 -0700 Subject: Revert "Revert "BulletSim: change BSDynamics to expect to be passed a BSPrimLinkable"" Found that the vehicle movement problem was not caused by these physics changes. This reverts commit 7b187deb19517aa7c880458894643a5448566a94. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 1540df1..82d7c44 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -45,7 +45,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private static string LogHeader = "[BULLETSIM VEHICLE]"; // the prim this dynamic controller belongs to - private BSPrim ControllingPrim { get; set; } + private BSPrimLinkable ControllingPrim { get; set; } private bool m_haveRegisteredForSceneEvents; @@ -128,9 +128,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName) : base(myScene, myPrim, actorName) { - ControllingPrim = myPrim; Type = Vehicle.TYPE_NONE; m_haveRegisteredForSceneEvents = false; + + ControllingPrim = myPrim as BSPrimLinkable; + if (ControllingPrim == null) + { + // THIS CANNOT HAPPEN!! + } + VDetailLog("{0},Creation", ControllingPrim.LocalID); } // Return 'true' if this vehicle is doing vehicle things @@ -585,6 +591,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Friction affects are handled by this vehicle code m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction); m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution); + // ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction); + // ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution); // Moderate angular movement introduced by Bullet. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. @@ -595,17 +603,20 @@ 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.Linkset.SetPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS); Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass); ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor; m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); + // ControllingPrim.Linkset.ComputeLocalInertia(BSParam.VehicleInertiaFactor); // Set the gravity for the vehicle depending on the buoyancy // TODO: what should be done if prim and vehicle buoyancy differ? m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same. m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero); + // ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero); VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}", ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity, @@ -617,6 +628,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (ControllingPrim.PhysBody.HasPhysicalBody) m_physicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); + // ControllingPrim.Linkset.RemoveFromPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS); } } @@ -629,6 +641,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // BSActor.Release() public override void Dispose() { + VDetailLog("{0},Dispose", ControllingPrim.LocalID); UnregisterForSceneEvents(); Type = Vehicle.TYPE_NONE; Enabled = false; -- cgit v1.1 From f499b328c44ef29d92aa2ef8102aad6ff5cbe336 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 23 Jul 2013 08:14:20 -0700 Subject: Revert "Revert "BulletSim: Add logic to linksets to change physical properties for"" Found that the vehicle movement problem was not caused by these physics changes. This reverts commit 84d0699761b8da546f9faef084240d7b15f16321. --- OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 6 +--- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 24 +++++++++++++-- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 36 ++++++++++++++++++++++ 3 files changed, 59 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs index fff63e4..e0ccc50 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -69,7 +69,7 @@ public class BSActorCollection { lock (m_actors) { - Release(); + ForEachActor(a => a.Dispose()); m_actors.Clear(); } } @@ -98,10 +98,6 @@ public class BSActorCollection { ForEachActor(a => a.SetEnabled(enabl)); } - public void Release() - { - ForEachActor(a => a.Dispose()); - } public void Refresh() { ForEachActor(a => a.Refresh()); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 78c0af7..960c0b4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -309,14 +309,14 @@ public abstract class BSLinkset } ); } - public virtual void ComputeLocalInertia() + public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor) { ForEachMember((member) => { if (member.PhysBody.HasPhysicalBody) { OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass); - member.Inertia = inertia * BSParam.VehicleInertiaFactor; + member.Inertia = inertia * inertiaFactor; m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia); m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody); } @@ -324,6 +324,26 @@ public abstract class BSLinkset } ); } + public virtual void SetPhysicalCollisionFlags(CollisionFlags collFlags) + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetCollisionFlags(member.PhysBody, collFlags); + return false; // 'false' says to continue looping + } + ); + } + public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + m_physicsScene.PE.RemoveFromCollisionFlags(member.PhysBody, collFlags); + return false; // 'false' says to continue looping + } + ); + } // ================================================================ protected virtual float ComputeLinksetMass() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 3668456..33ae5a5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -44,6 +44,42 @@ public sealed class BSLinksetCompound : BSLinkset { } + // ================================================================ + // Changing the physical property of the linkset only needs to change the root + public override void SetPhysicalFriction(float friction) + { + if (LinksetRoot.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction); + } + public override void SetPhysicalRestitution(float restitution) + { + if (LinksetRoot.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution); + } + public override void SetPhysicalGravity(OMV.Vector3 gravity) + { + if (LinksetRoot.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity); + } + public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor) + { + OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass); + LinksetRoot.Inertia = inertia * inertiaFactor; + m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia); + m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody); + } + public override void SetPhysicalCollisionFlags(CollisionFlags collFlags) + { + if (LinksetRoot.PhysBody.HasPhysicalBody) + m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags); + } + public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) + { + if (LinksetRoot.PhysBody.HasPhysicalBody) + m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags); + } + // ================================================================ + // When physical properties are changed the linkset needs to recalculate // its internal properties. public override void Refresh(BSPrimLinkable requestor) -- cgit v1.1 From aec8d1e6be43422b0f93de47d6e46cc3e17399cc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 23 Jul 2013 09:09:25 -0700 Subject: BulletSim: Turn on center-of-mass calculation by default. Reduce object density by factor of 100 to bring physical mass computations into a range better suited for Bullet. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 8 +++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++-- 2 files changed, 7 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index dcf1e83..0bdb5f1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -461,8 +461,9 @@ public static class BSParam (s) => { return MaxAddForceMagnitude; }, (s,v) => { MaxAddForceMagnitude = v; MaxAddForceMagnitudeSquared = v * v; } ), // Density is passed around as 100kg/m3. This scales that to 1kg/m3. + // Reduce by power of 100 because Bullet doesn't seem to handle objects with large mass very well new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)", - 0.01f ), + 0.0001f ), new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", 2200f ), @@ -607,8 +608,9 @@ public static class BSParam 0.0f ), new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", 0.0f ), + // Turn off fudge with DensityScaleFactor = 0.0001. Value used to be 0.2f; new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", - 0.2f ), + 1.0f ), new ParameterDefn("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.", 60.0f ), new ParameterDefn("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect", @@ -701,7 +703,7 @@ public static class BSParam new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", (float)BSLinkset.LinksetImplementation.Compound ), new ParameterDefn("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same", - false ), + true ), new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", false ), new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index fdb2925..e92a1d2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -440,8 +440,8 @@ public class BSPrim : BSPhysObject Gravity = ComputeGravity(Buoyancy); PhysScene.PE.SetGravity(PhysBody, Gravity); - OMV.Vector3 currentScale = PhysScene.PE.GetLocalScaling(PhysShape.physShapeInfo); // DEBUG DEBUG - DetailLog("{0},BSPrim.UpdateMassProperties,currentScale{1},shape={2}", LocalID, currentScale, PhysShape.physShapeInfo); // DEBUG DEBUG + // OMV.Vector3 currentScale = PhysScene.PE.GetLocalScaling(PhysShape.physShapeInfo); // DEBUG DEBUG + // DetailLog("{0},BSPrim.UpdateMassProperties,currentScale{1},shape={2}", LocalID, currentScale, PhysShape.physShapeInfo); // DEBUG DEBUG Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia); -- cgit v1.1 From 5a7784a0e6c3f549d0e7b59380ad05729cb93a4f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 24 Jul 2013 10:52:54 -0700 Subject: BulletSim: make density display and return value consistant with how the simulator expects it (scaled to 100kg/m^3). --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 13 +++++++------ OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 15 ++++++++++++++- 3 files changed, 22 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 59e7f5f..58a417e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -75,7 +75,7 @@ public sealed class BSCharacter : BSPhysObject RawVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; - Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor; + Density = BSParam.AvatarDensity; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 0bdb5f1..4520171 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -463,7 +463,7 @@ public static class BSParam // Density is passed around as 100kg/m3. This scales that to 1kg/m3. // Reduce by power of 100 because Bullet doesn't seem to handle objects with large mass very well new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)", - 0.0001f ), + 0.01f ), new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", 2200f ), @@ -474,8 +474,9 @@ public static class BSParam 0.2f, (s) => { return DefaultFriction; }, (s,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ), + // For historical reasons, the viewer and simulator multiply the density by 100 new ParameterDefn("DefaultDensity", "Density for new objects" , - 10.000006836f, // Aluminum g/cm3 + 1000.0006836f, // Aluminum g/cm3 * 100 (s) => { return DefaultDensity; }, (s,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ), new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , @@ -555,8 +556,9 @@ public static class BSParam 0.95f ), new ParameterDefn("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run", 1.3f ), - new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", - 3.5f) , + // For historical reasons, density is reported * 100 + new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation. Scaled times 100.", + 3500f) , // 3.5 * 100 new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", 0f ), new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", @@ -608,9 +610,8 @@ public static class BSParam 0.0f ), new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", 0.0f ), - // Turn off fudge with DensityScaleFactor = 0.0001. Value used to be 0.2f; new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", - 1.0f ), + 0.2f ), new ParameterDefn("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.", 60.0f ), new ParameterDefn("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index d34b797..0704591 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -187,10 +187,23 @@ public abstract class BSPhysObject : PhysicsActor MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); Friction = matAttrib.friction; Restitution = matAttrib.restitution; - Density = matAttrib.density / BSParam.DensityScaleFactor; + Density = matAttrib.density; // DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density); } + public override float Density + { + get + { + return base.Density; + } + set + { + DetailLog("{0},BSPhysObject.Density,set,den={1}", LocalID, value); + base.Density = value; + } + } + // Stop all physical motion. public abstract void ZeroMotion(bool inTaintTime); public abstract void ZeroAngularMotion(bool inTaintTime); -- cgit v1.1 From 0d189165a83bb97f243a1f29cfa6896936ca6db0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 30 Jul 2013 15:23:33 -0700 Subject: BulletSim: distribute vehicle physical settings to all members of a linkset. Enables constraint based linksets. Rename some internal variables to clarify whether values world or vehicle relative. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 75 +++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 18 +++++- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 11 +++- 3 files changed, 61 insertions(+), 43 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 82d7c44..f0d17d3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -589,10 +589,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_vehicleMass = ControllingPrim.TotalMass; // Friction affects are handled by this vehicle code - m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction); - m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution); - // ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction); - // ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution); + // m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction); + // m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution); + ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction); + ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution); // Moderate angular movement introduced by Bullet. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. @@ -602,21 +602,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_physicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor); // Vehicles report collision events so we know when it's on the ground - m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); - // ControllingPrim.Linkset.SetPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS); + // m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); + ControllingPrim.Linkset.AddToPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS); - Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass); - ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor; - m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); - m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); - // ControllingPrim.Linkset.ComputeLocalInertia(BSParam.VehicleInertiaFactor); + // Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass); + // ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor; + // m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); + // m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); + ControllingPrim.Linkset.ComputeAndSetLocalInertia(BSParam.VehicleInertiaFactor, m_vehicleMass); // Set the gravity for the vehicle depending on the buoyancy // TODO: what should be done if prim and vehicle buoyancy differ? m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same. - m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero); - // ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero); + // m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero); + ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero); VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}", ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity, @@ -1121,7 +1121,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin { m_VhoverTargetHeight = m_VhoverHeight; } - if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) { // If body is already heigher, use its height as target height @@ -1170,7 +1169,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight, verticalError, verticalCorrection); } - } } @@ -1357,6 +1355,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private void ComputeAngularTurning(float pTimestep) { // The user wants this many radians per second angular change? + Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity; // DEBUG DEBUG Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation); Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV); @@ -1369,20 +1368,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin // TODO: This is here because this is where ODE put it but documentation says it // is a linear effect. Where should this check go? //if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) - // { + // { // angularMotorContributionV.X = 0f; // angularMotorContributionV.Y = 0f; - // } + // } // Reduce any velocity by friction. Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep); angularMotorContributionV -= (currentAngularV * frictionFactorW); - VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; - - + Vector3 angularMotorContributionW = angularMotorContributionV * VehicleOrientation; + VehicleRotationalVelocity += angularMotorContributionW; - VDetailLog("{0}, MoveAngular,angularTurning,angContribV={1}", ControllingPrim.LocalID, angularMotorContributionV); + VDetailLog("{0}, MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}", + ControllingPrim.LocalID, currentAngularV, origVehicleRotationalVelocity, VehicleRotationalVelocity, frictionFactorW, angularMotorContributionV, angularMotorContributionW); } // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: @@ -1409,7 +1408,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Flipping what was originally a timescale into a speed variable and then multiplying it by 2 // since only computing half the distance between the angles. - float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f; + float verticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f; // Make a prediction of where the up axis will be when this is applied rather then where it is now as // this makes for a smoother adjustment and less fighting between the various forces. @@ -1419,12 +1418,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ); // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared - Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed; + Vector3 vertContributionV = torqueVector * verticalAttractionSpeed * verticalAttractionSpeed; VehicleRotationalVelocity += vertContributionV; - VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},PredictedUp={2},torqueVector={3},contrib={4}", + VDetailLog("{0}, MoveAngular,verticalAttraction,vertAttrSpeed={1},upAxis={2},PredictedUp={3},torqueVector={4},contrib={5}", ControllingPrim.LocalID, + verticalAttractionSpeed, vehicleUpAxis, predictedUp, torqueVector, @@ -1437,37 +1437,38 @@ namespace OpenSim.Region.Physics.BulletSPlugin // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no // Create a rotation that is only the vehicle's rotation around Z - Vector3 currentEuler = Vector3.Zero; - VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z); - Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z); + Vector3 currentEulerW = Vector3.Zero; + VehicleOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z); + Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z); // Create the axis that is perpendicular to the up vector and the rotated up vector. - Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation); + Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation); // Compute the angle between those to vectors. double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation))); // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied. // TODO: add 'efficiency'. - differenceAngle /= m_verticalAttractionTimescale; + // differenceAngle /= m_verticalAttractionTimescale; // Create the quaterian representing the correction angle - Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle); + Quaternion correctionRotationW = Quaternion.CreateFromAxisAngle(differenceAxisW, (float)differenceAngle); // Turn that quaternion into Euler values to make it into velocities to apply. - Vector3 vertContributionV = Vector3.Zero; - correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z); - vertContributionV *= -1f; + Vector3 vertContributionW = Vector3.Zero; + correctionRotationW.GetEulerAngles(out vertContributionW.X, out vertContributionW.Y, out vertContributionW.Z); + vertContributionW *= -1f; + vertContributionW /= m_verticalAttractionTimescale; - VehicleRotationalVelocity += vertContributionV; + VehicleRotationalVelocity += vertContributionW; VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},diffAxis={2},diffAng={3},corrRot={4},contrib={5}", ControllingPrim.LocalID, vehicleUpAxis, - differenceAxis, + differenceAxisW, differenceAngle, - correctionRotation, - vertContributionV); + correctionRotationW, + vertContributionW); break; } case 2: diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 960c0b4..7f94666 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -309,16 +309,18 @@ public abstract class BSLinkset } ); } - public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor) + public virtual void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass) { ForEachMember((member) => { if (member.PhysBody.HasPhysicalBody) { - OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass); + OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, linksetMass); member.Inertia = inertia * inertiaFactor; - m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia); + m_physicsScene.PE.SetMassProps(member.PhysBody, linksetMass, member.Inertia); m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody); + DetailLog("{0},BSLinkset.ComputeAndSetLocalInertia,m.mass={1}, inertia={2}", member.LocalID, linksetMass, member.Inertia); + } return false; // 'false' says to continue looping } @@ -334,6 +336,16 @@ public abstract class BSLinkset } ); } + public virtual void AddToPhysicalCollisionFlags(CollisionFlags collFlags) + { + ForEachMember((member) => + { + if (member.PhysBody.HasPhysicalBody) + m_physicsScene.PE.AddToCollisionFlags(member.PhysBody, collFlags); + return false; // 'false' says to continue looping + } + ); + } public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) { ForEachMember((member) => diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 33ae5a5..6359046 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -61,11 +61,11 @@ public sealed class BSLinksetCompound : BSLinkset if (LinksetRoot.PhysBody.HasPhysicalBody) m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity); } - public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor) + public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass) { - OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass); + OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass); LinksetRoot.Inertia = inertia * inertiaFactor; - m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia); + m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia); m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody); } public override void SetPhysicalCollisionFlags(CollisionFlags collFlags) @@ -73,6 +73,11 @@ public sealed class BSLinksetCompound : BSLinkset if (LinksetRoot.PhysBody.HasPhysicalBody) m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags); } + public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags) + { + if (LinksetRoot.PhysBody.HasPhysicalBody) + m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags); + } public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) { if (LinksetRoot.PhysBody.HasPhysicalBody) -- cgit v1.1 From 5bcccfc305ae4f5a74b9b816781a2a643daa23b3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 1 Aug 2013 12:35:22 -0700 Subject: BulletSim: add BSLinkInfo structure to remember link specific information for each link in a linkset. Extend BSLinksetConstraint to create and use BSLinkInfo with the default static constraint. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 51 +++-- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 4 +- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 205 ++++++++++++++------- 3 files changed, 174 insertions(+), 86 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 7f94666..9613fe0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -70,6 +70,15 @@ public abstract class BSLinkset return ret; } + public class BSLinkInfo + { + public BSPrimLinkable member; + public BSLinkInfo(BSPrimLinkable pMember) + { + member = pMember; + } + } + public BSPrimLinkable LinksetRoot { get; protected set; } protected BSScene m_physicsScene { get; private set; } @@ -78,7 +87,8 @@ public abstract class BSLinkset public int LinksetID { get; private set; } // The children under the root in this linkset. - protected HashSet m_children; + // protected HashSet m_children; + protected Dictionary m_children; // We lock the diddling of linkset classes to prevent any badness. // This locks the modification of the instances of this class. Changes @@ -109,7 +119,7 @@ public abstract class BSLinkset m_nextLinksetID = 1; m_physicsScene = scene; LinksetRoot = parent; - m_children = new HashSet(); + m_children = new Dictionary(); LinksetMass = parent.RawMass; Rebuilding = false; @@ -170,17 +180,7 @@ public abstract class BSLinkset bool ret = false; lock (m_linksetActivityLock) { - ret = m_children.Contains(child); - /* Safer version but the above should work - foreach (BSPrimLinkable bp in m_children) - { - if (child.LocalID == bp.LocalID) - { - ret = true; - break; - } - } - */ + ret = m_children.ContainsKey(child); } return ret; } @@ -194,7 +194,24 @@ public abstract class BSLinkset lock (m_linksetActivityLock) { action(LinksetRoot); - foreach (BSPrimLinkable po in m_children) + foreach (BSPrimLinkable po in m_children.Keys) + { + if (action(po)) + break; + } + } + return ret; + } + + // Perform an action on each member of the linkset including root prim. + // Depends on the action on whether this should be done at taint time. + public delegate bool ForEachLinkInfoAction(BSLinkInfo obj); + public virtual bool ForEachLinkInfo(ForEachLinkInfoAction action) + { + bool ret = false; + lock (m_linksetActivityLock) + { + foreach (BSLinkInfo po in m_children.Values) { if (action(po)) break; @@ -364,7 +381,7 @@ public abstract class BSLinkset { lock (m_linksetActivityLock) { - foreach (BSPrimLinkable bp in m_children) + foreach (BSPrimLinkable bp in m_children.Keys) { mass += bp.RawMass; } @@ -382,7 +399,7 @@ public abstract class BSLinkset com = LinksetRoot.Position * LinksetRoot.RawMass; float totalMass = LinksetRoot.RawMass; - foreach (BSPrimLinkable bp in m_children) + foreach (BSPrimLinkable bp in m_children.Keys) { com += bp.Position * bp.RawMass; totalMass += bp.RawMass; @@ -401,7 +418,7 @@ public abstract class BSLinkset { com = LinksetRoot.Position; - foreach (BSPrimLinkable bp in m_children) + foreach (BSPrimLinkable bp in m_children.Keys) { com += bp.Position; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 6359046..53c3584 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -257,7 +257,7 @@ public sealed class BSLinksetCompound : BSLinkset { if (!HasChild(child)) { - m_children.Add(child); + m_children.Add(child, new BSLinkInfo(child)); DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); @@ -353,7 +353,7 @@ public sealed class BSLinksetCompound : BSLinkset // Add the shapes of all the components of the linkset int memberIndex = 1; - ForEachMember(delegate(BSPrimLinkable cPrim) + ForEachMember((cPrim) => { if (IsRoot(cPrim)) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index f17d698..d98bf77 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -36,6 +36,75 @@ public sealed class BSLinksetConstraints : BSLinkset { // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; + public class BSLinkInfoConstraint : BSLinkInfo + { + public ConstraintType constraintType; + public BSConstraint constraint; + public OMV.Vector3 linearLimitLow; + public OMV.Vector3 linearLimitHigh; + public OMV.Vector3 angularLimitLow; + public OMV.Vector3 angularLimitHigh; + public bool useFrameOffset; + public bool enableTransMotor; + public float transMotorMaxVel; + public float transMotorMaxForce; + public float cfm; + public float erp; + public float solverIterations; + + public BSLinkInfoConstraint(BSPrimLinkable pMember) + : base(pMember) + { + constraint = null; + ResetToFixedConstraint(); + } + + // Set all the parameters for this constraint to a fixed, non-movable constraint. + public void ResetToFixedConstraint() + { + constraintType = ConstraintType.D6_CONSTRAINT_TYPE; + linearLimitLow = OMV.Vector3.Zero; + linearLimitHigh = OMV.Vector3.Zero; + angularLimitLow = OMV.Vector3.Zero; + angularLimitHigh = OMV.Vector3.Zero; + useFrameOffset = BSParam.LinkConstraintUseFrameOffset; + enableTransMotor = BSParam.LinkConstraintEnableTransMotor; + transMotorMaxVel = BSParam.LinkConstraintTransMotorMaxVel; + transMotorMaxForce = BSParam.LinkConstraintTransMotorMaxForce; + cfm = BSParam.LinkConstraintCFM; + erp = BSParam.LinkConstraintERP; + solverIterations = BSParam.LinkConstraintSolverIterations; + } + + // Given a constraint, apply the current constraint parameters to same. + public void SetConstraintParameters(BSConstraint constrain) + { + switch (constraintType) + { + case ConstraintType.D6_CONSTRAINT_TYPE: + BSConstraint6Dof constrain6dof = constrain as BSConstraint6Dof; + if (constrain6dof != null) + { + // zero linear and angular limits makes the objects unable to move in relation to each other + constrain6dof.SetLinearLimits(linearLimitLow, linearLimitHigh); + constrain6dof.SetAngularLimits(angularLimitLow, angularLimitHigh); + + // tweek the constraint to increase stability + constrain6dof.UseFrameOffset(useFrameOffset); + constrain6dof.TranslationalLimitMotor(enableTransMotor, transMotorMaxVel, transMotorMaxForce); + constrain6dof.SetCFMAndERP(cfm, erp); + if (solverIterations != 0f) + { + constrain6dof.SetSolverIterations(solverIterations); + } + } + break; + default: + break; + } + } + } + public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent) { } @@ -142,7 +211,7 @@ public sealed class BSLinksetConstraints : BSLinkset { if (!HasChild(child)) { - m_children.Add(child); + m_children.Add(child, new BSLinkInfoConstraint(child)); DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); @@ -190,73 +259,74 @@ public sealed class BSLinksetConstraints : BSLinkset } // Create a static constraint between the two passed objects - private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim) + private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSLinkInfo li) { + BSLinkInfoConstraint liConstraint = li as BSLinkInfoConstraint; + if (liConstraint == null) + return null; + // Zero motion for children so they don't interpolate - childPrim.ZeroMotion(true); - - // Relative position normalized to the root prim - // Essentually a vector pointing from center of rootPrim to center of childPrim - OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position; - - // real world coordinate of midpoint between the two objects - OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); - - DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", - rootPrim.LocalID, - rootPrim.LocalID, rootPrim.PhysBody.AddrString, - childPrim.LocalID, childPrim.PhysBody.AddrString, - rootPrim.Position, childPrim.Position, midPoint); - - // create a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - - BSConstraint6Dof constrain = new BSConstraint6Dof( - m_physicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true ); - // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true ); - - /* NOTE: below is an attempt to build constraint with full frame computation, etc. - * Using the midpoint is easier since it lets the Bullet code manipulate the transforms - * of the objects. - * Code left for future programmers. - // ================================================================================== - // relative position normalized to the root prim - OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); - OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation; - - // relative rotation of the child to the parent - OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; - OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation); - - DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); - BS6DofConstraint constrain = new BS6DofConstraint( - PhysicsScene.World, rootPrim.Body, childPrim.Body, - OMV.Vector3.Zero, - OMV.Quaternion.Inverse(rootPrim.Orientation), - OMV.Vector3.Zero, - OMV.Quaternion.Inverse(childPrim.Orientation), - true, - true - ); - // ================================================================================== - */ + li.member.ZeroMotion(true); - m_physicsScene.Constraints.AddConstraint(constrain); + BSConstraint constrain = null; - // zero linear and angular limits makes the objects unable to move in relation to each other - constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); - constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); - - // tweek the constraint to increase stability - constrain.UseFrameOffset(BSParam.LinkConstraintUseFrameOffset); - constrain.TranslationalLimitMotor(BSParam.LinkConstraintEnableTransMotor, - BSParam.LinkConstraintTransMotorMaxVel, - BSParam.LinkConstraintTransMotorMaxForce); - constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP); - if (BSParam.LinkConstraintSolverIterations != 0f) + switch (liConstraint.constraintType) { - constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations); + case ConstraintType.D6_CONSTRAINT_TYPE: + // Relative position normalized to the root prim + // Essentually a vector pointing from center of rootPrim to center of li.member + OMV.Vector3 childRelativePosition = liConstraint.member.Position - rootPrim.Position; + + // real world coordinate of midpoint between the two objects + OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); + + DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", + rootPrim.LocalID, + rootPrim.LocalID, rootPrim.PhysBody.AddrString, + liConstraint.member.LocalID, liConstraint.member.PhysBody.AddrString, + rootPrim.Position, liConstraint.member.Position, midPoint); + + // create a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + + constrain = new BSConstraint6Dof( + m_physicsScene.World, rootPrim.PhysBody, liConstraint.member.PhysBody, midPoint, true, true ); + + /* NOTE: below is an attempt to build constraint with full frame computation, etc. + * Using the midpoint is easier since it lets the Bullet code manipulate the transforms + * of the objects. + * Code left for future programmers. + // ================================================================================== + // relative position normalized to the root prim + OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); + OMV.Vector3 childRelativePosition = (liConstraint.member.Position - rootPrim.Position) * invThisOrientation; + + // relative rotation of the child to the parent + OMV.Quaternion childRelativeRotation = invThisOrientation * liConstraint.member.Orientation; + OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation); + + DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, liConstraint.member.LocalID); + constrain = new BS6DofConstraint( + PhysicsScene.World, rootPrim.Body, liConstraint.member.Body, + OMV.Vector3.Zero, + OMV.Quaternion.Inverse(rootPrim.Orientation), + OMV.Vector3.Zero, + OMV.Quaternion.Inverse(liConstraint.member.Orientation), + true, + true + ); + // ================================================================================== + */ + + break; + default: + break; } + + liConstraint.SetConstraintParameters(constrain); + + m_physicsScene.Constraints.AddConstraint(constrain); + return constrain; } @@ -317,23 +387,24 @@ public sealed class BSLinksetConstraints : BSLinkset return; // Note the 'finally' clause at the botton which will get executed. } - foreach (BSPrimLinkable child in m_children) + ForEachLinkInfo((li) => { // A child in the linkset physically shows the mass of the whole linkset. // This allows Bullet to apply enough force on the child to move the whole linkset. // (Also do the mass stuff before recomputing the constraint so mass is not zero.) - child.UpdatePhysicalMassProperties(linksetMass, true); + li.member.UpdatePhysicalMassProperties(linksetMass, true); BSConstraint constrain; - if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) + if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, li.member.PhysBody, out constrain)) { // If constraint doesn't exist yet, create it. - constrain = BuildConstraint(LinksetRoot, child); + constrain = BuildConstraint(LinksetRoot, li); } constrain.RecomputeConstraintVariables(linksetMass); // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG - } + return false; // 'false' says to keep processing other members + }); } finally { -- cgit v1.1 From 24df15dab7befd50f7a45eb54f001e6e481f0ec4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 1 Aug 2013 17:43:06 -0700 Subject: BulletSim: add implementation of 'physSetLinksetType' and 'physGetLinksetType' and processing routines in BulletSim. Add linkset rebuild/conversion routine in BSLinkset. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 + .../Physics/BulletSPlugin/BSLinksetCompound.cs | 1 + .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 44 ++++++++++++++++++++++ .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 30 +++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 17 +++++++++ 6 files changed, 95 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 9613fe0..3afd52e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -79,6 +79,8 @@ public abstract class BSLinkset } } + public LinksetImplementation LinksetImpl { get; protected set; } + public BSPrimLinkable LinksetRoot { get; protected set; } protected BSScene m_physicsScene { get; private set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 53c3584..085d195 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -42,6 +42,7 @@ public sealed class BSLinksetCompound : BSLinkset public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) : base(scene, parent) { + LinksetImpl = LinksetImplementation.Compound; } // ================================================================ diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index d98bf77..4bac222 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -107,6 +107,7 @@ public sealed class BSLinksetConstraints : BSLinkset public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent) { + LinksetImpl = LinksetImplementation.Constraint; } // When physical properties are changed the linkset needs to recalculate diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e92a1d2..a0b6abc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1541,6 +1541,50 @@ public class BSPrim : BSPhysObject PhysicalActors.RemoveDependencies(); } + #region Extension + public override object Extension(string pFunct, params object[] pParams) + { + object ret = null; + switch (pFunct) + { + case BSScene.PhysFunctGetLinksetType: + { + BSPrimLinkable myHandle = this as BSPrimLinkable; + if (myHandle != null) + { + ret = (object)myHandle.LinksetType; + } + m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret); + break; + } + case BSScene.PhysFunctSetLinksetType: + { + if (pParams.Length > 0) + { + BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[0]; + BSPrimLinkable myHandle = this as BSPrimLinkable; + if (myHandle != null && myHandle.Linkset.IsRoot(myHandle)) + { + PhysScene.TaintedObject("BSPrim.PhysFunctSetLinksetType", delegate() + { + // Cause the linkset type to change + m_log.DebugFormat("{0} Extension.physSetLinksetType, oldType={1}, newType={2}", + LogHeader, myHandle.Linkset.LinksetImpl, linksetType); + myHandle.ConvertLinkset(linksetType); + }); + } + ret = (object)(int)linksetType; + } + break; + } + default: + ret = base.Extension(pFunct, pParams); + break; + } + return ret; + } + #endregion // Extension + // The physics engine says that properties have updated. Update same and inform // the world that things have changed. // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimLinkable which modifies updates from root and children prims. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 2f392da..c565998 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -233,5 +233,35 @@ public class BSPrimLinkable : BSPrimDisplaced base.HasSomeCollision = value; } } + + // Convert the existing linkset of this prim into a new type. + public bool ConvertLinkset(BSLinkset.LinksetImplementation newType) + { + bool ret = false; + if (LinksetType != newType) + { + BSLinkset oldLinkset = Linkset; + BSLinkset newLinkset = BSLinkset.Factory(PhysScene, this); + + // Pick up any physical dependencies this linkset might have in the physics engine. + oldLinkset.RemoveDependencies(this); + + // Copy the linkset children from the old linkset to the new (will be a new instance from the factory) + oldLinkset.ForEachLinkInfo((li) => + { + oldLinkset.RemoveMeFromLinkset(li.member); + newLinkset.AddMeToLinkset(li.member); + li.member.Linkset = newLinkset; + return false; + }); + + this.Linkset = newLinkset; + + // Force the shape and linkset to get reconstructed + newLinkset.Refresh(this); + this.ForceBodyShapeRebuild(true); + } + return ret; + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 41aca3b..79ac5a5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -862,6 +862,23 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public override bool IsThreaded { get { return false; } } + #region Extensions + // ============================================================= + // Per scene functions. See below. + + // Per avatar functions. See BSCharacter. + + // Per prim functions. See BSPrim. + public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType"; + public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType"; + // ============================================================= + + public override object Extension(string pFunct, params object[] pParams) + { + return base.Extension(pFunct, pParams); + } + #endregion // Extensions + #region Taints // The simulation execution order is: // Simulate() -- cgit v1.1 From 5bdfd55ace4b673d8aaa3f25fd4bb675b1b28263 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 2 Aug 2013 10:32:43 -0700 Subject: BulletSim: When converting linkset types, don't try to change the list of linkset children while iterating through the list. --- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 29 +++++++++++++++------- 1 file changed, 20 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index c565998..7179a6d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -240,26 +240,37 @@ public class BSPrimLinkable : BSPrimDisplaced bool ret = false; if (LinksetType != newType) { - BSLinkset oldLinkset = Linkset; + // Set the implementation type first so the call to BSLinkset.Factory gets the new type. + this.LinksetType = newType; + + BSLinkset oldLinkset = this.Linkset; BSLinkset newLinkset = BSLinkset.Factory(PhysScene, this); + this.Linkset = newLinkset; + // Pick up any physical dependencies this linkset might have in the physics engine. oldLinkset.RemoveDependencies(this); - // Copy the linkset children from the old linkset to the new (will be a new instance from the factory) - oldLinkset.ForEachLinkInfo((li) => + // Create a list of the children (mainly because can't interate through a list that's changing) + List children = new List(); + oldLinkset.ForEachMember((child) => { - oldLinkset.RemoveMeFromLinkset(li.member); - newLinkset.AddMeToLinkset(li.member); - li.member.Linkset = newLinkset; - return false; + if (!oldLinkset.IsRoot(child)) + children.Add(child); + return false; // 'false' says to continue to next member }); - this.Linkset = newLinkset; + // Remove the children from the old linkset and add to the new (will be a new instance from the factory) + foreach (BSPrimLinkable child in children) + { + oldLinkset.RemoveMeFromLinkset(child); + newLinkset.AddMeToLinkset(child); + child.Linkset = newLinkset; + } // Force the shape and linkset to get reconstructed newLinkset.Refresh(this); - this.ForceBodyShapeRebuild(true); + this.ForceBodyShapeRebuild(true /* inTaintTime */); } return ret; } -- cgit v1.1 From 6410a25cefcb1e7f87b76f273f8c6569fbe17670 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 8 Aug 2013 13:53:12 -0700 Subject: BulletSim: adjust avatar position when the avatar's size is changed. This fixes the problem of avatars bouncing when logged in. Added a little height to the avatar height fudges to eliminate a problem of feet being in the ground a bit. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 12 ++++++++++-- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 4 ++-- 2 files changed, 12 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 58a417e..9af3dce 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -96,8 +96,8 @@ public sealed class BSCharacter : BSPhysObject m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName); PhysicalActors.Add(AvatarMoveActorName, m_moveActor); - DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", - LocalID, _size, Scale, Density, _avatarVolume, RawMass); + DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6}", + LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos); // do actual creation in taint time PhysScene.TaintedObject("BSCharacter.create", delegate() @@ -190,6 +190,10 @@ public sealed class BSCharacter : BSPhysObject } set { + // This is how much the avatar size is changing. Positive means getting bigger. + // The avatar altitude must be adjusted for this change. + float heightChange = value.Z - _size.Z; + _size = value; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. @@ -207,6 +211,10 @@ public sealed class BSCharacter : BSPhysObject { PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); UpdatePhysicalMassProperties(RawMass, true); + + // Adjust the avatar's position to account for the increase/decrease in size + ForcePosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, RawPosition.Z + heightChange / 2f); + // Make sure this change appears as a property update event PhysScene.PE.PushUpdate(PhysBody); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 4520171..fcb892a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -570,9 +570,9 @@ public static class BSParam new ParameterDefn("AvatarHeightLowFudge", "A fudge factor to make small avatars stand on the ground", -0.2f ), new ParameterDefn("AvatarHeightMidFudge", "A fudge distance to adjust average sized avatars to be standing on ground", - 0.1f ), + 0.2f ), new ParameterDefn("AvatarHeightHighFudge", "A fudge factor to make tall avatars stand on the ground", - 0.1f ), + 0.2f ), new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 0.1f ), new ParameterDefn("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground", -- cgit v1.1 From 2c31fe4614fc193f2600b36eac892ceee86f61e0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 12 Aug 2013 13:44:53 -0700 Subject: BulletSim: add check in avatar stair step code to verify the collision is not with a volume detect object. This fixes a problem of avatars trying to step over a volume detect object that they collide with. This appeared as the avatar popping up as it started to step up but then continuing on since the object wasn't physically interacting. --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 33 +++++++++++++--------- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 1 + .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +++ 4 files changed, 26 insertions(+), 13 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 0f11c4a..5f232a4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -311,21 +311,28 @@ public class BSActorAvatarMove : BSActor // Don't care about collisions with the terrain if (kvp.Key > m_physicsScene.TerrainManager.HighestTerrainID) { - OMV.Vector3 touchPosition = kvp.Value.Position; - m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}", - m_controllingPrim.LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition); - if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax) + BSPhysObject collisionObject; + if (m_physicsScene.PhysObjects.TryGetValue(kvp.Key, out collisionObject)) { - // This contact is within the 'near the feet' range. - // The normal should be our contact point to the object so it is pointing away - // thus the difference between our facing orientation and the normal should be small. - OMV.Vector3 directionFacing = OMV.Vector3.UnitX * m_controllingPrim.RawOrientation; - OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal); - float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)); - if (diff < BSParam.AvatarStepApproachFactor) + if (!collisionObject.IsVolumeDetect) { - if (highestTouchPosition.Z < touchPosition.Z) - highestTouchPosition = touchPosition; + OMV.Vector3 touchPosition = kvp.Value.Position; + m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}", + m_controllingPrim.LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition); + if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax) + { + // This contact is within the 'near the feet' range. + // The normal should be our contact point to the object so it is pointing away + // thus the difference between our facing orientation and the normal should be small. + OMV.Vector3 directionFacing = OMV.Vector3.UnitX * m_controllingPrim.RawOrientation; + OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal); + float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)); + if (diff < BSParam.AvatarStepApproachFactor) + { + if (highestTouchPosition.Z < touchPosition.Z) + highestTouchPosition = touchPosition; + } + } } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 9af3dce..d584782 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -404,6 +404,7 @@ public sealed class BSCharacter : BSPhysObject // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more public override void SetVolumeDetect(int param) { return; } + public override bool IsVolumeDetect { get { return false; } } public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 0704591..27caf62 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -175,6 +175,7 @@ public abstract class BSPhysObject : PhysicsActor public abstract bool IsSolid { get; } public abstract bool IsStatic { get; } public abstract bool IsSelected { get; } + public abstract bool IsVolumeDetect { get; } // Materialness public MaterialAttributes.Material Material { get; private set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a0b6abc..6b5dea3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -617,6 +617,10 @@ public class BSPrim : BSPhysObject } return; } + public override bool IsVolumeDetect + { + get { return _isVolumeDetect; } + } public override void SetMaterial(int material) { base.SetMaterial(material); -- cgit v1.1 From 0feb5da31e0986d46ea06ffb9804cf30f700e119 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 13 Aug 2013 21:06:24 -0700 Subject: BulletSim: move the creation of the avatar movement actor creating to taint time. Attempt to fix a problem of teleporting within the same region where the remove and addition of the physical avatar occasionally ends up with a non-moving avatar. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index d584782..502f85f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -89,13 +89,6 @@ public sealed class BSCharacter : BSPhysObject // set _avatarVolume and _mass based on capsule size, _density and Scale ComputeAvatarVolumeAndMass(); - // The avatar's movement is controlled by this motor that speeds up and slows down - // the avatar seeking to reach the motor's target speed. - // This motor runs as a prestep action for the avatar so it will keep the avatar - // standing as well as moving. Destruction of the avatar will destroy the pre-step action. - m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName); - PhysicalActors.Add(AvatarMoveActorName, m_moveActor); - DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6}", LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos); @@ -106,6 +99,13 @@ public sealed class BSCharacter : BSPhysObject // New body and shape into PhysBody and PhysShape PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this); + // The avatar's movement is controlled by this motor that speeds up and slows down + // the avatar seeking to reach the motor's target speed. + // This motor runs as a prestep action for the avatar so it will keep the avatar + // standing as well as moving. Destruction of the avatar will destroy the pre-step action. + m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName); + PhysicalActors.Add(AvatarMoveActorName, m_moveActor); + SetPhysicalProperties(); }); return; -- cgit v1.1 From 7c3b71d294987943058c8b3bcb18a424ca70dea5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 14 Aug 2013 14:13:08 -0700 Subject: BulletSim: add physical object initialized flag so updates and collisions don't happen until the object is completely initialized. This fixes the problem of doing a teleport while the simulator is running. The destruction of the physical object while the engine is running means that the physics parameter update would overwrite the new position of the newly created avatar. --- OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs | 4 +++- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 4 ++++ OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 ++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++++ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 12 ++++++++---- 5 files changed, 23 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 5f232a4..c0589cd 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -69,7 +69,9 @@ public class BSActorAvatarMove : BSActor // BSActor.Dispose() public override void Dispose() { - Enabled = false; + base.SetEnabled(false); + // Now that turned off, remove any state we have in the scene. + Refresh(); } // Called when physical parameters (properties set in Bullet) need to be re-applied. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 502f85f..291dfcd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -107,6 +107,8 @@ public sealed class BSCharacter : BSPhysObject PhysicalActors.Add(AvatarMoveActorName, m_moveActor); SetPhysicalProperties(); + + IsInitialized = true; }); return; } @@ -114,6 +116,8 @@ public sealed class BSCharacter : BSPhysObject // called when this character is being destroyed and the resources should be released public override void Destroy() { + IsInitialized = false; + base.Destroy(); DetailLog("{0},BSCharacter.Destroy", LocalID); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 27caf62..b26fef0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -72,6 +72,8 @@ public abstract class BSPhysObject : PhysicsActor } protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) { + IsInitialized = false; + PhysScene = parentScene; LocalID = localID; PhysObjectName = name; @@ -130,6 +132,8 @@ public abstract class BSPhysObject : PhysicsActor public string PhysObjectName { get; protected set; } public string TypeName { get; protected set; } + // Set to 'true' when the object is completely initialized + public bool IsInitialized { get; protected set; } // Return the object mass without calculating it or having side effects public abstract float RawMass { get; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6b5dea3..d5b999d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -110,6 +110,8 @@ public class BSPrim : BSPhysObject CreateGeomAndObject(true); CurrentCollisionFlags = PhysScene.PE.GetCollisionFlags(PhysBody); + + IsInitialized = true; }); } @@ -117,6 +119,8 @@ public class BSPrim : BSPhysObject public override void Destroy() { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); + IsInitialized = false; + base.Destroy(); // Undo any vehicle properties diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 79ac5a5..88d50b4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -639,7 +639,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters BSPhysObject pobj; if (PhysObjects.TryGetValue(entprop.ID, out pobj)) { - pobj.UpdateProperties(entprop); + if (pobj.IsInitialized) + pobj.UpdateProperties(entprop); } } } @@ -766,10 +767,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); - if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) + if (collider.IsInitialized) { - // If a collision was 'good', remember to send it to the simulator - ObjectsWithCollisions.Add(collider); + if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) + { + // If a collision was 'good', remember to send it to the simulator + ObjectsWithCollisions.Add(collider); + } } return; -- cgit v1.1 From e8b1e91a1d4bb3ca65886c367c654a82033f4e03 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 14 Aug 2013 14:36:13 -0700 Subject: BulletSim: include check for volume detect in check for zeroing avatar motion. Normally, avatar motion is zeroed if colliding with a stationary object so they don't slide down hills and such. Without volume detect check this also allowed avatars to stand on volume detect objects and to have some jiggling when they were in the volume detect object. This commit fixes both. --- OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 6 +++++- 2 files changed, 6 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index c0589cd..68bc1b9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -183,7 +183,7 @@ public class BSActorAvatarMove : BSActor if (m_controllingPrim.IsColliding) { // If we are colliding with a stationary object, presume we're standing and don't move around - if (!m_controllingPrim.ColliderIsMoving) + if (!m_controllingPrim.ColliderIsMoving && !m_controllingPrim.ColliderIsVolumeDetect) { m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", m_controllingPrim.LocalID); m_controllingPrim.IsStationary = true; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index b26fef0..9dc52d5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -132,7 +132,8 @@ public abstract class BSPhysObject : PhysicsActor public string PhysObjectName { get; protected set; } public string TypeName { get; protected set; } - // Set to 'true' when the object is completely initialized + // Set to 'true' when the object is completely initialized. + // This mostly prevents property updates and collisions until the object is completely here. public bool IsInitialized { get; protected set; } // Return the object mass without calculating it or having side effects @@ -356,6 +357,8 @@ public abstract class BSPhysObject : PhysicsActor // On a collision, check the collider and remember if the last collider was moving // Used to modify the standing of avatars (avatars on stationary things stand still) public bool ColliderIsMoving; + // 'true' if the last collider was a volume detect object + public bool ColliderIsVolumeDetect; // Used by BSCharacter to manage standing (and not slipping) public bool IsStationary; @@ -435,6 +438,7 @@ public abstract class BSPhysObject : PhysicsActor // For movement tests, remember if we are colliding with an object that is moving. ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false; + ColliderIsVolumeDetect = collidee != null ? (collidee.IsVolumeDetect) : false; // Make a collection of the collisions that happened the last simulation tick. // This is different than the collection created for sending up to the simulator as it is cleared every tick. -- cgit v1.1 From a6af561660759ef7625d88213b7d43b76e687280 Mon Sep 17 00:00:00 2001 From: teravus Date: Tue, 20 Aug 2013 21:09:17 -0500 Subject: * Fix some threading issues in BulletXNA (the managed bullet library), this should better allow you to run it in multiple region scenarios (but why would you really want to do that?) Source in OpenSimLibs. * Fixed a null ref during shutdown. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 46 +++++++++++++++++++++++- 1 file changed, 45 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 6db5f5e..2a820be 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -1221,6 +1221,50 @@ private sealed class BulletConstraintXNA : BulletConstraint //BSParam.TerrainImplementation = 0; world.SetGravity(new IndexedVector3(0,0,p.gravity)); + // Turn off Pooling since globals and pooling are bad for threading. + BulletGlobals.VoronoiSimplexSolverPool.SetPoolingEnabled(false); + BulletGlobals.SubSimplexConvexCastPool.SetPoolingEnabled(false); + BulletGlobals.ManifoldPointPool.SetPoolingEnabled(false); + BulletGlobals.CastResultPool.SetPoolingEnabled(false); + BulletGlobals.SphereShapePool.SetPoolingEnabled(false); + BulletGlobals.DbvtNodePool.SetPoolingEnabled(false); + BulletGlobals.SingleRayCallbackPool.SetPoolingEnabled(false); + BulletGlobals.SubSimplexClosestResultPool.SetPoolingEnabled(false); + BulletGlobals.GjkPairDetectorPool.SetPoolingEnabled(false); + BulletGlobals.DbvtTreeColliderPool.SetPoolingEnabled(false); + BulletGlobals.SingleSweepCallbackPool.SetPoolingEnabled(false); + BulletGlobals.BroadphaseRayTesterPool.SetPoolingEnabled(false); + BulletGlobals.ClosestNotMeConvexResultCallbackPool.SetPoolingEnabled(false); + BulletGlobals.GjkEpaPenetrationDepthSolverPool.SetPoolingEnabled(false); + BulletGlobals.ContinuousConvexCollisionPool.SetPoolingEnabled(false); + BulletGlobals.DbvtStackDataBlockPool.SetPoolingEnabled(false); + + BulletGlobals.BoxBoxCollisionAlgorithmPool.SetPoolingEnabled(false); + BulletGlobals.CompoundCollisionAlgorithmPool.SetPoolingEnabled(false); + BulletGlobals.ConvexConcaveCollisionAlgorithmPool.SetPoolingEnabled(false); + BulletGlobals.ConvexConvexAlgorithmPool.SetPoolingEnabled(false); + BulletGlobals.ConvexPlaneAlgorithmPool.SetPoolingEnabled(false); + BulletGlobals.SphereBoxCollisionAlgorithmPool.SetPoolingEnabled(false); + BulletGlobals.SphereSphereCollisionAlgorithmPool.SetPoolingEnabled(false); + BulletGlobals.SphereTriangleCollisionAlgorithmPool.SetPoolingEnabled(false); + BulletGlobals.GImpactCollisionAlgorithmPool.SetPoolingEnabled(false); + BulletGlobals.GjkEpaSolver2MinkowskiDiffPool.SetPoolingEnabled(false); + BulletGlobals.PersistentManifoldPool.SetPoolingEnabled(false); + BulletGlobals.ManifoldResultPool.SetPoolingEnabled(false); + BulletGlobals.GJKPool.SetPoolingEnabled(false); + BulletGlobals.GIM_ShapeRetrieverPool.SetPoolingEnabled(false); + BulletGlobals.TriangleShapePool.SetPoolingEnabled(false); + BulletGlobals.SphereTriangleDetectorPool.SetPoolingEnabled(false); + BulletGlobals.CompoundLeafCallbackPool.SetPoolingEnabled(false); + BulletGlobals.GjkConvexCastPool.SetPoolingEnabled(false); + BulletGlobals.LocalTriangleSphereCastCallbackPool.SetPoolingEnabled(false); + BulletGlobals.BridgeTriangleRaycastCallbackPool.SetPoolingEnabled(false); + BulletGlobals.BridgeTriangleConcaveRaycastCallbackPool.SetPoolingEnabled(false); + BulletGlobals.BridgeTriangleConvexcastCallbackPool.SetPoolingEnabled(false); + BulletGlobals.MyNodeOverlapCallbackPool.SetPoolingEnabled(false); + BulletGlobals.ClosestRayResultCallbackPool.SetPoolingEnabled(false); + BulletGlobals.DebugDrawcallbackPool.SetPoolingEnabled(false); + return world; } //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL @@ -1914,7 +1958,7 @@ private sealed class BulletConstraintXNA : BulletConstraint heightMap, scaleFactor, minHeight, maxHeight, upAxis, false); - terrainShape.SetMargin(collisionMargin + 0.5f); + terrainShape.SetMargin(collisionMargin); terrainShape.SetUseDiamondSubdivision(true); terrainShape.SetUserPointer(id); return new BulletShapeXNA(terrainShape, BSPhysicsShapeType.SHAPE_TERRAIN); -- cgit v1.1 From 0882cf0fc32dac05d0e762abf68d6956305543bc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 27 Aug 2013 09:55:50 -0700 Subject: BulletSim: add some protections for processing when shutting down. Attempt to fix Mantis 6740 (http://opensimulator.org/mantis/view.php?id=6740). --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 88d50b4..c92c9b9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -946,7 +946,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters private void ProcessRegularTaints() { - if (_taintOperations.Count > 0) // save allocating new list if there is nothing to process + if (m_initialized && _taintOperations.Count > 0) // save allocating new list if there is nothing to process { // swizzle a new list into the list location so we can process what's there List oldList; @@ -989,7 +989,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Taints that happen after the normal taint processing but before the simulation step. private void ProcessPostTaintTaints() { - if (_postTaintOperations.Count > 0) + if (m_initialized && _postTaintOperations.Count > 0) { Dictionary oldList; lock (_taintLock) -- cgit v1.1 From 725751fd6c0101b8610e84716d28b6af91e20b61 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 6 Aug 2013 10:32:56 -0700 Subject: BulletSim: fixes for change linkset implementation of physical linksets. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 6 +++--- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 14 +++++++------- .../Region/Physics/BulletSPlugin/BSLinksetConstraints.cs | 8 ++++---- OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 11 ++++++++--- 4 files changed, 22 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 3afd52e..a051002 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -148,7 +148,7 @@ public abstract class BSLinkset // Returns a new linkset for the child which is a linkset of one (just the // orphened child). // Called at runtime. - public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child) + public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child, bool inTaintTime) { lock (m_linksetActivityLock) { @@ -157,7 +157,7 @@ public abstract class BSLinkset // Cannot remove the root from a linkset. return this; } - RemoveChildFromLinkset(child); + RemoveChildFromLinkset(child, inTaintTime); LinksetMass = ComputeLinksetMass(); } @@ -255,7 +255,7 @@ public abstract class BSLinkset // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. - protected abstract void RemoveChildFromLinkset(BSPrimLinkable child); + protected abstract void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime); // When physical properties are changed the linkset needs to recalculate // its internal properties. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 085d195..47ab842 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -242,7 +242,7 @@ public sealed class BSLinksetCompound : BSLinkset { bool ret = false; - DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", + DetailLog("{0},BSLinksetCompound.RemoveDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child)); ScheduleRebuild(child); @@ -270,7 +270,7 @@ public sealed class BSLinksetCompound : BSLinkset // Remove the specified child from the linkset. // Safe to call even if the child is not really in the linkset. - protected override void RemoveChildFromLinkset(BSPrimLinkable child) + protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime) { child.ClearDisplacement(); @@ -282,12 +282,12 @@ public sealed class BSLinksetCompound : BSLinkset child.LocalID, child.PhysBody.AddrString); // Cause the child's body to be rebuilt and thus restored to normal operation - child.ForceBodyShapeRebuild(false); + child.ForceBodyShapeRebuild(inTaintTime); if (!HasAnyChildren) { // The linkset is now empty. The root needs rebuilding. - LinksetRoot.ForceBodyShapeRebuild(false); + LinksetRoot.ForceBodyShapeRebuild(inTaintTime); } else { @@ -318,10 +318,10 @@ public sealed class BSLinksetCompound : BSLinkset // being destructed and going non-physical. LinksetRoot.ForceBodyShapeRebuild(true); - // There is no reason to build all this physical stuff for a non-physical linkset. - if (!LinksetRoot.IsPhysicallyActive) + // There is no reason to build all this physical stuff for a non-physical or empty linkset. + if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren) { - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID); return; // Note the 'finally' clause at the botton which will get executed. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 4bac222..d4ee27d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -224,7 +224,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Remove the specified child from the linkset. // Safe to call even if the child is not really in my linkset. - protected override void RemoveChildFromLinkset(BSPrimLinkable child) + protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime) { if (m_children.Remove(child)) { @@ -236,7 +236,7 @@ public sealed class BSLinksetConstraints : BSLinkset rootx.LocalID, rootx.PhysBody.AddrString, childx.LocalID, childx.PhysBody.AddrString); - m_physicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate() + m_physicsScene.TaintedObject(inTaintTime, "BSLinksetConstraints.RemoveChildFromLinkset", delegate() { PhysicallyUnlinkAChildFromRoot(rootx, childx); }); @@ -382,9 +382,9 @@ public sealed class BSLinksetConstraints : BSLinkset Rebuilding = true; // There is no reason to build all this physical stuff for a non-physical linkset. - if (!LinksetRoot.IsPhysicallyActive) + if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren) { - DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); + DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID); return; // Note the 'finally' clause at the botton which will get executed. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 7179a6d..38d1f88 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -66,7 +66,7 @@ public class BSPrimLinkable : BSPrimDisplaced public override void Destroy() { - Linkset = Linkset.RemoveMeFromLinkset(this); + Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime */); base.Destroy(); } @@ -94,7 +94,7 @@ public class BSPrimLinkable : BSPrimDisplaced BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG int childrenBefore = Linkset.NumberOfChildren; // DEBUG - Linkset = Linkset.RemoveMeFromLinkset(this); + Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime*/); DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); @@ -240,6 +240,8 @@ public class BSPrimLinkable : BSPrimDisplaced bool ret = false; if (LinksetType != newType) { + DetailLog("{0},BSPrimLinkset.ConvertLinkset,oldT={1},newT={2}", LocalID, LinksetType, newType); + // Set the implementation type first so the call to BSLinkset.Factory gets the new type. this.LinksetType = newType; @@ -263,7 +265,10 @@ public class BSPrimLinkable : BSPrimDisplaced // Remove the children from the old linkset and add to the new (will be a new instance from the factory) foreach (BSPrimLinkable child in children) { - oldLinkset.RemoveMeFromLinkset(child); + oldLinkset.RemoveMeFromLinkset(child, true /*inTaintTime*/); + } + foreach (BSPrimLinkable child in children) + { newLinkset.AddMeToLinkset(child); child.Linkset = newLinkset; } -- cgit v1.1 From 48ee73bfa771de64685a694417b34188f0a3350e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 07:54:47 -0700 Subject: BulletSim: add API and calls for spring constraint parameters. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 36 ++++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 38 ++++++++++++++++++++++ .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 8 +++++ 3 files changed, 82 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 12a0c17..6c36485 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -596,6 +596,30 @@ public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, flo return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold); } +public override bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.ConstraintSpringEnable2(constrainu.ptr, index, numericTrueFalse); +} + +public override bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.ConstraintSpringSetEquilibriumPoint2(constrainu.ptr, index, equilibriumPoint); +} + +public override bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.ConstraintSpringSetStiffness2(constrainu.ptr, index, stiffnesss); +} + +public override bool SpringSetDamping(BulletConstraint constrain, int index, float damping) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.ConstraintSpringSetDamping2(constrainu.ptr, index, damping); +} + public override bool CalculateTransforms(BulletConstraint constrain) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; @@ -1601,6 +1625,18 @@ public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enabl public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ConstraintSpringEnable2(IntPtr constrain, int index, float numericTrueFalse); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ConstraintSpringSetEquilibriumPoint2(IntPtr constrain, int index, float equilibriumPoint); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ConstraintSpringSetStiffness2(IntPtr constrain, int index, float stiffness); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ConstraintSpringSetDamping2(IntPtr constrain, int index, float damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CalculateTransforms2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 2a820be..9ad12a9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -752,6 +752,44 @@ private sealed class BulletConstraintXNA : BulletConstraint constraint.SetBreakingImpulseThreshold(threshold); return true; } + public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse) + { + Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; + constraint.EnableSpring(index, (numericTrueFalse == 0f ? false : true)); + return true; + } + + public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint) + { + Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; + if (index == -1) + { + constraint.SetEquilibriumPoint(); + } + else + { + if (equilibriumPoint == -1) + constraint.SetEquilibriumPoint(index); + else + constraint.SetEquilibriumPoint(index, equilibriumPoint); + } + return true; + } + + public override bool SpringSetStiffness(BulletConstraint pConstraint, int index, float stiffness) + { + Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; + constraint.SetStiffness(index, stiffness); + return true; + } + + public override bool SpringSetDamping(BulletConstraint pConstraint, int index, float damping) + { + Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; + constraint.SetDamping(index, damping); + return true; + } + //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); public override void SetAngularDamping(BulletBody pBody, float angularDamping) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 6cdc112..8cca29f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -441,6 +441,14 @@ public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float e public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold); +public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse); + +public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint); + +public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss); + +public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping); + public abstract bool CalculateTransforms(BulletConstraint constrain); public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); -- cgit v1.1 From 9a7d0e489cf726f00379917cd507839d5fe56725 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 07:55:46 -0700 Subject: BulletSim: add spring constraint to linkset constraint types. --- .../Physics/BulletSPlugin/BSConstraintSpring.cs | 85 ++++++++++++++++++++++ 1 file changed, 85 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs new file mode 100755 index 0000000..01d67d4 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs @@ -0,0 +1,85 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public sealed class BSConstraintSpring : BSConstraint6Dof +{ + public override ConstraintType Type { get { return ConstraintType.D6_SPRING_CONSTRAINT_TYPE; } } + + public BSConstraintSpring(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frame1Loc, Quaternion frame1Rot, + Vector3 frame2Loc, Quaternion frame2Rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + :base(world, obj1, obj2) + { + m_constraint = PhysicsScene.PE.Create6DofSpringConstraint(world, obj1, obj2, + frame1Loc, frame1Rot, frame2Loc, frame2Rot, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + m_enabled = true; + + world.physicsScene.DetailLog("{0},BSConstraintSpring,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + BSScene.DetailLogZero, world.worldID, + obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + } + + public bool SetEnable(int index, bool axisEnable) + { + bool ret = false; + + return ret; + } + + public bool SetStiffness(int index, float stiffness) + { + bool ret = false; + + return ret; + } + + public bool SetDamping(int index, float damping) + { + bool ret = false; + + return ret; + } + + public bool SetEquilibriumPoint(int index, float eqPoint) + { + bool ret = false; + + return ret; + } + +} + +} \ No newline at end of file -- cgit v1.1 From 0971c7ae77cae3d238be31f46994b4692af949e3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 07:56:37 -0700 Subject: BulletSim: complete linkage of spring constraint into linkset constraint. --- .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 9 ++- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 + .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 81 ++++++++++++++++++---- 3 files changed, 77 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index d0949f5..5008ff7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -32,12 +32,19 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public sealed class BSConstraint6Dof : BSConstraint +public class BSConstraint6Dof : BSConstraint { private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]"; public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } + public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2) :base(world) + { + m_body1 = obj1; + m_body2 = obj2; + m_enabled = false; + } + // Create a btGeneric6DofConstraint public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 frame1, Quaternion frame1rot, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index a051002..d4b1c1e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -77,6 +77,8 @@ public abstract class BSLinkset { member = pMember; } + public virtual void ResetLink() { } + public virtual void SetLinkParameters(BSConstraint constrain) { } } public LinksetImplementation LinksetImpl { get; protected set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index d4ee27d..f3b70c3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -51,16 +51,26 @@ public sealed class BSLinksetConstraints : BSLinkset public float cfm; public float erp; public float solverIterations; + // + public OMV.Vector3 frameInAloc; + public OMV.Quaternion frameInArot; + public OMV.Vector3 frameInBloc; + public OMV.Quaternion frameInBrot; + // Spring + public float springDamping; + public float springStiffness; + + public BSLinkInfoConstraint(BSPrimLinkable pMember) : base(pMember) { constraint = null; - ResetToFixedConstraint(); + ResetLink(); } // Set all the parameters for this constraint to a fixed, non-movable constraint. - public void ResetToFixedConstraint() + public override void ResetLink() { constraintType = ConstraintType.D6_CONSTRAINT_TYPE; linearLimitLow = OMV.Vector3.Zero; @@ -74,10 +84,16 @@ public sealed class BSLinksetConstraints : BSLinkset cfm = BSParam.LinkConstraintCFM; erp = BSParam.LinkConstraintERP; solverIterations = BSParam.LinkConstraintSolverIterations; + frameInAloc = OMV.Vector3.Zero; + frameInArot = OMV.Quaternion.Identity; + frameInBloc = OMV.Vector3.Zero; + frameInBrot = OMV.Quaternion.Identity; + springDamping = -1f; + springStiffness = -1f; } // Given a constraint, apply the current constraint parameters to same. - public void SetConstraintParameters(BSConstraint constrain) + public override void SetLinkParameters(BSConstraint constrain) { switch (constraintType) { @@ -85,6 +101,7 @@ public sealed class BSLinksetConstraints : BSLinkset BSConstraint6Dof constrain6dof = constrain as BSConstraint6Dof; if (constrain6dof != null) { + // NOTE: D6_SPRING_CONSTRAINT_TYPE should be updated if you change any of this code. // zero linear and angular limits makes the objects unable to move in relation to each other constrain6dof.SetLinearLimits(linearLimitLow, linearLimitHigh); constrain6dof.SetAngularLimits(angularLimitLow, angularLimitHigh); @@ -99,6 +116,31 @@ public sealed class BSLinksetConstraints : BSLinkset } } break; + case ConstraintType.D6_SPRING_CONSTRAINT_TYPE: + BSConstraintSpring constrainSpring = constrain as BSConstraintSpring; + if (constrainSpring != null) + { + // zero linear and angular limits makes the objects unable to move in relation to each other + constrainSpring.SetLinearLimits(linearLimitLow, linearLimitHigh); + constrainSpring.SetAngularLimits(angularLimitLow, angularLimitHigh); + + // tweek the constraint to increase stability + constrainSpring.UseFrameOffset(useFrameOffset); + constrainSpring.TranslationalLimitMotor(enableTransMotor, transMotorMaxVel, transMotorMaxForce); + constrainSpring.SetCFMAndERP(cfm, erp); + if (solverIterations != 0f) + { + constrainSpring.SetSolverIterations(solverIterations); + } + for (int ii = 0; ii < 6; ii++) + { + if (springDamping != -1) + constrainSpring.SetDamping(ii, springDamping); + if (springStiffness != -1) + constrainSpring.SetStiffness(ii, springStiffness); + } + } + break; default: break; } @@ -262,8 +304,8 @@ public sealed class BSLinksetConstraints : BSLinkset // Create a static constraint between the two passed objects private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSLinkInfo li) { - BSLinkInfoConstraint liConstraint = li as BSLinkInfoConstraint; - if (liConstraint == null) + BSLinkInfoConstraint linkInfo = li as BSLinkInfoConstraint; + if (linkInfo == null) return null; // Zero motion for children so they don't interpolate @@ -271,27 +313,25 @@ public sealed class BSLinksetConstraints : BSLinkset BSConstraint constrain = null; - switch (liConstraint.constraintType) + switch (linkInfo.constraintType) { case ConstraintType.D6_CONSTRAINT_TYPE: // Relative position normalized to the root prim // Essentually a vector pointing from center of rootPrim to center of li.member - OMV.Vector3 childRelativePosition = liConstraint.member.Position - rootPrim.Position; + OMV.Vector3 childRelativePosition = linkInfo.member.Position - rootPrim.Position; // real world coordinate of midpoint between the two objects OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); - DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", - rootPrim.LocalID, - rootPrim.LocalID, rootPrim.PhysBody.AddrString, - liConstraint.member.LocalID, liConstraint.member.PhysBody.AddrString, - rootPrim.Position, liConstraint.member.Position, midPoint); + DetailLog("{0},BSLinksetConstraint.BuildConstraint,6Dof,rBody={1},cBody={2},rLoc={3},cLoc={4},midLoc={7}", + rootPrim.LocalID, rootPrim.PhysBody, linkInfo.member.PhysBody, + rootPrim.Position, linkInfo.member.Position, midPoint); // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 constrain = new BSConstraint6Dof( - m_physicsScene.World, rootPrim.PhysBody, liConstraint.member.PhysBody, midPoint, true, true ); + m_physicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody, midPoint, true, true ); /* NOTE: below is an attempt to build constraint with full frame computation, etc. * Using the midpoint is easier since it lets the Bullet code manipulate the transforms @@ -320,11 +360,23 @@ public sealed class BSLinksetConstraints : BSLinkset */ break; + case ConstraintType.D6_SPRING_CONSTRAINT_TYPE: + constrain = new BSConstraintSpring(m_physicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody, + linkInfo.frameInAloc, linkInfo.frameInArot, linkInfo.frameInBloc, linkInfo.frameInBrot, + true /*useLinearReferenceFrameA*/, + true /*disableCollisionsBetweenLinkedBodies*/); + DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", + rootPrim.LocalID, + rootPrim.LocalID, rootPrim.PhysBody.AddrString, + linkInfo.member.LocalID, linkInfo.member.PhysBody.AddrString, + rootPrim.Position, linkInfo.member.Position); + + break; default: break; } - liConstraint.SetConstraintParameters(constrain); + linkInfo.SetLinkParameters(constrain); m_physicsScene.Constraints.AddConstraint(constrain); @@ -401,6 +453,7 @@ public sealed class BSLinksetConstraints : BSLinkset // If constraint doesn't exist yet, create it. constrain = BuildConstraint(LinksetRoot, li); } + li.SetLinkParameters(constrain); constrain.RecomputeConstraintVariables(linksetMass); // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG -- cgit v1.1 From 993bcec088ce5c3ec2f76f61842f19cbdcc89384 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 10:15:28 -0700 Subject: BulletSim: add unmanaged and XNA functions for hinge, slider and spring constraints. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 45 ++++++ OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 174 ++++++++++++++++++++- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 24 +++ 3 files changed, 241 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 6c36485..8dfb01c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -596,6 +596,12 @@ public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, flo return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold); } +public override bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.HingeSetLimits2(constrainu.ptr, low, high, softness, bias, relaxation); +} + public override bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; @@ -620,6 +626,30 @@ public override bool SpringSetDamping(BulletConstraint constrain, int index, flo return BSAPICPP.ConstraintSpringSetDamping2(constrainu.ptr, index, damping); } +public override bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SliderSetLimits2(constrainu.ptr, lowerUpper, linAng, val); +} + +public override bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SliderSet2(constrainu.ptr, softRestDamp, dirLimOrtho, linAng, val); +} + +public override bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SliderMotorEnable2(constrainu.ptr, linAng, numericTrueFalse); +} + +public override bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SliderMotor2(constrainu.ptr, forceVel, linAng, val); +} + public override bool CalculateTransforms(BulletConstraint constrain) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; @@ -1625,6 +1655,9 @@ public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enabl public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool HingeSetLimits2(IntPtr constrain, float low, float high, float softness, float bias, float relaxation); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool ConstraintSpringEnable2(IntPtr constrain, int index, float numericTrueFalse); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -1637,6 +1670,18 @@ public static extern bool ConstraintSpringSetStiffness2(IntPtr constrain, int in public static extern bool ConstraintSpringSetDamping2(IntPtr constrain, int index, float damping); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SliderSetLimits2(IntPtr constrain, int lowerUpper, int linAng, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SliderSet2(IntPtr constrain, int softRestDamp, int dirLimOrtho, int linAng, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SliderMotorEnable2(IntPtr constrain, int linAng, float numericTrueFalse); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SliderMotor2(IntPtr constrain, int forceVel, int linAng, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CalculateTransforms2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 9ad12a9..ff2b497 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -752,6 +752,15 @@ private sealed class BulletConstraintXNA : BulletConstraint constraint.SetBreakingImpulseThreshold(threshold); return true; } + public override bool HingeSetLimits(BulletConstraint pConstraint, float low, float high, float softness, float bias, float relaxation) + { + HingeConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as HingeConstraint; + if (softness == HINGE_NOT_SPECIFIED) + constraint.SetLimit(low, high); + else + constraint.SetLimit(low, high, softness, bias, relaxation); + return true; + } public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse) { Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; @@ -762,13 +771,13 @@ private sealed class BulletConstraintXNA : BulletConstraint public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint) { Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; - if (index == -1) + if (index == SPRING_NOT_SPECIFIED) { constraint.SetEquilibriumPoint(); } else { - if (equilibriumPoint == -1) + if (equilibriumPoint == SPRING_NOT_SPECIFIED) constraint.SetEquilibriumPoint(index); else constraint.SetEquilibriumPoint(index, equilibriumPoint); @@ -790,6 +799,167 @@ private sealed class BulletConstraintXNA : BulletConstraint return true; } + public override bool SliderSetLimits(BulletConstraint pConstraint, int lowerUpper, int linAng, float val) + { + SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint; + switch (lowerUpper) + { + case SLIDER_LOWER_LIMIT: + switch (linAng) + { + case SLIDER_LINEAR: + constraint.SetLowerLinLimit(val); + break; + case SLIDER_ANGULAR: + constraint.SetLowerAngLimit(val); + break; + } + break; + case SLIDER_UPPER_LIMIT: + switch (linAng) + { + case SLIDER_LINEAR: + constraint.SetUpperLinLimit(val); + break; + case SLIDER_ANGULAR: + constraint.SetUpperAngLimit(val); + break; + } + break; + } + return true; + } + public override bool SliderSet(BulletConstraint pConstraint, int softRestDamp, int dirLimOrtho, int linAng, float val) + { + SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint; + switch (softRestDamp) + { + case SLIDER_SET_SOFTNESS: + switch (dirLimOrtho) + { + case SLIDER_SET_DIRECTION: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetSoftnessDirLin(val); break; + case SLIDER_ANGULAR: constraint.SetSoftnessDirAng(val); break; + } + break; + case SLIDER_SET_LIMIT: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetSoftnessLimLin(val); break; + case SLIDER_ANGULAR: constraint.SetSoftnessLimAng(val); break; + } + break; + case SLIDER_SET_ORTHO: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetSoftnessOrthoLin(val); break; + case SLIDER_ANGULAR: constraint.SetSoftnessOrthoAng(val); break; + } + break; + } + break; + case SLIDER_SET_RESTITUTION: + switch (dirLimOrtho) + { + case SLIDER_SET_DIRECTION: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetRestitutionDirLin(val); break; + case SLIDER_ANGULAR: constraint.SetRestitutionDirAng(val); break; + } + break; + case SLIDER_SET_LIMIT: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetRestitutionLimLin(val); break; + case SLIDER_ANGULAR: constraint.SetRestitutionLimAng(val); break; + } + break; + case SLIDER_SET_ORTHO: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetRestitutionOrthoLin(val); break; + case SLIDER_ANGULAR: constraint.SetRestitutionOrthoAng(val); break; + } + break; + } + break; + case SLIDER_SET_DAMPING: + switch (dirLimOrtho) + { + case SLIDER_SET_DIRECTION: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetDampingDirLin(val); break; + case SLIDER_ANGULAR: constraint.SetDampingDirAng(val); break; + } + break; + case SLIDER_SET_LIMIT: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetDampingLimLin(val); break; + case SLIDER_ANGULAR: constraint.SetDampingLimAng(val); break; + } + break; + case SLIDER_SET_ORTHO: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetDampingOrthoLin(val); break; + case SLIDER_ANGULAR: constraint.SetDampingOrthoAng(val); break; + } + break; + } + break; + } + return true; + } + public override bool SliderMotorEnable(BulletConstraint pConstraint, int linAng, float numericTrueFalse) + { + SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint; + switch (linAng) + { + case SLIDER_LINEAR: + constraint.SetPoweredLinMotor(numericTrueFalse == 0.0 ? false : true); + break; + case SLIDER_ANGULAR: + constraint.SetPoweredAngMotor(numericTrueFalse == 0.0 ? false : true); + break; + } + return true; + } + public override bool SliderMotor(BulletConstraint pConstraint, int forceVel, int linAng, float val) + { + SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint; + switch (forceVel) + { + case SLIDER_MOTOR_VELOCITY: + switch (linAng) + { + case SLIDER_LINEAR: + constraint.SetTargetLinMotorVelocity(val); + break; + case SLIDER_ANGULAR: + constraint.SetTargetAngMotorVelocity(val); + break; + } + break; + case SLIDER_MAX_MOTOR_FORCE: + switch (linAng) + { + case SLIDER_LINEAR: + constraint.SetMaxLinMotorForce(val); + break; + case SLIDER_ANGULAR: + constraint.SetMaxAngMotorForce(val); + break; + } + break; + } + return true; + } + //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); public override void SetAngularDamping(BulletBody pBody, float angularDamping) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 8cca29f..b241059 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -441,14 +441,38 @@ public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float e public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold); +public const int HINGE_NOT_SPECIFIED = -1; +public abstract bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation); + public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse); +public const int SPRING_NOT_SPECIFIED = -1; public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint); public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss); public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping); +public const int SLIDER_LOWER_LIMIT = 0; +public const int SLIDER_UPPER_LIMIT = 1; +public const int SLIDER_LINEAR = 2; +public const int SLIDER_ANGULAR = 3; +public abstract bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val); + +public const int SLIDER_SET_SOFTNESS = 4; +public const int SLIDER_SET_RESTITUTION = 5; +public const int SLIDER_SET_DAMPING = 6; +public const int SLIDER_SET_DIRECTION = 7; +public const int SLIDER_SET_LIMIT = 8; +public const int SLIDER_SET_ORTHO = 9; +public abstract bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val); + +public abstract bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse); + +public const int SLIDER_MOTOR_VELOCITY = 10; +public const int SLIDER_MAX_MOTOR_FORCE = 11; +public abstract bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val); + public abstract bool CalculateTransforms(BulletConstraint constrain); public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); -- cgit v1.1 From c6a6631efc74ac8c139e0ae8cad683496fdd0050 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 10:24:37 -0700 Subject: BulletSim: move linkset extension operations into BSPrimLinkable where they should be. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 32 +---------------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 41 ++++++++++++++++++++++ 2 files changed, 42 insertions(+), 31 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d5b999d..4685b48 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -41,7 +41,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin [Serializable] public class BSPrim : BSPhysObject { - private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); + protected static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS PRIM]"; // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. @@ -1555,36 +1555,6 @@ public class BSPrim : BSPhysObject object ret = null; switch (pFunct) { - case BSScene.PhysFunctGetLinksetType: - { - BSPrimLinkable myHandle = this as BSPrimLinkable; - if (myHandle != null) - { - ret = (object)myHandle.LinksetType; - } - m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret); - break; - } - case BSScene.PhysFunctSetLinksetType: - { - if (pParams.Length > 0) - { - BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[0]; - BSPrimLinkable myHandle = this as BSPrimLinkable; - if (myHandle != null && myHandle.Linkset.IsRoot(myHandle)) - { - PhysScene.TaintedObject("BSPrim.PhysFunctSetLinksetType", delegate() - { - // Cause the linkset type to change - m_log.DebugFormat("{0} Extension.physSetLinksetType, oldType={1}, newType={2}", - LogHeader, myHandle.Linkset.LinksetImpl, linksetType); - myHandle.ConvertLinkset(linksetType); - }); - } - ret = (object)(int)linksetType; - } - break; - } default: ret = base.Extension(pFunct, pParams); break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 38d1f88..fc639ad 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -41,6 +41,8 @@ public class BSPrimLinkable : BSPrimDisplaced // operations necessary for keeping the linkset created and, additionally, this // calls the linkset implementation for its creation and management. + private static readonly string LogHeader = "[BULLETS PRIMLINKABLE]"; + // This adds the overrides for link() and delink() so the prim is linkable. public BSLinkset Linkset { get; set; } @@ -279,5 +281,44 @@ public class BSPrimLinkable : BSPrimDisplaced } return ret; } + + #region Extension + public override object Extension(string pFunct, params object[] pParams) + { + object ret = null; + switch (pFunct) + { + case BSScene.PhysFunctGetLinksetType: + { + ret = (object)LinksetType; + m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret); + break; + } + case BSScene.PhysFunctSetLinksetType: + { + if (pParams.Length > 0) + { + BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[0]; + if (Linkset.IsRoot(this)) + { + PhysScene.TaintedObject("BSPrim.PhysFunctSetLinksetType", delegate() + { + // Cause the linkset type to change + m_log.DebugFormat("{0} Extension.physSetLinksetType, oldType={1}, newType={2}", + LogHeader, Linkset.LinksetImpl, linksetType); + ConvertLinkset(linksetType); + }); + } + ret = (object)(int)linksetType; + } + break; + } + default: + ret = base.Extension(pFunct, pParams); + break; + } + return ret; + } + #endregion // Extension } } -- cgit v1.1 From f3cc20050e8e4ce047509589f828ccafbc59e3a9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 11:13:53 -0700 Subject: BulletSim: initial implementation of physChangeLinkFixed that resets a linkset's link back to a fixed, non-moving connection. --- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 29 +++++++++++++++------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 +++ 2 files changed, 24 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index fc639ad..77d8246 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -60,10 +60,7 @@ public class BSPrimLinkable : BSPrimDisplaced Linkset = BSLinkset.Factory(PhysScene, this); - PhysScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate() - { - Linkset.Refresh(this); - }); + Linkset.Refresh(this); } public override void Destroy() @@ -82,7 +79,7 @@ public class BSPrimLinkable : BSPrimDisplaced Linkset = parent.Linkset.AddMeToLinkset(this); - DetailLog("{0},BSPrimLinkset.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", + DetailLog("{0},BSPrimLinkable.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); } return; @@ -98,7 +95,7 @@ public class BSPrimLinkable : BSPrimDisplaced Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime*/); - DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", + DetailLog("{0},BSPrimLinkable.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); return; } @@ -110,7 +107,7 @@ public class BSPrimLinkable : BSPrimDisplaced set { base.Position = value; - PhysScene.TaintedObject("BSPrimLinkset.setPosition", delegate() + PhysScene.TaintedObject("BSPrimLinkable.setPosition", delegate() { Linkset.UpdateProperties(UpdatedProperties.Position, this); }); @@ -124,7 +121,7 @@ public class BSPrimLinkable : BSPrimDisplaced set { base.Orientation = value; - PhysScene.TaintedObject("BSPrimLinkset.setOrientation", delegate() + PhysScene.TaintedObject("BSPrimLinkable.setOrientation", delegate() { Linkset.UpdateProperties(UpdatedProperties.Orientation, this); }); @@ -242,7 +239,7 @@ public class BSPrimLinkable : BSPrimDisplaced bool ret = false; if (LinksetType != newType) { - DetailLog("{0},BSPrimLinkset.ConvertLinkset,oldT={1},newT={2}", LocalID, LinksetType, newType); + DetailLog("{0},BSPrimLinkable.ConvertLinkset,oldT={1},newT={2}", LocalID, LinksetType, newType); // Set the implementation type first so the call to BSLinkset.Factory gets the new type. this.LinksetType = newType; @@ -288,12 +285,14 @@ public class BSPrimLinkable : BSPrimDisplaced object ret = null; switch (pFunct) { + // physGetLinksetType(); case BSScene.PhysFunctGetLinksetType: { ret = (object)LinksetType; m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret); break; } + // physSetLinksetType(type); case BSScene.PhysFunctSetLinksetType: { if (pParams.Length > 0) @@ -313,6 +312,18 @@ public class BSPrimLinkable : BSPrimDisplaced } break; } + // physChangeLinkFixed(linknum); + // Params: int linkNum, PhysActor linkedPrim + case BSScene.PhysFunctChangeLinkFixed: + { + if (pParams.Length > 1) + { + int linkNum = (int)pParams[0]; + Manager.PhysicsActor linkActor = (Manager.PhysicsActor)pParams[1]; + Linkset.Refresh(this); + } + break; + } default: ret = base.Extension(pFunct, pParams); break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index c92c9b9..571db86 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -875,6 +875,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Per prim functions. See BSPrim. public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType"; public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType"; + public const string PhysFunctChangeLinkFixed = "BulletSim.ChangeLinkFixed"; + public const string PhysFunctChangeLinkHinge = "BulletSim.ChangeLinkHinge"; + public const string PhysFunctChangeLinkSpring = "BulletSim.ChangeLinkSpring"; + public const string PhysFunctChangeLinkSlider = "BulletSim.ChangeLinkSlider"; // ============================================================= public override object Extension(string pFunct, params object[] pParams) -- cgit v1.1 From dff0fb56902f62b070ec6fd05769babfad32ed2e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 11:18:23 -0700 Subject: BulletSim: Linkset.Refresh() calls internal ScheduleRebuild() to recreate the linkset physics at next PostTaint time. Replace the existing calls to ScheduleRebuild to be calls to Refresh(). This allows external routines to make changes to parameters and then cause the linkset to rebuild. --- .../Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 17 ++++++++--------- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 11 ++++++----- 2 files changed, 14 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 47ab842..8f12189 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -90,10 +90,9 @@ public sealed class BSLinksetCompound : BSLinkset // its internal properties. public override void Refresh(BSPrimLinkable requestor) { - base.Refresh(requestor); - // Something changed so do the rebuilding thing - // ScheduleRebuild(); + ScheduleRebuild(requestor); + base.Refresh(requestor); } // Schedule a refresh to happen after all the other taint processing. @@ -127,7 +126,7 @@ public sealed class BSLinksetCompound : BSLinkset if (IsRoot(child)) { // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return ret; } @@ -144,7 +143,7 @@ public sealed class BSLinksetCompound : BSLinkset if (IsRoot(child)) { // Schedule a rebuild to verify that the root shape is set to the real shape. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return ret; } @@ -227,7 +226,7 @@ public sealed class BSLinksetCompound : BSLinkset // there will already be a rebuild scheduled. DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}", updated.LocalID, whichUpdated); - ScheduleRebuild(updated); + Refresh(updated); } } } @@ -245,7 +244,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.RemoveDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child)); - ScheduleRebuild(child); + Refresh(child); return ret; } @@ -263,7 +262,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Rebuild the compound shape with the new child shape included - ScheduleRebuild(child); + Refresh(child); } return; } @@ -292,7 +291,7 @@ public sealed class BSLinksetCompound : BSLinkset else { // Rebuild the compound shape with the child removed - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } } return; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index f3b70c3..db323c2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -158,6 +158,7 @@ public sealed class BSLinksetConstraints : BSLinkset // refresh will happen once after all the other taints are applied. public override void Refresh(BSPrimLinkable requestor) { + ScheduleRebuild(requestor); base.Refresh(requestor); } @@ -194,7 +195,7 @@ public sealed class BSLinksetConstraints : BSLinkset if (IsRoot(child)) { // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return ret; } @@ -213,7 +214,7 @@ public sealed class BSLinksetConstraints : BSLinkset if (IsRoot(child)) { // Schedule a rebuild to verify that the root shape is set to the real shape. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return ret; } @@ -241,7 +242,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Just undo all the constraints for this linkset. Rebuild at the end of the step. ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); // Cause the constraints, et al to be rebuilt before the next simulation step. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return ret; } @@ -259,7 +260,7 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Cause constraints and assorted properties to be recomputed before the next simulation step. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return; } @@ -283,7 +284,7 @@ public sealed class BSLinksetConstraints : BSLinkset PhysicallyUnlinkAChildFromRoot(rootx, childx); }); // See that the linkset parameters are recomputed at the end of the taint time. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } else { -- cgit v1.1 From 6aee08ac3c48b55ebd8e945c8b11f17dc1ab3151 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 8 Aug 2013 08:36:36 -0700 Subject: BulletSim: add physChangeLinkSpring to change linkset link to be a spring constraint. Add implementation to create spring constraint. Send up property updates for linkset children at the end of flexible linkset links. The simulator probably doesn't do the right thing yet. --- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 24 +++++ .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 102 ++++++++++++++++++++- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 9 +- 4 files changed, 128 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index b241059..9d8838b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -43,7 +43,9 @@ public enum ConstraintType : int SLIDER_CONSTRAINT_TYPE, CONTACT_CONSTRAINT_TYPE, D6_SPRING_CONSTRAINT_TYPE, - MAX_CONSTRAINT_TYPE + MAX_CONSTRAINT_TYPE, // last type defined by Bullet + // + FIXED_CONSTRAINT_TYPE = 1234 // BulletSim constraint that is fixed and unmoving } // =============================================================================== diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index d4b1c1e..2058e3a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -79,6 +79,8 @@ public abstract class BSLinkset } public virtual void ResetLink() { } public virtual void SetLinkParameters(BSConstraint constrain) { } + // Returns 'true' if physical property updates from the child should be reported to the simulator + public virtual bool ShouldUpdateChildProperties() { return false; } } public LinksetImplementation LinksetImpl { get; protected set; } @@ -224,6 +226,21 @@ public abstract class BSLinkset return ret; } + // Check the type of the link and return 'true' if the link is flexible and the + // updates from the child should be sent to the simulator so things change. + public virtual bool ShouldReportPropertyUpdates(BSPrimLinkable child) + { + bool ret = false; + + BSLinkInfo linkInfo; + if (m_children.TryGetValue(child, out linkInfo)) + { + ret = linkInfo.ShouldUpdateChildProperties(); + } + + return ret; + } + // Called after a simulation step to post a collision with this object. // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have // anything to add for the collision and it should be passed through normal processing. @@ -432,6 +449,13 @@ public abstract class BSLinkset return com; } + #region Extension + public virtual object Extension(string pFunct, params object[] pParams) + { + return null; + } + #endregion // Extension + // Invoke the detailed logger and output something if it's enabled. protected void DetailLog(string msg, params Object[] args) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index db323c2..17fec9d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -60,8 +60,6 @@ public sealed class BSLinksetConstraints : BSLinkset public float springDamping; public float springStiffness; - - public BSLinkInfoConstraint(BSPrimLinkable pMember) : base(pMember) { @@ -72,7 +70,8 @@ public sealed class BSLinksetConstraints : BSLinkset // Set all the parameters for this constraint to a fixed, non-movable constraint. public override void ResetLink() { - constraintType = ConstraintType.D6_CONSTRAINT_TYPE; + // constraintType = ConstraintType.D6_CONSTRAINT_TYPE; + constraintType = ConstraintType.FIXED_CONSTRAINT_TYPE; linearLimitLow = OMV.Vector3.Zero; linearLimitHigh = OMV.Vector3.Zero; angularLimitLow = OMV.Vector3.Zero; @@ -97,6 +96,7 @@ public sealed class BSLinksetConstraints : BSLinkset { switch (constraintType) { + case ConstraintType.FIXED_CONSTRAINT_TYPE: case ConstraintType.D6_CONSTRAINT_TYPE: BSConstraint6Dof constrain6dof = constrain as BSConstraint6Dof; if (constrain6dof != null) @@ -145,6 +145,20 @@ public sealed class BSLinksetConstraints : BSLinkset break; } } + + // Return 'true' if the property updates from the physics engine should be reported + // to the simulator. + // If the constraint is fixed, we don't need to report as the simulator and viewer will + // report the right things. + public override bool ShouldUpdateChildProperties() + { + bool ret = true; + + if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE) + ret = false; + + return ret; + } } public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent) @@ -316,6 +330,7 @@ public sealed class BSLinksetConstraints : BSLinkset switch (linkInfo.constraintType) { + case ConstraintType.FIXED_CONSTRAINT_TYPE: case ConstraintType.D6_CONSTRAINT_TYPE: // Relative position normalized to the root prim // Essentually a vector pointing from center of rootPrim to center of li.member @@ -466,5 +481,86 @@ public sealed class BSLinksetConstraints : BSLinkset Rebuilding = false; } } + + #region Extension + public override object Extension(string pFunct, params object[] pParams) + { + object ret = null; + switch (pFunct) + { + // pParams = (int linkNUm, PhysActor linkChild) + case BSScene.PhysFunctChangeLinkFixed: + if (pParams.Length > 1) + { + BSPrimLinkable child = pParams[1] as BSPrimLinkable; + if (child != null) + { + m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() + { + // Pick up all the constraints currently created. + RemoveDependencies(child); + + BSLinkInfo linkInfo = null; + if (m_children.TryGetValue(child, out linkInfo)) + { + BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; + if (linkInfoC != null) + { + // Setting to fixed is easy. The reset state is the fixed link configuration. + linkInfoC.ResetLink(); + ret = (object)true; + } + } + // Cause the whole linkset to be rebuilt in post-taint time. + Refresh(child); + }); + } + } + break; + case BSScene.PhysFunctChangeLinkSpring: + if (pParams.Length > 11) + { + BSPrimLinkable child = pParams[1] as BSPrimLinkable; + if (child != null) + { + m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() + { + // Pick up all the constraints currently created. + RemoveDependencies(child); + + BSLinkInfo linkInfo = null; + if (m_children.TryGetValue(child, out linkInfo)) + { + BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; + if (linkInfoC != null) + { + // Start with a reset link definition + linkInfoC.ResetLink(); + linkInfoC.constraintType = ConstraintType.D6_SPRING_CONSTRAINT_TYPE; + linkInfoC.frameInAloc = (OMV.Vector3)pParams[2]; + linkInfoC.frameInArot = (OMV.Quaternion)pParams[3]; + linkInfoC.frameInBloc = (OMV.Vector3)pParams[4]; + linkInfoC.frameInBrot = (OMV.Quaternion)pParams[5]; + linkInfoC.linearLimitLow = (OMV.Vector3)pParams[6]; + linkInfoC.linearLimitHigh = (OMV.Vector3)pParams[7]; + linkInfoC.angularLimitLow = (OMV.Vector3)pParams[8]; + linkInfoC.angularLimitHigh = (OMV.Vector3)pParams[9]; + ret = (object)true; + } + } + // Cause the whole linkset to be rebuilt in post-taint time. + Refresh(child); + }); + } + } + break; + default: + ret = base.Extension(pFunct, pParams); + break; + } + return ret; + } + #endregion // Extension + } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 77d8246..4c384a6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -179,7 +179,7 @@ public class BSPrimLinkable : BSPrimDisplaced // Do any filtering/modification needed for linksets. public override void UpdateProperties(EntityProperties entprop) { - if (Linkset.IsRoot(this)) + if (Linkset.IsRoot(this) || Linkset.ShouldReportPropertyUpdates(this)) { // Properties are only updated for the roots of a linkset. // TODO: this will have to change when linksets are articulated. @@ -316,12 +316,7 @@ public class BSPrimLinkable : BSPrimDisplaced // Params: int linkNum, PhysActor linkedPrim case BSScene.PhysFunctChangeLinkFixed: { - if (pParams.Length > 1) - { - int linkNum = (int)pParams[0]; - Manager.PhysicsActor linkActor = (Manager.PhysicsActor)pParams[1]; - Linkset.Refresh(this); - } + Linkset.Extension(pFunct, pParams); break; } default: -- cgit v1.1 From b2a1348adc2bd27d3266a7d7c7594a2aa8272100 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 8 Aug 2013 16:37:37 -0700 Subject: BulletSim: update C++ HACD parameters to values that handle enclosed hollow spaces better. This shouldn't affect many since this HACD routine is off by default. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index fcb892a..737dda1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -683,21 +683,21 @@ public static class BSParam 0f ), new ParameterDefn("BHullMaxVerticesPerHull", "Bullet impl: max number of vertices per created hull", - 100f ), + 200f ), new ParameterDefn("BHullMinClusters", "Bullet impl: minimum number of hulls to create per mesh", - 2f ), + 10f ), new ParameterDefn("BHullCompacityWeight", "Bullet impl: weight factor for how compact to make hulls", - 0.1f ), + 20f ), new ParameterDefn("BHullVolumeWeight", "Bullet impl: weight factor for volume in created hull", - 0f ), + 0.1f ), new ParameterDefn("BHullConcavity", "Bullet impl: weight factor for how convex a created hull can be", - 100f ), + 10f ), new ParameterDefn("BHullAddExtraDistPoints", "Bullet impl: whether to add extra vertices for long distance vectors", - false ), + true ), new ParameterDefn("BHullAddNeighboursDistPoints", "Bullet impl: whether to add extra vertices between neighbor hulls", - false ), + true ), new ParameterDefn("BHullAddFacesPoints", "Bullet impl: whether to add extra vertices to break up hull faces", - false ), + true ), new ParameterDefn("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin", false ), -- cgit v1.1 From 455d36c4c70a55c5d48dc1410b8729929fafedf6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 9 Aug 2013 10:59:10 -0700 Subject: BulletSim: add physChangeLinkParams to set individual parameters on link constraints. Not fully functional. Remove double definition of ExtendedPhysics parameters by having BulletSim reference the optional module (addition to prebuild.xml and usings). --- .../Physics/BulletSPlugin/BSConstraintConeTwist.cs | 54 ++++++++++++++ .../Physics/BulletSPlugin/BSConstraintSlider.cs | 55 ++++++++++++++ .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 85 ++++++++-------------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 18 +++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 14 ---- 5 files changed, 153 insertions(+), 73 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs new file mode 100755 index 0000000..7a76a9a --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs @@ -0,0 +1,54 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public sealed class BSConstraintConeTwist : BSConstraint +{ + public override ConstraintType Type { get { return ConstraintType.CONETWIST_CONSTRAINT_TYPE; } } + + public BSConstraintConeTwist(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frameInAloc, Quaternion frameInArot, + Vector3 frameInBloc, Quaternion frameInBrot, + bool disableCollisionsBetweenLinkedBodies) + : base(world) + { + m_body1 = obj1; + m_body2 = obj2; + m_constraint = PhysicsScene.PE.CreateConeTwistConstraint(world, obj1, obj2, + frameInAloc, frameInArot, frameInBloc, frameInBrot, + disableCollisionsBetweenLinkedBodies); + m_enabled = true; + } +} + +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs new file mode 100755 index 0000000..37cfa07 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs @@ -0,0 +1,55 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public sealed class BSConstraintSlider : BSConstraint +{ + public override ConstraintType Type { get { return ConstraintType.SLIDER_CONSTRAINT_TYPE; } } + + public BSConstraintSlider(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frameInAloc, Quaternion frameInArot, + Vector3 frameInBloc, Quaternion frameInBrot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + : base(world) + { + m_body1 = obj1; + m_body2 = obj2; + m_constraint = PhysicsScene.PE.CreateSliderConstraint(world, obj1, obj2, + frameInAloc, frameInArot, frameInBloc, frameInBrot, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + m_enabled = true; + } + +} + +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 17fec9d..c09dd42 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -28,6 +28,8 @@ using System; using System.Collections.Generic; using System.Text; +using OpenSim.Region.OptionalModules.Scripting; + using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin @@ -489,71 +491,46 @@ public sealed class BSLinksetConstraints : BSLinkset switch (pFunct) { // pParams = (int linkNUm, PhysActor linkChild) - case BSScene.PhysFunctChangeLinkFixed: + case ExtendedPhysics.PhysFunctChangeLinkType: if (pParams.Length > 1) { - BSPrimLinkable child = pParams[1] as BSPrimLinkable; - if (child != null) + int requestedType = (int)pParams[1]; + if (requestedType == (int)ConstraintType.FIXED_CONSTRAINT_TYPE + || requestedType == (int)ConstraintType.D6_CONSTRAINT_TYPE + || requestedType == (int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE + || requestedType == (int)ConstraintType.HINGE_CONSTRAINT_TYPE + || requestedType == (int)ConstraintType.CONETWIST_CONSTRAINT_TYPE + || requestedType == (int)ConstraintType.SLIDER_CONSTRAINT_TYPE) { - m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() + BSPrimLinkable child = pParams[0] as BSPrimLinkable; + if (child != null) { - // Pick up all the constraints currently created. - RemoveDependencies(child); - - BSLinkInfo linkInfo = null; - if (m_children.TryGetValue(child, out linkInfo)) + m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() { - BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; - if (linkInfoC != null) - { - // Setting to fixed is easy. The reset state is the fixed link configuration. - linkInfoC.ResetLink(); - ret = (object)true; - } - } - // Cause the whole linkset to be rebuilt in post-taint time. - Refresh(child); - }); - } - } - break; - case BSScene.PhysFunctChangeLinkSpring: - if (pParams.Length > 11) - { - BSPrimLinkable child = pParams[1] as BSPrimLinkable; - if (child != null) - { - m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() - { - // Pick up all the constraints currently created. - RemoveDependencies(child); + // Pick up all the constraints currently created. + RemoveDependencies(child); - BSLinkInfo linkInfo = null; - if (m_children.TryGetValue(child, out linkInfo)) - { - BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; - if (linkInfoC != null) + BSLinkInfo linkInfo = null; + if (m_children.TryGetValue(child, out linkInfo)) { - // Start with a reset link definition - linkInfoC.ResetLink(); - linkInfoC.constraintType = ConstraintType.D6_SPRING_CONSTRAINT_TYPE; - linkInfoC.frameInAloc = (OMV.Vector3)pParams[2]; - linkInfoC.frameInArot = (OMV.Quaternion)pParams[3]; - linkInfoC.frameInBloc = (OMV.Vector3)pParams[4]; - linkInfoC.frameInBrot = (OMV.Quaternion)pParams[5]; - linkInfoC.linearLimitLow = (OMV.Vector3)pParams[6]; - linkInfoC.linearLimitHigh = (OMV.Vector3)pParams[7]; - linkInfoC.angularLimitLow = (OMV.Vector3)pParams[8]; - linkInfoC.angularLimitHigh = (OMV.Vector3)pParams[9]; - ret = (object)true; + BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; + if (linkInfoC != null) + { + // Setting to fixed is easy. The reset state is the fixed link configuration. + linkInfoC.ResetLink(); + linkInfoC.constraintType = (ConstraintType)requestedType; + ret = (object)true; + } } - } - // Cause the whole linkset to be rebuilt in post-taint time. - Refresh(child); - }); + // Cause the whole linkset to be rebuilt in post-taint time. + Refresh(child); + }); + } } } break; + case ExtendedPhysics.PhysFunctChangeLinkParams: + break; default: ret = base.Extension(pFunct, pParams); break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 4c384a6..6136257 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -30,6 +30,7 @@ using System.Linq; using System.Text; using OpenSim.Framework; +using OpenSim.Region.OptionalModules.Scripting; using OMV = OpenMetaverse; @@ -286,14 +287,14 @@ public class BSPrimLinkable : BSPrimDisplaced switch (pFunct) { // physGetLinksetType(); - case BSScene.PhysFunctGetLinksetType: + case ExtendedPhysics.PhysFunctGetLinksetType: { ret = (object)LinksetType; m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret); break; } // physSetLinksetType(type); - case BSScene.PhysFunctSetLinksetType: + case ExtendedPhysics.PhysFunctSetLinksetType: { if (pParams.Length > 0) { @@ -312,9 +313,16 @@ public class BSPrimLinkable : BSPrimDisplaced } break; } - // physChangeLinkFixed(linknum); - // Params: int linkNum, PhysActor linkedPrim - case BSScene.PhysFunctChangeLinkFixed: + // physChangeLinkType(linknum, typeCode); + // Params: PhysActor linkedPrim, int typeCode + case ExtendedPhysics.PhysFunctChangeLinkType: + { + Linkset.Extension(pFunct, pParams); + break; + } + // physChangeLinkParams(linknum, [code, value, code, value, ...]); + // Params: PhysActor linkedPrim, object[] params + case ExtendedPhysics.PhysFunctChangeLinkParams: { Linkset.Extension(pFunct, pParams); break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 571db86..7440468 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -867,20 +867,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public override bool IsThreaded { get { return false; } } #region Extensions - // ============================================================= - // Per scene functions. See below. - - // Per avatar functions. See BSCharacter. - - // Per prim functions. See BSPrim. - public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType"; - public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType"; - public const string PhysFunctChangeLinkFixed = "BulletSim.ChangeLinkFixed"; - public const string PhysFunctChangeLinkHinge = "BulletSim.ChangeLinkHinge"; - public const string PhysFunctChangeLinkSpring = "BulletSim.ChangeLinkSpring"; - public const string PhysFunctChangeLinkSlider = "BulletSim.ChangeLinkSlider"; - // ============================================================= - public override object Extension(string pFunct, params object[] pParams) { return base.Extension(pFunct, pParams); -- cgit v1.1 From f6fdfd16f55c3e1bd55775f1f21e0ac9e44ff2ee Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 9 Aug 2013 17:01:35 -0700 Subject: BulletSim: change ExtendedPhysics constants to 'const' so they can be used as case variables in switch statements. --- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index c09dd42..b72afc0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -530,6 +530,28 @@ public sealed class BSLinksetConstraints : BSLinkset } break; case ExtendedPhysics.PhysFunctChangeLinkParams: + int setParam = 2; + switch (setParam) + { + case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: + case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: + case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: + case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: + case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: + case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: + case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: + case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: + case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: + case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: + case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: + case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: + case ExtendedPhysics.PHYS_PARAM_CFM: + case ExtendedPhysics.PHYS_PARAM_ERP: + case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: + case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: + case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: + break; + } break; default: ret = base.Extension(pFunct, pParams); -- cgit v1.1 From e1120cb74db9092cc0f9a7fc245d2f2ed6160b7a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 16 Aug 2013 13:44:31 -0700 Subject: BulletSim: add extended physics function physGetLinkType(linkNum). Add implementation of physChangeLinkParams() in BSLinksetConstraint. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 11 ++ .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 145 ++++++++++++++++++--- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 11 +- 3 files changed, 144 insertions(+), 23 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 2058e3a..77f69a5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -209,6 +209,17 @@ public abstract class BSLinkset return ret; } + public bool TryGetLinkInfo(BSPrimLinkable child, out BSLinkInfo foundInfo) + { + bool ret = false; + BSLinkInfo found = null; + lock (m_linksetActivityLock) + { + ret = m_children.TryGetValue(child, out found); + } + foundInfo = found; + return ret; + } // Perform an action on each member of the linkset including root prim. // Depends on the action on whether this should be done at taint time. public delegate bool ForEachLinkInfoAction(BSLinkInfo obj); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index b72afc0..92df84e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -168,6 +168,8 @@ public sealed class BSLinksetConstraints : BSLinkset LinksetImpl = LinksetImplementation.Constraint; } + private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINT]"; + // When physical properties are changed the linkset needs to recalculate // its internal properties. // This is queued in the 'post taint' queue so the @@ -511,7 +513,7 @@ public sealed class BSLinksetConstraints : BSLinkset RemoveDependencies(child); BSLinkInfo linkInfo = null; - if (m_children.TryGetValue(child, out linkInfo)) + if (TryGetLinkInfo(child, out linkInfo)) { BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; if (linkInfoC != null) @@ -529,28 +531,129 @@ public sealed class BSLinksetConstraints : BSLinkset } } break; + case ExtendedPhysics.PhysFunctGetLinkType: + if (pParams.Length > 0) + { + BSPrimLinkable child = pParams[0] as BSPrimLinkable; + if (child != null) + { + BSLinkInfo linkInfo = null; + if (TryGetLinkInfo(child, out linkInfo)) + { + BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; + if (linkInfoC != null) + { + ret = (object)(int)linkInfoC.constraintType; + } + } + } + } + break; case ExtendedPhysics.PhysFunctChangeLinkParams: - int setParam = 2; - switch (setParam) + // There should be two parameters: the childActor and a list of parameters to set + try + { + if (pParams.Length > 1) + { + BSPrimLinkable child = pParams[0] as BSPrimLinkable; + object[] setOps = (object[])pParams[1]; + BSLinkInfo baseLinkInfo = null; + if (TryGetLinkInfo(child, out baseLinkInfo)) + { + BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; + if (linkInfo != null) + { + float valueFloat; + bool valueBool; + OMV.Vector3 valueVector; + OMV.Quaternion valueQuaternion; + + int opIndex = 0; + while (opIndex < setOps.Length) + { + int thisOp = (int)setOps[opIndex]; + switch (thisOp) + { + case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.frameInAloc = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: + valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1]; + linkInfo.frameInArot = valueQuaternion; + break; + case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.frameInBloc = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: + valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1]; + linkInfo.frameInBrot = valueQuaternion; + break; + case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.linearLimitLow = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.linearLimitHigh = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.angularLimitLow = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.angularLimitHigh = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: + valueBool = (bool)setOps[opIndex + 1]; + linkInfo.useFrameOffset = valueBool; + break; + case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: + valueBool = (bool)setOps[opIndex + 1]; + linkInfo.enableTransMotor = valueBool; + break; + case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.transMotorMaxVel = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.transMotorMaxForce = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_CFM: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.cfm = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_ERP: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.erp = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.solverIterations = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.springDamping = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.springStiffness = valueFloat; + break; + default: + break; + } + } + } + } + } + } + catch (Exception e) { - case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: - case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: - case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: - case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: - case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: - case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: - case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: - case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: - case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: - case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: - case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: - case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: - case ExtendedPhysics.PHYS_PARAM_CFM: - case ExtendedPhysics.PHYS_PARAM_ERP: - case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: - case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: - case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: - break; + // There are many ways to mess up the parameters. If not just right don't fail without some error. + m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e); } break; default: diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 6136257..28ea8c0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -317,14 +317,21 @@ public class BSPrimLinkable : BSPrimDisplaced // Params: PhysActor linkedPrim, int typeCode case ExtendedPhysics.PhysFunctChangeLinkType: { - Linkset.Extension(pFunct, pParams); + ret = Linkset.Extension(pFunct, pParams); + break; + } + // physGetLinkType(linknum); + // Params: PhysActor linkedPrim + case ExtendedPhysics.PhysFunctGetLinkType: + { + ret = Linkset.Extension(pFunct, pParams); break; } // physChangeLinkParams(linknum, [code, value, code, value, ...]); // Params: PhysActor linkedPrim, object[] params case ExtendedPhysics.PhysFunctChangeLinkParams: { - Linkset.Extension(pFunct, pParams); + ret = Linkset.Extension(pFunct, pParams); break; } default: -- cgit v1.1 From 6d83f3f02190509119f65da92def19d08ef825f9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 19 Aug 2013 11:08:22 -0700 Subject: BulletSim: adjust avatar capsule height calculation to be closer to defined SL heights. Correct BSParam avatar height defaults to be what's in OpenSimDefaults.ini. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 15 ++++++++++----- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 4 ++-- 2 files changed, 12 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 291dfcd..28b2a7e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -676,18 +676,20 @@ public sealed class BSCharacter : BSPhysObject float heightAdjust = BSParam.AvatarHeightMidFudge; if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f) { - // An avatar is between 1.61 and 2.12 meters. Midpoint is 1.87m. - // The "times 4" relies on the fact that the difference from the midpoint to the extremes is exactly 0.25 - float midHeightOffset = size.Z - 1.87f; + const float AVATAR_LOW = 1.1f; + const float AVATAR_MID = 1.775f; // 1.87f + const float AVATAR_HI = 2.45f; + // An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m. + float midHeightOffset = size.Z - AVATAR_MID; if (midHeightOffset < 0f) { // Small avatar. Add the adjustment based on the distance from midheight - heightAdjust += -1f * midHeightOffset * 4f * BSParam.AvatarHeightLowFudge; + heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge; } else { // Large avatar. Add the adjustment based on the distance from midheight - heightAdjust += midHeightOffset * 4f * BSParam.AvatarHeightHighFudge; + heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge; } } // The total scale height is the central cylindar plus the caps on the two ends. @@ -698,6 +700,9 @@ public sealed class BSCharacter : BSPhysObject if (newScale.Z < 0) newScale.Z = 0.1f; + DetailLog("{0},BSCharacter.ComputerAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}", + LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale); + return newScale; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 737dda1..4e92e6d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -570,9 +570,9 @@ public static class BSParam new ParameterDefn("AvatarHeightLowFudge", "A fudge factor to make small avatars stand on the ground", -0.2f ), new ParameterDefn("AvatarHeightMidFudge", "A fudge distance to adjust average sized avatars to be standing on ground", - 0.2f ), + 0.1f ), new ParameterDefn("AvatarHeightHighFudge", "A fudge factor to make tall avatars stand on the ground", - 0.2f ), + 0.1f ), new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 0.1f ), new ParameterDefn("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground", -- cgit v1.1 From 4781297b4ee5908b76039ce3b38291eb2e89e157 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Aug 2013 08:14:08 -0700 Subject: BulletSim: Extension parameters passed through the classes made to pass just and array of objects rather than a mixture of parameters and array. Makes understanding and parsing what is being passed much easier. --- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 93 ++++++++++++++++------ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 1 + .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 15 ++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 + 4 files changed, 80 insertions(+), 30 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 92df84e..87716b4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -343,7 +343,7 @@ public sealed class BSLinksetConstraints : BSLinkset // real world coordinate of midpoint between the two objects OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); - DetailLog("{0},BSLinksetConstraint.BuildConstraint,6Dof,rBody={1},cBody={2},rLoc={3},cLoc={4},midLoc={7}", + DetailLog("{0},BSLinksetConstraint.BuildConstraint,6Dof,rBody={1},cBody={2},rLoc={3},cLoc={4},midLoc={5}", rootPrim.LocalID, rootPrim.PhysBody, linkInfo.member.PhysBody, rootPrim.Position, linkInfo.member.Position, midPoint); @@ -492,11 +492,12 @@ public sealed class BSLinksetConstraints : BSLinkset object ret = null; switch (pFunct) { - // pParams = (int linkNUm, PhysActor linkChild) + // pParams = [ BSPhysObject child, integer linkType ] case ExtendedPhysics.PhysFunctChangeLinkType: if (pParams.Length > 1) { int requestedType = (int)pParams[1]; + DetailLog("{0},BSLinksetConstraint.SetLinkType,requestedType={1}", LinksetRoot.LocalID, requestedType); if (requestedType == (int)ConstraintType.FIXED_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.D6_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE @@ -507,7 +508,7 @@ public sealed class BSLinksetConstraints : BSLinkset BSPrimLinkable child = pParams[0] as BSPrimLinkable; if (child != null) { - m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() + m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkType", delegate() { // Pick up all the constraints currently created. RemoveDependencies(child); @@ -522,15 +523,35 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfoC.ResetLink(); linkInfoC.constraintType = (ConstraintType)requestedType; ret = (object)true; + DetailLog("{0},BSLinksetConstraint.SetLinkType,link={1},type={2}", + linkInfo.member.LocalID, linkInfo.member.LocalID, linkInfoC.constraintType); + } + else + { + DetailLog("{0},BSLinksetConstraint.SetLinkType,linkInfoNotConstraint,childID={1}", LinksetRoot.LocalID, child.LocalID); } } + else + { + DetailLog("{0},BSLinksetConstraint.SetLinkType,noLinkInfoForChild,childID={1}", LinksetRoot.LocalID, child.LocalID); + } // Cause the whole linkset to be rebuilt in post-taint time. Refresh(child); }); } + else + { + DetailLog("{0},BSLinksetConstraint.SetLinkType,childNotBSPrimLinkable", LinksetRoot.LocalID); + } + } + else + { + DetailLog("{0},BSLinksetConstraint.SetLinkType,illegalRequestedType,reqested={1},spring={2}", + LinksetRoot.LocalID, requestedType, ((int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE)); } } break; + // pParams = [] case ExtendedPhysics.PhysFunctGetLinkType: if (pParams.Length > 0) { @@ -544,11 +565,15 @@ public sealed class BSLinksetConstraints : BSLinkset if (linkInfoC != null) { ret = (object)(int)linkInfoC.constraintType; + DetailLog("{0},BSLinksetConstraint.GetLinkType,link={1},type={2}", + linkInfo.member.LocalID, linkInfo.member.LocalID, linkInfoC.constraintType); + } } } } break; + // pParams = [ BSPhysObject child, int op, object opParams, int op, object opParams, ... ] case ExtendedPhysics.PhysFunctChangeLinkParams: // There should be two parameters: the childActor and a list of parameters to set try @@ -556,7 +581,6 @@ public sealed class BSLinksetConstraints : BSLinkset if (pParams.Length > 1) { BSPrimLinkable child = pParams[0] as BSPrimLinkable; - object[] setOps = (object[])pParams[1]; BSLinkInfo baseLinkInfo = null; if (TryGetLinkInfo(child, out baseLinkInfo)) { @@ -568,85 +592,106 @@ public sealed class BSLinksetConstraints : BSLinkset OMV.Vector3 valueVector; OMV.Quaternion valueQuaternion; - int opIndex = 0; - while (opIndex < setOps.Length) + int opIndex = 1; + while (opIndex < pParams.Length) { - int thisOp = (int)setOps[opIndex]; + int thisOp = (int)pParams[opIndex]; + DetailLog("{0},BSLinksetConstraint.ChangeLinkParams2,op={1},val={2}", + linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); switch (thisOp) { case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.frameInAloc = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: - valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1]; + valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1]; linkInfo.frameInArot = valueQuaternion; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.frameInBloc = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: - valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1]; + valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1]; linkInfo.frameInBrot = valueQuaternion; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.linearLimitLow = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.linearLimitHigh = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.angularLimitLow = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.angularLimitHigh = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: - valueBool = (bool)setOps[opIndex + 1]; + valueBool = (bool)pParams[opIndex + 1]; linkInfo.useFrameOffset = valueBool; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: - valueBool = (bool)setOps[opIndex + 1]; + valueBool = (bool)pParams[opIndex + 1]; linkInfo.enableTransMotor = valueBool; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.transMotorMaxVel = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.transMotorMaxForce = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_CFM: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.cfm = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ERP: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.erp = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.solverIterations = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.springDamping = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.springStiffness = valueFloat; + opIndex += 2; break; default: break; } } } + // Something changed so a rebuild is in order + Refresh(child); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4685b48..45056bc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1552,6 +1552,7 @@ public class BSPrim : BSPhysObject #region Extension public override object Extension(string pFunct, params object[] pParams) { + DetailLog("{0} BSPrim.Extension,op={1}", LocalID, pFunct); object ret = null; switch (pFunct) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 28ea8c0..531f8fb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -283,17 +283,20 @@ public class BSPrimLinkable : BSPrimDisplaced #region Extension public override object Extension(string pFunct, params object[] pParams) { + DetailLog("{0} BSPrimLinkable.Extension,op={1},nParam={2}", LocalID, pFunct, pParams.Length); object ret = null; switch (pFunct) { // physGetLinksetType(); + // pParams = [] case ExtendedPhysics.PhysFunctGetLinksetType: { ret = (object)LinksetType; - m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret); + DetailLog("{0},BSPrimLinkable.Extension.physGetLinksetType,type={1}", LocalID, ret); break; } // physSetLinksetType(type); + // pParams = [ BSPhysObject child, integer type ] case ExtendedPhysics.PhysFunctSetLinksetType: { if (pParams.Length > 0) @@ -304,8 +307,8 @@ public class BSPrimLinkable : BSPrimDisplaced PhysScene.TaintedObject("BSPrim.PhysFunctSetLinksetType", delegate() { // Cause the linkset type to change - m_log.DebugFormat("{0} Extension.physSetLinksetType, oldType={1}, newType={2}", - LogHeader, Linkset.LinksetImpl, linksetType); + DetailLog("{0},BSPrimLinkable.Extension.physSetLinksetType, oldType={1},newType={2}", + LocalID, Linkset.LinksetImpl, linksetType); ConvertLinkset(linksetType); }); } @@ -314,21 +317,21 @@ public class BSPrimLinkable : BSPrimDisplaced break; } // physChangeLinkType(linknum, typeCode); - // Params: PhysActor linkedPrim, int typeCode + // pParams = [ BSPhysObject child, integer linkType ] case ExtendedPhysics.PhysFunctChangeLinkType: { ret = Linkset.Extension(pFunct, pParams); break; } // physGetLinkType(linknum); - // Params: PhysActor linkedPrim + // pParams = [ BSPhysObject child ] case ExtendedPhysics.PhysFunctGetLinkType: { ret = Linkset.Extension(pFunct, pParams); break; } // physChangeLinkParams(linknum, [code, value, code, value, ...]); - // Params: PhysActor linkedPrim, object[] params + // pParams = [ BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ] case ExtendedPhysics.PhysFunctChangeLinkParams: { ret = Linkset.Extension(pFunct, pParams); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7440468..b2ec0e5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -869,6 +869,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #region Extensions public override object Extension(string pFunct, params object[] pParams) { + DetailLog("{0} BSScene.Extension,op={1}", DetailLogZero, pFunct); return base.Extension(pFunct, pParams); } #endregion // Extensions -- cgit v1.1 From 995314f91f72eef0048a58f30e8dd8051f6bf14e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Aug 2013 09:20:48 -0700 Subject: BulletSim: add ID parameter to TaintedObject calls so logging will include LocalID of object which created the taint. --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 2 +- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 26 +++++----- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 6 +-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 58 +++++++++++----------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 6 +-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 55 +++++++++++++------- 8 files changed, 89 insertions(+), 70 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 68bc1b9..04a4a32 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -105,7 +105,7 @@ public class BSActorAvatarMove : BSActor // into the movement motor. public void SetVelocityAndTarget(OMV.Vector3 vel, OMV.Vector3 targ, bool inTaintTime) { - m_physicsScene.TaintedObject(inTaintTime, "BSActorAvatarMove.setVelocityAndTarget", delegate() + m_physicsScene.TaintedObject(inTaintTime, m_controllingPrim.LocalID, "BSActorAvatarMove.setVelocityAndTarget", delegate() { if (m_velocityMotor != null) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 28b2a7e..fc18960 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -93,7 +93,7 @@ public sealed class BSCharacter : BSPhysObject LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos); // do actual creation in taint time - PhysScene.TaintedObject("BSCharacter.create", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); // New body and shape into PhysBody and PhysShape @@ -121,7 +121,7 @@ public sealed class BSCharacter : BSPhysObject base.Destroy(); DetailLog("{0},BSCharacter.Destroy", LocalID); - PhysScene.TaintedObject("BSCharacter.destroy", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.destroy", delegate() { PhysScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */); PhysBody.Clear(); @@ -209,7 +209,7 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, Density, _avatarVolume, RawMass); - PhysScene.TaintedObject("BSCharacter.setSize", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate() { if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape) { @@ -257,7 +257,7 @@ public sealed class BSCharacter : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - PhysScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) PhysScene.PE.ClearAllForces(PhysBody); @@ -267,7 +267,7 @@ public sealed class BSCharacter : BSPhysObject { _rotationalVelocity = OMV.Vector3.Zero; - PhysScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) { @@ -291,7 +291,7 @@ public sealed class BSCharacter : BSPhysObject set { RawPosition = value; - PhysScene.TaintedObject("BSCharacter.setPosition", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); PositionSanityCheck(); @@ -363,7 +363,7 @@ public sealed class BSCharacter : BSPhysObject { // The new position value must be pushed into the physics engine but we can't // just assign to "Position" because of potential call loops. - PhysScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.PositionSanityCheck", delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); ForcePosition = RawPosition; @@ -390,7 +390,7 @@ public sealed class BSCharacter : BSPhysObject set { RawForce = value; // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); - PhysScene.TaintedObject("BSCharacter.SetForce", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.SetForce", delegate() { DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce); if (PhysBody.HasPhysicalBody) @@ -438,7 +438,7 @@ public sealed class BSCharacter : BSPhysObject set { RawVelocity = value; // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, RawVelocity); - PhysScene.TaintedObject("BSCharacter.setVelocity", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.setVelocity", delegate() { if (m_moveActor != null) m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, true /* inTaintTime */); @@ -480,7 +480,7 @@ public sealed class BSCharacter : BSPhysObject if (RawOrientation != value) { RawOrientation = value; - PhysScene.TaintedObject("BSCharacter.setOrientation", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.setOrientation", delegate() { // Bullet assumes we know what we are doing when forcing orientation // so it lets us go against all the rules and just compensates for them later. @@ -560,7 +560,7 @@ public sealed class BSCharacter : BSPhysObject public override bool FloatOnWater { set { _floatOnWater = value; - PhysScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.setFloatOnWater", delegate() { if (PhysBody.HasPhysicalBody) { @@ -588,7 +588,7 @@ public sealed class BSCharacter : BSPhysObject public override float Buoyancy { get { return _buoyancy; } set { _buoyancy = value; - PhysScene.TaintedObject("BSCharacter.setBuoyancy", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.setBuoyancy", delegate() { DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); ForceBuoyancy = _buoyancy; @@ -633,7 +633,7 @@ public sealed class BSCharacter : BSPhysObject OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce); - PhysScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.AddForce", delegate() { // Bullet adds this central force to the total force for this tick // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 87716b4..b2a9501 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -297,7 +297,7 @@ public sealed class BSLinksetConstraints : BSLinkset rootx.LocalID, rootx.PhysBody.AddrString, childx.LocalID, childx.PhysBody.AddrString); - m_physicsScene.TaintedObject(inTaintTime, "BSLinksetConstraints.RemoveChildFromLinkset", delegate() + m_physicsScene.TaintedObject(inTaintTime, childx.LocalID, "BSLinksetConstraints.RemoveChildFromLinkset", delegate() { PhysicallyUnlinkAChildFromRoot(rootx, childx); }); @@ -508,7 +508,7 @@ public sealed class BSLinksetConstraints : BSLinkset BSPrimLinkable child = pParams[0] as BSPrimLinkable; if (child != null) { - m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkType", delegate() + m_physicsScene.TaintedObject(child.LocalID, "BSLinksetConstraint.PhysFunctChangeLinkType", delegate() { // Pick up all the constraints currently created. RemoveDependencies(child); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 4e92e6d..2f1799b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -826,7 +826,7 @@ public static class BSParam private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v) { BSScene physScene = pPhysScene; - physScene.TaintedObject("BSParam.ResetConstraintSolver", delegate() + physScene.TaintedObject(BSScene.DetailLogZero, "BSParam.ResetConstraintSolver", delegate() { physScene.PE.ResetConstraintSolver(physScene.World); }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 9dc52d5..2efb1a5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -121,7 +121,7 @@ public abstract class BSPhysObject : PhysicsActor public virtual void Destroy() { PhysicalActors.Enable(false); - PhysScene.TaintedObject("BSPhysObject.Destroy", delegate() + PhysScene.TaintedObject(LocalID, "BSPhysObject.Destroy", delegate() { PhysicalActors.Dispose(); }); @@ -509,7 +509,7 @@ public abstract class BSPhysObject : PhysicsActor // make sure first collision happens NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); - PhysScene.TaintedObject(TypeName+".SubscribeEvents", delegate() + PhysScene.TaintedObject(LocalID, TypeName+".SubscribeEvents", delegate() { if (PhysBody.HasPhysicalBody) CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); @@ -524,7 +524,7 @@ public abstract class BSPhysObject : PhysicsActor public override void UnSubscribeEvents() { // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); SubscribedEventsMs = 0; - PhysScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() + PhysScene.TaintedObject(LocalID, TypeName+".UnSubscribeEvents", delegate() { // Make sure there is a body there because sometimes destruction happens in an un-ideal order. if (PhysBody.HasPhysicalBody) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 45056bc..15b7090 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -102,7 +102,7 @@ public class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time - PhysScene.TaintedObject("BSPrim.create", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.create", delegate() { // Make sure the object is being created with some sanity. ExtremeSanityCheck(true /* inTaintTime */); @@ -126,7 +126,7 @@ public class BSPrim : BSPhysObject // Undo any vehicle properties this.VehicleType = (int)Vehicle.TYPE_NONE; - PhysScene.TaintedObject("BSPrim.Destroy", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.Destroy", delegate() { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // If there are physical body and shape, release my use of same. @@ -161,7 +161,7 @@ public class BSPrim : BSPhysObject } public override bool ForceBodyShapeRebuild(bool inTaintTime) { - PhysScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ForceBodyShapeRebuild", delegate() { _mass = CalculateMass(); // changing the shape changes the mass CreateGeomAndObject(true); @@ -178,7 +178,7 @@ public class BSPrim : BSPhysObject if (value != _isSelected) { _isSelected = value; - PhysScene.TaintedObject("BSPrim.setSelected", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setSelected", delegate() { DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); SetObjectDynamic(false); @@ -224,7 +224,7 @@ public class BSPrim : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties in the physics engine - PhysScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) PhysScene.PE.ClearAllForces(PhysBody); @@ -234,7 +234,7 @@ public class BSPrim : BSPhysObject { _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties in the physics engine - PhysScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ZeroMotion", delegate() { // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); if (PhysBody.HasPhysicalBody) @@ -262,7 +262,7 @@ public class BSPrim : BSPhysObject }); // Update parameters so the new actor's Refresh() action is called at the right time. - PhysScene.TaintedObject("BSPrim.LockAngularMotion", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.LockAngularMotion", delegate() { UpdatePhysicalParameters(); }); @@ -287,7 +287,7 @@ public class BSPrim : BSPhysObject RawPosition = value; PositionSanityCheck(false); - PhysScene.TaintedObject("BSPrim.setPosition", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setPosition", delegate() { DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); ForcePosition = RawPosition; @@ -531,7 +531,7 @@ public class BSPrim : BSPhysObject set { Vehicle type = (Vehicle)value; - PhysScene.TaintedObject("setVehicleType", delegate() + PhysScene.TaintedObject(LocalID, "setVehicleType", delegate() { // Some vehicle scripts change vehicle type on the fly as an easy way to // change all the parameters. Like a plane changing to CAR when on the @@ -561,7 +561,7 @@ public class BSPrim : BSPhysObject } public override void VehicleFloatParam(int param, float value) { - PhysScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.VehicleFloatParam", delegate() { BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) @@ -573,7 +573,7 @@ public class BSPrim : BSPhysObject } public override void VehicleVectorParam(int param, OMV.Vector3 value) { - PhysScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.VehicleVectorParam", delegate() { BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) @@ -585,7 +585,7 @@ public class BSPrim : BSPhysObject } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { - PhysScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.VehicleRotationParam", delegate() { BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) @@ -597,7 +597,7 @@ public class BSPrim : BSPhysObject } public override void VehicleFlags(int param, bool remove) { - PhysScene.TaintedObject("BSPrim.VehicleFlags", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.VehicleFlags", delegate() { BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) @@ -613,7 +613,7 @@ public class BSPrim : BSPhysObject if (_isVolumeDetect != newValue) { _isVolumeDetect = newValue; - PhysScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.SetVolumeDetect", delegate() { // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); SetObjectDynamic(true); @@ -628,7 +628,7 @@ public class BSPrim : BSPhysObject public override void SetMaterial(int material) { base.SetMaterial(material); - PhysScene.TaintedObject("BSPrim.SetMaterial", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.SetMaterial", delegate() { UpdatePhysicalParameters(); }); @@ -641,7 +641,7 @@ public class BSPrim : BSPhysObject if (base.Friction != value) { base.Friction = value; - PhysScene.TaintedObject("BSPrim.setFriction", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setFriction", delegate() { UpdatePhysicalParameters(); }); @@ -656,7 +656,7 @@ public class BSPrim : BSPhysObject if (base.Restitution != value) { base.Restitution = value; - PhysScene.TaintedObject("BSPrim.setRestitution", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setRestitution", delegate() { UpdatePhysicalParameters(); }); @@ -673,7 +673,7 @@ public class BSPrim : BSPhysObject if (base.Density != value) { base.Density = value; - PhysScene.TaintedObject("BSPrim.setDensity", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setDensity", delegate() { UpdatePhysicalParameters(); }); @@ -688,7 +688,7 @@ public class BSPrim : BSPhysObject if (base.GravModifier != value) { base.GravModifier = value; - PhysScene.TaintedObject("BSPrim.setGravityModifier", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setGravityModifier", delegate() { UpdatePhysicalParameters(); }); @@ -699,7 +699,7 @@ public class BSPrim : BSPhysObject get { return RawVelocity; } set { RawVelocity = value; - PhysScene.TaintedObject("BSPrim.setVelocity", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setVelocity", delegate() { // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, RawVelocity); ForceVelocity = RawVelocity; @@ -745,7 +745,7 @@ public class BSPrim : BSPhysObject return; RawOrientation = value; - PhysScene.TaintedObject("BSPrim.setOrientation", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setOrientation", delegate() { ForceOrientation = RawOrientation; }); @@ -776,7 +776,7 @@ public class BSPrim : BSPhysObject if (_isPhysical != value) { _isPhysical = value; - PhysScene.TaintedObject("BSPrim.setIsPhysical", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setIsPhysical", delegate() { DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); SetObjectDynamic(true); @@ -1020,7 +1020,7 @@ public class BSPrim : BSPhysObject public override bool FloatOnWater { set { _floatOnWater = value; - PhysScene.TaintedObject("BSPrim.setFloatOnWater", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setFloatOnWater", delegate() { if (_floatOnWater) CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); @@ -1037,7 +1037,7 @@ public class BSPrim : BSPhysObject _rotationalVelocity = value; Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity); // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); - PhysScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setRotationalVelocity", delegate() { ForceRotationalVelocity = _rotationalVelocity; }); @@ -1068,7 +1068,7 @@ public class BSPrim : BSPhysObject get { return _buoyancy; } set { _buoyancy = value; - PhysScene.TaintedObject("BSPrim.setBuoyancy", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setBuoyancy", delegate() { ForceBuoyancy = _buoyancy; }); @@ -1142,7 +1142,7 @@ public class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); OMV.Vector3 addForce = force; - PhysScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.AddForce", delegate() { // Bullet adds this central force to the total force for this tick. // Deep down in Bullet: @@ -1172,7 +1172,7 @@ public class BSPrim : BSPhysObject OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude); // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse); - PhysScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.AddImpulse", delegate() { // Bullet adds this impulse immediately to the velocity DetailLog("{0},BSPrim.addForceImpulse,taint,impulseforce={1}", LocalID, addImpulse); @@ -1197,7 +1197,7 @@ public class BSPrim : BSPhysObject if (force.IsFinite()) { OMV.Vector3 angForce = force; - PhysScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.AddAngularForce", delegate() { if (PhysBody.HasPhysicalBody) { @@ -1221,7 +1221,7 @@ public class BSPrim : BSPhysObject public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime) { OMV.Vector3 applyImpulse = impulse; - PhysScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ApplyTorqueImpulse", delegate() { if (PhysBody.HasPhysicalBody) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 531f8fb..840265b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -108,7 +108,7 @@ public class BSPrimLinkable : BSPrimDisplaced set { base.Position = value; - PhysScene.TaintedObject("BSPrimLinkable.setPosition", delegate() + PhysScene.TaintedObject(LocalID, "BSPrimLinkable.setPosition", delegate() { Linkset.UpdateProperties(UpdatedProperties.Position, this); }); @@ -122,7 +122,7 @@ public class BSPrimLinkable : BSPrimDisplaced set { base.Orientation = value; - PhysScene.TaintedObject("BSPrimLinkable.setOrientation", delegate() + PhysScene.TaintedObject(LocalID, "BSPrimLinkable.setOrientation", delegate() { Linkset.UpdateProperties(UpdatedProperties.Orientation, this); }); @@ -304,7 +304,7 @@ public class BSPrimLinkable : BSPrimDisplaced BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[0]; if (Linkset.IsRoot(this)) { - PhysScene.TaintedObject("BSPrim.PhysFunctSetLinksetType", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.PhysFunctSetLinksetType", delegate() { // Cause the linkset type to change DetailLog("{0},BSPrimLinkable.Extension.physSetLinksetType, oldType={1},newType={2}", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index b2ec0e5..24233cc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -157,12 +157,20 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public delegate void TaintCallback(); private struct TaintCallbackEntry { + public String originator; public String ident; public TaintCallback callback; - public TaintCallbackEntry(string i, TaintCallback c) + public TaintCallbackEntry(string pIdent, TaintCallback pCallBack) { - ident = i; - callback = c; + originator = BSScene.DetailLogZero; + ident = pIdent; + callback = pCallBack; + } + public TaintCallbackEntry(string pOrigin, string pIdent, TaintCallback pCallBack) + { + originator = pOrigin; + ident = pIdent; + callback = pCallBack; } } private Object _taintLock = new Object(); // lock for using the next object @@ -888,26 +896,37 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Calls to the PhysicsActors can't directly call into the physics engine // because it might be busy. We delay changes to a known time. // We rely on C#'s closure to save and restore the context for the delegate. - public void TaintedObject(String ident, TaintCallback callback) + public void TaintedObject(string pOriginator, string pIdent, TaintCallback pCallback) { - if (!m_initialized) return; - - lock (_taintLock) - { - _taintOperations.Add(new TaintCallbackEntry(ident, callback)); - } - - return; + TaintedObject(false /*inTaintTime*/, pOriginator, pIdent, pCallback); + } + public void TaintedObject(uint pOriginator, String pIdent, TaintCallback pCallback) + { + TaintedObject(false /*inTaintTime*/, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback); + } + public void TaintedObject(bool inTaintTime, String pIdent, TaintCallback pCallback) + { + TaintedObject(inTaintTime, BSScene.DetailLogZero, pIdent, pCallback); + } + public void TaintedObject(bool inTaintTime, uint pOriginator, String pIdent, TaintCallback pCallback) + { + TaintedObject(inTaintTime, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback); } - // Sometimes a potentially tainted operation can be used in and out of taint time. // This routine executes the command immediately if in taint-time otherwise it is queued. - public void TaintedObject(bool inTaintTime, string ident, TaintCallback callback) + public void TaintedObject(bool inTaintTime, string pOriginator, string pIdent, TaintCallback pCallback) { + if (!m_initialized) return; + if (inTaintTime) - callback(); + pCallback(); else - TaintedObject(ident, callback); + { + lock (_taintLock) + { + _taintOperations.Add(new TaintCallbackEntry(pOriginator, pIdent, pCallback)); + } + } } private void TriggerPreStepEvent(float timeStep) @@ -951,7 +970,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { try { - DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG + DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", tcbe.originator, tcbe.ident); // DEBUG DEBUG DEBUG tcbe.callback(); } catch (Exception e) @@ -1081,7 +1100,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters string xval = val; List xlIDs = lIDs; string xparm = parm; - TaintedObject("BSScene.UpdateParameterSet", delegate() { + TaintedObject(DetailLogZero, "BSScene.UpdateParameterSet", delegate() { BSParam.ParameterDefnBase thisParam; if (BSParam.TryGetParameter(xparm, out thisParam)) { -- cgit v1.1 From d09c35f5063114880aecb94a938bfc49f5af5f7d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Aug 2013 13:09:40 -0700 Subject: BulletSim: pass both root and child BSPhysObjects to Extension function. Update routines to use the new parameters list from above change. --- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 32 ++++++++++++---------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 14 +++++----- 2 files changed, 24 insertions(+), 22 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index b2a9501..a9ae89d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -385,7 +385,7 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfo.frameInAloc, linkInfo.frameInArot, linkInfo.frameInBloc, linkInfo.frameInBrot, true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/); - DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", + DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6}", rootPrim.LocalID, rootPrim.LocalID, rootPrim.PhysBody.AddrString, linkInfo.member.LocalID, linkInfo.member.PhysBody.AddrString, @@ -492,12 +492,12 @@ public sealed class BSLinksetConstraints : BSLinkset object ret = null; switch (pFunct) { - // pParams = [ BSPhysObject child, integer linkType ] + // pParams = [ BSPhysObject root, BSPhysObject child, integer linkType ] case ExtendedPhysics.PhysFunctChangeLinkType: - if (pParams.Length > 1) + if (pParams.Length > 2) { - int requestedType = (int)pParams[1]; - DetailLog("{0},BSLinksetConstraint.SetLinkType,requestedType={1}", LinksetRoot.LocalID, requestedType); + int requestedType = (int)pParams[2]; + DetailLog("{0},BSLinksetConstraint.ChangeLinkType,requestedType={1}", LinksetRoot.LocalID, requestedType); if (requestedType == (int)ConstraintType.FIXED_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.D6_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE @@ -505,9 +505,11 @@ public sealed class BSLinksetConstraints : BSLinkset || requestedType == (int)ConstraintType.CONETWIST_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.SLIDER_CONSTRAINT_TYPE) { - BSPrimLinkable child = pParams[0] as BSPrimLinkable; + BSPrimLinkable child = pParams[1] as BSPrimLinkable; if (child != null) { + DetailLog("{0},BSLinksetConstraint.ChangeLinkType,rootID={1},childID={2},type={3}", + LinksetRoot.LocalID, LinksetRoot.LocalID, child.LocalID, requestedType); m_physicsScene.TaintedObject(child.LocalID, "BSLinksetConstraint.PhysFunctChangeLinkType", delegate() { // Pick up all the constraints currently created. @@ -523,17 +525,17 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfoC.ResetLink(); linkInfoC.constraintType = (ConstraintType)requestedType; ret = (object)true; - DetailLog("{0},BSLinksetConstraint.SetLinkType,link={1},type={2}", + DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}", linkInfo.member.LocalID, linkInfo.member.LocalID, linkInfoC.constraintType); } else { - DetailLog("{0},BSLinksetConstraint.SetLinkType,linkInfoNotConstraint,childID={1}", LinksetRoot.LocalID, child.LocalID); + DetailLog("{0},BSLinksetConstraint.ChangeLinkType,linkInfoNotConstraint,childID={1}", LinksetRoot.LocalID, child.LocalID); } } else { - DetailLog("{0},BSLinksetConstraint.SetLinkType,noLinkInfoForChild,childID={1}", LinksetRoot.LocalID, child.LocalID); + DetailLog("{0},BSLinksetConstraint.ChangeLinkType,noLinkInfoForChild,childID={1}", LinksetRoot.LocalID, child.LocalID); } // Cause the whole linkset to be rebuilt in post-taint time. Refresh(child); @@ -551,11 +553,11 @@ public sealed class BSLinksetConstraints : BSLinkset } } break; - // pParams = [] + // pParams = [ BSPhysObject root, BSPhysObject child ] case ExtendedPhysics.PhysFunctGetLinkType: if (pParams.Length > 0) { - BSPrimLinkable child = pParams[0] as BSPrimLinkable; + BSPrimLinkable child = pParams[1] as BSPrimLinkable; if (child != null) { BSLinkInfo linkInfo = null; @@ -573,14 +575,14 @@ public sealed class BSLinksetConstraints : BSLinkset } } break; - // pParams = [ BSPhysObject child, int op, object opParams, int op, object opParams, ... ] + // pParams = [ BSPhysObject root, BSPhysObject child, int op, object opParams, int op, object opParams, ... ] case ExtendedPhysics.PhysFunctChangeLinkParams: // There should be two parameters: the childActor and a list of parameters to set try { - if (pParams.Length > 1) + if (pParams.Length > 2) { - BSPrimLinkable child = pParams[0] as BSPrimLinkable; + BSPrimLinkable child = pParams[1] as BSPrimLinkable; BSLinkInfo baseLinkInfo = null; if (TryGetLinkInfo(child, out baseLinkInfo)) { @@ -592,7 +594,7 @@ public sealed class BSLinksetConstraints : BSLinkset OMV.Vector3 valueVector; OMV.Quaternion valueQuaternion; - int opIndex = 1; + int opIndex = 2; while (opIndex < pParams.Length) { int thisOp = (int)pParams[opIndex]; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 840265b..126b146 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -288,7 +288,7 @@ public class BSPrimLinkable : BSPrimDisplaced switch (pFunct) { // physGetLinksetType(); - // pParams = [] + // pParams = [ BSPhysObject root, null ] case ExtendedPhysics.PhysFunctGetLinksetType: { ret = (object)LinksetType; @@ -296,12 +296,12 @@ public class BSPrimLinkable : BSPrimDisplaced break; } // physSetLinksetType(type); - // pParams = [ BSPhysObject child, integer type ] + // pParams = [ BSPhysObject root, null, integer type ] case ExtendedPhysics.PhysFunctSetLinksetType: { - if (pParams.Length > 0) + if (pParams.Length > 2) { - BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[0]; + BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[2]; if (Linkset.IsRoot(this)) { PhysScene.TaintedObject(LocalID, "BSPrim.PhysFunctSetLinksetType", delegate() @@ -317,21 +317,21 @@ public class BSPrimLinkable : BSPrimDisplaced break; } // physChangeLinkType(linknum, typeCode); - // pParams = [ BSPhysObject child, integer linkType ] + // pParams = [ BSPhysObject root, BSPhysObject child, integer linkType ] case ExtendedPhysics.PhysFunctChangeLinkType: { ret = Linkset.Extension(pFunct, pParams); break; } // physGetLinkType(linknum); - // pParams = [ BSPhysObject child ] + // pParams = [ BSPhysObject root, BSPhysObject child ] case ExtendedPhysics.PhysFunctGetLinkType: { ret = Linkset.Extension(pFunct, pParams); break; } // physChangeLinkParams(linknum, [code, value, code, value, ...]); - // pParams = [ BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ] + // pParams = [ BSPhysObject root, BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ] case ExtendedPhysics.PhysFunctChangeLinkParams: { ret = Linkset.Extension(pFunct, pParams); -- cgit v1.1 From 67195618d580eb6cd848cf1e6462572ad2b2b118 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 22 Aug 2013 09:07:58 -0700 Subject: BulletSim: add requestor's ID to post taint detail log message. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 24233cc..b3dfa41 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -987,10 +987,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // will replace any previous operation by the same object. public void PostTaintObject(String ident, uint ID, TaintCallback callback) { - string uniqueIdent = ident + "-" + ID.ToString(); + string IDAsString = ID.ToString(); + string uniqueIdent = ident + "-" + IDAsString; lock (_taintLock) { - _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback); + _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(IDAsString, uniqueIdent, callback); } return; -- cgit v1.1 From 30b3657a66e5a4012b96baae2c0424ec13409f83 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 22 Aug 2013 09:08:58 -0700 Subject: BulletSim: implementation of setting spring specific physical parameters. Add setting of linkset type to physChangeLinkParams. Lots of detail logging for setting of linkset constraint parameters. --- .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 16 ++++--- .../Physics/BulletSPlugin/BSConstraintSpring.cs | 43 ++++++++++-------- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 52 +++++++++++++++++----- 3 files changed, 76 insertions(+), 35 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index 5008ff7..7fcb75c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -59,9 +59,11 @@ public class BSConstraint6Dof : BSConstraint frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); m_enabled = true; - world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - BSScene.DetailLogZero, world.worldID, + PhysicsScene.DetailLog("{0},BS6DofConstraint,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + m_body1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + PhysicsScene.DetailLog("{0},BS6DofConstraint,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}", + m_body1.ID, frame1, frame1rot, frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); } // 6 Dof constraint based on a midpoint between the two constrained bodies @@ -86,9 +88,11 @@ public class BSConstraint6Dof : BSConstraint m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2, joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", - BSScene.DetailLogZero, world.worldID, m_constraint.AddrString, + m_body1.ID, world.worldID, m_constraint.AddrString, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + if (!m_constraint.HasPhysicalConstraint) { world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", @@ -113,8 +117,10 @@ public class BSConstraint6Dof : BSConstraint frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); m_enabled = true; - world.physicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", - BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.AddrString); + PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", + m_body1.ID, world.worldID, obj1.ID, obj1.AddrString); + PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed, fBLoc={1},fBRot={2},usefA={3},disCol={4}", + m_body1.ID, frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); } public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs index 01d67d4..410584d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs @@ -47,37 +47,42 @@ public sealed class BSConstraintSpring : BSConstraint6Dof useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); m_enabled = true; - world.physicsScene.DetailLog("{0},BSConstraintSpring,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - BSScene.DetailLogZero, world.worldID, - obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + PhysicsScene.DetailLog("{0},BSConstraintSpring,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}", + m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); } - public bool SetEnable(int index, bool axisEnable) + public bool SetEnable(int pIndex, bool pAxisEnable) { - bool ret = false; - - return ret; + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}", + m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable); + PhysicsScene.PE.SpringEnable(m_constraint, pIndex, BSParam.NumericBool(pAxisEnable)); + return true; } - public bool SetStiffness(int index, float stiffness) + public bool SetStiffness(int pIndex, float pStiffness) { - bool ret = false; - - return ret; + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},enable={4}", + m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness); + PhysicsScene.PE.SpringSetStiffness(m_constraint, pIndex, pStiffness); + return true; } - public bool SetDamping(int index, float damping) + public bool SetDamping(int pIndex, float pDamping) { - bool ret = false; - - return ret; + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},enable={4}", + m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping); + PhysicsScene.PE.SpringSetDamping(m_constraint, pIndex, pDamping); + return true; } - public bool SetEquilibriumPoint(int index, float eqPoint) + public bool SetEquilibriumPoint(int pIndex, float pEqPoint) { - bool ret = false; - - return ret; + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},enable={4}", + m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint); + return true; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index a9ae89d..be97c29 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -67,6 +67,7 @@ public sealed class BSLinksetConstraints : BSLinkset { constraint = null; ResetLink(); + member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.creation", member.LocalID); } // Set all the parameters for this constraint to a fixed, non-movable constraint. @@ -91,11 +92,13 @@ public sealed class BSLinksetConstraints : BSLinkset frameInBrot = OMV.Quaternion.Identity; springDamping = -1f; springStiffness = -1f; + member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID); } // Given a constraint, apply the current constraint parameters to same. public override void SetLinkParameters(BSConstraint constrain) { + member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.SetLinkParameters,type={1}", member.LocalID, constraintType); switch (constraintType) { case ConstraintType.FIXED_CONSTRAINT_TYPE: @@ -139,7 +142,7 @@ public sealed class BSLinksetConstraints : BSLinkset if (springDamping != -1) constrainSpring.SetDamping(ii, springDamping); if (springStiffness != -1) - constrainSpring.SetStiffness(ii, springStiffness); + constrainSpring.SetStiffness(ii, springStiffness); } } break; @@ -155,7 +158,6 @@ public sealed class BSLinksetConstraints : BSLinkset public override bool ShouldUpdateChildProperties() { bool ret = true; - if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE) ret = false; @@ -193,10 +195,16 @@ public sealed class BSLinksetConstraints : BSLinkset { // Queue to happen after all the other taint processing m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() + { + if (HasAnyChildren) { - if (HasAnyChildren) - RecomputeLinksetConstraints(); - }); + // Constraints that have not been changed are not rebuild but make sure + // the constraint of the requestor is rebuilt. + PhysicallyUnlinkAChildFromRoot(LinksetRoot, requestor); + // Rebuild the linkset and all its constraints. + RecomputeLinksetConstraints(); + } + }); } } @@ -415,13 +423,22 @@ public sealed class BSLinksetConstraints : BSLinkset rootPrim.LocalID, rootPrim.PhysBody.AddrString, childPrim.LocalID, childPrim.PhysBody.AddrString); - // Find the constraint for this link and get rid of it from the overall collection and from my list - if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) + // If asked to unlink root from root, just remove all the constraints + if (rootPrim == childPrim || childPrim == LinksetRoot) { - // Make the child refresh its location - m_physicsScene.PE.PushUpdate(childPrim.PhysBody); + PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); ret = true; } + else + { + // Find the constraint for this link and get rid of it from the overall collection and from my list + if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) + { + // Make the child refresh its location + m_physicsScene.PE.PushUpdate(childPrim.PhysBody); + ret = true; + } + } return ret; } @@ -521,8 +538,6 @@ public sealed class BSLinksetConstraints : BSLinkset BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; if (linkInfoC != null) { - // Setting to fixed is easy. The reset state is the fixed link configuration. - linkInfoC.ResetLink(); linkInfoC.constraintType = (ConstraintType)requestedType; ret = (object)true; DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}", @@ -589,6 +604,7 @@ public sealed class BSLinksetConstraints : BSLinkset BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; if (linkInfo != null) { + int valueInt; float valueFloat; bool valueBool; OMV.Vector3 valueVector; @@ -602,6 +618,20 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); switch (thisOp) { + case ExtendedPhysics.PHYS_PARAM_LINK_TYPE: + valueInt = (int)pParams[opIndex + 1]; + ConstraintType valueType = (ConstraintType)valueInt; + if (valueType == ConstraintType.FIXED_CONSTRAINT_TYPE + || valueType == ConstraintType.D6_CONSTRAINT_TYPE + || valueType == ConstraintType.D6_SPRING_CONSTRAINT_TYPE + || valueType == ConstraintType.HINGE_CONSTRAINT_TYPE + || valueType == ConstraintType.CONETWIST_CONSTRAINT_TYPE + || valueType == ConstraintType.SLIDER_CONSTRAINT_TYPE) + { + linkInfo.constraintType = valueType; + } + opIndex += 2; + break; case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.frameInAloc = valueVector; -- cgit v1.1 From 7c54630a2dde768e92b3034d76314cb1e061c348 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 22 Aug 2013 16:31:17 -0700 Subject: BulletSim: add axis parameter for specifying enable, damping, and stiffness for spring constraints. Renumber parameter ops since I can as no one is using them yet. --- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 2 +- .../Physics/BulletSPlugin/BSConstraintSpring.cs | 2 +- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 51 +++++++++++++++------- 3 files changed, 38 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 9d8838b..0b3f467 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -292,7 +292,7 @@ public enum ConstraintParamAxis : int AXIS_ANGULAR_X, AXIS_ANGULAR_Y, AXIS_ANGULAR_Z, - AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls + AXIS_LINEAR_ALL = 20, // added by BulletSim so we don't have to do zillions of calls AXIS_ANGULAR_ALL, AXIS_ALL }; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs index 410584d..432e5b2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs @@ -53,7 +53,7 @@ public sealed class BSConstraintSpring : BSConstraint6Dof m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); } - public bool SetEnable(int pIndex, bool pAxisEnable) + public bool SetAxisEnable(int pIndex, bool pAxisEnable) { PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}", m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index be97c29..f623231 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -1,4 +1,4 @@ -/* +/* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * @@ -59,8 +59,9 @@ public sealed class BSLinksetConstraints : BSLinkset public OMV.Vector3 frameInBloc; public OMV.Quaternion frameInBrot; // Spring - public float springDamping; - public float springStiffness; + public bool[] springAxisEnable; + public float[] springDamping; + public float[] springStiffness; public BSLinkInfoConstraint(BSPrimLinkable pMember) : base(pMember) @@ -90,8 +91,15 @@ public sealed class BSLinksetConstraints : BSLinkset frameInArot = OMV.Quaternion.Identity; frameInBloc = OMV.Vector3.Zero; frameInBrot = OMV.Quaternion.Identity; - springDamping = -1f; - springStiffness = -1f; + springAxisEnable = new bool[6]; + springDamping = new float[6]; + springStiffness = new float[6]; + for (int ii = 0; ii < springAxisEnable.Length; ii++) + { + springAxisEnable[ii] = false; + springDamping[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; + springStiffness[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; + } member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID); } @@ -139,11 +147,13 @@ public sealed class BSLinksetConstraints : BSLinkset } for (int ii = 0; ii < 6; ii++) { - if (springDamping != -1) - constrainSpring.SetDamping(ii, springDamping); - if (springStiffness != -1) - constrainSpring.SetStiffness(ii, springStiffness); + constrainSpring.SetAxisEnable(ii, springAxisEnable[ii]); + if (springDamping[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED) + constrainSpring.SetDamping(ii, springDamping[ii]); + if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED) + constrainSpring.SetStiffness(ii, springStiffness[ii]); } + constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED); } break; default: @@ -707,15 +717,26 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfo.solverIterations = valueFloat; opIndex += 2; break; + case ExtendedPhysics.PHYS_PARAM_SPRING_AXIS_ENABLE: + valueInt = (int)pParams[opIndex + 1]; + valueBool = ((int)pParams[opIndex + 2] != 0); + if (valueInt >=0 && valueInt < linkInfo.springAxisEnable.Length) + linkInfo.springAxisEnable[valueInt] = valueBool; + opIndex += 3; + break; case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: - valueFloat = (float)pParams[opIndex + 1]; - linkInfo.springDamping = valueFloat; - opIndex += 2; + valueInt = (int)pParams[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 2]; + if (valueInt >=0 && valueInt < linkInfo.springDamping.Length) + linkInfo.springDamping[valueInt] = valueFloat; + opIndex += 3; break; case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: - valueFloat = (float)pParams[opIndex + 1]; - linkInfo.springStiffness = valueFloat; - opIndex += 2; + valueInt = (int)pParams[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 2]; + if (valueInt >=0 && valueInt < linkInfo.springStiffness.Length) + linkInfo.springStiffness[valueInt] = valueFloat; + opIndex += 3; break; default: break; -- cgit v1.1 From cf2cdc191d0a93860da1ff4c42d34138e8f369fb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 24 Aug 2013 08:33:28 -0700 Subject: BulletSim: ability to specify groups of axis to modify in constraint parameters that control multiple axis. Add useLinearReferenceFrameA constraint parameter. --- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 53 ++++++++++++++++++---- 1 file changed, 45 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index f623231..ff5ac0e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -58,6 +58,7 @@ public sealed class BSLinksetConstraints : BSLinkset public OMV.Quaternion frameInArot; public OMV.Vector3 frameInBloc; public OMV.Quaternion frameInBrot; + public bool useLinearReferenceFrameA; // Spring public bool[] springAxisEnable; public float[] springDamping; @@ -91,6 +92,7 @@ public sealed class BSLinksetConstraints : BSLinkset frameInArot = OMV.Quaternion.Identity; frameInBloc = OMV.Vector3.Zero; frameInBrot = OMV.Quaternion.Identity; + useLinearReferenceFrameA = true; springAxisEnable = new bool[6]; springDamping = new float[6]; springStiffness = new float[6]; @@ -145,7 +147,7 @@ public sealed class BSLinksetConstraints : BSLinkset { constrainSpring.SetSolverIterations(solverIterations); } - for (int ii = 0; ii < 6; ii++) + for (int ii = 0; ii < springAxisEnable.Length; ii++) { constrainSpring.SetAxisEnable(ii, springAxisEnable[ii]); if (springDamping[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED) @@ -401,7 +403,7 @@ public sealed class BSLinksetConstraints : BSLinkset case ConstraintType.D6_SPRING_CONSTRAINT_TYPE: constrain = new BSConstraintSpring(m_physicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody, linkInfo.frameInAloc, linkInfo.frameInArot, linkInfo.frameInBloc, linkInfo.frameInBrot, - true /*useLinearReferenceFrameA*/, + linkInfo.useLinearReferenceFrameA, true /*disableCollisionsBetweenLinkedBodies*/); DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6}", rootPrim.LocalID, @@ -619,6 +621,7 @@ public sealed class BSLinksetConstraints : BSLinkset bool valueBool; OMV.Vector3 valueVector; OMV.Quaternion valueQuaternion; + int axisLow, axisHigh; int opIndex = 2; while (opIndex < pParams.Length) @@ -720,24 +723,32 @@ public sealed class BSLinksetConstraints : BSLinkset case ExtendedPhysics.PHYS_PARAM_SPRING_AXIS_ENABLE: valueInt = (int)pParams[opIndex + 1]; valueBool = ((int)pParams[opIndex + 2] != 0); - if (valueInt >=0 && valueInt < linkInfo.springAxisEnable.Length) - linkInfo.springAxisEnable[valueInt] = valueBool; + GetAxisRange(valueInt, out axisLow, out axisHigh); + for (int ii = axisLow; ii <= axisHigh; ii++) + linkInfo.springAxisEnable[ii] = valueBool; opIndex += 3; break; case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: valueInt = (int)pParams[opIndex + 1]; valueFloat = (float)pParams[opIndex + 2]; - if (valueInt >=0 && valueInt < linkInfo.springDamping.Length) - linkInfo.springDamping[valueInt] = valueFloat; + GetAxisRange(valueInt, out axisLow, out axisHigh); + for (int ii = axisLow; ii <= axisHigh; ii++) + linkInfo.springDamping[ii] = valueFloat; opIndex += 3; break; case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: valueInt = (int)pParams[opIndex + 1]; valueFloat = (float)pParams[opIndex + 2]; - if (valueInt >=0 && valueInt < linkInfo.springStiffness.Length) - linkInfo.springStiffness[valueInt] = valueFloat; + GetAxisRange(valueInt, out axisLow, out axisHigh); + for (int ii = axisLow; ii <= axisHigh; ii++) + linkInfo.springStiffness[ii] = valueFloat; opIndex += 3; break; + case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA: + valueBool = (bool)pParams[opIndex + 1]; + linkInfo.useLinearReferenceFrameA = valueBool; + opIndex += 2; + break; default: break; } @@ -760,6 +771,32 @@ public sealed class BSLinksetConstraints : BSLinkset } return ret; } + + // Bullet constraints keep some limit parameters for each linear and angular axis. + // Setting same is easier if there is an easy way to see all or types. + // This routine returns the array limits for the set of axis. + private void GetAxisRange(int rangeSpec, out int low, out int high) + { + switch (rangeSpec) + { + case ExtendedPhysics.PHYS_AXIS_ALL_LINEAR: + low = 0; + high = 2; + break; + case ExtendedPhysics.PHYS_AXIS_ALL_ANGULAR: + low = 3; + high = 5; + break; + case ExtendedPhysics.PHYS_AXIS_ALL: + low = 0; + high = 5; + break; + default: + low = high = rangeSpec; + break; + } + return; + } #endregion // Extension } -- cgit v1.1 From 5827b6e1aabf2e19624faf0141b9611917fb84c5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 4 Sep 2013 07:56:59 -0700 Subject: BulletSim: add extended physics LSL constants for axis specification. Add specific error warnings for mis-matched parameter types in extended physics functions. --- .../Physics/BulletSPlugin/BSConstraintSpring.cs | 6 +- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 89 ++++++++++++++-------- 2 files changed, 60 insertions(+), 35 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs index 432e5b2..652c94a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs @@ -63,7 +63,7 @@ public sealed class BSConstraintSpring : BSConstraint6Dof public bool SetStiffness(int pIndex, float pStiffness) { - PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},enable={4}", + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},stiff={4}", m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness); PhysicsScene.PE.SpringSetStiffness(m_constraint, pIndex, pStiffness); return true; @@ -71,7 +71,7 @@ public sealed class BSConstraintSpring : BSConstraint6Dof public bool SetDamping(int pIndex, float pDamping) { - PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},enable={4}", + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},damp={4}", m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping); PhysicsScene.PE.SpringSetDamping(m_constraint, pIndex, pDamping); return true; @@ -79,7 +79,7 @@ public sealed class BSConstraintSpring : BSConstraint6Dof public bool SetEquilibriumPoint(int pIndex, float pEqPoint) { - PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},enable={4}", + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},eqPoint={4}", m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint); PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint); return true; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index ff5ac0e..b3347bf 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -605,30 +605,32 @@ public sealed class BSLinksetConstraints : BSLinkset // pParams = [ BSPhysObject root, BSPhysObject child, int op, object opParams, int op, object opParams, ... ] case ExtendedPhysics.PhysFunctChangeLinkParams: // There should be two parameters: the childActor and a list of parameters to set - try + if (pParams.Length > 2) { - if (pParams.Length > 2) + BSPrimLinkable child = pParams[1] as BSPrimLinkable; + BSLinkInfo baseLinkInfo = null; + if (TryGetLinkInfo(child, out baseLinkInfo)) { - BSPrimLinkable child = pParams[1] as BSPrimLinkable; - BSLinkInfo baseLinkInfo = null; - if (TryGetLinkInfo(child, out baseLinkInfo)) + BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; + if (linkInfo != null) { - BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; - if (linkInfo != null) + int valueInt; + float valueFloat; + bool valueBool; + OMV.Vector3 valueVector; + OMV.Quaternion valueQuaternion; + int axisLow, axisHigh; + + int opIndex = 2; + while (opIndex < pParams.Length) { - int valueInt; - float valueFloat; - bool valueBool; - OMV.Vector3 valueVector; - OMV.Quaternion valueQuaternion; - int axisLow, axisHigh; - - int opIndex = 2; - while (opIndex < pParams.Length) + int thisOp = 0; + string errMsg = ""; + try { - int thisOp = (int)pParams[opIndex]; + thisOp = (int)pParams[opIndex]; DetailLog("{0},BSLinksetConstraint.ChangeLinkParams2,op={1},val={2}", - linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); + linkInfo.member.LocalID, thisOp, pParams[opIndex + 1]); switch (thisOp) { case ExtendedPhysics.PHYS_PARAM_LINK_TYPE: @@ -646,89 +648,106 @@ public sealed class BSLinksetConstraints : BSLinkset opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: + errMsg = "PHYS_PARAM_FRAMEINA_LOC takes one parameter of type vector"; valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.frameInAloc = valueVector; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: + errMsg = "PHYS_PARAM_FRAMEINA_ROT takes one parameter of type rotation"; valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1]; linkInfo.frameInArot = valueQuaternion; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: + errMsg = "PHYS_PARAM_FRAMEINB_LOC takes one parameter of type vector"; valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.frameInBloc = valueVector; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: + errMsg = "PHYS_PARAM_FRAMEINB_ROT takes one parameter of type rotation"; valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1]; linkInfo.frameInBrot = valueQuaternion; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: + errMsg = "PHYS_PARAM_LINEAR_LIMIT_LOW takes one parameter of type vector"; valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.linearLimitLow = valueVector; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: + errMsg = "PHYS_PARAM_LINEAR_LIMIT_HIGH takes one parameter of type vector"; valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.linearLimitHigh = valueVector; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: + errMsg = "PHYS_PARAM_ANGULAR_LIMIT_LOW takes one parameter of type vector"; valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.angularLimitLow = valueVector; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: + errMsg = "PHYS_PARAM_ANGULAR_LIMIT_HIGH takes one parameter of type vector"; valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.angularLimitHigh = valueVector; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: - valueBool = (bool)pParams[opIndex + 1]; + errMsg = "PHYS_PARAM_USE_FRAME_OFFSET takes one parameter of type integer (bool)"; + valueBool = ((int)pParams[opIndex + 1]) != 0; linkInfo.useFrameOffset = valueBool; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: - valueBool = (bool)pParams[opIndex + 1]; + errMsg = "PHYS_PARAM_ENABLE_TRANSMOTOR takes one parameter of type integer (bool)"; + valueBool = ((int)pParams[opIndex + 1]) != 0; linkInfo.enableTransMotor = valueBool; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: + errMsg = "PHYS_PARAM_TRANSMOTOR_MAXVEL takes one parameter of type float"; valueFloat = (float)pParams[opIndex + 1]; linkInfo.transMotorMaxVel = valueFloat; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: + errMsg = "PHYS_PARAM_TRANSMOTOR_MAXFORCE takes one parameter of type float"; valueFloat = (float)pParams[opIndex + 1]; linkInfo.transMotorMaxForce = valueFloat; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_CFM: + errMsg = "PHYS_PARAM_CFM takes one parameter of type float"; valueFloat = (float)pParams[opIndex + 1]; linkInfo.cfm = valueFloat; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ERP: + errMsg = "PHYS_PARAM_ERP takes one parameter of type float"; valueFloat = (float)pParams[opIndex + 1]; linkInfo.erp = valueFloat; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: + errMsg = "PHYS_PARAM_SOLVER_ITERATIONS takes one parameter of type float"; valueFloat = (float)pParams[opIndex + 1]; linkInfo.solverIterations = valueFloat; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_SPRING_AXIS_ENABLE: + errMsg = "PHYS_PARAM_SPRING_AXIS_ENABLE takes two parameters of types integer and integer (bool)"; valueInt = (int)pParams[opIndex + 1]; - valueBool = ((int)pParams[opIndex + 2] != 0); + valueBool = ((int)pParams[opIndex + 2]) != 0; GetAxisRange(valueInt, out axisLow, out axisHigh); for (int ii = axisLow; ii <= axisHigh; ii++) linkInfo.springAxisEnable[ii] = valueBool; opIndex += 3; break; case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: + errMsg = "PHYS_PARAM_SPRING_DAMPING takes two parameters of types integer and float"; valueInt = (int)pParams[opIndex + 1]; valueFloat = (float)pParams[opIndex + 2]; GetAxisRange(valueInt, out axisLow, out axisHigh); @@ -737,6 +756,7 @@ public sealed class BSLinksetConstraints : BSLinkset opIndex += 3; break; case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: + errMsg = "PHYS_PARAM_SPRING_STIFFNESS takes two parameters of types integer and float"; valueInt = (int)pParams[opIndex + 1]; valueFloat = (float)pParams[opIndex + 2]; GetAxisRange(valueInt, out axisLow, out axisHigh); @@ -745,7 +765,8 @@ public sealed class BSLinksetConstraints : BSLinkset opIndex += 3; break; case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA: - valueBool = (bool)pParams[opIndex + 1]; + errMsg = "PHYS_PARAM_USE_LINEAR_FRAMEA takes one parameter of type integer (bool)"; + valueBool = ((int)pParams[opIndex + 1]) != 0; linkInfo.useLinearReferenceFrameA = valueBool; opIndex += 2; break; @@ -753,18 +774,22 @@ public sealed class BSLinksetConstraints : BSLinkset break; } } + catch (InvalidCastException e) + { + m_physicsScene.Logger.WarnFormat("{0} value of wrong type in physSetLinksetParams: {1}, err={2}", + LogHeader, errMsg, e); + } + catch (Exception e) + { + m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e); + } } - // Something changed so a rebuild is in order - Refresh(child); } + // Something changed so a rebuild is in order + Refresh(child); } } - catch (Exception e) - { - // There are many ways to mess up the parameters. If not just right don't fail without some error. - m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e); - } - break; + break; default: ret = base.Extension(pFunct, pParams); break; @@ -779,11 +804,11 @@ public sealed class BSLinksetConstraints : BSLinkset { switch (rangeSpec) { - case ExtendedPhysics.PHYS_AXIS_ALL_LINEAR: + case ExtendedPhysics.PHYS_AXIS_LINEAR_ALL: low = 0; high = 2; break; - case ExtendedPhysics.PHYS_AXIS_ALL_ANGULAR: + case ExtendedPhysics.PHYS_AXIS_ANGULAR_ALL: low = 3; high = 5; break; -- cgit v1.1 From c5eabb28b4c933cfacefa85381e290372fbc094e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 9 Sep 2013 14:53:16 -0700 Subject: BulletSim: add LSL function and plumbing for setting a spring equilibrium point in the physics engine constraint. --- OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 6 +++++- .../Physics/BulletSPlugin/BSConstraintSpring.cs | 13 +++++++++++++ .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 20 +++++++++++++++++++- 3 files changed, 37 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 42b5c49..b47e9a8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -64,7 +64,7 @@ public abstract class BSConstraint : IDisposable { bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint); m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", - BSScene.DetailLogZero, + m_body1.ID, m_body1.ID, m_body1.AddrString, m_body2.ID, m_body2.AddrString, success); @@ -77,7 +77,10 @@ public abstract class BSConstraint : IDisposable { bool ret = false; if (m_enabled) + { + m_world.physicsScene.DetailLog("{0},BSConstraint.SetLinearLimits,taint,low={1},high={2}", m_body1.ID, low, high); ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high); + } return ret; } @@ -86,6 +89,7 @@ public abstract class BSConstraint : IDisposable bool ret = false; if (m_enabled) { + m_world.physicsScene.DetailLog("{0},BSConstraint.SetAngularLimits,taint,low={1},high={2}", m_body1.ID, low, high); ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high); } return ret; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs index 652c94a..8e7ddff 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs @@ -85,6 +85,19 @@ public sealed class BSConstraintSpring : BSConstraint6Dof return true; } + public bool SetEquilibriumPoint(Vector3 linearEq, Vector3 angularEq) + { + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},linearEq={3},angularEq={4}", + m_body1.ID, m_body1.ID, m_body2.ID, linearEq, angularEq); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 0, linearEq.X); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 1, linearEq.Y); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 2, linearEq.Z); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 3, angularEq.X); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 4, angularEq.Y); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 5, angularEq.Z); + return true; + } + } } \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index b3347bf..aaf92c8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -63,6 +63,8 @@ public sealed class BSLinksetConstraints : BSLinkset public bool[] springAxisEnable; public float[] springDamping; public float[] springStiffness; + public OMV.Vector3 springLinearEquilibriumPoint; + public OMV.Vector3 springAngularEquilibriumPoint; public BSLinkInfoConstraint(BSPrimLinkable pMember) : base(pMember) @@ -102,6 +104,8 @@ public sealed class BSLinksetConstraints : BSLinkset springDamping[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; springStiffness[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; } + springLinearEquilibriumPoint = OMV.Vector3.Zero; + springAngularEquilibriumPoint = OMV.Vector3.Zero; member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID); } @@ -155,7 +159,12 @@ public sealed class BSLinksetConstraints : BSLinkset if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED) constrainSpring.SetStiffness(ii, springStiffness[ii]); } - constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED); + constrainSpring.CalculateTransforms(); + + if (springLinearEquilibriumPoint != OMV.Vector3.Zero) + constrainSpring.SetEquilibriumPoint(springLinearEquilibriumPoint, springAngularEquilibriumPoint); + else + constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED); } break; default: @@ -618,6 +627,7 @@ public sealed class BSLinksetConstraints : BSLinkset float valueFloat; bool valueBool; OMV.Vector3 valueVector; + OMV.Vector3 valueVector2; OMV.Quaternion valueQuaternion; int axisLow, axisHigh; @@ -764,6 +774,14 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfo.springStiffness[ii] = valueFloat; opIndex += 3; break; + case ExtendedPhysics.PHYS_PARAM_SPRING_EQUILIBRIUM_POINT: + errMsg = "PHYS_PARAM_SPRING_EQUILIBRIUM_POINT takes two parameters of type vector"; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; + valueVector2 = (OMV.Vector3)pParams[opIndex + 2]; + linkInfo.springLinearEquilibriumPoint = valueVector; + linkInfo.springAngularEquilibriumPoint = valueVector2; + opIndex += 3; + break; case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA: errMsg = "PHYS_PARAM_USE_LINEAR_FRAMEA takes one parameter of type integer (bool)"; valueBool = ((int)pParams[opIndex + 1]) != 0; -- cgit v1.1 From 6e39cc316f502855a89c51775e7394b73135ab86 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 10 Sep 2013 17:32:01 -0700 Subject: BulletSim: add ClearCollisionProxyCache function to API. Add proxy cache clearing when some properties are changed. This fixes a problem where objects would stop colliding of they were moved with setPosition mulitple times. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 10 ++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 13 +++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 2 ++ OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 12 ++++++++++-- 4 files changed, 35 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 8dfb01c..3bd81d4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -725,6 +725,13 @@ public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj) return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr); } +public override bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.ClearCollisionProxyCache2(worldu.ptr, bodyu.ptr); +} + public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) { BulletWorldUnman worldu = world as BulletWorldUnman; @@ -1713,6 +1720,9 @@ public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ClearCollisionProxyCache2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index ff2b497..17ebed2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -169,6 +169,19 @@ private sealed class BulletConstraintXNA : BulletConstraint return true; } + public override bool ClearCollisionProxyCache(BulletWorld pWorld, BulletBody pBody) + { + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + CollisionObject collisionObject = ((BulletBodyXNA)pBody).body; + if (body != null && collisionObject != null && collisionObject.GetBroadphaseHandle() != null) + { + world.RemoveCollisionObject(collisionObject); + world.AddCollisionObject(collisionObject); + } + return true; + } + public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects) { DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 0b3f467..f7dd158 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -498,6 +498,8 @@ public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj); public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj); +public abstract bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj); + public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects); public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 2efb1a5..47df611 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -300,8 +300,16 @@ public abstract class BSPhysObject : PhysicsActor // Called in taint-time!! public void ActivateIfPhysical(bool forceIt) { - if (IsPhysical && PhysBody.HasPhysicalBody) - PhysScene.PE.Activate(PhysBody, forceIt); + if (PhysBody.HasPhysicalBody) + { + // Clear the collision cache since we've changed some properties. + PhysScene.PE.ClearCollisionProxyCache(PhysScene.World, PhysBody); + if (IsPhysical) + { + // Physical objects might need activating + PhysScene.PE.Activate(PhysBody, forceIt); + } + } } // 'actors' act on the physical object to change or constrain its motion. These can range from -- cgit v1.1 From dacc20ee48883efe3702c284edff5ee3fa0e96b0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 11 Sep 2013 16:48:15 -0700 Subject: BulletSim: remove collision cache clearing logic for physical objects. This fixes constraints from getting messed up when properties change. --- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 47df611..f89b376 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -302,13 +302,16 @@ public abstract class BSPhysObject : PhysicsActor { if (PhysBody.HasPhysicalBody) { - // Clear the collision cache since we've changed some properties. - PhysScene.PE.ClearCollisionProxyCache(PhysScene.World, PhysBody); if (IsPhysical) { // Physical objects might need activating PhysScene.PE.Activate(PhysBody, forceIt); } + else + { + // Clear the collision cache since we've changed some properties. + PhysScene.PE.ClearCollisionProxyCache(PhysScene.World, PhysBody); + } } } -- cgit v1.1 From 07d7a5fd76460a16b97d285a1b2c4a101e5543b6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 20 Sep 2013 09:36:19 -0700 Subject: BulletSim: zero velocity when avatar not moving. This fixes a movement jitter that happens when an avatar is standing on a tilted surface. --- OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs | 1 + 1 file changed, 1 insertion(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 04a4a32..8ca55e5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -278,6 +278,7 @@ public class BSActorAvatarMove : BSActor if (m_controllingPrim.IsStationary) { entprop.Position = m_controllingPrim.RawPosition; + entprop.Velocity = OMV.Vector3.Zero; m_physicsScene.PE.SetTranslation(m_controllingPrim.PhysBody, entprop.Position, entprop.Rotation); } -- cgit v1.1 From 35a6361b2431abf9d49b4413c5b9eaac51934134 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 20 Sep 2013 09:23:12 -0700 Subject: BulletSim: reduce avatar walking stopped threshold. Add parameter for setting the walking stopped threshold. This fixes the slight jump when an avatar stops walking. --- OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 +++ 2 files changed, 4 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 8ca55e5..1bcf879 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -128,6 +128,7 @@ public class BSActorAvatarMove : BSActor BSMotor.Infinite, // decay time scale 1f // efficiency ); + m_velocityMotor.ErrorZeroThreshold = BSParam.AvatarStopZeroThreshold; // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. SetVelocityAndTarget(m_controllingPrim.RawVelocity, m_controllingPrim.TargetVelocity, true /* inTaintTime */); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 2f1799b..43aa63e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -134,6 +134,7 @@ public static class BSParam public static float AvatarHeightMidFudge { get; private set; } public static float AvatarHeightHighFudge { get; private set; } public static float AvatarContactProcessingThreshold { get; private set; } + public static float AvatarStopZeroThreshold { get; private set; } public static int AvatarJumpFrames { get; private set; } public static float AvatarBelowGroundUpCorrectionMeters { get; private set; } public static float AvatarStepHeight { get; private set; } @@ -575,6 +576,8 @@ public static class BSParam 0.1f ), new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 0.1f ), + new ParameterDefn("AvatarStopZeroThreshold", "Movement velocity below which avatar is assumed to be stopped", + 0.1f ), new ParameterDefn("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground", 1.0f ), new ParameterDefn("AvatarJumpFrames", "Number of frames to allow jump forces. Changes jump height.", -- cgit v1.1 From 42bdf446585007029faf4cd21abd289487f0f797 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Fri, 4 Oct 2013 23:33:47 +0100 Subject: Bump OPenSimulator version and assembly versions up to 0.8.0 Dev --- OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs index 02b03a8..d069178 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs @@ -29,5 +29,5 @@ using System.Runtime.InteropServices; // Build Number // Revision // -[assembly: AssemblyVersion("0.7.6.*")] +[assembly: AssemblyVersion("0.8.0.*")] -- cgit v1.1 From 8b5e2f2cd28510fc249bade0ca0d71e02b6b5f34 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 11 Oct 2013 13:29:43 -0700 Subject: BulletSim: Fix snap back from edge of region problem. Mantis 6794. --- OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index c4807c4..c016eed 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -354,6 +354,8 @@ public sealed class BSTerrainManager : IDisposable // Return a new position that is over known terrain if the position is outside our terrain. public Vector3 ClampPositionIntoKnownTerrain(Vector3 pPos) { + float edgeEpsilon = 0.1f; + Vector3 ret = pPos; // First, base addresses are never negative so correct for that possible problem. @@ -378,10 +380,19 @@ public sealed class BSTerrainManager : IDisposable // NOTE that GetTerrainPhysicalAtXYZ will set 'terrainBaseXYZ' to the base of the unfound region. // Must be off the top of a region. Find an adjacent region to move into. + // The returned terrain is always 'lower'. That is, closer to <0,0>. Vector3 adjacentTerrainBase = FindAdjacentTerrainBase(terrainBaseXYZ); - ret.X = Math.Min(ret.X, adjacentTerrainBase.X + (ret.X % DefaultRegionSize.X)); - ret.Y = Math.Min(ret.Y, adjacentTerrainBase.Y + (ret.X % DefaultRegionSize.Y)); + if (adjacentTerrainBase.X < terrainBaseXYZ.X) + { + // moving down into a new region in the X dimension. New position will be the max in the new base. + ret.X = adjacentTerrainBase.X + DefaultRegionSize.X - edgeEpsilon; + } + if (adjacentTerrainBase.Y < terrainBaseXYZ.Y) + { + // moving down into a new region in the X dimension. New position will be the max in the new base. + ret.Y = adjacentTerrainBase.Y + DefaultRegionSize.Y - edgeEpsilon; + } DetailLog("{0},BSTerrainManager.ClampPositionToKnownTerrain,findingAdjacentRegion,adjacentRegBase={1},oldPos={2},newPos={3}", BSScene.DetailLogZero, adjacentTerrainBase, pPos, ret); -- cgit v1.1 From 766a31431e41033b9cddf5759e9b6e1b4c77682a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Oct 2013 17:02:22 -0700 Subject: BulletSim: implement the SL bug where VEHICLE_HOVER_UP_ONLY disables the vehicle buoyancy if the vehicle is above its hover height. This is a known misfeature of this vehicle flag which has been accepted since it would break too many implementations. The problem is noticed when creating a jetski-like vehicle that jumps over sand bars. A boat normally is configured with neutral buoyancy and hovering at water height. When it jumps the sandbar, it needs to have gravity applied to get back to water level. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 12 ++++++++++++ 1 file changed, 12 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index f0d17d3..7b98f9d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1125,7 +1125,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // If body is already heigher, use its height as target height if (VehiclePosition.Z > m_VhoverTargetHeight) + { m_VhoverTargetHeight = VehiclePosition.Z; + + // A 'misfeature' of this flag is that if the vehicle is above it's hover height, + // the vehicle's buoyancy goes away. This is an SL bug that got used by so many + // scripts that it could not be changed. + // So, if above the height, reapply gravity if buoyancy had it turned off. + if (m_VehicleBuoyancy != 0) + { + Vector3 appliedGravity = ControllingPrim.ComputeGravity(ControllingPrim.Buoyancy) * m_vehicleMass; + VehicleAddForce(appliedGravity); + } + } } if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) -- cgit v1.1 From 511122834b5cd95839029d28365e479dc25eae9d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 23 Oct 2013 16:07:03 -0700 Subject: BulletSim: change collision flags for groundplane to not interact with static objects. Reorder collision flag setting code for terrain to fit pattern used elsewhere. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 5 +++++ OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs | 5 ++--- OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 7 ++++--- OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs | 3 ++- 4 files changed, 13 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 43aa63e..834228e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -120,6 +120,7 @@ public static class BSParam public static float NumberOfSolverIterations { get; private set; } public static bool UseSingleSidedMeshes { get; private set; } public static float GlobalContactBreakingThreshold { get; private set; } + public static float PhysicsUnmanLoggingFrames { get; private set; } // Avatar parameters public static float AvatarFriction { get; private set; } @@ -671,6 +672,10 @@ public static class BSParam 0f, (s) => { return GlobalContactBreakingThreshold; }, (s,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ), + new ParameterDefn("PhysicsUnmanLoggingFrames", "If non-zero, frames between output of detailed unmanaged physics statistics", + 0f, + (s) => { return PhysicsUnmanLoggingFrames; }, + (s,v) => { PhysicsUnmanLoggingFrames = v; s.UnmanagedParams[0].physicsLoggingFrames = v; } ), new ParameterDefn("CSHullMaxDepthSplit", "CS impl: max depth to split for hull. 1-10 but > 7 is iffy", 7 ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index c7deb4e..8888d6d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -112,15 +112,14 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys m_physicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution); m_physicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT); + m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; + // Return the new terrain to the world of physical objects m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_mapInfo.terrainBody); // redo its bounding box now that it is in the world m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_mapInfo.terrainBody); - m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; - m_mapInfo.terrainBody.ApplyCollisionMask(m_physicsScene); - // Make it so the terrain will not move or be considered for movement. m_physicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index c016eed..441d2d3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -138,13 +138,14 @@ public sealed class BSTerrainManager : IDisposable m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity); + // Everything collides with the ground plane. + m_groundPlane.collisionType = CollisionType.Groundplane; + m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_groundPlane); m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_groundPlane); + // Ground plane does not move m_physicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION); - // Everything collides with the ground plane. - m_groundPlane.collisionType = CollisionType.Groundplane; - m_groundPlane.ApplyCollisionMask(m_physicsScene); BSTerrainPhys initialTerrain = new BSTerrainHeightmap(m_physicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); lock (m_terrains) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index d5060e3..971ff9f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -235,7 +235,8 @@ public static Dictionary CollisionTypeM { CollisionType.Groundplane, new CollisionTypeFilterGroup(CollisionType.Groundplane, (uint)CollisionFilterGroups.BGroundPlaneGroup, - (uint)CollisionFilterGroups.BAllGroup) + // (uint)CollisionFilterGroups.BAllGroup) + (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) }, { CollisionType.Terrain, new CollisionTypeFilterGroup(CollisionType.Terrain, -- cgit v1.1 From 93d5d66fbd44733186439971d819f9409dac4bdd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 26 Oct 2013 21:20:19 -0700 Subject: BulletSim: update collision flags to make sure they fit in the shorts provided. --- OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index f7dd158..be6f152 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -249,7 +249,7 @@ public enum CollisionFlags : uint BS_VEHICLE_COLLISIONS = 1 << 12, // return collisions for vehicle ground checking BS_RETURN_ROOT_COMPOUND_SHAPE = 1 << 13, // return the pos/rot of the root shape in a compound shape BS_NONE = 0, - BS_ALL = 0xFFFFFFFF + BS_ALL = 0x7FFF // collision flags are a signed short }; // Values f collisions groups and masks @@ -265,14 +265,14 @@ public enum CollisionFilterGroups : uint BDebrisGroup = 1 << 3, // 0008 BSensorTrigger = 1 << 4, // 0010 BCharacterGroup = 1 << 5, // 0020 - BAllGroup = 0x000FFFFF, + BAllGroup = 0x0007FFF, // collision flags are a signed short // Filter groups defined by BulletSim - BGroundPlaneGroup = 1 << 10, // 0400 - BTerrainGroup = 1 << 11, // 0800 - BRaycastGroup = 1 << 12, // 1000 - BSolidGroup = 1 << 13, // 2000 + BGroundPlaneGroup = 1 << 8, // 0400 + BTerrainGroup = 1 << 9, // 0800 + BRaycastGroup = 1 << 10, // 1000 + BSolidGroup = 1 << 11, // 2000 // BLinksetGroup = xx // a linkset proper is either static or dynamic - BLinksetChildGroup = 1 << 14, // 4000 + BLinksetChildGroup = 1 << 12, // 4000 }; // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 -- cgit v1.1 From cd1a23fc142a12bb14ddb9d88d39e6acb41937b4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 4 Nov 2013 22:09:52 -0800 Subject: varregion: remove uses of region size constant. In particular, update scene to check for border crossings based on the size of the region. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 15b7090..edec949 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -376,18 +376,19 @@ public class BSPrim : BSPhysObject { bool ret = false; - uint wayOutThere = Constants.RegionSize * Constants.RegionSize; + int wayOverThere = -1000; + int wayOutThere = 10000; // There have been instances of objects getting thrown way out of bounds and crashing // the border crossing code. - if ( RawPosition.X < -Constants.RegionSize || RawPosition.X > wayOutThere - || RawPosition.Y < -Constants.RegionSize || RawPosition.Y > wayOutThere - || RawPosition.Z < -Constants.RegionSize || RawPosition.Z > wayOutThere) + if ( RawPosition.X < wayOverThere || RawPosition.X > wayOutThere + || RawPosition.Y < wayOverThere || RawPosition.X > wayOutThere + || RawPosition.Z < wayOverThere || RawPosition.X > wayOutThere) { RawPosition = new OMV.Vector3(10, 10, 50); ZeroMotion(inTaintTime); ret = true; } - if (RawVelocity.LengthSquared() > BSParam.MaxLinearVelocity) + if (RawVelocity.LengthSquared() > BSParam.MaxLinearVelocitySquared) { RawVelocity = Util.ClampV(RawVelocity, BSParam.MaxLinearVelocity); ret = true; -- cgit v1.1 From f2810bf03a3e254e0ef8d9bdd639c69cc5cf570c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 4 Nov 2013 22:10:54 -0800 Subject: varregion: add plumbing to pass region size from Scene down to the physics engine. Older physics engines will default to the legacy region size. Update BulletSim to use the new region size information. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 12 ++++++++++-- OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 6 ++++-- OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs | 5 +++-- 4 files changed, 19 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index b3dfa41..83ef1f6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -210,6 +210,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public override void Initialise(IMesher meshmerizer, IConfigSource config) { + m_log.ErrorFormat("{0} WARNING WARNING WARNING! BulletSim initialized without region extent specification. Terrain will be messed up."); + Vector3 regionExtent = new Vector3( Constants.RegionSize, Constants.RegionSize, Constants.RegionSize); + Initialise(meshmerizer, config, regionExtent); + + } + + public override void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent) + { mesher = meshmerizer; _taintOperations = new List(); _postTaintOperations = new Dictionary(); @@ -250,13 +258,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // a child in a mega-region. // Bullet actually doesn't care about the extents of the simulated // area. It tracks active objects no matter where they are. - Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); + Vector3 worldExtent = regionExtent; World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray); Constraints = new BSConstraintCollection(World); - TerrainManager = new BSTerrainManager(this); + TerrainManager = new BSTerrainManager(this, worldExtent); TerrainManager.CreateInitialGroundPlaneAndTerrain(); // Put some informational messages into the log file. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 8888d6d..d70b2fb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -58,7 +58,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION; } - m_mapInfo = new BulletHMapInfo(id, initialMap); + m_mapInfo = new BulletHMapInfo(id, initialMap, regionSize.X, regionSize.Y); m_mapInfo.minCoords = minTerrainCoords; m_mapInfo.maxCoords = maxTerrainCoords; m_mapInfo.terrainRegionBase = TerrainBase; @@ -72,7 +72,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys Vector3 minCoords, Vector3 maxCoords) : base(physicsScene, regionBase, id) { - m_mapInfo = new BulletHMapInfo(id, initialMap); + m_mapInfo = new BulletHMapInfo(id, initialMap, maxCoords.X - minCoords.X, maxCoords.Y - minCoords.Y); m_mapInfo.minCoords = minCoords; m_mapInfo.maxCoords = maxCoords; m_mapInfo.minZ = minCoords.Z; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 441d2d3..3013077 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -111,9 +111,11 @@ public sealed class BSTerrainManager : IDisposable private Vector3 m_worldMax; private PhysicsScene MegaRegionParentPhysicsScene { get; set; } - public BSTerrainManager(BSScene physicsScene) + public BSTerrainManager(BSScene physicsScene, Vector3 regionSize) { m_physicsScene = physicsScene; + DefaultRegionSize = regionSize; + m_terrains = new Dictionary(); // Assume one region of default size @@ -268,7 +270,7 @@ public sealed class BSTerrainManager : IDisposable { // There is already a terrain in this spot. Free the old and build the new. DetailLog("{0},BSTErrainManager.UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}", - BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords); + BSScene.DetailLogZero, id, terrainRegionBase, minCoords, maxCoords); // Remove old terrain from the collection m_terrains.Remove(terrainRegionBase); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 971ff9f..3425d9e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -165,14 +165,15 @@ public class BulletConstraint // than making copies. public class BulletHMapInfo { - public BulletHMapInfo(uint id, float[] hm) { + public BulletHMapInfo(uint id, float[] hm, float pSizeX, float pSizeY) { ID = id; heightMap = hm; terrainRegionBase = OMV.Vector3.Zero; minCoords = new OMV.Vector3(100f, 100f, 25f); maxCoords = new OMV.Vector3(101f, 101f, 26f); minZ = maxZ = 0f; - sizeX = sizeY = 256f; + sizeX = pSizeX; + sizeY = pSizeY; } public uint ID; public float[] heightMap; -- cgit v1.1 From 2d2bea4aa75ff6e82384f0842fe3719bf946b1cc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 26 Dec 2013 22:45:59 -0800 Subject: varregion: many more updates removing the constant RegionSize and replacing with a passed region size. This time in the map code and grid services code. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 17ebed2..aca1ed4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -1311,7 +1311,7 @@ private sealed class BulletConstraintXNA : BulletConstraint /* TODO */ ConfigurationParameters[] configparms = new ConfigurationParameters[1]; configparms[0] = parms; - Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); + Vector3 worldExtent = maxPosition; m_maxCollisions = maxCollisions; m_maxUpdatesPerFrame = maxUpdates; specialCollisionObjects = new Dictionary(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 83ef1f6..fe014fc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -208,6 +208,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters Name = EngineType + "/" + RegionName; } + // Old version of initialization that assumes legacy sized regions (256x256) public override void Initialise(IMesher meshmerizer, IConfigSource config) { m_log.ErrorFormat("{0} WARNING WARNING WARNING! BulletSim initialized without region extent specification. Terrain will be messed up."); -- cgit v1.1 From 239b85d7cee3d8e0ae7349cbe62582d46940c732 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 10 Jan 2014 22:52:31 -0800 Subject: Fix crash in BulletSim which sometimes happens making a linkset physical (like sitting on and activating a vehicle) and crossing borders. This keeps better bookkeeping on compound shapes so BulletSim can identify them when being freed. --- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 39 +++++++++++++++++++----- 1 file changed, 32 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 006a9c1..fbe320b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -71,7 +71,7 @@ public abstract class BSShape lastReferenced = DateTime.Now; } - // Called when this shape is being used again. + // Called when this shape is done being used. protected virtual void DecrementReference() { referenceCount--; @@ -866,6 +866,8 @@ public class BSShapeHull : BSShape public class BSShapeCompound : BSShape { private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; + public static Dictionary CompoundShapes = new Dictionary(); + public BSShapeCompound(BulletShape pShape) : base(pShape) { } @@ -873,7 +875,9 @@ public class BSShapeCompound : BSShape { // Base compound shapes are not shared so this returns a raw shape. // A built compound shape can be reused in linksets. - return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene)); + BSShapeCompound ret = new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene)); + CompoundShapes.Add(ret.AddrString, ret); + return ret; } public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim) { @@ -911,10 +915,21 @@ public class BSShapeCompound : BSShape BulletShape childShape = physicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(physShapeInfo, ii); DereferenceAnonCollisionShape(physicsScene, childShape); } + + lock (CompoundShapes) + CompoundShapes.Remove(physShapeInfo.AddrString); physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo); } } } + public static bool TryGetCompoundByPtr(BulletShape pShape, out BSShapeCompound outCompound) + { + lock (CompoundShapes) + { + string addr = pShape.AddrString; + return CompoundShapes.TryGetValue(addr, out outCompound); + } + } private static BulletShape CreatePhysicalCompoundShape(BSScene physicsScene) { BulletShape cShape = physicsScene.PE.CreateCompoundShape(physicsScene.World, false); @@ -926,10 +941,13 @@ public class BSShapeCompound : BSShape private void DereferenceAnonCollisionShape(BSScene physicsScene, BulletShape pShape) { // TODO: figure a better way to go through all the shape types and find a possible instance. + physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,shape={1}", + BSScene.DetailLogZero, pShape); BSShapeMesh meshDesc; if (BSShapeMesh.TryGetMeshByPtr(pShape, out meshDesc)) { meshDesc.Dereference(physicsScene); + // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundMesh,shape={1}", BSScene.DetailLogZero, pShape); } else { @@ -937,13 +955,15 @@ public class BSShapeCompound : BSShape if (BSShapeHull.TryGetHullByPtr(pShape, out hullDesc)) { hullDesc.Dereference(physicsScene); + // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundHull,shape={1}", BSScene.DetailLogZero, pShape); } else { BSShapeConvexHull chullDesc; - if (BSShapeConvexHull.TryGetHullByPtr(pShape, out chullDesc)) + if (BSShapeConvexHull.TryGetConvexHullByPtr(pShape, out chullDesc)) { chullDesc.Dereference(physicsScene); + // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundConvexHull,shape={1}", BSScene.DetailLogZero, pShape); } else { @@ -951,20 +971,23 @@ public class BSShapeCompound : BSShape if (BSShapeGImpact.TryGetGImpactByPtr(pShape, out gImpactDesc)) { gImpactDesc.Dereference(physicsScene); + // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,foundgImpact,shape={1}", BSScene.DetailLogZero, pShape); } else { // Didn't find it in the lists of specific types. It could be compound. - if (physicsScene.PE.IsCompound(pShape)) + BSShapeCompound compoundDesc; + if (BSShapeCompound.TryGetCompoundByPtr(pShape, out compoundDesc)) { - BSShapeCompound recursiveCompound = new BSShapeCompound(pShape); - recursiveCompound.Dereference(physicsScene); + compoundDesc.Dereference(physicsScene); + // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,recursiveCompoundShape,shape={1}", BSScene.DetailLogZero, pShape); } else { // If none of the above, maybe it is a simple native shape. if (physicsScene.PE.IsNativeShape(pShape)) { + // physicsScene.DetailLog("{0},BSShapeCompound.DereferenceAnonCollisionShape,assumingNative,shape={1}", BSScene.DetailLogZero, pShape); BSShapeNative nativeShape = new BSShapeNative(pShape); nativeShape.Dereference(physicsScene); } @@ -1021,6 +1044,8 @@ public class BSShapeConvexHull : BSShape convexShape = physicsScene.PE.BuildConvexHullShapeFromMesh(physicsScene.World, baseMesh.physShapeInfo); convexShape.shapeKey = newMeshKey; ConvexHulls.Add(convexShape.shapeKey, retConvexHull); + physicsScene.DetailLog("{0},BSShapeConvexHull.GetReference,addingNewlyCreatedShape,shape={1}", + BSScene.DetailLogZero, convexShape); } // Done with the base mesh @@ -1049,7 +1074,7 @@ public class BSShapeConvexHull : BSShape } } // Loop through all the known hulls and return the description based on the physical address. - public static bool TryGetHullByPtr(BulletShape pShape, out BSShapeConvexHull outHull) + public static bool TryGetConvexHullByPtr(BulletShape pShape, out BSShapeConvexHull outHull) { bool ret = false; BSShapeConvexHull foundDesc = null; -- cgit v1.1 From 0842e2e15b6af6f940648b0b74488f2da88ce920 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 29 Jan 2014 06:44:14 -0800 Subject: BulletSim: default physical terrain implementation to heightmap. It originally looked like mesh terrain would perform better for vehicles but, after much use, heightmap is the clear winner. Force terrain implementation to heightmap if the physics region is larger than legacy region size. This solves running out of memory for very large regions. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 8 ++++++++ 2 files changed, 9 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 834228e..d993e6a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -538,7 +538,7 @@ public static class BSParam (s,o) => { s.PE.SetContactProcessingThreshold(o.PhysBody, ContactProcessingThreshold); } ), new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)", - (float)BSTerrainPhys.TerrainImplementation.Mesh ), + (float)BSTerrainPhys.TerrainImplementation.Heightmap ), new ParameterDefn("TerrainMeshMagnification", "Number of times the 256x256 heightmap is multiplied to create the terrain mesh" , 2 ), new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index fe014fc..2d2e55f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -235,6 +235,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Set default values for physics parameters plus any overrides from the ini file GetInitialParameterValues(config); + // Force some parameters to values depending on other configurations + // Only use heightmap terrain implementation if terrain larger than legacy size + if ((uint)regionExtent.X > Constants.RegionSize || (uint)regionExtent.Y > Constants.RegionSize) + { + m_log.WarnFormat("{0} Forcing terrain implementation to heightmap for large region", LogHeader); + BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap; + } + // Get the connection to the physics engine (could be native or one of many DLLs) PE = SelectUnderlyingBulletEngine(BulletEngineName); -- cgit v1.1 From 3a7c8d1f3265941105f9d7a5edc4f82057099a83 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 8 Feb 2014 16:11:43 -0800 Subject: BulletSim: the minimum vehicle velocity was set too low so moving slow was getting zeroed too easily. Added VehicleMinVelocity parameter. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 7 ++++++- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 ++++++ 2 files changed, 12 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 7b98f9d..0722d70 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1011,8 +1011,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity); } - else if (newVelocityLengthSq < 0.001f) + else if (newVelocityLengthSq < BSParam.VehicleMinLinearVelocitySquared) + { + Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG + VDetailLog("{0}, MoveLinear,clampMin,origVelW={1},lenSq={2}", + ControllingPrim.LocalID, origVelW, newVelocityLengthSq); VehicleVelocity = Vector3.Zero; + } VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, VehicleVelocity ); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index d993e6a..860193f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -147,6 +147,8 @@ public static class BSParam // Vehicle parameters public static float VehicleMaxLinearVelocity { get; private set; } public static float VehicleMaxLinearVelocitySquared { get; private set; } + public static float VehicleMinLinearVelocity { get; private set; } + public static float VehicleMinLinearVelocitySquared { get; private set; } public static float VehicleMaxAngularVelocity { get; private set; } public static float VehicleMaxAngularVelocitySq { get; private set; } public static float VehicleAngularDamping { get; private set; } @@ -598,6 +600,10 @@ public static class BSParam 1000.0f, (s) => { return (float)VehicleMaxLinearVelocity; }, (s,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySquared = v * v; } ), + new ParameterDefn("VehicleMinLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle", + 0.001f, + (s) => { return (float)VehicleMinLinearVelocity; }, + (s,v) => { VehicleMinLinearVelocity = v; VehicleMinLinearVelocitySquared = v * v; } ), new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle", 12.0f, (s) => { return (float)VehicleMaxAngularVelocity; }, -- cgit v1.1 From d4dad75a3c73fdfd4f156e1684d04f13b92f2362 Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Sat, 22 Mar 2014 15:03:13 -0400 Subject: BulletSim: Fix jumping while running. Was unintentional taking way all upward target motion for avatar when running. Signed-off-by: Michael Cerquoni --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index fc18960..c9b134c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -426,7 +426,7 @@ public sealed class BSCharacter : BSPhysObject m_targetVelocity = value; OMV.Vector3 targetVel = value; if (_setAlwaysRun && !_flying) - targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 0f); + targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 1f); if (m_moveActor != null) m_moveActor.SetVelocityAndTarget(RawVelocity, targetVel, false /* inTaintTime */); -- cgit v1.1 From b0cb0ec02f5f567539b340727727bee1a43836e6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 23 Mar 2014 13:08:31 -0700 Subject: BulletSim: fix problem where axis constraints were also constraining linear motion. The code was limiting linear motion to be only in the positive direction for any axis that was constrained. --- OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index 8b0fdeb..7e61007 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -1,4 +1,4 @@ -/* +/* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * @@ -121,8 +121,10 @@ public class BSActorLockAxis : BSActor // The constraint is tied to the world and oriented to the prim. // Free to move linearly in the region - OMV.Vector3 linearLow = OMV.Vector3.Zero; - OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize; + // OMV.Vector3 linearLow = OMV.Vector3.Zero; + // OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize; + OMV.Vector3 linearLow = new OMV.Vector3(-10000f, -10000f, -10000f); + OMV.Vector3 linearHigh = new OMV.Vector3(10000f, 10000f, 10000f); if (m_controllingPrim.LockedLinearAxis.X != BSPhysObject.FreeAxis) { linearLow.X = m_controllingPrim.RawPosition.X; -- cgit v1.1 From 65c4cb48ac49bd6aa9e813a401411be5226d01a7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 2 Apr 2014 21:53:58 -0700 Subject: BulletSim: make avatar physical shape to be a rectangle rather than a capsule. Set the default to be the rectangle shape and adjust the parameters in OpenSimDefaults.ini for the new shape. The rectangle shape will perform better and avatar height can be computed more accurately. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 17 ++++++++---- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 9 ++++-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 32 ++++++++++++++++++++-- 3 files changed, 47 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index c9b134c..dfcd2bf 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -657,7 +657,7 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size) { - OMV.Vector3 newScale; + OMV.Vector3 newScale = size; // Bullet's capsule total height is the "passed height + radius * 2"; // The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1) @@ -670,8 +670,6 @@ public sealed class BSCharacter : BSPhysObject // for a asymmetrical capsule, other parts of the code presume it is cylindrical. // Scale is multiplier of radius with one of "0.5" - newScale.X = size.X / 2f; - newScale.Y = size.Y / 2f; float heightAdjust = BSParam.AvatarHeightMidFudge; if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f) @@ -692,8 +690,17 @@ public sealed class BSCharacter : BSPhysObject heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge; } } - // The total scale height is the central cylindar plus the caps on the two ends. - newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f; + if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule) + { + newScale.X = size.X / 2f; + newScale.Y = size.Y / 2f; + // The total scale height is the central cylindar plus the caps on the two ends. + newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f; + } + else + { + newScale.Z = size.Z + heightAdjust; + } // m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale); // If smaller than the endcaps, just fake like we're almost that small diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 860193f..4d14a9e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -128,6 +128,7 @@ public static class BSParam public static float AvatarAlwaysRunFactor { get; private set; } public static float AvatarDensity { get; private set; } public static float AvatarRestitution { get; private set; } + public static int AvatarShape { get; private set; } public static float AvatarCapsuleWidth { get; private set; } public static float AvatarCapsuleDepth { get; private set; } public static float AvatarCapsuleHeight { get; private set; } @@ -565,6 +566,8 @@ public static class BSParam 3500f) , // 3.5 * 100 new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", 0f ), + new ParameterDefn("AvatarShape", "Code for avatar physical shape: 0:capsule, 1:cube, 2:ovoid, 2:mesh", + BSShapeCollection.AvatarShapeCube ) , new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule", 0.6f ) , new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule", @@ -572,11 +575,11 @@ public static class BSParam new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", 1.5f ), new ParameterDefn("AvatarHeightLowFudge", "A fudge factor to make small avatars stand on the ground", - -0.2f ), + 0f ), new ParameterDefn("AvatarHeightMidFudge", "A fudge distance to adjust average sized avatars to be standing on ground", - 0.1f ), + -0.1f ), new ParameterDefn("AvatarHeightHighFudge", "A fudge factor to make tall avatars stand on the ground", - 0.1f ), + 0f ), new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 0.1f ), new ParameterDefn("AvatarStopZeroThreshold", "Movement velocity below which avatar is assumed to be stopped", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 32bbc8f..721a8eb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -124,6 +124,10 @@ 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! + public const int AvatarShapeCapsule = 0; + public const int AvatarShapeCube = 1; + public const int AvatarShapeOvoid = 2; + public const int AvatarShapeMesh = 3; private bool CreateGeom(bool forceRebuild, BSPhysObject prim, PhysicalDestructionCallback shapeCallback) { bool ret = false; @@ -137,10 +141,32 @@ public sealed class BSShapeCollection : IDisposable if (theChar != null) { DereferenceExistingShape(prim, shapeCallback); - prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim, + switch (BSParam.AvatarShape) + { + case AvatarShapeCapsule: + prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE); - ret = true; - haveShape = true; + ret = true; + haveShape = true; + break; + case AvatarShapeCube: + prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim, + BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_CAPSULE); + ret = true; + haveShape = true; + break; + case AvatarShapeOvoid: + // Saddly, Bullet doesn't scale spheres so this doesn't work as an avatar shape + prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim, + BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_CAPSULE); + ret = true; + haveShape = true; + break; + case AvatarShapeMesh: + break; + default: + break; + } } // If the prim attributes are simple, this could be a simple Bullet native shape -- cgit v1.1 From 3c5b7d7b7914932b98e355170aeacc8b3eaa0e05 Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Fri, 21 Feb 2014 15:36:27 -0500 Subject: BulletSim: Minor Fix to vehicle hovering, add more ways to disable it. Signed-off-by: Michael Cerquoni --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 0722d70..769896b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1111,7 +1111,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // m_VhoverEfficiency: 0=bouncy, 1=totally damped // m_VhoverTimescale: time to achieve height - if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) + if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0 && (m_VhoverHeight > 0) && (m_VhoverTimescale < 300)) { // We should hover, get the target height if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) -- cgit v1.1 From 562a3cb3389ae67e6f7e63c7bf1ff9b882e358a9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 10 Apr 2014 06:53:36 -0700 Subject: BulletSim: small tweek to avatar height reduce feet embedded into prims. This adjustment makes a default, shoeless avatar stand properly on a prim for the various heights (0% to 100% in the appearance adjustment). --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 4d14a9e..c977a5d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -577,7 +577,7 @@ public static class BSParam new ParameterDefn("AvatarHeightLowFudge", "A fudge factor to make small avatars stand on the ground", 0f ), new ParameterDefn("AvatarHeightMidFudge", "A fudge distance to adjust average sized avatars to be standing on ground", - -0.1f ), + 0f ), new ParameterDefn("AvatarHeightHighFudge", "A fudge factor to make tall avatars stand on the ground", 0f ), new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", -- cgit v1.1 From c8914d22ebb66fd9601161c9826d8b29ff6cb561 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 12 Apr 2014 17:37:57 -0700 Subject: BulletSim: reduce the terrain collison margin to be the same as other objects in the world. This was originally changed in an attempt to make vehicles work better but the effect was not that large and it causes avatars to float above the terrain. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index c977a5d..f2ad528 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -553,7 +553,7 @@ public static class BSParam new ParameterDefn("TerrainContactProcessingThreshold", "Distance from terrain to stop processing collisions" , 0.0f ), new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , - 0.08f ), + 0.04f ), new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", 0.2f ), -- cgit v1.1 From 998d7009a65def0a4debc9369d35b63611db5b55 Mon Sep 17 00:00:00 2001 From: Oren Hurvitz Date: Tue, 22 Apr 2014 20:04:12 +0300 Subject: Eliminated many warnings --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 1 - OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 ++++ OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 2 ++ OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 2 ++ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 2 ++ OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 15 ++++++++++++++- 7 files changed, 25 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index aca1ed4..f833d54 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -2255,7 +2255,6 @@ private sealed class BulletConstraintXNA : BulletConstraint world.LastCollisionDesc = 0; world.LastEntityProperty = 0; numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); - int updates = 0; PersistentManifold contactManifold; CollisionObject objA; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 769896b..05374e8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -42,7 +42,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public sealed class BSDynamics : BSActor { +#pragma warning disable 414 private static string LogHeader = "[BULLETSIM VEHICLE]"; +#pragma warning restore 414 // the prim this dynamic controller belongs to private BSPrimLinkable ControllingPrim { get; set; } @@ -123,7 +125,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Just some recomputed constants: static readonly float PIOverFour = ((float)Math.PI) / 4f; +#pragma warning disable 414 static readonly float PIOverTwo = ((float)Math.PI) / 2f; +#pragma warning restore 414 public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName) : base(myScene, myPrim, actorName) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 8f12189..6f4f686 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -37,7 +37,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin public sealed class BSLinksetCompound : BSLinkset { +#pragma warning disable 414 private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; +#pragma warning restore 414 public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) : base(scene, parent) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 126b146..430d645 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -42,7 +42,9 @@ public class BSPrimLinkable : BSPrimDisplaced // operations necessary for keeping the linkset created and, additionally, this // calls the linkset implementation for its creation and management. +#pragma warning disable 414 private static readonly string LogHeader = "[BULLETS PRIMLINKABLE]"; +#pragma warning restore 414 // This adds the overrides for link() and delink() so the prim is linkable. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 2d2e55f..9fa55ce 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -88,7 +88,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public BSConstraintCollection Constraints { get; private set; } // Simulation parameters - internal float m_physicsStepTime; // if running independently, the interval simulated by default + //internal float m_physicsStepTime; // if running independently, the interval simulated by default internal int m_maxSubSteps; internal float m_fixedTimeStep; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 721a8eb..d1de844 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -36,7 +36,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public sealed class BSShapeCollection : IDisposable { +#pragma warning disable 414 private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; +#pragma warning restore 414 private BSScene m_physicsScene { get; set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index fbe320b..b344ba1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -554,7 +554,10 @@ public class BSShapeMesh : BSShape // ============================================================================================================ public class BSShapeHull : BSShape { +#pragma warning disable 414 private static string LogHeader = "[BULLETSIM SHAPE HULL]"; +#pragma warning restore 414 + public static Dictionary Hulls = new Dictionary(); public BSShapeHull(BulletShape pShape) : base(pShape) @@ -1002,7 +1005,10 @@ public class BSShapeCompound : BSShape // ============================================================================================================ public class BSShapeConvexHull : BSShape { +#pragma warning disable 414 private static string LogHeader = "[BULLETSIM SHAPE CONVEX HULL]"; +#pragma warning restore 414 + public static Dictionary ConvexHulls = new Dictionary(); public BSShapeConvexHull(BulletShape pShape) : base(pShape) @@ -1098,7 +1104,10 @@ public class BSShapeConvexHull : BSShape // ============================================================================================================ public class BSShapeGImpact : BSShape { +#pragma warning disable 414 private static string LogHeader = "[BULLETSIM SHAPE GIMPACT]"; +#pragma warning restore 414 + public static Dictionary GImpacts = new Dictionary(); public BSShapeGImpact(BulletShape pShape) : base(pShape) @@ -1205,8 +1214,12 @@ public class BSShapeGImpact : BSShape // ============================================================================================================ public class BSShapeAvatar : BSShape { +#pragma warning disable 414 private static string LogHeader = "[BULLETSIM SHAPE AVATAR]"; - public BSShapeAvatar() : base() +#pragma warning restore 414 + + public BSShapeAvatar() + : base() { } public static BSShape GetReference(BSPhysObject prim) -- cgit v1.1 From 63aea3a5f281ac396787beab5615214b36e2332e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 28 Apr 2014 11:08:47 -0700 Subject: BUlletSim: move safeynet ground plane to lower altitude. Define new BulletSim parameter 'TerrainGroundPlane' which defaults to -500. BulletSim had assumed altitudes never went negative but that is not true. The ground plane is just a safety net so things wouldn't fall to infinity. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 +++ OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 5 +++-- 2 files changed, 6 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index f2ad528..6683446 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -97,6 +97,7 @@ public static class BSParam public static float TerrainImplementation { get; set; } public static int TerrainMeshMagnification { get; private set; } + public static float TerrainGroundPlane { get; private set; } public static float TerrainFriction { get; private set; } public static float TerrainHitFraction { get; private set; } public static float TerrainRestitution { get; private set; } @@ -544,6 +545,8 @@ public static class BSParam (float)BSTerrainPhys.TerrainImplementation.Heightmap ), new ParameterDefn("TerrainMeshMagnification", "Number of times the 256x256 heightmap is multiplied to create the terrain mesh" , 2 ), + new ParameterDefn("TerrainGroundPlane", "Altitude of ground plane used to keep things from falling to infinity" , + -500.0f ), new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , 0.3f ), new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 3013077..9067a2c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -136,9 +136,10 @@ public sealed class BSTerrainManager : IDisposable { DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName); // The ground plane is here to catch things that are trying to drop to negative infinity - BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); + BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); + Vector3 groundPlaneAltitude = new Vector3(0f, 0f, BSParam.TerrainGroundPlane); m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, - BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity); + BSScene.GROUNDPLANE_ID, groundPlaneAltitude, Quaternion.Identity); // Everything collides with the ground plane. m_groundPlane.collisionType = CollisionType.Groundplane; -- cgit v1.1 From df89e1529077eb8aff46a1886057731a5d2372b8 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 28 Apr 2014 18:36:50 -0700 Subject: BulletSim: non-functional changes to debugging statements and formatting. --- OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 9067a2c..50f917a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -1,4 +1,4 @@ -/* +/* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * @@ -136,7 +136,7 @@ public sealed class BSTerrainManager : IDisposable { DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName); // The ground plane is here to catch things that are trying to drop to negative infinity - BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); + BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); Vector3 groundPlaneAltitude = new Vector3(0f, 0f, BSParam.TerrainGroundPlane); m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, BSScene.GROUNDPLANE_ID, groundPlaneAltitude, Quaternion.Identity); @@ -240,9 +240,6 @@ public sealed class BSTerrainManager : IDisposable // Called during taint-time. private void UpdateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { - DetailLog("{0},BSTerrainManager.UpdateTerrain,call,id={1},minC={2},maxC={3}", - BSScene.DetailLogZero, id, minCoords, maxCoords); - // Find high and low points of passed heightmap. // The min and max passed in is usually the area objects can be in (maximum // object height, for instance). The terrain wants the bounding box for the @@ -262,6 +259,9 @@ public sealed class BSTerrainManager : IDisposable minCoords.Z = minZ; maxCoords.Z = maxZ; + DetailLog("{0},BSTerrainManager.UpdateTerrain,call,id={1},minC={2},maxC={3}", + BSScene.DetailLogZero, id, minCoords, maxCoords); + Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f); lock (m_terrains) @@ -270,7 +270,7 @@ public sealed class BSTerrainManager : IDisposable if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys)) { // There is already a terrain in this spot. Free the old and build the new. - DetailLog("{0},BSTErrainManager.UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}", + DetailLog("{0},BSTerrainManager.UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}", BSScene.DetailLogZero, id, terrainRegionBase, minCoords, maxCoords); // Remove old terrain from the collection -- cgit v1.1 From 0be9e3b079088829eec49d856980f14a6372fda4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 17 May 2014 20:11:22 -0700 Subject: BulletSim: adjust avatar step up parameters to better walk up small staircases. This change is required because of the change in the avatar default shape from the capsule to the rectangle. --- OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs | 4 ++-- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 1bcf879..1b8a454 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -399,8 +399,8 @@ public class BSActorAvatarMove : BSActor m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement; } } - m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs.ComputeStairCorrection,disp={1},force={2}", - m_controllingPrim.LocalID, displacement, ret); + m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs.ComputeStairCorrection,stepUp={1},isp={2},force={3}", + m_controllingPrim.LocalID, stepUp, displacement, ret); } return ret; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 6683446..de42a4c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -598,9 +598,9 @@ public static class BSParam new ParameterDefn("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step", 1.0f ), new ParameterDefn("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step", - 1.0f ), + 2.0f ), new ParameterDefn("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs", - 2 ), + 1 ), new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle", 1000.0f, -- cgit v1.1 From fab0389cb17cd74e47156c58b52dd62b098c8494 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 26 May 2014 20:29:45 -0700 Subject: BulletSim: add locking of PhysObjects while processing simulation step updates and collisions. This is an attempt to fix a crash reported by Justin when doing high velocity teleports. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 34 +++++++++++++++---------- 1 file changed, 20 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 9fa55ce..23bada9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -639,15 +639,18 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { if (collidersCount > 0) { - for (int ii = 0; ii < collidersCount; ii++) + lock (PhysObjects) { - uint cA = m_collisionArray[ii].aID; - uint cB = m_collisionArray[ii].bID; - Vector3 point = m_collisionArray[ii].point; - Vector3 normal = m_collisionArray[ii].normal; - float penetration = m_collisionArray[ii].penetration; - SendCollision(cA, cB, point, normal, penetration); - SendCollision(cB, cA, point, -normal, penetration); + for (int ii = 0; ii < collidersCount; ii++) + { + uint cA = m_collisionArray[ii].aID; + uint cB = m_collisionArray[ii].bID; + Vector3 point = m_collisionArray[ii].point; + Vector3 normal = m_collisionArray[ii].normal; + float penetration = m_collisionArray[ii].penetration; + SendCollision(cA, cB, point, normal, penetration); + SendCollision(cB, cA, point, -normal, penetration); + } } } } @@ -658,14 +661,17 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { if (updatedEntityCount > 0) { - for (int ii = 0; ii < updatedEntityCount; ii++) + lock (PhysObjects) { - EntityProperties entprop = m_updateArray[ii]; - BSPhysObject pobj; - if (PhysObjects.TryGetValue(entprop.ID, out pobj)) + for (int ii = 0; ii < updatedEntityCount; ii++) { - if (pobj.IsInitialized) - pobj.UpdateProperties(entprop); + EntityProperties entprop = m_updateArray[ii]; + BSPhysObject pobj; + if (PhysObjects.TryGetValue(entprop.ID, out pobj)) + { + if (pobj.IsInitialized) + pobj.UpdateProperties(entprop); + } } } } -- cgit v1.1 From a755c57b440f153df8cb50674260f31e5b26c172 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Fri, 30 May 2014 22:04:59 +0100 Subject: Fix issue with BulletSim avatar level flight jitter by commenting out RawVelocity update threshold for now in BSCharacter.UpdateProperties(). For some reason as yet unidentified (feedback?) a threshold above 0.4 here causes the RawVelocity to move between a lower and upper bound rather than remaining constant. The RawVelocity increased until it triggered the threshold update, at which point it started to decrease until it again triggered the threshhold update. This delta-v was enough to exceed the checks in ScenePresence.SendTerseUpdateToAllClients() and produce jittery avatar flight because of the fluctuating velocity. With a threshold of 0.4 (or 0, as with ODE), the RawVelocity remains constant in BulletSim and so avatar flight becomes mostly smooth - remaining occasional glitches appear to be a result of errors in distance extraploation. There are no obvious problems with commenting out the threshold. Misterblue, if this is wrong or I've missed some subtlety here, please feel free to revert and/or correct. The same considerations may or may not apply to object velocity updates. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index dfcd2bf..9b56fb4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -744,7 +744,18 @@ public sealed class BSCharacter : BSPhysObject // and will send agent updates to the clients if velocity changes by more than // 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many // extra updates. - if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f)) + // + // XXX: Contrary to the above comment, setting an update threshold here above 0.4 actually introduces jitter to + // avatar movement rather than removes it. The larger the threshold, the bigger the jitter. + // This is most noticeable in level flight and can be seen with + // the "show updates" option in a viewer. With an update threshold, the RawVelocity cycles between a lower + // bound and an upper bound, where the difference between the two is enough to trigger a large delta v update + // and subsequently trigger an update in ScenePresence.SendTerseUpdateToAllClients(). The cause of this cycle (feedback?) + // has not yet been identified. + // + // If there is a threshold below 0.4 or no threshold check at all (as in ODE), then RawVelocity stays constant and extra + // updates are not triggered in ScenePresence.SendTerseUpdateToAllClients(). +// if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f)) RawVelocity = entprop.Velocity; _acceleration = entprop.Acceleration; -- cgit v1.1 From 3552cfb1a520d75211ed88b38342d9b141c46d28 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 8 Jun 2014 09:03:38 -0700 Subject: BulletSim: fix exceptions while rebuilding linksets with mesh children. This should get around the exception reported in Mantis 7191 and 7204 by checking for the unbuilt child and rebuilding the linkset the next tick. A warning message is output when this rebuild happens and this message is clamped to 10 times in case there is a problem with a loop. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 33 ++++++++++++++++++++-- 1 file changed, 30 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 6f4f686..67cb2f6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -305,6 +305,10 @@ public sealed class BSLinksetCompound : BSLinkset // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape + // Number of times to perform rebuilds on broken linkset children. This should only happen when + // a linkset is initially being created and should happen only one or two times at the most. + // This exists to cause a looping problem to be reported while not rebuilding a linkset forever. + private static int LinksetRebuildFailureLoopPrevention = 10; private void RecomputeLinksetCompound() { try @@ -376,9 +380,32 @@ public sealed class BSLinksetCompound : BSLinkset OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; // Add the child shape to the compound shape being built - m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", - LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); + if (childShape.physShapeInfo.HasPhysicalShape) + { + m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", + LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); + } + else + { + // The linkset must be in an intermediate state where all the children have not yet + // been constructed. This sometimes happens on startup when everything is getting + // built and some shapes have to wait for assets to be read in. + // Just skip this child for the moment and cause the shape to be rebuilt next tick. + // One problem might be that the shape is broken somehow and it never becomes completely + // available. This might cause the rebuild to happen over and over. + if (LinksetRebuildFailureLoopPrevention-- > 0) + { + LinksetRoot.ForceBodyShapeRebuild(false); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChildWithNoShape,indx={1},cShape={2},offPos={3},offRot={4}", + LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); + // Output an annoying warning. It should only happen once but if it keeps coming out, + // the user knows there is something wrong and will report it. + m_physicsScene.Logger.WarnFormat("{0} Linkset rebuild warning. If this happens more than one or two times, please report in Mantis 7191", LogHeader); + m_physicsScene.Logger.WarnFormat("{0} pName={1}, childIdx={2}, shape={3}", + LogHeader, LinksetRoot.Name, cPrim.LinksetChildIndex, childShape); + } + } // Since we are borrowing the shape of the child, disable the origional child body if (!IsRoot(cPrim)) -- cgit v1.1 From 5450b1b0247bb3907f60f2b3f9b0582903de4f83 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Tue, 17 Jun 2014 18:37:15 +0100 Subject: Change assembly versions to 0.8.1 --- OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs index d069178..4de5b47 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs @@ -29,5 +29,5 @@ using System.Runtime.InteropServices; // Build Number // Revision // -[assembly: AssemblyVersion("0.8.0.*")] +[assembly: AssemblyVersion("0.8.1.*")] -- cgit v1.1 From ff892b5bcff640ddc27fe1003a7d90a475f00fb2 Mon Sep 17 00:00:00 2001 From: AliciaRaven Date: Tue, 17 Jun 2014 16:55:33 +0100 Subject: Add upward force to flight when close to the ground. Prevents current belly flop to the floor when flying with bullet physics and acts more like ODE and SL flight. Signed-off-by: Michael Cerquoni --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 26 ++++++++++++++++++++++ 1 file changed, 26 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 1b8a454..54bae21 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -139,6 +139,21 @@ public class BSActorAvatarMove : BSActor } } + private float ComputeMinFlightHeight() + { + float waterHeight = m_physicsScene.TerrainManager.GetWaterLevelAtXYZ(m_controllingPrim.RawPosition); + float groundHeight = m_physicsScene.TerrainManager.GetTerrainHeightAtXYZ(m_controllingPrim.RawPosition); + + if (groundHeight > waterHeight) + { + return groundHeight + 8f; + } + else + { + return waterHeight + 8f; + } + } + private void DeactivateAvatarMove() { if (m_velocityMotor != null) @@ -265,6 +280,17 @@ public class BSActorAvatarMove : BSActor // Add special movement force to allow avatars to walk up stepped surfaces. moveForce += WalkUpStairs(); + //Alicia: Maintain minimum height when flying + if (m_controllingPrim.Flying) + { + float hover_height = ComputeMinFlightHeight(); + + if( m_controllingPrim.Position.Z < hover_height) + { + moveForce.Z = moveForce.Z + 50f; + } + } + m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", m_controllingPrim.LocalID, stepVelocity, m_controllingPrim.RawVelocity, m_controllingPrim.Mass, moveForce); m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, moveForce); -- cgit v1.1 From db0c41501c0ff3c45660c4c5360f98e109299b66 Mon Sep 17 00:00:00 2001 From: AliciaRaven Date: Wed, 18 Jun 2014 04:13:45 +0100 Subject: Fix previous commit to ignore water height and allow flying underwater (swimming) Signed-off-by: Michael Cerquoni --- .../Region/Physics/BulletSPlugin/BSActorAvatarMove.cs | 17 +---------------- 1 file changed, 1 insertion(+), 16 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 54bae21..557c4e2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -139,21 +139,6 @@ public class BSActorAvatarMove : BSActor } } - private float ComputeMinFlightHeight() - { - float waterHeight = m_physicsScene.TerrainManager.GetWaterLevelAtXYZ(m_controllingPrim.RawPosition); - float groundHeight = m_physicsScene.TerrainManager.GetTerrainHeightAtXYZ(m_controllingPrim.RawPosition); - - if (groundHeight > waterHeight) - { - return groundHeight + 8f; - } - else - { - return waterHeight + 8f; - } - } - private void DeactivateAvatarMove() { if (m_velocityMotor != null) @@ -283,7 +268,7 @@ public class BSActorAvatarMove : BSActor //Alicia: Maintain minimum height when flying if (m_controllingPrim.Flying) { - float hover_height = ComputeMinFlightHeight(); + float hover_height = m_physicsScene.TerrainManager.GetTerrainHeightAtXYZ(m_controllingPrim.RawPosition) + 8f; if( m_controllingPrim.Position.Z < hover_height) { -- cgit v1.1 From f348928590de1b7044801f72d3c415cb10175d45 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 18 Jun 2014 22:39:28 -0700 Subject: BulletSim: more tweeks to AliciaRaven's flying mods. Added parameters AvatarFlyingGroundMargin and AvatarFlyingGroundUpForce set to 5.0 and 2.0 respectively which seems to give about the same action as in SL. Also moved force addition to before the velocity to force computation so the upward velocity is properly applied to the avatar mass. --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 23 +++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 ++++++ 2 files changed, 18 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 557c4e2..42381ef 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -1,4 +1,4 @@ -/* +/* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * @@ -227,7 +227,6 @@ public class BSActorAvatarMove : BSActor stepVelocity.Z = m_controllingPrim.RawVelocity.Z; } - // Colliding and not flying with an upward force. The avatar must be trying to jump. if (!m_controllingPrim.Flying && m_controllingPrim.IsColliding && stepVelocity.Z > 0) { @@ -259,23 +258,25 @@ public class BSActorAvatarMove : BSActor // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); } - // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. - OMV.Vector3 moveForce = (stepVelocity - m_controllingPrim.RawVelocity) * m_controllingPrim.Mass; - - // Add special movement force to allow avatars to walk up stepped surfaces. - moveForce += WalkUpStairs(); - - //Alicia: Maintain minimum height when flying + //Alicia: Maintain minimum height when flying. + // SL has a flying effect that keeps the avatar flying above the ground by some margin if (m_controllingPrim.Flying) { - float hover_height = m_physicsScene.TerrainManager.GetTerrainHeightAtXYZ(m_controllingPrim.RawPosition) + 8f; + float hover_height = m_physicsScene.TerrainManager.GetTerrainHeightAtXYZ(m_controllingPrim.RawPosition) + + BSParam.AvatarFlyingGroundMargin; if( m_controllingPrim.Position.Z < hover_height) { - moveForce.Z = moveForce.Z + 50f; + stepVelocity.Z += BSParam.AvatarFlyingGroundUpForce; } } + // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. + OMV.Vector3 moveForce = (stepVelocity - m_controllingPrim.RawVelocity) * m_controllingPrim.Mass; + + // Add special movement force to allow avatars to walk up stepped surfaces. + moveForce += WalkUpStairs(); + m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", m_controllingPrim.LocalID, stepVelocity, m_controllingPrim.RawVelocity, m_controllingPrim.Mass, moveForce); m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, moveForce); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index de42a4c..042e8a4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -136,6 +136,8 @@ public static class BSParam public static float AvatarHeightLowFudge { get; private set; } public static float AvatarHeightMidFudge { get; private set; } public static float AvatarHeightHighFudge { get; private set; } + public static float AvatarFlyingGroundMargin { get; private set; } + public static float AvatarFlyingGroundUpForce { get; private set; } public static float AvatarContactProcessingThreshold { get; private set; } public static float AvatarStopZeroThreshold { get; private set; } public static int AvatarJumpFrames { get; private set; } @@ -583,6 +585,10 @@ public static class BSParam 0f ), new ParameterDefn("AvatarHeightHighFudge", "A fudge factor to make tall avatars stand on the ground", 0f ), + new ParameterDefn("AvatarFlyingGroundMargin", "Meters avatar is kept above the ground when flying", + 5f ), + new ParameterDefn("AvatarFlyingGroundUpForce", "Upward force applied to the avatar to keep it at flying ground margin", + 2.0f ), new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 0.1f ), new ParameterDefn("AvatarStopZeroThreshold", "Movement velocity below which avatar is assumed to be stopped", -- cgit v1.1 From 4651cd1f50add12aca5d45bdde1b9990ce3c29de Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 18 Jun 2014 23:01:39 -0700 Subject: BulletSim: stop processing linkset child when it is discovered that the child doesn't have a physical shape. Another attempt at fixing Mantis 7191. --- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 1 + 1 file changed, 1 insertion(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 67cb2f6..5217452 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -404,6 +404,7 @@ public sealed class BSLinksetCompound : BSLinkset m_physicsScene.Logger.WarnFormat("{0} Linkset rebuild warning. If this happens more than one or two times, please report in Mantis 7191", LogHeader); m_physicsScene.Logger.WarnFormat("{0} pName={1}, childIdx={2}, shape={3}", LogHeader, LinksetRoot.Name, cPrim.LinksetChildIndex, childShape); + return false; // 'false' says to move onto the next child in the list } } -- cgit v1.1 From 481b7c71c34167e903b8e0d65bc8932076929675 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 20 Jun 2014 21:42:08 -0700 Subject: BulletSim: add some locking for collision lists to prevent collsions from locking up when running BulletSim on a separate thread. --- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 9 +++++++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 10 ++++++++-- 2 files changed, 15 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index f89b376..7a46550 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -462,7 +462,10 @@ public abstract class BSPhysObject : PhysicsActor // If someone has subscribed for collision events log the collision so it will be reported up if (SubscribedEvents()) { - CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + lock (PhysScene.CollisionLock) + { + CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); + } DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}", LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving); @@ -474,12 +477,14 @@ public abstract class BSPhysObject : PhysicsActor // Send the collected collisions into the simulator. // Called at taint time from within the Step() function thus no locking problems // with CollisionCollection and ObjectsWithNoMoreCollisions. + // Called with BSScene.CollisionLock locked to protect the collision lists. // Return 'true' if there were some actual collisions passed up public virtual bool SendCollisions() { bool ret = true; - // If the 'no collision' call, force it to happen right now so quick collision_end + // If no collisions this call but there were collisions last call, force the collision + // event to be happen right now so quick collision_end. bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0); // throttle the collisions to the number of milliseconds specified in the subscription diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 23bada9..17d26a9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -705,7 +705,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // this is is under UpdateLock. public void PostUpdate(BSPhysObject updatee) { - ObjectsWithUpdates.Add(updatee); + lock (UpdateLock) + { + ObjectsWithUpdates.Add(updatee); + } } // The simulator thinks it is physics time so return all the collisions and position @@ -803,7 +806,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) { // If a collision was 'good', remember to send it to the simulator - ObjectsWithCollisions.Add(collider); + lock (CollisionLock) + { + ObjectsWithCollisions.Add(collider); + } } } -- cgit v1.1 From abf85b7f192e167ed5f462ac8d1a8de365e4f03b Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Fri, 20 Jun 2014 09:34:07 -0400 Subject: Bulletsim: Create AvatarTerminalVelocity to BulletSim like what ODE and SL has. Before this falling from really high caused the avatar to fall faster then the veiwer can handle and cause camera issues. --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 24 ++++++++++++++++++++-- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 +++ 2 files changed, 25 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 42381ef..14518e9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -205,6 +205,17 @@ public class BSActorAvatarMove : BSActor // Flying and not colliding and velocity nearly zero. m_controllingPrim.ZeroMotion(true /* inTaintTime */); } + else + { + //We are falling but are not touching any keys make sure not falling too fast + if (m_controllingPrim.RawVelocity.Z < BSParam.AvatarTerminalVelocity) + { + + OMV.Vector3 slowingForce = new OMV.Vector3(0f, 0f, BSParam.AvatarTerminalVelocity - m_controllingPrim.RawVelocity.Z) * m_controllingPrim.Mass; + m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, slowingForce); + } + + } } m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", @@ -252,8 +263,17 @@ public class BSActorAvatarMove : BSActor } else { - // Since we're not affected by anything, whatever vertical motion the avatar has, continue that. - stepVelocity.Z = m_controllingPrim.RawVelocity.Z; + + // Since we're not affected by anything, the avatar must be falling and we do not want that to be too fast. + if (m_controllingPrim.RawVelocity.Z < BSParam.AvatarTerminalVelocity) + { + + stepVelocity.Z = BSParam.AvatarTerminalVelocity; + } + else + { + stepVelocity.Z = m_controllingPrim.RawVelocity.Z; + } } // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 042e8a4..8b4df05 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -138,6 +138,7 @@ public static class BSParam public static float AvatarHeightHighFudge { get; private set; } public static float AvatarFlyingGroundMargin { get; private set; } public static float AvatarFlyingGroundUpForce { get; private set; } + public static float AvatarTerminalVelocity { get; private set; } public static float AvatarContactProcessingThreshold { get; private set; } public static float AvatarStopZeroThreshold { get; private set; } public static int AvatarJumpFrames { get; private set; } @@ -589,6 +590,8 @@ public static class BSParam 5f ), new ParameterDefn("AvatarFlyingGroundUpForce", "Upward force applied to the avatar to keep it at flying ground margin", 2.0f ), + new ParameterDefn("AvatarTerminalVelocity", "Terminal Velocity of falling avatar", + -54.0f ), new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 0.1f ), new ParameterDefn("AvatarStopZeroThreshold", "Movement velocity below which avatar is assumed to be stopped", -- cgit v1.1 From 1daec26ba0355f0c7d77c790a52546db6435968a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 17 Jul 2014 21:41:39 -0700 Subject: BulletSim: rearrange code to prevent using null pointers when a child mesh is not available when building a linkset. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 21 ++++++++++----------- 1 file changed, 10 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 5217452..5a9e9ff 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -385,6 +385,16 @@ public sealed class BSLinksetCompound : BSLinkset m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); + + // Since we are borrowing the shape of the child, disable the origional child body + if (!IsRoot(cPrim)) + { + m_physicsScene.PE.AddToCollisionFlags(cPrim.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + m_physicsScene.PE.ForceActivationState(cPrim.PhysBody, ActivationState.DISABLE_SIMULATION); + // We don't want collisions from the old linkset children. + m_physicsScene.PE.RemoveFromCollisionFlags(cPrim.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + cPrim.PhysBody.collisionType = CollisionType.LinksetChild; + } } else { @@ -404,20 +414,9 @@ public sealed class BSLinksetCompound : BSLinkset m_physicsScene.Logger.WarnFormat("{0} Linkset rebuild warning. If this happens more than one or two times, please report in Mantis 7191", LogHeader); m_physicsScene.Logger.WarnFormat("{0} pName={1}, childIdx={2}, shape={3}", LogHeader, LinksetRoot.Name, cPrim.LinksetChildIndex, childShape); - return false; // 'false' says to move onto the next child in the list } } - // Since we are borrowing the shape of the child, disable the origional child body - if (!IsRoot(cPrim)) - { - m_physicsScene.PE.AddToCollisionFlags(cPrim.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); - m_physicsScene.PE.ForceActivationState(cPrim.PhysBody, ActivationState.DISABLE_SIMULATION); - // We don't want collisions from the old linkset children. - m_physicsScene.PE.RemoveFromCollisionFlags(cPrim.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - cPrim.PhysBody.collisionType = CollisionType.LinksetChild; - } - return false; // 'false' says to move onto the next child in the list }); -- cgit v1.1 From 738c60459c0721a2559274f6f6af1f556bda88c2 Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Tue, 24 Jun 2014 10:51:49 -0400 Subject: BulletSim: Modify first and default vehicle vertical attractor to be feature complete with use of the Limit Roll Only Flag. Signed-off-by: Robert Adams --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 14 ++++++++++++++ 1 file changed, 14 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 05374e8..2bf32e7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1438,6 +1438,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin // This is only half the distance to the target so it will take 2 seconds to complete the turn. Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ); + if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != 0) + { + Vector3 vehicleForwardAxis = Vector3.UnitX * VehicleOrientation; + torqueVector = ProjectVector(torqueVector, vehicleForwardAxis); + } + // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared Vector3 vertContributionV = torqueVector * verticalAttractionSpeed * verticalAttractionSpeed; @@ -1739,6 +1745,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin } + //Given a Vector and a unit vector will return the amount of the vector is on the same axis as the unit. + private Vector3 ProjectVector(Vector3 vector, Vector3 onNormal) + { + float vectorDot = Vector3.Dot(vector, onNormal); + return onNormal * vectorDot; + + } + private float ClampInRange(float low, float val, float high) { return Math.Max(low, Math.Min(val, high)); -- cgit v1.1 From 9c804466e504275ea4e6379b42113d2fce80f30c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 26 Jul 2014 16:03:43 -0700 Subject: BulletSim: rearrange code for sensing whether shapes have been constructed. Add routine to check for failed and use that method rather than checking individual state. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 25 +++--- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 5 ++ OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 90 ++++++++++------------ 3 files changed, 60 insertions(+), 60 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 5a9e9ff..6586099 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -401,20 +401,21 @@ public sealed class BSLinksetCompound : BSLinkset // The linkset must be in an intermediate state where all the children have not yet // been constructed. This sometimes happens on startup when everything is getting // built and some shapes have to wait for assets to be read in. - // Just skip this child for the moment and cause the shape to be rebuilt next tick. + // Just skip this linkset for the moment and cause the shape to be rebuilt next tick. // One problem might be that the shape is broken somehow and it never becomes completely // available. This might cause the rebuild to happen over and over. - if (LinksetRebuildFailureLoopPrevention-- > 0) - { - LinksetRoot.ForceBodyShapeRebuild(false); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChildWithNoShape,indx={1},cShape={2},offPos={3},offRot={4}", - LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); - // Output an annoying warning. It should only happen once but if it keeps coming out, - // the user knows there is something wrong and will report it. - m_physicsScene.Logger.WarnFormat("{0} Linkset rebuild warning. If this happens more than one or two times, please report in Mantis 7191", LogHeader); - m_physicsScene.Logger.WarnFormat("{0} pName={1}, childIdx={2}, shape={3}", - LogHeader, LinksetRoot.Name, cPrim.LinksetChildIndex, childShape); - } + LinksetRoot.ForceBodyShapeRebuild(false); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChildWithNoShape,indx={1},cShape={2},offPos={3},offRot={4}", + LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); + // Output an annoying warning. It should only happen once but if it keeps coming out, + // the user knows there is something wrong and will report it. + m_physicsScene.Logger.WarnFormat("{0} Linkset rebuild warning. If this happens more than one or two times, please report in Mantis 7191", LogHeader); + m_physicsScene.Logger.WarnFormat("{0} pName={1}, childIdx={2}, shape={3}", + LogHeader, LinksetRoot.Name, cPrim.LinksetChildIndex, childShape); + + // This causes the loop to bail on building the rest of this linkset. + // The rebuild operation should fix it up or declare the object unbuildable. + return true; } return false; // 'false' says to move onto the next child in the list diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 7a46550..75ffeb4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -159,6 +159,11 @@ public abstract class BSPhysObject : PhysicsActor Unknown, Waiting, FailedAssetFetch, FailedMeshing, Fetched } public PrimAssetCondition PrimAssetState { get; set; } + public virtual bool AssetFailed() + { + return ( (this.PrimAssetState == PrimAssetCondition.FailedAssetFetch) + || (this.PrimAssetState == PrimAssetCondition.FailedMeshing) ); + } // The objects base shape information. Null if not a prim type shape. public PrimitiveBaseShape BaseShape { get; protected set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index b344ba1..09f5bc4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -177,8 +177,7 @@ public abstract class BSShape { // 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.FailedAssetFetch - && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.FailedMeshing + && !prim.AssetFailed() && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting && prim.BaseShape.SculptTexture != OMV.UUID.Zero ) @@ -189,50 +188,46 @@ public abstract class BSShape 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) { - // physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,inFireAndForget", xprim.LocalID); - RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod; - if (assetProvider != null) + // physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,assetProviderCallback", xprim.LocalID); + bool assetFound = false; + string mismatchIDs = String.Empty; // DEBUG DEBUG + if (asset != null && yprim.BaseShape.SculptEntry) { - BSPhysObject yprim = xprim; // probably not necessary, but, just in case. - assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) + 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.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched; + yprim.ForceBodyShapeRebuild(false /* inTaintTime */); + assetFound = true; + } + else { - // physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,assetProviderCallback", xprim.LocalID); - 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.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched; - yprim.ForceBodyShapeRebuild(false /* inTaintTime */); - assetFound = true; - } - else - { - mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID; - } - } - if (!assetFound) - { - yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch; - } - physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAssetCallback,found={1},isSculpt={2},ids={3}", - yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs ); - }); + mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID; + } } - else + if (!assetFound) { - xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch; - physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}", - LogHeader, physicsScene.Name); + yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch; } + physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAssetCallback,found={1},isSculpt={2},ids={3}", + yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs ); }); + } + else + { + xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.FailedAssetFetch; + physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}", + LogHeader, physicsScene.Name); + } } else { @@ -395,9 +390,7 @@ public class BSShapeMesh : BSShape // Check to see if mesh was created (might require an asset). newShape = VerifyMeshCreated(physicsScene, newShape, prim); - if (!newShape.isNativeShape - || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing - || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch) + if (!newShape.isNativeShape || prim.AssetFailed() ) { // If a mesh was what was created, remember the built shape for later sharing. // Also note that if meshing failed we put it in the mesh list as there is nothing else to do about the mesh. @@ -584,9 +577,7 @@ public class BSShapeHull : BSShape // Check to see if hull was created (might require an asset). newShape = VerifyMeshCreated(physicsScene, newShape, prim); - if (!newShape.isNativeShape - || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing - || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch) + if (!newShape.isNativeShape || prim.AssetFailed()) { // If a mesh was what was created, remember the built shape for later sharing. Hulls.Add(newHullKey, retHull); @@ -994,6 +985,11 @@ public class BSShapeCompound : BSShape BSShapeNative nativeShape = new BSShapeNative(pShape); nativeShape.Dereference(physicsScene); } + else + { + physicsScene.Logger.WarnFormat("{0} DereferenceAnonCollisionShape. Did not find shape. {1}", + LogHeader, pShape); + } } } } @@ -1137,9 +1133,7 @@ public class BSShapeGImpact : BSShape // Check to see if mesh was created (might require an asset). newShape = VerifyMeshCreated(physicsScene, newShape, prim); newShape.shapeKey = newMeshKey; - if (!newShape.isNativeShape - || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedMeshing - || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.FailedAssetFetch) + if (!newShape.isNativeShape || prim.AssetFailed()) { // If a mesh was what was created, remember the built shape for later sharing. // Also note that if meshing failed we put it in the mesh list as there is nothing -- cgit v1.1 From 3654ae8d8cea0bf0455974efe18ff99e484d2893 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Tue, 29 Jul 2014 01:21:15 +0100 Subject: Allow the "debug scene set physics false|true" command to work when bulletsim physics is running in a separate thread. This will also allow the "disable physics" setting in the region debug viewer dialog to work in this circumstance. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 10 ++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 5 ++++- 2 files changed, 14 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 8b4df05..867d6ff 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -54,6 +54,14 @@ public static class BSParam // =================== // From: + /// + /// Set whether physics is active or not. + /// + /// + /// Can be enabled and disabled to start and stop physics. + /// + public static bool Active { get; private set; } + public static bool UseSeparatePhysicsThread { get; private set; } public static float PhysicsTimeStep { get; private set; } @@ -373,6 +381,8 @@ public static class BSParam // v = value (appropriate type) private static ParameterDefnBase[] ParameterDefinitions = { + new ParameterDefn("Active", "If 'true', false then physics is not active", + false ), new ParameterDefn("UseSeparatePhysicsThread", "If 'true', the physics engine runs independent from the simulator heartbeat", false ), new ParameterDefn("PhysicsTimeStep", "If separate thread, seconds to simulate each interval", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 17d26a9..e517389 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -821,7 +821,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters while (m_initialized) { int beginSimulationRealtimeMS = Util.EnvironmentTickCount(); - DoPhysicsStep(BSParam.PhysicsTimeStep); + + if (BSParam.Active) + DoPhysicsStep(BSParam.PhysicsTimeStep); + int simulationRealtimeMS = Util.EnvironmentTickCountSubtract(beginSimulationRealtimeMS); int simulationTimeVsRealtimeDifferenceMS = ((int)(BSParam.PhysicsTimeStep*1000f)) - simulationRealtimeMS; -- cgit v1.1 From 50ed97aa1a91beb20747b5d6377390669c614450 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 30 Jul 2014 21:49:57 -0700 Subject: BulletSim: thread safe handling of list of avatars. Fix for 7284 which is an enumeration exception when starting up a region. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 21 ++++++++++++++++++--- 1 file changed, 18 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e517389..f7317c0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -471,7 +471,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // We must generate a collision for avatars whether they collide or not. // This is required by OpenSim to update avatar animations, etc. lock (m_avatars) - m_avatars.Add(actor); + { + // The funky copy is because this list has few and infrequent changes but is + // read zillions of times. This allows the reader/iterator to use the + // list and this creates a new list with any updates. + HashSet avatarTemp = new HashSet(m_avatars); + avatarTemp.Add(actor); + m_avatars = avatarTemp; + } return actor; } @@ -491,7 +498,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters PhysObjects.Remove(bsactor.LocalID); // Remove kludge someday lock (m_avatars) - m_avatars.Remove(bsactor); + { + HashSet avatarTemp = new HashSet(m_avatars); + avatarTemp.Remove(bsactor); + m_avatars = avatarTemp; + } } catch (Exception e) { @@ -736,9 +747,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // The simulator expects collisions for avatars even if there are have been no collisions. // The event updates avatar animations and stuff. // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. - foreach (BSPhysObject bsp in m_avatars) + // Note that we copy the root of the list to search. Any updates will create a new list + // thus freeing this code from having to do an extra lock for every collision. + HashSet avatarTemp = m_avatars; + foreach (BSPhysObject bsp in avatarTemp) if (!ObjectsWithCollisions.Contains(bsp)) // don't call avatars twice bsp.SendCollisions(); + avatarTemp = null; // Objects that are done colliding are removed from the ObjectsWithCollisions list. // Not done above because it is inside an iteration of ObjectWithCollisions. -- cgit v1.1 From 674be7222568ff719f082564d02cb68811adcd7f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 21 Aug 2014 06:33:04 -0700 Subject: BulletSim: add new Bullet 2.82 constraint type codes and rename the BulletSim fixed constraint to not be confused with the native version. --- OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 4 +++- OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs | 12 ++++++------ 2 files changed, 9 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index be6f152..0458cd9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -43,9 +43,11 @@ public enum ConstraintType : int SLIDER_CONSTRAINT_TYPE, CONTACT_CONSTRAINT_TYPE, D6_SPRING_CONSTRAINT_TYPE, + GEAR_CONSTRAINT_TYPE, // added in Bullet 2.82 + FIXED_CONSTRAINT_TYPE, // added in Bullet 2.82 MAX_CONSTRAINT_TYPE, // last type defined by Bullet // - FIXED_CONSTRAINT_TYPE = 1234 // BulletSim constraint that is fixed and unmoving + BS_FIXED_CONSTRAINT_TYPE = 1234 // BulletSim constraint that is fixed and unmoving } // =============================================================================== diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index aaf92c8..b0a5ef1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -78,7 +78,7 @@ public sealed class BSLinksetConstraints : BSLinkset public override void ResetLink() { // constraintType = ConstraintType.D6_CONSTRAINT_TYPE; - constraintType = ConstraintType.FIXED_CONSTRAINT_TYPE; + constraintType = ConstraintType.BS_FIXED_CONSTRAINT_TYPE; linearLimitLow = OMV.Vector3.Zero; linearLimitHigh = OMV.Vector3.Zero; angularLimitLow = OMV.Vector3.Zero; @@ -115,7 +115,7 @@ public sealed class BSLinksetConstraints : BSLinkset member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.SetLinkParameters,type={1}", member.LocalID, constraintType); switch (constraintType) { - case ConstraintType.FIXED_CONSTRAINT_TYPE: + case ConstraintType.BS_FIXED_CONSTRAINT_TYPE: case ConstraintType.D6_CONSTRAINT_TYPE: BSConstraint6Dof constrain6dof = constrain as BSConstraint6Dof; if (constrain6dof != null) @@ -179,7 +179,7 @@ public sealed class BSLinksetConstraints : BSLinkset public override bool ShouldUpdateChildProperties() { bool ret = true; - if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE) + if (constraintType == ConstraintType.BS_FIXED_CONSTRAINT_TYPE) ret = false; return ret; @@ -363,7 +363,7 @@ public sealed class BSLinksetConstraints : BSLinkset switch (linkInfo.constraintType) { - case ConstraintType.FIXED_CONSTRAINT_TYPE: + case ConstraintType.BS_FIXED_CONSTRAINT_TYPE: case ConstraintType.D6_CONSTRAINT_TYPE: // Relative position normalized to the root prim // Essentually a vector pointing from center of rootPrim to center of li.member @@ -536,7 +536,7 @@ public sealed class BSLinksetConstraints : BSLinkset { int requestedType = (int)pParams[2]; DetailLog("{0},BSLinksetConstraint.ChangeLinkType,requestedType={1}", LinksetRoot.LocalID, requestedType); - if (requestedType == (int)ConstraintType.FIXED_CONSTRAINT_TYPE + if (requestedType == (int)ConstraintType.BS_FIXED_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.D6_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.HINGE_CONSTRAINT_TYPE @@ -646,7 +646,7 @@ public sealed class BSLinksetConstraints : BSLinkset case ExtendedPhysics.PHYS_PARAM_LINK_TYPE: valueInt = (int)pParams[opIndex + 1]; ConstraintType valueType = (ConstraintType)valueInt; - if (valueType == ConstraintType.FIXED_CONSTRAINT_TYPE + if (valueType == ConstraintType.BS_FIXED_CONSTRAINT_TYPE || valueType == ConstraintType.D6_CONSTRAINT_TYPE || valueType == ConstraintType.D6_SPRING_CONSTRAINT_TYPE || valueType == ConstraintType.HINGE_CONSTRAINT_TYPE -- cgit v1.1 From b08ab1e3754da4a2855bb77fca91dce01e9c2fae Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Wed, 3 Sep 2014 23:31:45 +0100 Subject: If BulletSim is running on its own threads, start this thread via the thread watchdog. This allows us to see the presence of the permanent thread via the "show threads" console comand. Also adds the region name to the thread name. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index f7317c0..d3b2ad7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -32,6 +32,7 @@ using System.Runtime.InteropServices; using System.Text; using System.Threading; using OpenSim.Framework; +using OpenSim.Framework.Monitoring; using OpenSim.Region.Framework; using OpenSim.Region.CoreModules; using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging; @@ -286,9 +287,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (BSParam.UseSeparatePhysicsThread) { // The physics simulation should happen independently of the heartbeat loop - m_physicsThread = new Thread(BulletSPluginPhysicsThread); - m_physicsThread.Name = BulletEngineName; - m_physicsThread.Start(); + m_physicsThread + = Watchdog.StartThread( + BulletSPluginPhysicsThread, + string.Format("{0} ({1})", BulletEngineName, RegionName), + ThreadPriority.Normal, + true, + false); } } -- cgit v1.1 From 29400538b7bb9505ab2873d90680d9ad4cb101d0 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Wed, 3 Sep 2014 23:37:20 +0100 Subject: minor: fix indenting from previous commit b08ab1e --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index d3b2ad7..f87c6c4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -287,13 +287,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (BSParam.UseSeparatePhysicsThread) { // The physics simulation should happen independently of the heartbeat loop - m_physicsThread - = Watchdog.StartThread( - BulletSPluginPhysicsThread, - string.Format("{0} ({1})", BulletEngineName, RegionName), - ThreadPriority.Normal, - true, - false); + m_physicsThread + = Watchdog.StartThread( + BulletSPluginPhysicsThread, + string.Format("{0} ({1})", BulletEngineName, RegionName), + ThreadPriority.Normal, + true, + false); } } -- cgit v1.1 From 6e6512eb4a9fb9fb88d5ec7f3968598f3012b356 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Wed, 3 Sep 2014 23:43:59 +0100 Subject: Make bulletsim thread alarm if no update for 5 seconds. The cost is minimal (also done for scene loop) at the benefit of telling us if this thread simply stops for some reason. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index f87c6c4..338593f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -293,7 +293,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters string.Format("{0} ({1})", BulletEngineName, RegionName), ThreadPriority.Normal, true, - false); + true); } } @@ -861,6 +861,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // TODO. DetailLog("{0},BulletSPluginPhysicsThread,longerThanRealtime={1}", BSScene.DetailLogZero, simulationTimeVsRealtimeDifferenceMS); } + + if (BSParam.UseSeparatePhysicsThread) + Watchdog.UpdateThread(); } } -- cgit v1.1 From 4b04d22899e954831c4bf0904b5c2d9adacf650a Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Wed, 3 Sep 2014 23:53:04 +0100 Subject: Don't need to check separate physics status in bulletsim update since that method is only run for an indepndent thread anyway. Also remove bulletsim monitored thread from watchdog on shutdown. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 338593f..a46c241 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -862,9 +862,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters DetailLog("{0},BulletSPluginPhysicsThread,longerThanRealtime={1}", BSScene.DetailLogZero, simulationTimeVsRealtimeDifferenceMS); } - if (BSParam.UseSeparatePhysicsThread) - Watchdog.UpdateThread(); + Watchdog.UpdateThread(); } + + Watchdog.RemoveThread(); } #endregion // Simulation -- cgit v1.1 From 7a2c77e7eace93d722ef37595e9fab21d3cd266f Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey Date: Wed, 19 Nov 2014 20:06:56 +0000 Subject: If calling llStopMoveToTarget() on an in-world prim, don't send an unnecessary object update if the prim was not moving to target. This involves making PhysicsActor.PIDActive get as well as set. On physics components that don't implement this (all characters and some phys engines) we return false. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 6 +++--- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 7 ++++++- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 14 +++++++++++--- 3 files changed, 20 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 9b56fb4..a303972 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -614,9 +614,9 @@ public sealed class BSCharacter : BSPhysObject public override OMV.Vector3 PIDTarget { set { _PIDTarget = value; } } - public override bool PIDActive { - set { _usePID = value; } - } + + public override bool PIDActive { get; set; } + public override float PIDTau { set { _PIDTau = value; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 75ffeb4..f059322 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -246,7 +246,12 @@ public abstract class BSPhysObject : PhysicsActor public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } - public override bool PIDActive { set { MoveToTargetActive = value; } } + public override bool PIDActive + { + get { return MoveToTargetActive; } + set { MoveToTargetActive = value; } + } + public override OMV.Vector3 PIDTarget { set { MoveToTargetTarget = value; } } public override float PIDTau { set { MoveToTargetTau = value; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index edec949..27ee5ac 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1087,9 +1087,17 @@ public class BSPrim : BSPhysObject } } - public override bool PIDActive { - set { - base.MoveToTargetActive = value; + public override bool PIDActive + { + get + { + return MoveToTargetActive; + } + + set + { + MoveToTargetActive = value; + EnableActor(MoveToTargetActive, MoveToTargetActorName, delegate() { return new BSActorMoveToTarget(PhysScene, this, MoveToTargetActorName); -- cgit v1.1 From c5a0f0ba368a8013a1976315d1d5e349547d58e9 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Tue, 26 Aug 2014 18:17:09 +0100 Subject: Temporary hack to disable av to av collisions in bulletsim. Need to do this for a test. Final implementation will be properly controlled through a property. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 3425d9e..85ef64b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -231,7 +231,7 @@ public static Dictionary CollisionTypeM { CollisionType.Avatar, new CollisionTypeFilterGroup(CollisionType.Avatar, (uint)CollisionFilterGroups.BCharacterGroup, - (uint)CollisionFilterGroups.BAllGroup) + (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BCharacterGroup)) }, { CollisionType.Groundplane, new CollisionTypeFilterGroup(CollisionType.Groundplane, -- cgit v1.1 From 23561239ee411f3998792fc32d2ae4d037960cf0 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Tue, 16 Sep 2014 18:32:07 +0100 Subject: Make BulletSim thread be ThreadPriority.Highest if running Will only effect Windows or mono with a patch such as https://gist.github.com/justincc/31e52218d098529b4696 applied For test purposes --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 ++ 1 file changed, 2 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index a46c241..7d57751 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -838,6 +838,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public void BulletSPluginPhysicsThread() { + Thread.CurrentThread.Priority = ThreadPriority.Highest; + while (m_initialized) { int beginSimulationRealtimeMS = Util.EnvironmentTickCount(); -- cgit v1.1 From 8d721451129a8f9de84157d83e4bc741c8c7684f Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Fri, 26 Sep 2014 20:56:22 +0100 Subject: If Bullet is running on its own thread, use a reset event to control timing rather than a sleep. In theory, there should be no difference between these mechanisms. However, on at least Mono 3.2.8 waiting via an event appears to be much more accurate. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7d57751..46a13ab 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -130,6 +130,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters internal int m_maxUpdatesPerFrame; internal EntityProperties[] m_updateArray; + /// + /// Used to control physics simulation timing if Bullet is running on its own thread. + /// + private ManualResetEvent m_updateWaitEvent; + public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero public const uint GROUNDPLANE_ID = 1; public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here @@ -839,6 +844,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public void BulletSPluginPhysicsThread() { Thread.CurrentThread.Priority = ThreadPriority.Highest; + m_updateWaitEvent = new ManualResetEvent(false); while (m_initialized) { @@ -853,8 +859,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (simulationTimeVsRealtimeDifferenceMS > 0) { // The simulation of the time interval took less than realtime. - // Do a sleep for the rest of realtime. - Thread.Sleep(simulationTimeVsRealtimeDifferenceMS); + // Do a wait for the rest of realtime. + m_updateWaitEvent.WaitOne(simulationTimeVsRealtimeDifferenceMS); + //Thread.Sleep(simulationTimeVsRealtimeDifferenceMS); } else { -- cgit v1.1 From 124be38f745b884fac5dbdb6ef963387235f6108 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Thu, 20 Nov 2014 21:28:12 +0000 Subject: Add [BulletSim] option AvatarToAvatarCollisionsByDefault to control whether avatars collide. This is true by default. This is implemented with a new collision type (PhantomToOthersAvatar) to potentially allow colliding and non-colliding avatars to be present in the same scene. So there is no provision yet for giving avatars different collision types. This commit replaces the temporary change in commit f3eaa6d8 where avatars would never collide when using BulletSim This is equivalent to the av_av_collisions_off option in ODE. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 8 ++++++-- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 +++ OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs | 8 +++++++- 3 files changed, 16 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index a303972..4c54f9f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -174,15 +174,19 @@ public sealed class BSCharacter : BSPhysObject PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody); // Do this after the object has been added to the world - PhysBody.collisionType = CollisionType.Avatar; + if (BSParam.AvatarToAvatarCollisionsByDefault) + PhysBody.collisionType = CollisionType.Avatar; + else + PhysBody.collisionType = CollisionType.PhantomToOthersAvatar; + PhysBody.ApplyCollisionMask(PhysScene); } - public override void RequestPhysicsterseUpdate() { base.RequestPhysicsterseUpdate(); } + // No one calls this method so I don't know what it could possibly mean public override bool Stopped { get { return false; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 867d6ff..e7f4def 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -132,6 +132,7 @@ public static class BSParam public static float PhysicsUnmanLoggingFrames { get; private set; } // Avatar parameters + public static bool AvatarToAvatarCollisionsByDefault { get; private set; } public static float AvatarFriction { get; private set; } public static float AvatarStandingFriction { get; private set; } public static float AvatarAlwaysRunFactor { get; private set; } @@ -571,6 +572,8 @@ public static class BSParam new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" , 0.04f ), + new ParameterDefn("AvatarToAvatarCollisionsByDefault", "Should avatars collide with other avatars by default?", + true), new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", 0.2f ), new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 85ef64b..5932461 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -190,6 +190,7 @@ public class BulletHMapInfo public enum CollisionType { Avatar, + PhantomToOthersAvatar, // An avatar that it phantom to other avatars but not to anything else Groundplane, Terrain, Static, @@ -231,7 +232,12 @@ public static Dictionary CollisionTypeM { CollisionType.Avatar, new CollisionTypeFilterGroup(CollisionType.Avatar, (uint)CollisionFilterGroups.BCharacterGroup, - (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BCharacterGroup)) + (uint)(CollisionFilterGroups.BAllGroup)) + }, + { CollisionType.PhantomToOthersAvatar, + new CollisionTypeFilterGroup(CollisionType.PhantomToOthersAvatar, + (uint)CollisionFilterGroups.BCharacterGroup, + (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BCharacterGroup)) }, { CollisionType.Groundplane, new CollisionTypeFilterGroup(CollisionType.Groundplane, -- cgit v1.1 From 86367d7219b3bd52f63045b2b17bcbde328844ed Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Tue, 25 Nov 2014 23:56:32 +0000 Subject: refactor: Move methods to start a monitored thread, start work in its own thread and run work in the jobengine from Watchdog to a WorkManager class. This is to achieve a clean separation of concerns - the watchdog is an inappropriate place for work management. Also adds a WorkManager.RunInThreadPool() class which feeds through to Util.FireAndForget. Also switches around the name and obj arguments to the new RunInThread() and RunJob() methods so that the callback obj comes after the callback as seen in the SDK and elsewhere --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 46a13ab..0f79a10 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -293,7 +293,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { // The physics simulation should happen independently of the heartbeat loop m_physicsThread - = Watchdog.StartThread( + = WorkManager.StartThread( BulletSPluginPhysicsThread, string.Format("{0} ({1})", BulletEngineName, RegionName), ThreadPriority.Normal, -- cgit v1.1 From 265fe349e00b3ece59ec02e56f83bb7623e9d962 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Sat, 29 Nov 2014 00:12:11 +0000 Subject: Somewhat improve avatar region crossings by properly preserving velocity when avatar enters the new region. This commit addresses the following issues were causing velocity to be set to 0 on the new region, disrupting flight in particular * Full avatar updates contained no velocity information, which does appear to have some effect in testing. * BulletSim was always setting the velocity to 0 for the new BSCharacter. Now, physics engines take a velocity parameter when setting up characters so we can avoid this. This patch applies to both Bullet and ODE. --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 5 +++ .../Region/Physics/BulletSPlugin/BSCharacter.cs | 41 ++++++++++++++++------ .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 6 ++-- 4 files changed, 40 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 14518e9..8e998ba 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -30,6 +30,7 @@ using System.Collections.Generic; using System.Linq; using System.Text; +using OpenSim.Framework; using OpenSim.Region.Physics.Manager; using OMV = OpenMetaverse; @@ -109,6 +110,10 @@ public class BSActorAvatarMove : BSActor { if (m_velocityMotor != null) { +// if (targ == OMV.Vector3.Zero) +// Util.PrintCallStack(); +// +// Console.WriteLine("SetVelocityAndTarget, {0} {1}", vel, targ); m_velocityMotor.Reset(); m_velocityMotor.SetTarget(targ); m_velocityMotor.SetCurrent(vel); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 4c54f9f..f29784a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -64,15 +64,25 @@ public sealed class BSCharacter : BSPhysObject private bool _usePID; private float _PIDTau; - public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) +// public override OMV.Vector3 RawVelocity +// { get { return base.RawVelocity; } +// set { +// if (value != base.RawVelocity) +// Util.PrintCallStack(); +// Console.WriteLine("Set rawvel to {0}", value); +// base.RawVelocity = value; } +// } + + public BSCharacter( + uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying) : base(parent_scene, localID, avName, "BSCharacter") { _physicsActorType = (int)ActorTypes.Agent; - RawPosition = pos; + RawPosition = pos; _flying = isFlying; RawOrientation = OMV.Quaternion.Identity; - RawVelocity = OMV.Vector3.Zero; + RawVelocity = vel; _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; Density = BSParam.AvatarDensity; @@ -89,13 +99,15 @@ public sealed class BSCharacter : BSPhysObject // set _avatarVolume and _mass based on capsule size, _density and Scale ComputeAvatarVolumeAndMass(); - DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6}", - LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos); + DetailLog( + "{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6},vel={7}", + LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos, vel); // do actual creation in taint time PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); + // New body and shape into PhysBody and PhysShape PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this); @@ -142,6 +154,7 @@ public sealed class BSCharacter : BSPhysObject m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false); ForceVelocity = RawVelocity; + TargetVelocity = RawVelocity; // This will enable or disable the flying buoyancy of the avatar. // Needs to be reset especially when an avatar is recreated after crossing a region boundry. @@ -256,7 +269,6 @@ public sealed class BSCharacter : BSPhysObject // Called at taint time! public override void ZeroMotion(bool inTaintTime) { - RawVelocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; @@ -267,6 +279,7 @@ public sealed class BSCharacter : BSPhysObject PhysScene.PE.ClearAllForces(PhysBody); }); } + public override void ZeroAngularMotion(bool inTaintTime) { _rotationalVelocity = OMV.Vector3.Zero; @@ -441,32 +454,40 @@ public sealed class BSCharacter : BSPhysObject get { return RawVelocity; } set { RawVelocity = value; - // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, RawVelocity); + OMV.Vector3 vel = RawVelocity; + + DetailLog("{0}: set Velocity = {1}", LogHeader, value); + PhysScene.TaintedObject(LocalID, "BSCharacter.setVelocity", delegate() { if (m_moveActor != null) - m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, true /* inTaintTime */); + m_moveActor.SetVelocityAndTarget(vel, vel, true /* inTaintTime */); - DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, RawVelocity); - ForceVelocity = RawVelocity; + m_log.DebugFormat("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, vel); + ForceVelocity = vel; }); } } + public override OMV.Vector3 ForceVelocity { get { return RawVelocity; } set { PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity"); +// Util.PrintCallStack(); + DetailLog("{0}: set ForceVelocity = {1}", LogHeader, value); RawVelocity = value; PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity); PhysScene.PE.Activate(PhysBody, true); } } + public override OMV.Vector3 Torque { get { return RawTorque; } set { RawTorque = value; } } + public override float CollisionScore { get { return _collisionScore; } set { _collisionScore = value; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index f059322..e4d8df8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -228,7 +228,7 @@ public abstract class BSPhysObject : PhysicsActor public virtual OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } - public OMV.Vector3 RawVelocity { get; set; } + public virtual OMV.Vector3 RawVelocity { get; set; } public abstract OMV.Vector3 ForceVelocity { get; set; } public OMV.Vector3 RawForce { get; set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 0f79a10..414bc92 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -461,19 +461,19 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #region Prim and Avatar addition and removal - public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) + public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying) { m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader); return null; } - public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying) + public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying) { // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName); if (!m_initialized) return null; - BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying); + BSCharacter actor = new BSCharacter(localID, avName, this, position, velocity, size, isFlying); lock (PhysObjects) PhysObjects.Add(localID, actor); -- cgit v1.1 From dfab60a7fdcd18279241dfcaf3dc9ee319e45166 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Sat, 29 Nov 2014 00:53:13 +0000 Subject: minor: Remove a few indenting problems introduced to recent 265fe349 and convert the m_log.DebugFormat() call back to the original DetailLog call --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index f29784a..c7a821b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -461,10 +461,10 @@ public sealed class BSCharacter : BSPhysObject PhysScene.TaintedObject(LocalID, "BSCharacter.setVelocity", delegate() { if (m_moveActor != null) - m_moveActor.SetVelocityAndTarget(vel, vel, true /* inTaintTime */); + m_moveActor.SetVelocityAndTarget(vel, vel, true /* inTaintTime */); - m_log.DebugFormat("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, vel); - ForceVelocity = vel; + DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, vel); + ForceVelocity = vel; }); } } -- cgit v1.1 From 79e37e5eccc8e356bde2d998e7da388d92d662d8 Mon Sep 17 00:00:00 2001 From: Justin Clark-Casey (justincc) Date: Sat, 29 Nov 2014 01:13:48 +0000 Subject: Restore zero'ing RawVelocity in BSCharacter.ZeroMotion() in favour of not calling ZeroMotion in SetPhysicalProperties() at all SetPhysicalProperties is only called when adding a new character so it looks like there is no existing data to reset anyway. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index c7a821b..63b70e4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -146,7 +146,6 @@ public sealed class BSCharacter : BSPhysObject { PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); - ZeroMotion(true); ForcePosition = RawPosition; // Set the velocity @@ -269,6 +268,7 @@ public sealed class BSCharacter : BSPhysObject // Called at taint time! public override void ZeroMotion(bool inTaintTime) { + RawVelocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; -- cgit v1.1 From cf85ade81e38e692fe99c71386ab2c306ab77319 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 2 Oct 2014 18:45:36 -0700 Subject: BulletSim: add shape and linkset rebuild scheduled flags. Add BSPrim.Incomplete flag based on rebuild flags to say when an object is being rebuilt. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 4 +++ OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 11 +++++- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 18 +++++++--- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 28 +++++++++------ .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 9 +++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 42 ++++++++++++++++++++-- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 8 +++++ 7 files changed, 101 insertions(+), 19 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 63b70e4..c670cca 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -73,8 +73,12 @@ public sealed class BSCharacter : BSPhysObject // base.RawVelocity = value; } // } + // Avatars are always complete (in the physics engine sense) + public override bool IsIncomplete { get { return false; } } + public BSCharacter( uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying) + : base(parent_scene, localID, avName, "BSCharacter") { _physicsActorType = (int)ActorTypes.Agent; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 77f69a5..e7b10fe 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -1,4 +1,4 @@ -/* +/* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * @@ -128,6 +128,7 @@ public abstract class BSLinkset m_children = new Dictionary(); LinksetMass = parent.RawMass; Rebuilding = false; + RebuildScheduled = false; parent.ClearDisplacement(); } @@ -297,8 +298,16 @@ public abstract class BSLinkset // Flag denoting the linkset is in the process of being rebuilt. // Used to know not the schedule a rebuild in the middle of a rebuild. + // Because of potential update calls that could want to schedule another rebuild. protected bool Rebuilding { get; set; } + // Flag saying a linkset rebuild has been scheduled. + // This is turned on when the rebuild is requested and turned off when + // the rebuild is complete. Used to limit modifications to the + // linkset parameters while the linkset is in an intermediate state. + // Protected by a "lock(this)" on the BSLinkset object + public bool RebuildScheduled { get; protected set; } + // The object is going dynamic (physical). Do any setup necessary // for a dynamic linkset. // Only the state of the passed object can be modified. The rest of the linkset diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 6586099..582ba5b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -106,13 +106,21 @@ public sealed class BSLinksetCompound : BSLinkset // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. - if (!Rebuilding && HasAnyChildren) + lock (this) { - m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() + if (!RebuildScheduled) { - if (HasAnyChildren) - RecomputeLinksetCompound(); - }); + if (!Rebuilding && HasAnyChildren) + { + RebuildScheduled = true; + m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() + { + if (HasAnyChildren) + RecomputeLinksetCompound(); + RebuildScheduled = false; + }); + } + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index b0a5ef1..4384cdc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -212,20 +212,28 @@ public sealed class BSLinksetConstraints : BSLinkset // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. - if (!Rebuilding && HasAnyChildren) + lock (this) { - // Queue to happen after all the other taint processing - m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() + if (!RebuildScheduled) { - if (HasAnyChildren) + if (!Rebuilding && HasAnyChildren) { - // Constraints that have not been changed are not rebuild but make sure - // the constraint of the requestor is rebuilt. - PhysicallyUnlinkAChildFromRoot(LinksetRoot, requestor); - // Rebuild the linkset and all its constraints. - RecomputeLinksetConstraints(); + RebuildScheduled = true; + // Queue to happen after all the other taint processing + m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() + { + if (HasAnyChildren) + { + // Constraints that have not been changed are not rebuild but make sure + // the constraint of the requestor is rebuilt. + PhysicallyUnlinkAChildFromRoot(LinksetRoot, requestor); + // Rebuild the linkset and all its constraints. + RecomputeLinksetConstraints(); + } + RebuildScheduled = false; + }); } - }); + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index e4d8df8..2b744a0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -136,6 +136,15 @@ public abstract class BSPhysObject : PhysicsActor // This mostly prevents property updates and collisions until the object is completely here. public bool IsInitialized { get; protected set; } + // Set to 'true' if an object (mesh/linkset/sculpty) is not completely constructed. + // This test is used to prevent some updates to the object when it only partially exists. + // There are several reasons and object might be incomplete: + // Its underlying mesh/sculpty is an asset which must be fetched from the asset store + // It is a linkset who is being added to or removed from + // It is changing state (static to physical, for instance) which requires rebuilding + // This is a computed value based on the underlying physical object construction + abstract public bool IsIncomplete { get; } + // Return the object mass without calculating it or having side effects public abstract float RawMass { get; } // Set the raw mass but also update physical mass properties (inertia, ...) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 27ee5ac..c88a5c2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1,4 +1,4 @@ -/* +/* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * @@ -141,6 +141,18 @@ public class BSPrim : BSPhysObject public override bool Stopped { get { return false; } } + + public override bool IsIncomplete { + get { + return ShapeRebuildScheduled; + } + } + + // 'true' if this object's shape is in need of a rebuild and a rebuild has been queued. + // The prim is still available but its underlying shape will change soon. + // This is protected by a 'lock(this)'. + public bool ShapeRebuildScheduled { get; protected set; } + public override OMV.Vector3 Size { get { return _size; } set { @@ -159,13 +171,37 @@ public class BSPrim : BSPhysObject ForceBodyShapeRebuild(false); } } + // Cause the body and shape of the prim to be rebuilt if necessary. + // If there are no changes required, this is quick and does not make changes to the prim. + // If rebuilding is necessary (like changing from static to physical), that will happen. + // The 'ShapeRebuildScheduled' tells any checker that the body/shape may change shortly. + // The return parameter is not used by anyone. public override bool ForceBodyShapeRebuild(bool inTaintTime) { - PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ForceBodyShapeRebuild", delegate() + if (inTaintTime) { + // If called in taint time, do the operation immediately _mass = CalculateMass(); // changing the shape changes the mass CreateGeomAndObject(true); - }); + } + else + { + lock (this) + { + // If a rebuild is not already in the queue + if (!ShapeRebuildScheduled) + { + // Remember that a rebuild is queued -- this is used to flag an incomplete object + ShapeRebuildScheduled = true; + PhysScene.TaintedObject(LocalID, "BSPrim.ForceBodyShapeRebuild", delegate() + { + _mass = CalculateMass(); // changing the shape changes the mass + CreateGeomAndObject(true); + ShapeRebuildScheduled = false; + }); + } + } + } return true; } public override bool Grabbed { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 430d645..cdd912d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -54,6 +54,14 @@ public class BSPrimLinkable : BSPrimDisplaced public BSLinkset.LinksetImplementation LinksetType { get; set; } + public override bool IsIncomplete + { + get + { + return base.IsIncomplete || Linkset.RebuildScheduled ; + } + } + public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) -- cgit v1.1 From eef954a214b9aed2132dd6e495c6be98157ea4aa Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 2 Oct 2014 19:00:26 -0700 Subject: BulletSim: Make BSPrimLinkable 'incomplete' if any of its children are waiting for assets to load. --- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 24 +++++++++++++++++++++- 1 file changed, 23 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index cdd912d..9301e52 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -58,7 +58,29 @@ public class BSPrimLinkable : BSPrimDisplaced { get { - return base.IsIncomplete || Linkset.RebuildScheduled ; + // A linkset is incomplete when base objects are incomplete, waiting for assets, + // or being rebuilt. + bool ret = false; + if (base.IsIncomplete || Linkset.RebuildScheduled) + { + ret = true; + } + else + { + if (Linkset.IsRoot(this)) + { + Linkset.ForEachMember((member) => + { + if (member.PrimAssetState == PrimAssetCondition.Waiting) + { + ret = true; + return true; + } + return false; + }); + } + } + return ret; } } -- cgit v1.1 From 41a943bfd01a8d9463a6621c1f248829637ccb28 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 3 Oct 2014 10:27:48 -0700 Subject: BulletSim: add BSLinkset.AllPartsComplete that checks of all linkset members are not Incomplete and not waiting for assets. Change BSPrimLinkable to use AllPartsComplete. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 17 +++++++++++++++++ .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 22 +--------------------- 2 files changed, 18 insertions(+), 21 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index e7b10fe..c0f8c2a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -316,6 +316,23 @@ public abstract class BSLinkset // Called at taint-time! public abstract bool MakeDynamic(BSPrimLinkable child); + public virtual bool AllPartsComplete + { + get { + bool ret = true; + this.ForEachMember((member) => + { + if (member.IsIncomplete || member.PrimAssetState == BSPhysObject.PrimAssetCondition.Waiting) + { + ret = false; + return true; // exit loop + } + return false; // continue loop + }); + return ret; + } + } + // The object is going static (non-physical). Do any setup necessary // for a static linkset. // Return 'true' if any properties updated on the passed object. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 9301e52..c293e8c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -60,27 +60,7 @@ public class BSPrimLinkable : BSPrimDisplaced { // A linkset is incomplete when base objects are incomplete, waiting for assets, // or being rebuilt. - bool ret = false; - if (base.IsIncomplete || Linkset.RebuildScheduled) - { - ret = true; - } - else - { - if (Linkset.IsRoot(this)) - { - Linkset.ForEachMember((member) => - { - if (member.PrimAssetState == PrimAssetCondition.Waiting) - { - ret = true; - return true; - } - return false; - }); - } - } - return ret; + return (base.IsIncomplete || Linkset.RebuildScheduled || !Linkset.AllPartsComplete); } } -- cgit v1.1 From 63d192f011c5232334759f8723c5e16197daff1b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 10 Oct 2014 05:12:30 -0700 Subject: BulletSim: Remove linkset 'Incomplete' flag as its meaning couldn't be made clear. Add 'InternalScheduleRebuild() CHange rebuild code to call InternalScheduleRebuild() rather than ForceRebuild() to limit the scope of the changes made by the linkset. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 37 +++++++++++++++------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 10 ------ 3 files changed, 26 insertions(+), 23 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index c0f8c2a..d37f29b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -305,7 +305,7 @@ public abstract class BSLinkset // This is turned on when the rebuild is requested and turned off when // the rebuild is complete. Used to limit modifications to the // linkset parameters while the linkset is in an intermediate state. - // Protected by a "lock(this)" on the BSLinkset object + // Protected by a "lock(m_linsetActivityLock)" on the BSLinkset object public bool RebuildScheduled { get; protected set; } // The object is going dynamic (physical). Do any setup necessary diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 582ba5b..049f825 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -106,22 +106,35 @@ public sealed class BSLinksetCompound : BSLinkset // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. - lock (this) + lock (m_linksetActivityLock) { - if (!RebuildScheduled) + if (!RebuildScheduled && !Rebuilding && HasAnyChildren) { - if (!Rebuilding && HasAnyChildren) + InternalScheduleRebuild(requestor); + } + } + } + + private void InternalScheduleRebuild(BSPrimLinkable requestor) + { + RebuildScheduled = true; + m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() + { + if (HasAnyChildren) + { + if (this.AllPartsComplete) { - RebuildScheduled = true; - m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() - { - if (HasAnyChildren) - RecomputeLinksetCompound(); - RebuildScheduled = false; - }); + RecomputeLinksetCompound(); + } + else + { + DetailLog("{0},BSLinksetCompound.InternalScheduleRebuild,,rescheduling because not all children complete", + requestor.LocalID); + InternalScheduleRebuild(requestor); } } - } + RebuildScheduled = false; + }); } // The object is going dynamic (physical). Do any setup necessary for a dynamic linkset. @@ -412,7 +425,7 @@ public sealed class BSLinksetCompound : BSLinkset // Just skip this linkset for the moment and cause the shape to be rebuilt next tick. // One problem might be that the shape is broken somehow and it never becomes completely // available. This might cause the rebuild to happen over and over. - LinksetRoot.ForceBodyShapeRebuild(false); + InternalScheduleRebuild(LinksetRoot); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChildWithNoShape,indx={1},cShape={2},offPos={3},offRot={4}", LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); // Output an annoying warning. It should only happen once but if it keeps coming out, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index c293e8c..430d645 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -54,16 +54,6 @@ public class BSPrimLinkable : BSPrimDisplaced public BSLinkset.LinksetImplementation LinksetType { get; set; } - public override bool IsIncomplete - { - get - { - // A linkset is incomplete when base objects are incomplete, waiting for assets, - // or being rebuilt. - return (base.IsIncomplete || Linkset.RebuildScheduled || !Linkset.AllPartsComplete); - } - } - public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) -- cgit v1.1 From 3642198838164cb883b95d918d968c9febd7e74c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 30 Nov 2014 11:29:44 -0800 Subject: BulletSim: move detail log of InternalScheduleRebuild to reduce log file spam --- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 049f825..b444446 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -100,9 +100,6 @@ public sealed class BSLinksetCompound : BSLinkset // Schedule a refresh to happen after all the other taint processing. private void ScheduleRebuild(BSPrimLinkable requestor) { - DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", - requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); - // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. @@ -115,8 +112,11 @@ public sealed class BSLinksetCompound : BSLinkset } } + // Must be called with m_linksetActivityLock or race conditions will haunt you. private void InternalScheduleRebuild(BSPrimLinkable requestor) { + DetailLog("{0},BSLinksetCompound.InternalScheduleRebuild,,rebuilding={1},hasChildren={2}", + requestor.LocalID, Rebuilding, HasAnyChildren); RebuildScheduled = true; m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() { @@ -396,7 +396,7 @@ public sealed class BSLinksetCompound : BSLinkset // Get a reference to the shape of the child for adding of that shape to the linkset compound shape BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); - // Offset the child shape from the center-of-mass and rotate it to vehicle relative. + // Offset the child shape from the center-of-mass and rotate it to root relative. OMV.Vector3 offsetPos = (cPrim.RawPosition - origRootPosition) * invRootOrientation - centerDisplacementV; OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; @@ -435,7 +435,7 @@ public sealed class BSLinksetCompound : BSLinkset LogHeader, LinksetRoot.Name, cPrim.LinksetChildIndex, childShape); // This causes the loop to bail on building the rest of this linkset. - // The rebuild operation should fix it up or declare the object unbuildable. + // The rebuild operation will fix it up next tick or declare the object unbuildable. return true; } -- cgit v1.1 From 291c7cdbcc80dc270418a4959ccfa0ed8cc0c190 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 31 Dec 2014 12:43:26 -0800 Subject: BulletSim: Add axis locking enabled through the ExtendedPhysics module. Allows locking of prim/linkset relative moving in each of the linear and angular axis. Limits on movement or rotation can be set. --- .../Physics/BulletSPlugin/BSActorLockAxis.cs | 121 ++++---- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 5 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 13 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 334 ++++++++++++++++++++- 4 files changed, 404 insertions(+), 69 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index 7e61007..48cab64 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -37,12 +37,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin public class BSActorLockAxis : BSActor { BSConstraint LockAxisConstraint = null; + // The lock access flags (which axises were locked) when the contraint was built. + // Used to see if locking has changed since when the constraint was built. + OMV.Vector3 LockAxisLinearFlags; + OMV.Vector3 LockAxisAngularFlags; public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) : base(physicsScene, pObj, actorName) { m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID); LockAxisConstraint = null; + + // we place our constraint just before the simulation step to make sure the linkset is complete + m_physicsScene.BeforeStep += PhysicsScene_BeforeStep; } // BSActor.isActive @@ -55,6 +62,7 @@ public class BSActorLockAxis : BSActor // BSActor.Dispose() public override void Dispose() { + m_physicsScene.BeforeStep -= PhysicsScene_BeforeStep; RemoveAxisLockConstraint(); } @@ -63,10 +71,18 @@ public class BSActorLockAxis : BSActor // BSActor.Refresh() public override void Refresh() { - m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", - m_controllingPrim.LocalID, m_controllingPrim.LockedAngularAxis, Enabled, m_controllingPrim.IsPhysicallyActive); + // Since the axis logging is done with a constraint, Refresh() time is good for + // changing parameters but this needs to wait until the prim/linkset is physically + // constructed. Therefore, the constraint itself is placed at pre-step time. + /* + m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedLinear={1},lockedAngular={2},enabled={3},pActive={4}", + m_controllingPrim.LocalID, + m_controllingPrim.LockedLinearAxis, + m_controllingPrim.LockedAngularAxis, + Enabled, m_controllingPrim.IsPhysicallyActive); // If all the axis are free, we don't need to exist - if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree) + if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree + && m_controllingPrim.LockedLinearAxis == m_controllingPrim.LockedAxisFree) { Enabled = false; } @@ -74,12 +90,21 @@ public class BSActorLockAxis : BSActor // If the object is physically active, add the axis locking constraint if (isActive) { + // Check to see if the locking parameters have changed + if (m_controllingPrim.LockedLinearAxis != this.LockAxisLinearFlags + || m_controllingPrim.LockedAngularAxis != this.LockAxisAngularFlags) + { + // The locking has changed. Remove the old constraint and build a new one + RemoveAxisLockConstraint(); + } + AddAxisLockConstraint(); } else { RemoveAxisLockConstraint(); } + */ } // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). @@ -88,15 +113,35 @@ public class BSActorLockAxis : BSActor // BSActor.RemoveDependencies() public override void RemoveDependencies() { - if (LockAxisConstraint != null) + RemoveAxisLockConstraint(); + // The pre-step action will restore the constraint of needed + } + + private void PhysicsScene_BeforeStep(float timestep) + { + // If all the axis are free, we don't need to exist + if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree + && m_controllingPrim.LockedLinearAxis == m_controllingPrim.LockedAxisFree) { - // If a constraint is set up, remove it from the physical scene - RemoveAxisLockConstraint(); - // Schedule a call before the next simulation step to restore the constraint. - m_physicsScene.PostTaintObject("BSActorLockAxis:" + ActorName, m_controllingPrim.LocalID, delegate() + Enabled = false; + } + + // If the object is physically active, add the axis locking constraint + if (isActive) + { + // Check to see if the locking parameters have changed + if (m_controllingPrim.LockedLinearAxis != this.LockAxisLinearFlags + || m_controllingPrim.LockedAngularAxis != this.LockAxisAngularFlags) { - Refresh(); - }); + // The locking has changed. Remove the old constraint and build a new one + RemoveAxisLockConstraint(); + } + + AddAxisLockConstraint(); + } + else + { + RemoveAxisLockConstraint(); } } @@ -118,56 +163,30 @@ public class BSActorLockAxis : BSActor LockAxisConstraint = axisConstrainer; m_physicsScene.Constraints.AddConstraint(LockAxisConstraint); + // Remember the clocking being inforced so we can notice if they have changed + LockAxisLinearFlags = m_controllingPrim.LockedLinearAxis; + LockAxisAngularFlags = m_controllingPrim.LockedAngularAxis; + // The constraint is tied to the world and oriented to the prim. - // Free to move linearly in the region - // OMV.Vector3 linearLow = OMV.Vector3.Zero; - // OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize; - OMV.Vector3 linearLow = new OMV.Vector3(-10000f, -10000f, -10000f); - OMV.Vector3 linearHigh = new OMV.Vector3(10000f, 10000f, 10000f); - if (m_controllingPrim.LockedLinearAxis.X != BSPhysObject.FreeAxis) - { - linearLow.X = m_controllingPrim.RawPosition.X; - linearHigh.X = m_controllingPrim.RawPosition.X; - } - if (m_controllingPrim.LockedLinearAxis.Y != BSPhysObject.FreeAxis) + if (!axisConstrainer.SetLinearLimits(m_controllingPrim.LockedLinearAxisLow, m_controllingPrim.LockedLinearAxisHigh)) { - linearLow.Y = m_controllingPrim.RawPosition.Y; - linearHigh.Y = m_controllingPrim.RawPosition.Y; + m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetLinearLimits", + m_controllingPrim.LocalID); } - if (m_controllingPrim.LockedLinearAxis.Z != BSPhysObject.FreeAxis) - { - linearLow.Z = m_controllingPrim.RawPosition.Z; - linearHigh.Z = m_controllingPrim.RawPosition.Z; - } - axisConstrainer.SetLinearLimits(linearLow, linearHigh); - // Angular with some axis locked - float fPI = (float)Math.PI; - OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI); - OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI); - if (m_controllingPrim.LockedAngularAxis.X != BSPhysObject.FreeAxis) - { - angularLow.X = 0f; - angularHigh.X = 0f; - } - if (m_controllingPrim.LockedAngularAxis.Y != BSPhysObject.FreeAxis) - { - angularLow.Y = 0f; - angularHigh.Y = 0f; - } - if (m_controllingPrim.LockedAngularAxis.Z != BSPhysObject.FreeAxis) - { - angularLow.Z = 0f; - angularHigh.Z = 0f; - } - if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh)) + if (!axisConstrainer.SetAngularLimits(m_controllingPrim.LockedAngularAxisLow, m_controllingPrim.LockedAngularAxisHigh)) { - m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID); + m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", + m_controllingPrim.LocalID); } m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}", - m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh); + m_controllingPrim.LocalID, + m_controllingPrim.LockedLinearAxisLow, + m_controllingPrim.LockedLinearAxisHigh, + m_controllingPrim.LockedAngularAxisLow, + m_controllingPrim.LockedAngularAxisHigh); // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index b444446..22b3f3f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -201,7 +201,10 @@ public sealed class BSLinksetCompound : BSLinkset if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0) { // Find the physical instance of the child - if (LinksetRoot.PhysShape.HasPhysicalShape && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo)) + if (!RebuildScheduled // if rebuilding, let the rebuild do it + && !LinksetRoot.IsIncomplete // if waiting for assets or whatever, don't change + && LinksetRoot.PhysShape.HasPhysicalShape // there must be a physical shape assigned + && m_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 diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 2b744a0..d20d094 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -309,11 +309,20 @@ public abstract class BSPhysObject : PhysicsActor // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass. public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; } - public OMV.Vector3 LockedLinearAxis { get; set; } // zero means locked. one means free. - public OMV.Vector3 LockedAngularAxis { get; set; } // zero means locked. one means free. + public OMV.Vector3 LockedLinearAxis; // zero means locked. one means free. + public OMV.Vector3 LockedAngularAxis; // zero means locked. one means free. public const float FreeAxis = 1f; + public const float LockedAxis = 0f; public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(FreeAxis, FreeAxis, FreeAxis); // All axis are free + // If an axis is locked (flagged above) then the limits of that axis are specified here. + // Linear axis limits are relative to the object's starting coordinates. + // Angular limits are limited to -PI to +PI + public OMV.Vector3 LockedLinearAxisLow; + public OMV.Vector3 LockedLinearAxisHigh; + public OMV.Vector3 LockedAngularAxisLow; + public OMV.Vector3 LockedAngularAxisHigh; + // Enable physical actions. Bullet will keep sleeping non-moving physical objects so // they need waking up when parameters are changed. // Called in taint-time!! diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index c88a5c2..9695fcf 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -34,6 +34,7 @@ using OMV = OpenMetaverse; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; using OpenSim.Region.Physics.ConvexDecompositionDotNet; +using OpenSim.Region.OptionalModules.Scripting; // for ExtendedPhysics namespace OpenSim.Region.Physics.BulletSPlugin { @@ -285,23 +286,21 @@ public class BSPrim : BSPhysObject { DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); - // "1" means free, "0" means locked - OMV.Vector3 locking = LockedAxisFree; - if (axis.X != 1) locking.X = 0f; - if (axis.Y != 1) locking.Y = 0f; - if (axis.Z != 1) locking.Z = 0f; - LockedAngularAxis = locking; - - EnableActor(LockedAngularAxis != LockedAxisFree, LockedAxisActorName, delegate() + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR, 0f, 0f); + if (axis.X != 1) { - return new BSActorLockAxis(PhysScene, this, LockedAxisActorName); - }); - - // Update parameters so the new actor's Refresh() action is called at the right time. - PhysScene.TaintedObject(LocalID, "BSPrim.LockAngularMotion", delegate() + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X, 0f, 0f); + } + if (axis.Y != 1) { - UpdatePhysicalParameters(); - }); + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y, 0f, 0f); + } + if (axis.Z != 1) + { + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z, 0f, 0f); + } + + InitializeAxisActor(); return; } @@ -533,6 +532,12 @@ public class BSPrim : BSPhysObject { return new BSActorSetForce(PhysScene, this, SetForceActorName); }); + + // Call update so actor Refresh() is called to start things off + PhysScene.TaintedObject(LocalID, "BSPrim.setForce", delegate() + { + UpdatePhysicalParameters(); + }); } } @@ -766,6 +771,12 @@ public class BSPrim : BSPhysObject return new BSActorSetTorque(PhysScene, this, SetTorqueActorName); }); DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, RawTorque); + + // Call update so actor Refresh() is called to start things off + PhysScene.TaintedObject(LocalID, "BSPrim.setTorque", delegate() + { + UpdatePhysicalParameters(); + }); } } public override OMV.Vector3 Acceleration { @@ -1138,6 +1149,12 @@ public class BSPrim : BSPhysObject { return new BSActorMoveToTarget(PhysScene, this, MoveToTargetActorName); }); + + // Call update so actor Refresh() is called to start things off + PhysScene.TaintedObject(LocalID, "BSPrim.PIDActive", delegate() + { + UpdatePhysicalParameters(); + }); } } @@ -1164,6 +1181,12 @@ public class BSPrim : BSPhysObject { return new BSActorHover(PhysScene, this, HoverActorName); }); + + // Call update so actor Refresh() is called to start things off + PhysScene.TaintedObject(LocalID, "BSPrim.PIDHoverActive", delegate() + { + UpdatePhysicalParameters(); + }); } } @@ -1601,12 +1624,293 @@ public class BSPrim : BSPhysObject object ret = null; switch (pFunct) { + case ExtendedPhysics.PhysFunctAxisLockLimits: + ret = SetAxisLockLimitsExtension(pParams); + break; default: ret = base.Extension(pFunct, pParams); break; } return ret; } + + private void InitializeAxisActor() + { + EnableActor(LockedAngularAxis != LockedAxisFree || LockedLinearAxis != LockedAxisFree, + LockedAxisActorName, delegate() + { + return new BSActorLockAxis(PhysScene, this, LockedAxisActorName); + }); + + // Update parameters so the new actor's Refresh() action is called at the right time. + PhysScene.TaintedObject(LocalID, "BSPrim.LockAxis", delegate() + { + UpdatePhysicalParameters(); + }); + } + + // Passed an array of an array of parameters, set the axis locking. + // This expects an int (PHYS_AXIS_*) followed by none or two limit floats + // followed by another int and floats, etc. + private object SetAxisLockLimitsExtension(object[] pParams) + { + DetailLog("{0} SetAxisLockLimitsExtension. parmlen={1}", LocalID, pParams.GetLength(0)); + object ret = null; + try + { + if (pParams.GetLength(0) > 1) + { + int index = 2; + while (index < pParams.GetLength(0)) + { + var funct = pParams[index]; + DetailLog("{0} SetAxisLockLimitsExtension. op={1}, index={2}", LocalID, funct, index); + if (funct is Int32 || funct is Int64) + { + switch ((int)funct) + { + case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_X: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_X, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X, (float)pParams[index + 1], (float)pParams[index + 2]); + index += 3; + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Y: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Y, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y, (float)pParams[index + 1], (float)pParams[index + 2]); + index += 3; + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Z: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Z, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z, (float)pParams[index + 1], (float)pParams[index + 2]); + index += 3; + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X, (float)pParams[index + 1], (float)pParams[index + 2]); + index += 3; + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y, (float)pParams[index + 1], (float)pParams[index + 2]); + index += 3; + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z, (float)pParams[index + 1], (float)pParams[index + 2]); + index += 3; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_X: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_X, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Y: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Y, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Z: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Z, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_X: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_X, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Y: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Y, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Z: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Z, 0f, 0f); + index += 1; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK, 0f, 0f); + index += 1; + break; + default: + m_log.WarnFormat("{0} SetSxisLockLimitsExtension. Unknown op={1}", LogHeader, funct); + index += 1; + break; + } + } + } + InitializeAxisActor(); + ret = (object)index; + } + } + catch (Exception e) + { + m_log.WarnFormat("{0} SetSxisLockLimitsExtension exception in object {1}: {2}", LogHeader, this.Name, e); + ret = null; + } + return ret; // not implemented yet + } + + // Set the locking parameters. + // If an axis is locked, the limits for the axis are set to zero, + // If the axis is being constrained, the high and low value are passed and set. + // When done here, LockedXXXAxis flags are set and LockedXXXAxixLow/High are set to the range. + protected void ApplyAxisLimits(int funct, float low, float high) + { + DetailLog("{0} ApplyAxisLimits. op={1}, low={2}, high={3}", LocalID, funct, low, high); + float linearMax = 23000f; + float angularMax = (float)Math.PI; + + switch ((int)funct) + { + case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR: + this.LockedLinearAxis = new OMV.Vector3(LockedAxis, LockedAxis, LockedAxis); + this.LockedLinearAxisLow = OMV.Vector3.Zero; + this.LockedLinearAxisHigh = OMV.Vector3.Zero; + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_X: + this.LockedLinearAxis.X = LockedAxis; + this.LockedLinearAxisLow.X = 0f; + this.LockedLinearAxisHigh.X = 0f; + break; + case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X: + this.LockedLinearAxis.X = LockedAxis; + this.LockedLinearAxisLow.X = Util.Clip(low, -linearMax, linearMax); + this.LockedLinearAxisHigh.X = Util.Clip(high, -linearMax, linearMax); + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Y: + this.LockedLinearAxis.Y = LockedAxis; + this.LockedLinearAxisLow.Y = 0f; + this.LockedLinearAxisHigh.Y = 0f; + break; + case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y: + this.LockedLinearAxis.Y = LockedAxis; + this.LockedLinearAxisLow.Y = Util.Clip(low, -linearMax, linearMax); + this.LockedLinearAxisHigh.Y = Util.Clip(high, -linearMax, linearMax); + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Z: + this.LockedLinearAxis.Z = LockedAxis; + this.LockedLinearAxisLow.Z = 0f; + this.LockedLinearAxisHigh.Z = 0f; + break; + case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z: + this.LockedLinearAxis.Z = LockedAxis; + this.LockedLinearAxisLow.Z = Util.Clip(low, -linearMax, linearMax); + this.LockedLinearAxisHigh.Z = Util.Clip(high, -linearMax, linearMax); + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR: + this.LockedAngularAxis = new OMV.Vector3(LockedAxis, LockedAxis, LockedAxis); + this.LockedAngularAxisLow = OMV.Vector3.Zero; + this.LockedAngularAxisHigh = OMV.Vector3.Zero; + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X: + this.LockedAngularAxis.X = LockedAxis; + this.LockedAngularAxisLow.X = 0; + this.LockedAngularAxisHigh.X = 0; + break; + case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X: + this.LockedAngularAxis.X = LockedAxis; + this.LockedAngularAxisLow.X = Util.Clip(low, -angularMax, angularMax); + this.LockedAngularAxisHigh.X = Util.Clip(high, -angularMax, angularMax); + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y: + this.LockedAngularAxis.Y = LockedAxis; + this.LockedAngularAxisLow.Y = 0; + this.LockedAngularAxisHigh.Y = 0; + break; + case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y: + this.LockedAngularAxis.Y = LockedAxis; + this.LockedAngularAxisLow.Y = Util.Clip(low, -angularMax, angularMax); + this.LockedAngularAxisHigh.Y = Util.Clip(high, -angularMax, angularMax); + break; + case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z: + this.LockedAngularAxis.Z = LockedAxis; + this.LockedAngularAxisLow.Z = 0; + this.LockedAngularAxisHigh.Z = 0; + break; + case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z: + this.LockedAngularAxis.Z = LockedAxis; + this.LockedAngularAxisLow.Z = Util.Clip(low, -angularMax, angularMax); + this.LockedAngularAxisHigh.Z = Util.Clip(high, -angularMax, angularMax); + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR: + this.LockedLinearAxis = LockedAxisFree; + this.LockedLinearAxisLow = new OMV.Vector3(-linearMax, -linearMax, -linearMax); + this.LockedLinearAxisHigh = new OMV.Vector3(linearMax, linearMax, linearMax); + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_X: + this.LockedLinearAxis.X = FreeAxis; + this.LockedLinearAxisLow.X = -linearMax; + this.LockedLinearAxisHigh.X = linearMax; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Y: + this.LockedLinearAxis.Y = FreeAxis; + this.LockedLinearAxisLow.Y = -linearMax; + this.LockedLinearAxisHigh.Y = linearMax; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Z: + this.LockedLinearAxis.Z = FreeAxis; + this.LockedLinearAxisLow.Z = -linearMax; + this.LockedLinearAxisHigh.Z = linearMax; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR: + this.LockedAngularAxis = LockedAxisFree; + this.LockedAngularAxisLow = new OMV.Vector3(-angularMax, -angularMax, -angularMax); + this.LockedAngularAxisHigh = new OMV.Vector3(angularMax, angularMax, angularMax); + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_X: + this.LockedAngularAxis.X = FreeAxis; + this.LockedAngularAxisLow.X = -angularMax; + this.LockedAngularAxisHigh.X = angularMax; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Y: + this.LockedAngularAxis.Y = FreeAxis; + this.LockedAngularAxisLow.Y = -angularMax; + this.LockedAngularAxisHigh.Y = angularMax; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Z: + this.LockedAngularAxis.Z = FreeAxis; + this.LockedAngularAxisLow.Z = -angularMax; + this.LockedAngularAxisHigh.Z = angularMax; + break; + case ExtendedPhysics.PHYS_AXIS_UNLOCK: + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR, 0f, 0f); + ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR, 0f, 0f); + break; + default: + break; + } + return; + } #endregion // Extension // The physics engine says that properties have updated. Update same and inform -- cgit v1.1 From c89d0e26b2c098cd2c5679fb73987a742a66ce38 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 31 Dec 2014 12:48:26 -0800 Subject: BulletSim: add the beginnings of hull creation unit testing. Change how physics engine is created in unit tests to resolve a lib reference problem. Add ShapeInfoInfo class to collect info about the created physical shape for debugging and unit test testing. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 5 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 67 +++++++ OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 111 ++++++++++- .../BulletSPlugin/Tests/BulletSimTestsUtil.cs | 19 +- .../Physics/BulletSPlugin/Tests/HullCreation.cs | 204 +++++++++++++++++++++ 5 files changed, 394 insertions(+), 12 deletions(-) create mode 100644 OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 9695fcf..5d359e8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -96,11 +96,9 @@ public class BSPrim : BSPhysObject _isPhysical = pisPhysical; _isVolumeDetect = false; - // Add a dynamic vehicle to our set of actors that can move this prim. - // PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName)); - _mass = CalculateMass(); + DetailLog("{0},BSPrim.constructor,pbs={1}", LocalID, BSScene.PrimitiveBaseShapeToString(pbs)); // DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time PhysScene.TaintedObject(LocalID, "BSPrim.create", delegate() @@ -168,6 +166,7 @@ public class BSPrim : BSPhysObject public override PrimitiveBaseShape Shape { set { BaseShape = value; + DetailLog("{0},BSPrim.changeShape,pbs={1}", LocalID, BSScene.PrimitiveBaseShapeToString(BaseShape)); PrimAssetState = PrimAssetCondition.Unknown; ForceBodyShapeRebuild(false); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 414bc92..238fcc2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -947,6 +947,73 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } #endregion // Extensions + public static string PrimitiveBaseShapeToString(PrimitiveBaseShape pbs) + { + float pathShearX = pbs.PathShearX < 128 ? (float)pbs.PathShearX * 0.01f : (float)(pbs.PathShearX - 256) * 0.01f; + float pathShearY = pbs.PathShearY < 128 ? (float)pbs.PathShearY * 0.01f : (float)(pbs.PathShearY - 256) * 0.01f; + float pathBegin = (float)pbs.PathBegin * 2.0e-5f; + float pathEnd = 1.0f - (float)pbs.PathEnd * 2.0e-5f; + float pathScaleX = (float)(pbs.PathScaleX - 100) * 0.01f; + float pathScaleY = (float)(pbs.PathScaleY - 100) * 0.01f; + + float profileBegin = (float)pbs.ProfileBegin * 2.0e-5f; + float profileEnd = 1.0f - (float)pbs.ProfileEnd * 2.0e-5f; + float profileHollow = (float)pbs.ProfileHollow * 2.0e-5f; + if (profileHollow > 0.95f) + profileHollow = 0.95f; + + StringBuilder buff = new StringBuilder(); + buff.Append("shape="); + buff.Append(((ProfileShape)pbs.ProfileShape).ToString()); + buff.Append(","); + buff.Append("hollow="); + buff.Append(((HollowShape)pbs.HollowShape).ToString()); + buff.Append(","); + buff.Append("pathCurve="); + buff.Append(((Extrusion)pbs.PathCurve).ToString()); + buff.Append(","); + buff.Append("profCurve="); + buff.Append(((Extrusion)pbs.ProfileCurve).ToString()); + buff.Append(","); + buff.Append("profHollow="); + buff.Append(profileHollow.ToString()); + buff.Append(","); + buff.Append("pathBegEnd="); + buff.Append(pathBegin.ToString()); + buff.Append("/"); + buff.Append(pathEnd.ToString()); + buff.Append(","); + buff.Append("profileBegEnd="); + buff.Append(profileBegin.ToString()); + buff.Append("/"); + buff.Append(profileEnd.ToString()); + buff.Append(","); + buff.Append("scaleXY="); + buff.Append(pathScaleX.ToString()); + buff.Append("/"); + buff.Append(pathScaleY.ToString()); + buff.Append(","); + buff.Append("shearXY="); + buff.Append(pathShearX.ToString()); + buff.Append("/"); + buff.Append(pathShearY.ToString()); + buff.Append(","); + buff.Append("taperXY="); + buff.Append(pbs.PathTaperX.ToString()); + buff.Append("/"); + buff.Append(pbs.PathTaperY.ToString()); + buff.Append(","); + buff.Append("skew="); + buff.Append(pbs.PathSkew.ToString()); + buff.Append(","); + buff.Append("twist/Beg="); + buff.Append(pbs.PathTwist.ToString()); + buff.Append("/"); + buff.Append(pbs.PathTwistBegin.ToString()); + + return buff.ToString(); + } + #region Taints // The simulation execution order is: // Simulate() diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 09f5bc4..aa04726 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -38,6 +38,76 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { +// Information class that holds stats for the shape. Which values mean +// something depends on the type of shape. +// This information is used for debugging and stats and is not used +// for operational things. +public class ShapeInfoInfo +{ + public int Vertices { get; set; } + private int m_hullCount; + private int[] m_verticesPerHull; + public ShapeInfoInfo() + { + Vertices = 0; + m_hullCount = 0; + m_verticesPerHull = null; + } + public int HullCount + { + set + { + m_hullCount = value; + m_verticesPerHull = new int[m_hullCount]; + Array.Clear(m_verticesPerHull, 0, m_hullCount); + } + get { return m_hullCount; } + } + public void SetVerticesPerHull(int hullNum, int vertices) + { + if (m_verticesPerHull != null && hullNum < m_verticesPerHull.Length) + { + m_verticesPerHull[hullNum] = vertices; + } + } + public int GetVerticesPerHull(int hullNum) + { + if (m_verticesPerHull != null && hullNum < m_verticesPerHull.Length) + { + return m_verticesPerHull[hullNum]; + } + return 0; + } + public override string ToString() + { + StringBuilder buff = new StringBuilder(); + // buff.Append("ShapeInfo=<"); + buff.Append("<"); + if (Vertices > 0) + { + buff.Append("verts="); + buff.Append(Vertices.ToString()); + } + + if (Vertices > 0 && HullCount > 0) buff.Append(","); + + if (HullCount > 0) + { + buff.Append("nHulls="); + buff.Append(HullCount.ToString()); + buff.Append(","); + buff.Append("hullVerts="); + for (int ii = 0; ii < HullCount; ii++) + { + if (ii != 0) buff.Append(","); + buff.Append(GetVerticesPerHull(ii).ToString()); + } + } + buff.Append(">"); + return buff.ToString(); + } +} + public abstract class BSShape { private static string LogHeader = "[BULLETSIM SHAPE]"; @@ -45,18 +115,21 @@ public abstract class BSShape public int referenceCount { get; set; } public DateTime lastReferenced { get; set; } public BulletShape physShapeInfo { get; set; } + public ShapeInfoInfo shapeInfo { get; private set; } public BSShape() { referenceCount = 1; lastReferenced = DateTime.Now; physShapeInfo = new BulletShape(); + shapeInfo = new ShapeInfoInfo(); } public BSShape(BulletShape pShape) { referenceCount = 1; lastReferenced = DateTime.Now; physShapeInfo = pShape; + shapeInfo = new ShapeInfoInfo(); } // Get another reference to this shape. @@ -283,6 +356,9 @@ public class BSShapeNull : BSShape } // ============================================================================================================ +// BSShapeNative is a wrapper for a Bullet 'native' shape -- cube and sphere. +// They are odd in that they don't allocate meshes but are computated/procedural. +// This means allocation and freeing is different than meshes. public class BSShapeNative : BSShape { private static string LogHeader = "[BULLETSIM SHAPE NATIVE]"; @@ -361,6 +437,7 @@ public class BSShapeNative : BSShape } // ============================================================================================================ +// BSShapeMesh is a simple mesh. public class BSShapeMesh : BSShape { private static string LogHeader = "[BULLETSIM SHAPE MESH]"; @@ -457,7 +534,11 @@ public class BSShapeMesh : BSShape PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod, - (w, iC, i, vC, v) => physicsScene.PE.CreateMeshShape(w, iC, i, vC, v) ); + (w, iC, i, vC, v) => + { + shapeInfo.Vertices = vC; + return physicsScene.PE.CreateMeshShape(w, iC, i, vC, v); + }); } // Code that uses the mesher to create the index/vertices info for a trimesh shape. @@ -545,6 +626,9 @@ public class BSShapeMesh : BSShape } // ============================================================================================================ +// BSShapeHull is a physical shape representation htat is made up of many convex hulls. +// The convex hulls are either supplied with the asset or are approximated by one of the +// convex hull creation routines (in OpenSim or in Bullet). public class BSShapeHull : BSShape { #pragma warning disable 414 @@ -553,6 +637,7 @@ public class BSShapeHull : BSShape public static Dictionary Hulls = new Dictionary(); + public BSShapeHull(BulletShape pShape) : base(pShape) { } @@ -615,6 +700,7 @@ public class BSShapeHull : BSShape // TODO: schedule aging and destruction of unused meshes. } } + List m_hulls; private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) @@ -647,6 +733,7 @@ public class BSShapeHull : BSShape if (allHulls != null && BSParam.ShouldUseAssetHulls) { int hullCount = allHulls.Count; + shapeInfo.HullCount = hullCount; int totalVertices = 1; // include one for the count of the hulls // Using the structure described for HACD hulls, create the memory sturcture // to pass the hull data to the creater. @@ -659,6 +746,7 @@ public class BSShapeHull : BSShape convHulls[0] = (float)hullCount; int jj = 1; + int hullIndex = 0; foreach (List hullVerts in allHulls) { convHulls[jj + 0] = hullVerts.Count; @@ -673,6 +761,8 @@ public class BSShapeHull : BSShape convHulls[jj + 2] = oneVert.Z; jj += 3; } + shapeInfo.SetVerticesPerHull(hullIndex, hullVerts.Count); + hullIndex++; } // create the hull data structure in Bullet @@ -708,6 +798,10 @@ public class BSShapeHull : BSShape physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,shape={1}", prim.LocalID, newShape); // Now done with the mesh shape. + shapeInfo.HullCount = 1; + BSShapeMesh maybeMesh = meshShape as BSShapeMesh; + if (maybeMesh != null) + shapeInfo.SetVerticesPerHull(0, maybeMesh.shapeInfo.Vertices); meshShape.Dereference(physicsScene); } physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); @@ -857,6 +951,8 @@ public class BSShapeHull : BSShape } // ============================================================================================================ +// BSShapeCompound is a wrapper for the Bullet compound shape which is built from multiple, separate +// meshes. Used by BulletSim for complex shapes like linksets. public class BSShapeCompound : BSShape { private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; @@ -999,6 +1095,9 @@ public class BSShapeCompound : BSShape } // ============================================================================================================ +// BSShapeConvexHull is a wrapper for a Bullet single convex hull. A BSShapeHull contains multiple convex +// hull shapes. This is used for simple prims that are convex and thus can be made into a simple +// collision shape (a single hull). More complex physical shapes will be BSShapeHull's. public class BSShapeConvexHull : BSShape { #pragma warning disable 414 @@ -1098,6 +1197,9 @@ public class BSShapeConvexHull : BSShape } } // ============================================================================================================ +// BSShapeGImpact is a wrapper for the Bullet GImpact shape which is a collision mesh shape that +// can handle concave as well as convex shapes. Much slower computationally but creates smoother +// shapes than multiple convex hull approximations. public class BSShapeGImpact : BSShape { #pragma warning disable 414 @@ -1151,7 +1253,11 @@ public class BSShapeGImpact : BSShape PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod, - (w, iC, i, vC, v) => physicsScene.PE.CreateGImpactShape(w, iC, i, vC, v) ); + (w, iC, i, vC, v) => + { + shapeInfo.Vertices = vC; + return physicsScene.PE.CreateGImpactShape(w, iC, i, vC, v); + }); } public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) @@ -1206,6 +1312,7 @@ public class BSShapeGImpact : BSShape } // ============================================================================================================ +// BSShapeAvatar is a specialized mesh shape for avatars. public class BSShapeAvatar : BSShape { #pragma warning disable 414 diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs index 28207a4..775bca2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs @@ -28,15 +28,16 @@ using System; using System.IO; using System.Collections.Generic; -using System.Linq; using System.Text; using Nini.Config; using OpenSim.Framework; -using OpenSim.Region.Physics.BulletSPlugin; +using OpenSim.Region.Physics.Manager; using OpenSim.Region.Physics.Meshing; +using OpenMetaverse; + namespace OpenSim.Region.Physics.BulletSPlugin.Tests { // Utility functions for building up and tearing down the sample physics environments @@ -77,17 +78,21 @@ public static class BulletSimTestsUtil bulletSimConfig.Set("VehicleLoggingEnabled","True"); } - BSPlugin bsPlugin = new BSPlugin(); + PhysicsPluginManager physicsPluginManager; + physicsPluginManager = new PhysicsPluginManager(); + physicsPluginManager.LoadPluginsFromAssemblies("Physics"); + + Vector3 regionExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); + + PhysicsScene pScene = physicsPluginManager.GetPhysicsScene( + "BulletSim", "Meshmerizer", openSimINI, "BSTestRegion", regionExtent); - BSScene bsScene = (BSScene)bsPlugin.GetScene("BSTestRegion"); + BSScene bsScene = pScene as BSScene; // Since the asset requestor is not initialized, any mesh or sculptie will be a cube. // In the future, add a fake asset fetcher to get meshes and sculpts. // bsScene.RequestAssetMethod = ???; - Meshing.Meshmerizer mesher = new Meshmerizer(openSimINI); - bsScene.Initialise(mesher, openSimINI); - return bsScene; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs new file mode 100644 index 0000000..da532e0e --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs @@ -0,0 +1,204 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using NUnit.Framework; +using log4net; + +using OpenSim.Framework; +using OpenSim.Region.Physics.BulletSPlugin; +using OpenSim.Region.Physics.Manager; +using OpenSim.Tests.Common; + +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin.Tests +{ +[TestFixture] +public class HullCreation : OpenSimTestCase +{ + // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1 + // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1 + + BSScene PhysicsScene { get; set; } + Vector3 ObjectInitPosition; + float simulationTimeStep = 0.089f; + + [TestFixtureSetUp] + public void Init() + { + + } + + [TestFixtureTearDown] + public void TearDown() + { + if (PhysicsScene != null) + { + // The Dispose() will also free any physical objects in the scene + PhysicsScene.Dispose(); + PhysicsScene = null; + } + } + + [TestCase(7, 2, 5f, 5f, 32, 0f)] /* default hull parameters */ + public void GeomHullConvexDecomp( int maxDepthSplit, + int maxDepthSplitForSimpleShapes, + float concavityThresholdPercent, + float volumeConservationThresholdPercent, + int maxVertices, + float maxSkinWidth) + { + // Setup the physics engine to use the C# version of convex decomp + Dictionary engineParams = new Dictionary(); + engineParams.Add("MeshSculptedPrim", "true"); // ShouldMeshSculptedPrim + engineParams.Add("ForceSimplePrimMeshing", "false"); // ShouldForceSimplePrimMeshing + engineParams.Add("UseHullsForPhysicalObjects", "true"); // ShouldUseHullsForPhysicalObjects + engineParams.Add("ShouldRemoveZeroWidthTriangles", "true"); + engineParams.Add("ShouldUseBulletHACD", "false"); + engineParams.Add("ShouldUseSingleConvexHullForPrims", "true"); + engineParams.Add("ShouldUseGImpactShapeForPrims", "false"); + engineParams.Add("ShouldUseAssetHulls", "true"); + + engineParams.Add("CSHullMaxDepthSplit", maxDepthSplit.ToString()); + engineParams.Add("CSHullMaxDepthSplitForSimpleShapes", maxDepthSplitForSimpleShapes.ToString()); + engineParams.Add("CSHullConcavityThresholdPercent", concavityThresholdPercent.ToString()); + engineParams.Add("CSHullVolumeConservationThresholdPercent", volumeConservationThresholdPercent.ToString()); + engineParams.Add("CSHullMaxVertices", maxVertices.ToString()); + engineParams.Add("CSHullMaxSkinWidth", maxSkinWidth.ToString()); + + PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams); + + PrimitiveBaseShape pbs; + Vector3 pos; + Vector3 size; + Quaternion rot; + bool isPhys; + + // Cylinder + pbs = PrimitiveBaseShape.CreateCylinder(); + pos = new Vector3(100.0f, 100.0f, 0f); + pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f; + ObjectInitPosition = pos; + size = new Vector3(2f, 2f, 2f); + pbs.Scale = size; + rot = Quaternion.Identity; + isPhys = true; + uint cylinderLocalID = 123; + PhysicsScene.AddPrimShape("testCylinder", pbs, pos, size, rot, isPhys, cylinderLocalID); + BSPrim primTypeCylinder = (BSPrim)PhysicsScene.PhysObjects[cylinderLocalID]; + + // Hollow Cylinder + pbs = PrimitiveBaseShape.CreateCylinder(); + pbs.ProfileHollow = (ushort)(0.70f * 50000); + pos = new Vector3(110.0f, 110.0f, 0f); + pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f; + ObjectInitPosition = pos; + size = new Vector3(2f, 2f, 2f); + pbs.Scale = size; + rot = Quaternion.Identity; + isPhys = true; + uint hollowCylinderLocalID = 124; + PhysicsScene.AddPrimShape("testHollowCylinder", pbs, pos, size, rot, isPhys, hollowCylinderLocalID); + BSPrim primTypeHollowCylinder = (BSPrim)PhysicsScene.PhysObjects[hollowCylinderLocalID]; + + // Torus + // ProfileCurve = Circle, PathCurve = Curve1 + pbs = PrimitiveBaseShape.CreateSphere(); + pbs.ProfileShape = (byte)ProfileShape.Circle; + pbs.PathCurve = (byte)Extrusion.Curve1; + pos = new Vector3(120.0f, 120.0f, 0f); + pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f; + ObjectInitPosition = pos; + size = new Vector3(2f, 4f, 4f); + pbs.Scale = size; + rot = Quaternion.Identity; + isPhys = true; + uint torusLocalID = 125; + PhysicsScene.AddPrimShape("testTorus", pbs, pos, size, rot, isPhys, torusLocalID); + BSPrim primTypeTorus = (BSPrim)PhysicsScene.PhysObjects[torusLocalID]; + + // The actual prim shape creation happens at taint time + PhysicsScene.ProcessTaints(); + + // Check out the created hull shapes and report their characteristics + ReportShapeGeom(primTypeCylinder); + ReportShapeGeom(primTypeHollowCylinder); + ReportShapeGeom(primTypeTorus); + } + + [TestCase] + public void GeomHullBulletHACD() + { + // Cylinder + // Hollow Cylinder + // Torus + } + + private void ReportShapeGeom(BSPrim prim) + { + if (prim != null) + { + if (prim.PhysShape.HasPhysicalShape) + { + BSShape physShape = prim.PhysShape; + string shapeType = physShape.GetType().ToString(); + switch (shapeType) + { + case "OpenSim.Region.Physics.BulletSPlugin.BSShapeNative": + BSShapeNative nShape = physShape as BSShapeNative; + prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType); + break; + case "OpenSim.Region.Physics.BulletSPlugin.BSShapeMesh": + BSShapeMesh mShape = physShape as BSShapeMesh; + prim.PhysScene.DetailLog("{0}, mesh, shapeInfo={1}", prim.Name, mShape.shapeInfo); + break; + case "OpenSim.Region.Physics.BulletSPlugin.BSShapeHull": + BSShapeHull hShape = physShape as BSShapeHull; + prim.PhysScene.DetailLog("{0}, hull, shapeInfo={1}", prim.Name, hShape.shapeInfo); + break; + case "OpenSim.Region.Physics.BulletSPlugin.BSShapeConvexHull": + BSShapeConvexHull chShape = physShape as BSShapeConvexHull; + prim.PhysScene.DetailLog("{0}, convexHull, shapeInfo={1}", prim.Name, chShape.shapeInfo); + break; + case "OpenSim.Region.Physics.BulletSPlugin.BSShapeCompound": + BSShapeCompound cShape = physShape as BSShapeCompound; + prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType); + break; + default: + prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType); + break; + } + } + } + } +} +} \ No newline at end of file -- cgit v1.1 From 2496da2dacd49c904dae57814c2d607862d5148f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 31 Dec 2014 13:45:12 -0800 Subject: BulletSim: remove compile reference error trying to figure out why mono compiling doesn't like it --- OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs index da532e0e..4bec062 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs @@ -182,8 +182,8 @@ public class HullCreation : OpenSimTestCase prim.PhysScene.DetailLog("{0}, mesh, shapeInfo={1}", prim.Name, mShape.shapeInfo); break; case "OpenSim.Region.Physics.BulletSPlugin.BSShapeHull": - BSShapeHull hShape = physShape as BSShapeHull; - prim.PhysScene.DetailLog("{0}, hull, shapeInfo={1}", prim.Name, hShape.shapeInfo); + // BSShapeHull hShape = physShape as BSShapeHull; + // prim.PhysScene.DetailLog("{0}, hull, shapeInfo={1}", prim.Name, hShape.shapeInfo); break; case "OpenSim.Region.Physics.BulletSPlugin.BSShapeConvexHull": BSShapeConvexHull chShape = physShape as BSShapeConvexHull; -- cgit v1.1 From a617159f8b7aeb79cc484126f081f53e1b5f1627 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 4 Jan 2015 13:52:14 -0800 Subject: BulletSim: correct some of the debugging input and output of PrimitiveBaseShape. Whoever defined that structure was really into esoteric coding. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 6 ++++-- OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs | 6 ++++-- 2 files changed, 8 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 238fcc2..f8e8f57 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -953,8 +953,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters float pathShearY = pbs.PathShearY < 128 ? (float)pbs.PathShearY * 0.01f : (float)(pbs.PathShearY - 256) * 0.01f; float pathBegin = (float)pbs.PathBegin * 2.0e-5f; float pathEnd = 1.0f - (float)pbs.PathEnd * 2.0e-5f; - float pathScaleX = (float)(pbs.PathScaleX - 100) * 0.01f; - float pathScaleY = (float)(pbs.PathScaleY - 100) * 0.01f; + float pathScaleX = (float)(200 - pbs.PathScaleX) * 0.01f; + float pathScaleY = (float)(200 - pbs.PathScaleY) * 0.01f; + float pathTaperX = pbs.PathTaperX * 0.01f; + float pathTaperY = pbs.PathTaperY * 0.01f; float profileBegin = (float)pbs.ProfileBegin * 2.0e-5f; float profileEnd = 1.0f - (float)pbs.ProfileEnd * 2.0e-5f; diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs index 4bec062..608a6e6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs @@ -135,6 +135,8 @@ public class HullCreation : OpenSimTestCase pbs = PrimitiveBaseShape.CreateSphere(); pbs.ProfileShape = (byte)ProfileShape.Circle; pbs.PathCurve = (byte)Extrusion.Curve1; + pbs.PathScaleX = 100; // default hollow info as set in the viewer + pbs.PathScaleY = 25; pos = new Vector3(120.0f, 120.0f, 0f); pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f; ObjectInitPosition = pos; @@ -182,8 +184,8 @@ public class HullCreation : OpenSimTestCase prim.PhysScene.DetailLog("{0}, mesh, shapeInfo={1}", prim.Name, mShape.shapeInfo); break; case "OpenSim.Region.Physics.BulletSPlugin.BSShapeHull": - // BSShapeHull hShape = physShape as BSShapeHull; - // prim.PhysScene.DetailLog("{0}, hull, shapeInfo={1}", prim.Name, hShape.shapeInfo); + BSShapeHull hShape = physShape as BSShapeHull; + prim.PhysScene.DetailLog("{0}, hull, shapeInfo={1}", prim.Name, hShape.shapeInfo); break; case "OpenSim.Region.Physics.BulletSPlugin.BSShapeConvexHull": BSShapeConvexHull chShape = physShape as BSShapeConvexHull; -- cgit v1.1 From 103aad27f278c0e4c77021cf05c3ce74b2393217 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 4 Jan 2015 14:26:50 -0800 Subject: BulletSim: comment out the reference to BSShapeHull in BulletSim tests which seems to cause the tests to fail when compiled on the OpenSim build system. It compiles and runs everywhere else. More research is needed. --- OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs index 608a6e6..ed7ff9b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs @@ -184,8 +184,8 @@ public class HullCreation : OpenSimTestCase prim.PhysScene.DetailLog("{0}, mesh, shapeInfo={1}", prim.Name, mShape.shapeInfo); break; case "OpenSim.Region.Physics.BulletSPlugin.BSShapeHull": - BSShapeHull hShape = physShape as BSShapeHull; - prim.PhysScene.DetailLog("{0}, hull, shapeInfo={1}", prim.Name, hShape.shapeInfo); + // BSShapeHull hShape = physShape as BSShapeHull; + // prim.PhysScene.DetailLog("{0}, hull, shapeInfo={1}", prim.Name, hShape.shapeInfo); break; case "OpenSim.Region.Physics.BulletSPlugin.BSShapeConvexHull": BSShapeConvexHull chShape = physShape as BSShapeConvexHull; -- cgit v1.1 From 700543b161f653ea41faf3d125a1eb9be389ec23 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Jan 2015 06:39:29 -0800 Subject: BulletSim: tweek step parameters and logic to make walking up steps closer to SL. This change should address small floor edges acting like walls, approaching a step at any angle (other than walking backwards) will allow walking up, and reducing the avatar pop-up when going up stairs. --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 26 +++++++++++++++------- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 14 ++++++++---- 2 files changed, 28 insertions(+), 12 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 8e998ba..9bbba40 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -341,7 +341,7 @@ public class BSActorAvatarMove : BSActor // float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) + 0.05f; // Note: there is a problem with the computation of the capsule height. Thus RawPosition is off // from the height. Revisit size and this computation when height is scaled properly. - float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) - 0.05f; + float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) - BSParam.AvatarStepGroundFudge; float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight; // Look for a collision point that is near the character's feet and is oriented the same as the charactor is. @@ -363,15 +363,25 @@ public class BSActorAvatarMove : BSActor if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax) { // This contact is within the 'near the feet' range. - // The normal should be our contact point to the object so it is pointing away - // thus the difference between our facing orientation and the normal should be small. + // The step is presumed to be more or less vertical. Thus the Z component should + // be nearly horizontal. OMV.Vector3 directionFacing = OMV.Vector3.UnitX * m_controllingPrim.RawOrientation; - OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal); - float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)); - if (diff < BSParam.AvatarStepApproachFactor) + OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal); + const float PIOver2 = 1.571f; // Used to make unit vector axis into approx radian angles + // m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,avNormal={1},colNormal={2},diff={3}", + // m_controllingPrim.LocalID, directionFacing, touchNormal, + // Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)) ); + if ((Math.Abs(directionFacing.Z) * PIOver2) < BSParam.AvatarStepAngle + && (Math.Abs(touchNormal.Z) * PIOver2) < BSParam.AvatarStepAngle) { - if (highestTouchPosition.Z < touchPosition.Z) - highestTouchPosition = touchPosition; + // The normal should be our contact point to the object so it is pointing away + // thus the difference between our facing orientation and the normal should be small. + float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)); + if (diff < BSParam.AvatarStepApproachFactor) + { + if (highestTouchPosition.Z < touchPosition.Z) + highestTouchPosition = touchPosition; + } } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index e7f4def..ef75e3f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -153,6 +153,8 @@ public static class BSParam public static int AvatarJumpFrames { get; private set; } public static float AvatarBelowGroundUpCorrectionMeters { get; private set; } public static float AvatarStepHeight { get; private set; } + public static float AvatarStepAngle { get; private set; } + public static float AvatarStepGroundFudge { get; private set; } public static float AvatarStepApproachFactor { get; private set; } public static float AvatarStepForceFactor { get; private set; } public static float AvatarStepUpCorrectionFactor { get; private set; } @@ -614,13 +616,17 @@ public static class BSParam new ParameterDefn("AvatarJumpFrames", "Number of frames to allow jump forces. Changes jump height.", 4 ), new ParameterDefn("AvatarStepHeight", "Height of a step obstacle to consider step correction", - 0.6f ) , + 0.999f ) , + new ParameterDefn("AvatarStepAngle", "The angle (in radians) for a vertical surface to be considered a step", + 0.3f ) , + new ParameterDefn("AvatarStepGroundFudge", "Fudge factor subtracted from avatar base when comparing collision height", + 0.1f ) , new ParameterDefn("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)", - 0.6f ), + 2f ), new ParameterDefn("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step", - 1.0f ), + 0f ), new ParameterDefn("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step", - 2.0f ), + 0.8f ), new ParameterDefn("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs", 1 ), -- cgit v1.1 From 4959dbba5e4931e91857b5a9bdce45b5668ac4cb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Jan 2015 06:42:41 -0800 Subject: BulletSim: make computation of hole cut in hull tester explicit math showing the odd PrimitiveBaseShape value rather than a constant. --- OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs index ed7ff9b..3651351 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs @@ -136,7 +136,7 @@ public class HullCreation : OpenSimTestCase pbs.ProfileShape = (byte)ProfileShape.Circle; pbs.PathCurve = (byte)Extrusion.Curve1; pbs.PathScaleX = 100; // default hollow info as set in the viewer - pbs.PathScaleY = 25; + pbs.PathScaleY = (int)(.25f / 0.01f) + 200; pos = new Vector3(120.0f, 120.0f, 0f); pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f; ObjectInitPosition = pos; -- cgit v1.1 From 6e2b532255f6b11ae14d4501514a415899b195ff Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Jan 2015 06:46:08 -0800 Subject: BulletSim: fix line ending problems. --- OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 9bbba40..c0d65be 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -366,7 +366,7 @@ public class BSActorAvatarMove : BSActor // The step is presumed to be more or less vertical. Thus the Z component should // be nearly horizontal. OMV.Vector3 directionFacing = OMV.Vector3.UnitX * m_controllingPrim.RawOrientation; - OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal); + OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal); const float PIOver2 = 1.571f; // Used to make unit vector axis into approx radian angles // m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,avNormal={1},colNormal={2},diff={3}", // m_controllingPrim.LocalID, directionFacing, touchNormal, -- cgit v1.1 From de7611662472ffcae3c18976037a87a384864308 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 25 Jan 2015 13:24:09 -0800 Subject: BulletSim: add parameters and parameter definitions for VHACD addition coming. --- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 15 ++++++++ OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 44 ++++++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 3 +- 3 files changed, 61 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 0458cd9..8491c0f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -211,6 +211,21 @@ public struct HACDParams public float addNeighboursDistPoints; // false public float addFacesPoints; // false public float shouldAdjustCollisionMargin; // false + // VHACD + public float whichHACD; // zero if Bullet HACD, non-zero says VHACD + // http://kmamou.blogspot.ca/2014/12/v-hacd-20-parameters-description.html + public float vHACDresolution; // 100,000 max number of voxels generated during voxelization stage + public float vHACDdepth; // 20 max number of clipping stages + public float vHACDconcavity; // 0.0025 maximum concavity + public float vHACDplaneDownsampling; // 4 granularity of search for best clipping plane + public float vHACDconvexHullDownsampling; // 4 precision of hull gen process + public float vHACDalpha; // 0.05 bias toward clipping along symmetry planes + public float vHACDbeta; // 0.05 bias toward clipping along revolution axis + public float vHACDgamma; // 0.00125 max concavity when merging + public float vHACDpca; // 0 on/off normalizing mesh before decomp + public float vHACDmode; // 0 0:voxel based, 1: tetrahedron based + public float vHACDmaxNumVerticesPerCH; // 64 max triangles per convex hull + public float vHACDminVolumePerCH; // 0.0001 sampling of generated convex hulls } // The states a bullet collision object can have diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index ef75e3f..6d46fe6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -183,6 +183,7 @@ public static class BSParam public static bool VehicleEnableAngularBanking { get; private set; } // Convex Hulls + // Parameters for convex hull routine that ships with Bullet public static int CSHullMaxDepthSplit { get; private set; } public static int CSHullMaxDepthSplitForSimpleShapes { get; private set; } public static float CSHullConcavityThresholdPercent { get; private set; } @@ -198,6 +199,22 @@ public static class BSParam public static bool BHullAddNeighboursDistPoints { get; private set; } // false public static bool BHullAddFacesPoints { get; private set; } // false public static bool BHullShouldAdjustCollisionMargin { get; private set; } // false + public static float WhichHACD { get; private set; } // zero if Bullet HACD, non-zero says VHACD + // Parameters for VHACD 2.0: http://code.google.com/p/v-hacd + // To enable, set both ShouldUseBulletHACD=true and WhichHACD=1 + // http://kmamou.blogspot.ca/2014/12/v-hacd-20-parameters-description.html + public static float VHACDresolution { get; private set; } // 100,000 max number of voxels generated during voxelization stage + public static float VHACDdepth { get; private set; } // 20 max number of clipping stages + public static float VHACDconcavity { get; private set; } // 0.0025 maximum concavity + public static float VHACDplaneDownsampling { get; private set; } // 4 granularity of search for best clipping plane + public static float VHACDconvexHullDownsampling { get; private set; } // 4 precision of hull gen process + public static float VHACDalpha { get; private set; } // 0.05 bias toward clipping along symmetry planes + public static float VHACDbeta { get; private set; } // 0.05 bias toward clipping along revolution axis + public static float VHACDgamma { get; private set; } // 0.00125 max concavity when merging + public static float VHACDpca { get; private set; } // 0 on/off normalizing mesh before decomp + public static float VHACDmode { get; private set; } // 0 0:voxel based, 1: tetrahedron based + public static float VHACDmaxNumVerticesPerCH { get; private set; } // 64 max triangles per convex hull + public static float VHACDminVolumePerCH { get; private set; } // 0.0001 sampling of generated convex hulls // Linkset implementation parameters public static float LinksetImplementation { get; private set; } @@ -749,6 +766,33 @@ public static class BSParam new ParameterDefn("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin", false ), + new ParameterDefn("WhichHACD", "zero if Bullet HACD, non-zero says VHACD", + 0f ), + new ParameterDefn("VHACDresolution", "max number of voxels generated during voxelization stage", + 100000f ), + new ParameterDefn("VHACDdepth", "max number of clipping stages", + 20f ), + new ParameterDefn("VHACDconcavity", "maximum concavity", + 0.0025f ), + new ParameterDefn("VHACDplaneDownsampling", "granularity of search for best clipping plane", + 4f ), + new ParameterDefn("VHACDconvexHullDownsampling", "precision of hull gen process", + 4f ), + new ParameterDefn("VHACDalpha", "bias toward clipping along symmetry planes", + 0.05f ), + new ParameterDefn("VHACDbeta", "bias toward clipping along revolution axis", + 0.05f ), + new ParameterDefn("VHACDgamma", "max concavity when merging", + 0.00125f ), + new ParameterDefn("VHACDpca", "on/off normalizing mesh before decomp", + 0f ), + new ParameterDefn("VHACDmode", "0:voxel based, 1: tetrahedron based", + 0f ), + new ParameterDefn("VHACDmaxNumVerticesPerCH", "max triangles per convex hull", + 64f ), + new ParameterDefn("VHACDminVolumePerCH", "sampling of generated convex hulls", + 0.0001f ), + new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", (float)BSLinkset.LinksetImplementation.Compound ), new ParameterDefn("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index aa04726..86d86cb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -782,7 +782,7 @@ public class BSShapeHull : BSShape if (meshShape.physShapeInfo.HasPhysicalShape) { - HACDParams parms; + HACDParams parms = new HACDParams(); parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull; parms.minClusters = BSParam.BHullMinClusters; parms.compacityWeight = BSParam.BHullCompacityWeight; @@ -792,6 +792,7 @@ public class BSShapeHull : BSShape parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints); parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints); parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin); + parms.whichHACD = 0; // Use the HACD routine that comes with Bullet physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape); newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms); -- cgit v1.1 From 00b5b915c7fb656743628b6409e10a6420db2de7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 7 Mar 2015 17:47:40 -0800 Subject: BulletSim: add VEHICLE_ more parameter value limit checking. This only bounds passed parameters as there is no good way of refusing the parameter setting. This mostly means that passing NaN's won't crash the simulator. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 82 ++++++++++++++-------- 1 file changed, 53 insertions(+), 29 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 2bf32e7..a4ef709 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -76,8 +76,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL private Vector3 m_linearFrictionTimescale = Vector3.Zero; - private float m_linearMotorDecayTimescale = 0; - private float m_linearMotorTimescale = 0; + private float m_linearMotorDecayTimescale = 1; + private float m_linearMotorTimescale = 1; private Vector3 m_lastLinearVelocityVector = Vector3.Zero; private Vector3 m_lastPositionVector = Vector3.Zero; // private bool m_LinearMotorSetLastFrame = false; @@ -88,8 +88,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor // private int m_angularMotorApply = 0; // application frame counter private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity - private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate - private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate + private float m_angularMotorTimescale = 1; // motor angular velocity ramp up rate + private float m_angularMotorDecayTimescale = 1; // motor angular velocity decay rate private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate private Vector3 m_lastAngularVelocity = Vector3.Zero; private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body @@ -103,7 +103,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin //Banking properties private float m_bankingEfficiency = 0; - private float m_bankingMix = 0; + private float m_bankingMix = 1; private float m_bankingTimescale = 0; //Hover and Buoyancy properties @@ -124,8 +124,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_verticalAttractionTimescale = 510f; // Just some recomputed constants: - static readonly float PIOverFour = ((float)Math.PI) / 4f; #pragma warning disable 414 + static readonly float TwoPI = ((float)Math.PI) * 2f; + static readonly float FourPI = ((float)Math.PI) * 4f; + static readonly float PIOverFour = ((float)Math.PI) / 4f; static readonly float PIOverTwo = ((float)Math.PI) / 2f; #pragma warning restore 414 @@ -159,56 +161,58 @@ namespace OpenSim.Region.Physics.BulletSPlugin public void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue); + float clampTemp; + switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: m_angularDeflectionEfficiency = ClampInRange(0f, pValue, 1f); break; case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: - m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); + m_angularDeflectionTimescale = ClampInRange(0.25f, pValue, 120); break; case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: - m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); + m_angularMotorDecayTimescale = ClampInRange(0.25f, pValue, 120); m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale; break; case Vehicle.ANGULAR_MOTOR_TIMESCALE: - m_angularMotorTimescale = Math.Max(pValue, 0.01f); + m_angularMotorTimescale = ClampInRange(0.25f, pValue, 120); m_angularMotor.TimeScale = m_angularMotorTimescale; break; case Vehicle.BANKING_EFFICIENCY: m_bankingEfficiency = ClampInRange(-1f, pValue, 1f); break; case Vehicle.BANKING_MIX: - m_bankingMix = Math.Max(pValue, 0.01f); + m_bankingMix = ClampInRange(0.01f, pValue, 1); break; case Vehicle.BANKING_TIMESCALE: - m_bankingTimescale = Math.Max(pValue, 0.01f); + m_bankingTimescale = ClampInRange(0.25f, pValue, 120); break; case Vehicle.BUOYANCY: m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f); m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); break; case Vehicle.HOVER_EFFICIENCY: - m_VhoverEfficiency = ClampInRange(0f, pValue, 1f); + m_VhoverEfficiency = ClampInRange(0.01f, pValue, 1f); break; case Vehicle.HOVER_HEIGHT: - m_VhoverHeight = pValue; + m_VhoverHeight = ClampInRange(0f, pValue, 1000000f); break; case Vehicle.HOVER_TIMESCALE: - m_VhoverTimescale = Math.Max(pValue, 0.01f); + m_VhoverTimescale = ClampInRange(0.01f, pValue, 120); break; case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: m_linearDeflectionEfficiency = ClampInRange(0f, pValue, 1f); break; case Vehicle.LINEAR_DEFLECTION_TIMESCALE: - m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); + m_linearDeflectionTimescale = ClampInRange(0.01f, pValue, 120); break; case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale; break; case Vehicle.LINEAR_MOTOR_TIMESCALE: - m_linearMotorTimescale = Math.Max(pValue, 0.01f); + m_linearMotorTimescale = ClampInRange(0.01f, pValue, 120); m_linearMotor.TimeScale = m_linearMotorTimescale; break; case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: @@ -216,30 +220,35 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency; break; case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: - m_verticalAttractionTimescale = Math.Max(pValue, 0.01f); + m_verticalAttractionTimescale = ClampInRange(0.01f, pValue, 120); m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale; break; // These are vector properties but the engine lets you use a single float value to // set all of the components to the same value case Vehicle.ANGULAR_FRICTION_TIMESCALE: - m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); + clampTemp = ClampInRange(0.01f, pValue, 120); + m_angularFrictionTimescale = new Vector3(clampTemp, clampTemp, clampTemp); break; case Vehicle.ANGULAR_MOTOR_DIRECTION: - m_angularMotorDirection = new Vector3(pValue, pValue, pValue); + clampTemp = ClampInRange(-TwoPI, pValue, TwoPI); + m_angularMotorDirection = new Vector3(clampTemp, clampTemp, clampTemp); m_angularMotor.Zero(); m_angularMotor.SetTarget(m_angularMotorDirection); break; case Vehicle.LINEAR_FRICTION_TIMESCALE: - m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); + clampTemp = ClampInRange(0.01f, pValue, 120); + m_linearFrictionTimescale = new Vector3(clampTemp, clampTemp, clampTemp); break; case Vehicle.LINEAR_MOTOR_DIRECTION: - m_linearMotorDirection = new Vector3(pValue, pValue, pValue); - m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); + clampTemp = ClampInRange(-BSParam.MaxLinearVelocity, pValue, BSParam.MaxLinearVelocity); + m_linearMotorDirection = new Vector3(clampTemp, clampTemp, clampTemp); + m_linearMotorDirectionLASTSET = new Vector3(clampTemp, clampTemp, clampTemp); m_linearMotor.SetTarget(m_linearMotorDirection); break; case Vehicle.LINEAR_MOTOR_OFFSET: - m_linearMotorOffset = new Vector3(pValue, pValue, pValue); + clampTemp = ClampInRange(-1000, pValue, 1000); + m_linearMotorOffset = new Vector3(clampTemp, clampTemp, clampTemp); break; } @@ -251,29 +260,46 @@ namespace OpenSim.Region.Physics.BulletSPlugin switch (pParam) { case Vehicle.ANGULAR_FRICTION_TIMESCALE: + pValue.X = ClampInRange(0.25f, pValue.X, 120); + pValue.Y = ClampInRange(0.25f, pValue.Y, 120); + pValue.Z = ClampInRange(0.25f, pValue.Z, 120); m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.ANGULAR_MOTOR_DIRECTION: // Limit requested angular speed to 2 rps= 4 pi rads/sec - pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f); - pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f); - pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f); + pValue.X = ClampInRange(-FourPI, pValue.X, FourPI); + pValue.Y = ClampInRange(-FourPI, pValue.Y, FourPI); + pValue.Z = ClampInRange(-FourPI, pValue.Z, FourPI); m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); m_angularMotor.Zero(); m_angularMotor.SetTarget(m_angularMotorDirection); break; case Vehicle.LINEAR_FRICTION_TIMESCALE: + pValue.X = ClampInRange(0.25f, pValue.X, 120); + pValue.Y = ClampInRange(0.25f, pValue.Y, 120); + pValue.Z = ClampInRange(0.25f, pValue.Z, 120); m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.LINEAR_MOTOR_DIRECTION: + pValue.X = ClampInRange(-BSParam.MaxLinearVelocity, pValue.X, BSParam.MaxLinearVelocity); + pValue.Y = ClampInRange(-BSParam.MaxLinearVelocity, pValue.Y, BSParam.MaxLinearVelocity); + pValue.Z = ClampInRange(-BSParam.MaxLinearVelocity, pValue.Z, BSParam.MaxLinearVelocity); m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); m_linearMotor.SetTarget(m_linearMotorDirection); break; case Vehicle.LINEAR_MOTOR_OFFSET: + // Not sure the correct range to limit this variable + pValue.X = ClampInRange(-1000, pValue.X, 1000); + pValue.Y = ClampInRange(-1000, pValue.Y, 1000); + pValue.Z = ClampInRange(-1000, pValue.Z, 1000); m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.BLOCK_EXIT: + // Not sure the correct range to limit this variable + pValue.X = ClampInRange(-10000, pValue.X, 10000); + pValue.Y = ClampInRange(-10000, pValue.Y, 10000); + pValue.Z = ClampInRange(-10000, pValue.Z, 10000); m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); break; } @@ -1601,7 +1627,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin deflectContributionV = (-deflectionError) * ClampInRange(0, m_angularDeflectionEfficiency/m_angularDeflectionTimescale,1f); //deflectContributionV /= m_angularDeflectionTimescale; - // VehicleRotationalVelocity += deflectContributionV * VehicleOrientation; VehicleRotationalVelocity += deflectContributionV; VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV); @@ -1659,7 +1684,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // TODO: the banking effect should not go to infinity but what to limit it to? // And what should happen when this is being added to a user defined yaw that is already PI*4? - mixedYawAngle = ClampInRange(-12, mixedYawAngle, 12); + mixedYawAngle = ClampInRange(-FourPI, mixedYawAngle, FourPI); // Build the force vector to change rotation from what it is to what it should be bankingContributionV.Z = -mixedYawAngle; @@ -1667,7 +1692,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Don't do it all at once. Fudge because 1 second is too fast with most user defined roll as PI*4. bankingContributionV /= m_bankingTimescale * BSParam.VehicleAngularBankingTimescaleFudge; - //VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; VehicleRotationalVelocity += bankingContributionV; -- cgit v1.1 From 8d6628484107e3ebe2c29b2b754e43c164545cf1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 5 Apr 2015 20:20:37 -0700 Subject: BulletSim: implement VEHICLE_REFERENCE_FRAME. Thanks Vegaslon!. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 35 +++++++++++++--------- 1 file changed, 21 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index a4ef709..c6d6331 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -945,7 +945,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { get { - return VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation)); + return VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleFrameOrientation)); } } @@ -956,6 +956,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin return VehicleForwardVelocity.X; } } + private Quaternion VehicleFrameOrientation + { + get + { + return VehicleOrientation * m_referenceFrame; + } + } #endregion // Known vehicle value functions @@ -1065,7 +1072,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin linearMotorCorrectionV -= (currentVelV * frictionFactorV); // Motor is vehicle coordinates. Rotate it to world coordinates - Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation; + Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleFrameOrientation; // If we're a ground vehicle, don't add any upward Z movement if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) @@ -1107,7 +1114,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin linearDeflectionV *= new Vector3(1, -1, -1); // Correction is vehicle relative. Convert to world coordinates. - Vector3 linearDeflectionW = linearDeflectionV * VehicleOrientation; + Vector3 linearDeflectionW = linearDeflectionV * VehicleFrameOrientation; // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall. if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision) @@ -1403,7 +1410,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // The user wants this many radians per second angular change? Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity; // DEBUG DEBUG - Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation); + Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleFrameOrientation); Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV); // ================================================================== @@ -1424,7 +1431,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep); angularMotorContributionV -= (currentAngularV * frictionFactorW); - Vector3 angularMotorContributionW = angularMotorContributionV * VehicleOrientation; + Vector3 angularMotorContributionW = angularMotorContributionV * VehicleFrameOrientation; VehicleRotationalVelocity += angularMotorContributionW; VDetailLog("{0}, MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}", @@ -1445,7 +1452,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // If vertical attaction timescale is reasonable if (BSParam.VehicleEnableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { - Vector3 vehicleUpAxis = Vector3.UnitZ * VehicleOrientation; + Vector3 vehicleUpAxis = Vector3.UnitZ * VehicleFrameOrientation; switch (BSParam.VehicleAngularVerticalAttractionAlgorithm) { case 0: @@ -1466,7 +1473,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != 0) { - Vector3 vehicleForwardAxis = Vector3.UnitX * VehicleOrientation; + Vector3 vehicleForwardAxis = Vector3.UnitX * VehicleFrameOrientation; torqueVector = ProjectVector(torqueVector, vehicleForwardAxis); } @@ -1491,13 +1498,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Create a rotation that is only the vehicle's rotation around Z Vector3 currentEulerW = Vector3.Zero; - VehicleOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z); + VehicleFrameOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z); Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z); // Create the axis that is perpendicular to the up vector and the rotated up vector. - Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation); + Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleFrameOrientation); // Compute the angle between those to vectors. - double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation))); + double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleFrameOrientation))); // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied. @@ -1530,7 +1537,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG // Take a vector pointing up and convert it from world to vehicle relative coords. - Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleOrientation); + Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleFrameOrientation); // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) // is now: @@ -1561,7 +1568,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin vertContributionV /= m_verticalAttractionTimescale; // Rotate the vehicle rotation to the world coordinates. - VehicleRotationalVelocity += (vertContributionV * VehicleOrientation); + VehicleRotationalVelocity += (vertContributionV * VehicleFrameOrientation); VDetailLog("{0}, MoveAngular,verticalAttraction,,upAxis={1},origRotVW={2},vertError={3},unscaledV={4},eff={5},ts={6},vertContribV={7}", ControllingPrim.LocalID, @@ -1602,7 +1609,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin movingDirection *= Math.Sign(VehicleForwardSpeed); // The direction the vehicle is pointing - Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; + Vector3 pointingDirection = Vector3.UnitX * VehicleFrameOrientation; //Predict where the Vehicle will be pointing after AngularVelocity change is applied. This will keep // from overshooting and allow this correction to merge with the Vertical Attraction peacefully. Vector3 predictedPointingDirection = pointingDirection * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f); @@ -1675,7 +1682,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented. // As the vehicle rolls to the right or left, the Y value will increase from // zero (straight up) to 1 or -1 (full tilt right or left) - Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; + Vector3 rollComponents = Vector3.UnitZ * VehicleFrameOrientation; // Figure out the yaw value for this much roll. float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency; -- cgit v1.1 From da32512ea449c2de2d4a6069f899fbd4a8bb03fa Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Wed, 29 Apr 2015 18:47:17 -0700 Subject: Updated all occurrences of AssemblyVersion("0.8.1.*") to AssemblyVersion("0.8.2.*") --- OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs index 4de5b47..4f90eee 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Properties/AssemblyInfo.cs @@ -29,5 +29,5 @@ using System.Runtime.InteropServices; // Build Number // Revision // -[assembly: AssemblyVersion("0.8.1.*")] +[assembly: AssemblyVersion("0.8.2.*")] -- cgit v1.1 From d750647fb1395d8e9cbaf59ec65a6366070ed9d2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 25 Jun 2015 22:02:12 -0700 Subject: BulletSim: fix two compiler warnings. Mostly code left over from things that are not done that way anymore. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 1 - OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 4 ---- 2 files changed, 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index c670cca..d0cc1eb 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -61,7 +61,6 @@ public sealed class BSCharacter : BSPhysObject private const string AvatarMoveActorName = "BSCharacter.AvatarMove"; private OMV.Vector3 _PIDTarget; - private bool _usePID; private float _PIDTau; // public override OMV.Vector3 RawVelocity diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 22b3f3f..cae9efa 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -329,10 +329,6 @@ public sealed class BSLinksetCompound : BSLinkset // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape - // Number of times to perform rebuilds on broken linkset children. This should only happen when - // a linkset is initially being created and should happen only one or two times at the most. - // This exists to cause a looping problem to be reported while not rebuilding a linkset forever. - private static int LinksetRebuildFailureLoopPrevention = 10; private void RecomputeLinksetCompound() { try -- cgit v1.1 From 8cc7433d68b67450fed58bbdb5b165b052811244 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 21 Jul 2015 20:11:59 -0700 Subject: BulletSim: fix cut-and-paste typo in constraint frame setting. This code is in the XNA module so it does not affect the normal Bullet configuration . --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index f833d54..741f8db 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -658,7 +658,7 @@ private sealed class BulletConstraintXNA : BulletConstraint IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z); IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W); IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot); - frame2._origin = frame1v; + frame2._origin = frame2v; constraint.SetFrames(ref frame1, ref frame2); return true; } -- cgit v1.1 From 14b4d8bad796527a05a5f5992d1a1df1c5c43e6f Mon Sep 17 00:00:00 2001 From: Oren Hurvitz Date: Fri, 31 Jul 2015 18:13:39 +0300 Subject: Eliminated several warnings --- OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs | 1 - 1 file changed, 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs index 3651351..5a5de11 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs @@ -50,7 +50,6 @@ public class HullCreation : OpenSimTestCase BSScene PhysicsScene { get; set; } Vector3 ObjectInitPosition; - float simulationTimeStep = 0.089f; [TestFixtureSetUp] public void Init() -- cgit v1.1 From f0417c5d506e5b562344515f6e68668360456d33 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 6 Aug 2015 19:57:32 -0700 Subject: BulletSim: rearrange code and add some tests to try and resolve the initialization race conditions reported in Mantis 6792. When a region is initializing it seems that the prim initialization code can be interrupted part way through then taints are processed for prims that are not completely there. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 ++++++----- 2 files changed, 7 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index d37f29b..87eba33 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -322,7 +322,7 @@ public abstract class BSLinkset bool ret = true; this.ForEachMember((member) => { - if (member.IsIncomplete || member.PrimAssetState == BSPhysObject.PrimAssetCondition.Waiting) + if ((!member.IsInitialized) || member.IsIncomplete || member.PrimAssetState == BSPhysObject.PrimAssetCondition.Waiting) { ret = false; return true; // exit loop diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index d20d094..b758408 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -83,11 +83,6 @@ public abstract class BSPhysObject : PhysicsActor // The collection of things that push me around PhysicalActors = new BSActorCollection(PhysScene); - // Initialize variables kept in base. - GravModifier = 1.0f; - Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); - HoverActive = false; - // We don't have any physical representation yet. PhysBody = new BulletBody(localID); PhysShape = new BSShapeNull(); @@ -96,6 +91,12 @@ public abstract class BSPhysObject : PhysicsActor PrimAssetState = PrimAssetCondition.Unknown; + // Initialize variables kept in base. + // Beware that these cause taints to be queued whch can cause race conditions on startup. + GravModifier = 1.0f; + Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); + HoverActive = false; + // Default material type. Also sets Friction, Restitution and Density. SetMaterial((int)MaterialAttributes.Material.Wood); -- cgit v1.1 From 5a1279af8ad22e2ccedaebbdcfb4e3ec561c6d8c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 6 Aug 2015 21:48:50 -0700 Subject: BulletSim: clean up some code for axis locking. No functional change. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 87 ++++---------------------- 1 file changed, 13 insertions(+), 74 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 5d359e8..a00991f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1668,98 +1668,37 @@ public class BSPrim : BSPhysObject { switch ((int)funct) { + // Those that take no parameters case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR, 0f, 0f); - index += 1; - break; case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_X: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_X, 0f, 0f); - index += 1; - break; - case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X, (float)pParams[index + 1], (float)pParams[index + 2]); - index += 3; - break; case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Y: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Y, 0f, 0f); - index += 1; - break; - case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y, (float)pParams[index + 1], (float)pParams[index + 2]); - index += 3; - break; case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Z: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Z, 0f, 0f); - index += 1; - break; - case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z, (float)pParams[index + 1], (float)pParams[index + 2]); - index += 3; - break; case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR, 0f, 0f); - index += 1; - break; case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X, 0f, 0f); - index += 1; - break; - case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X, (float)pParams[index + 1], (float)pParams[index + 2]); - index += 3; - break; case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y, 0f, 0f); - index += 1; - break; - case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y, (float)pParams[index + 1], (float)pParams[index + 2]); - index += 3; - break; case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z, 0f, 0f); - index += 1; - break; - case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z, (float)pParams[index + 1], (float)pParams[index + 2]); - index += 3; - break; case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR, 0f, 0f); - index += 1; - break; case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_X: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_X, 0f, 0f); - index += 1; - break; case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Y: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Y, 0f, 0f); - index += 1; - break; case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Z: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Z, 0f, 0f); - index += 1; - break; case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR, 0f, 0f); - index += 1; - break; case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_X: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_X, 0f, 0f); - index += 1; - break; case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Y: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Y, 0f, 0f); - index += 1; - break; case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Z: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Z, 0f, 0f); - index += 1; - break; case ExtendedPhysics.PHYS_AXIS_UNLOCK: - ApplyAxisLimits(ExtendedPhysics.PHYS_AXIS_UNLOCK, 0f, 0f); + ApplyAxisLimits((int)funct, 0f, 0f); index += 1; break; + // Those that take two parameters (the limits) + case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X: + case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y: + case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z: + case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X: + case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y: + case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z: + ApplyAxisLimits((int)funct, (float)pParams[index + 1], (float)pParams[index + 2]); + index += 3; + break; default: m_log.WarnFormat("{0} SetSxisLockLimitsExtension. Unknown op={1}", LogHeader, funct); index += 1; @@ -1789,7 +1728,7 @@ public class BSPrim : BSPhysObject float linearMax = 23000f; float angularMax = (float)Math.PI; - switch ((int)funct) + switch (funct) { case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR: this.LockedLinearAxis = new OMV.Vector3(LockedAxis, LockedAxis, LockedAxis); -- cgit v1.1 From fe86df0ec9582c61ad3a50b53a73398393b13c87 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 9 Aug 2015 15:34:06 -0700 Subject: BulletSim: update the motion actors so they completely clean themselves when Dispose() is called. This reduces chance of object leakage when destroying objects. Rearrange initialization and shut down of BSActorLockAxis so it is consistant with other actors. --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 3 +- .../Region/Physics/BulletSPlugin/BSActorHover.cs | 1 + .../Physics/BulletSPlugin/BSActorLockAxis.cs | 59 +++++++++++++--------- .../Physics/BulletSPlugin/BSActorMoveToTarget.cs | 1 + .../Physics/BulletSPlugin/BSActorSetForce.cs | 1 + .../Physics/BulletSPlugin/BSActorSetTorque.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 4 +- 7 files changed, 41 insertions(+), 29 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index c0d65be..bde4557 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -71,8 +71,7 @@ public class BSActorAvatarMove : BSActor public override void Dispose() { base.SetEnabled(false); - // Now that turned off, remove any state we have in the scene. - Refresh(); + DeactivateAvatarMove(); } // Called when physical parameters (properties set in Bullet) need to be re-applied. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs index 8a79809..e54c27b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs @@ -58,6 +58,7 @@ public class BSActorHover : BSActor public override void Dispose() { Enabled = false; + DeactivateHover(); } // Called when physical parameters (properties set in Bullet) need to be re-applied. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index 48cab64..3b3c161 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -36,7 +36,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSActorLockAxis : BSActor { - BSConstraint LockAxisConstraint = null; + private BSConstraint LockAxisConstraint = null; + private bool HaveRegisteredForBeforeStepCallback = false; + // The lock access flags (which axises were locked) when the contraint was built. // Used to see if locking has changed since when the constraint was built. OMV.Vector3 LockAxisLinearFlags; @@ -47,9 +49,7 @@ public class BSActorLockAxis : BSActor { m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID); LockAxisConstraint = null; - - // we place our constraint just before the simulation step to make sure the linkset is complete - m_physicsScene.BeforeStep += PhysicsScene_BeforeStep; + HaveRegisteredForBeforeStepCallback = false; } // BSActor.isActive @@ -62,7 +62,8 @@ public class BSActorLockAxis : BSActor // BSActor.Dispose() public override void Dispose() { - m_physicsScene.BeforeStep -= PhysicsScene_BeforeStep; + Enabled = false; + UnRegisterForBeforeStepCallback(); RemoveAxisLockConstraint(); } @@ -74,37 +75,26 @@ public class BSActorLockAxis : BSActor // Since the axis logging is done with a constraint, Refresh() time is good for // changing parameters but this needs to wait until the prim/linkset is physically // constructed. Therefore, the constraint itself is placed at pre-step time. - /* - m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedLinear={1},lockedAngular={2},enabled={3},pActive={4}", - m_controllingPrim.LocalID, - m_controllingPrim.LockedLinearAxis, - m_controllingPrim.LockedAngularAxis, - Enabled, m_controllingPrim.IsPhysicallyActive); + // If all the axis are free, we don't need to exist + // Refresh() only turns off. Enabling is done by InitializeAxisActor() + // whenever parameters are changed. + // This leaves 'enable' free to turn off an actor when it is not wanted to run. if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree && m_controllingPrim.LockedLinearAxis == m_controllingPrim.LockedAxisFree) { Enabled = false; } - // If the object is physically active, add the axis locking constraint if (isActive) { - // Check to see if the locking parameters have changed - if (m_controllingPrim.LockedLinearAxis != this.LockAxisLinearFlags - || m_controllingPrim.LockedAngularAxis != this.LockAxisAngularFlags) - { - // The locking has changed. Remove the old constraint and build a new one - RemoveAxisLockConstraint(); - } - - AddAxisLockConstraint(); + RegisterForBeforeStepCallback(); } else { - RemoveAxisLockConstraint(); + RemoveDependencies(); + UnRegisterForBeforeStepCallback(); } - */ } // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). @@ -114,7 +104,24 @@ public class BSActorLockAxis : BSActor public override void RemoveDependencies() { RemoveAxisLockConstraint(); - // The pre-step action will restore the constraint of needed + } + + private void RegisterForBeforeStepCallback() + { + if (!HaveRegisteredForBeforeStepCallback) + { + m_physicsScene.BeforeStep += PhysicsScene_BeforeStep; + HaveRegisteredForBeforeStepCallback = true; + } + } + + private void UnRegisterForBeforeStepCallback() + { + if (HaveRegisteredForBeforeStepCallback) + { + m_physicsScene.BeforeStep -= PhysicsScene_BeforeStep; + HaveRegisteredForBeforeStepCallback = false; + } } private void PhysicsScene_BeforeStep(float timestep) @@ -145,6 +152,7 @@ public class BSActorLockAxis : BSActor } } + // Note that this relies on being called at TaintTime private void AddAxisLockConstraint() { if (LockAxisConstraint == null) @@ -192,11 +200,14 @@ public class BSActorLockAxis : BSActor axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass); + + RegisterForBeforeStepCallback(); } } private void RemoveAxisLockConstraint() { + UnRegisterForBeforeStepCallback(); if (LockAxisConstraint != null) { m_physicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs index bdf4bc0..1145006 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs @@ -59,6 +59,7 @@ public class BSActorMoveToTarget : BSActor public override void Dispose() { Enabled = false; + DeactivateMoveToTarget(); } // Called when physical parameters (properties set in Bullet) need to be re-applied. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs index 96fa0b6..4e81363 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs @@ -58,6 +58,7 @@ public class BSActorSetForce : BSActor public override void Dispose() { Enabled = false; + DeactivateSetForce(); } // Called when physical parameters (properties set in Bullet) need to be re-applied. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs index 65098e1..79e1d38 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs @@ -58,6 +58,7 @@ public class BSActorSetTorque : BSActor public override void Dispose() { Enabled = false; + DeactivateSetTorque(); } // Called when physical parameters (properties set in Bullet) need to be re-applied. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs index e0ccc50..7f45e2c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -32,12 +32,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSActorCollection { - private BSScene m_physicsScene { get; set; } private Dictionary m_actors; - public BSActorCollection(BSScene physicsScene) + public BSActorCollection() { - m_physicsScene = physicsScene; m_actors = new Dictionary(); } public void Add(string name, BSActor actor) -- cgit v1.1 From fe37cb999055c0df27a3fc1e038013575a63e2ea Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 9 Aug 2015 15:36:50 -0700 Subject: BulletSim: rearrange code and add different locking to eliminate chances of race conditions and, especially, race conditions when an object is removed and quickly re-added to a scene. This hopefully reduces the occurance of problems when avatars TP within a region -- the main problem being the loss of collisions. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 4 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 28 ++++++------ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 51 +++++++++++----------- 3 files changed, 40 insertions(+), 43 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index d0cc1eb..9c3f160 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -459,7 +459,7 @@ public sealed class BSCharacter : BSPhysObject RawVelocity = value; OMV.Vector3 vel = RawVelocity; - DetailLog("{0}: set Velocity = {1}", LogHeader, value); + DetailLog("{0}: set Velocity = {1}", LocalID, value); PhysScene.TaintedObject(LocalID, "BSCharacter.setVelocity", delegate() { @@ -477,7 +477,7 @@ public sealed class BSCharacter : BSPhysObject set { PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity"); // Util.PrintCallStack(); - DetailLog("{0}: set ForceVelocity = {1}", LogHeader, value); + DetailLog("{0}: set ForceVelocity = {1}", LocalID, value); RawVelocity = value; PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index b758408..90da7a6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -80,12 +80,13 @@ public abstract class BSPhysObject : PhysicsActor Name = name; // PhysicsActor also has the name of the object. Someday consolidate. TypeName = typeName; - // The collection of things that push me around - PhysicalActors = new BSActorCollection(PhysScene); + // Oddity if object is destroyed and recreated very quickly it could still have the old body. + if (!PhysBody.HasPhysicalBody) + PhysBody = new BulletBody(localID); - // We don't have any physical representation yet. - PhysBody = new BulletBody(localID); - PhysShape = new BSShapeNull(); + // Clean out anything that might be in the physical actor list. + // Again, a workaround for destroying and recreating an object very quickly. + PhysicalActors.Dispose(); UserSetCenterOfMassDisplacement = null; @@ -100,9 +101,6 @@ public abstract class BSPhysObject : PhysicsActor // Default material type. Also sets Friction, Restitution and Density. SetMaterial((int)MaterialAttributes.Material.Wood); - CollisionCollection = new CollisionEventUpdate(); - CollisionsLastReported = CollisionCollection; - CollisionsLastTick = new CollisionEventUpdate(); CollisionsLastTickStep = -1; SubscribedEventsMs = 0; @@ -158,9 +156,9 @@ public abstract class BSPhysObject : PhysicsActor public OMV.Vector3 Inertia { get; set; } // Reference to the physical body (btCollisionObject) of this object - public BulletBody PhysBody; + public BulletBody PhysBody = new BulletBody(0); // Reference to the physical shape (btCollisionShape) of this object - public BSShape PhysShape; + public BSShape PhysShape = new BSShapeNull(); // The physical representation of the prim might require an asset fetch. // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'. @@ -445,12 +443,12 @@ public abstract class BSPhysObject : PhysicsActor } // The collisions that have been collected for the next collision reporting (throttled by subscription) - protected CollisionEventUpdate CollisionCollection; + protected CollisionEventUpdate CollisionCollection = new CollisionEventUpdate(); // This is the collision collection last reported to the Simulator. - public CollisionEventUpdate CollisionsLastReported; + public CollisionEventUpdate CollisionsLastReported = new CollisionEventUpdate(); // Remember the collisions recorded in the last tick for fancy collision checking // (like a BSCharacter walking up stairs). - public CollisionEventUpdate CollisionsLastTick; + public CollisionEventUpdate CollisionsLastTick = new CollisionEventUpdate(); private long CollisionsLastTickStep = -1; // The simulation step is telling this object about a collision. @@ -495,7 +493,7 @@ public abstract class BSPhysObject : PhysicsActor { CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); } - DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}", + DetailLog("{0},{1}.Collision.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}", LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving); ret = true; @@ -596,7 +594,7 @@ public abstract class BSPhysObject : PhysicsActor #region Per Simulation Step actions - public BSActorCollection PhysicalActors; + public BSActorCollection PhysicalActors = new BSActorCollection(); // When an update to the physical properties happens, this event is fired to let // different actors to modify the update before it is passed around diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index f8e8f57..1a95f91 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -76,7 +76,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Keep track of all the avatars so we can send them a collision event // every tick so OpenSim will update its animation. - private HashSet m_avatars = new HashSet(); + private HashSet AvatarsInScene = new HashSet(); + private Object AvatarsInSceneLock = new Object(); // let my minuions use my logger public ILog Logger { get { return m_log; } } @@ -425,11 +426,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // make sure no stepping happens while we're deleting stuff m_initialized = false; - foreach (KeyValuePair kvp in PhysObjects) + lock (PhysObjects) { - kvp.Value.Destroy(); + foreach (KeyValuePair kvp in PhysObjects) + { + kvp.Value.Destroy(); + } + PhysObjects.Clear(); } - PhysObjects.Clear(); // Now that the prims are all cleaned up, there should be no constraints left if (Constraints != null) @@ -480,15 +484,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // TODO: Remove kludge someday. // We must generate a collision for avatars whether they collide or not. // This is required by OpenSim to update avatar animations, etc. - lock (m_avatars) - { - // The funky copy is because this list has few and infrequent changes but is - // read zillions of times. This allows the reader/iterator to use the - // list and this creates a new list with any updates. - HashSet avatarTemp = new HashSet(m_avatars); - avatarTemp.Add(actor); - m_avatars = avatarTemp; - } + lock (AvatarsInSceneLock) + AvatarsInScene.Add(actor); return actor; } @@ -507,12 +504,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters lock (PhysObjects) PhysObjects.Remove(bsactor.LocalID); // Remove kludge someday - lock (m_avatars) - { - HashSet avatarTemp = new HashSet(m_avatars); - avatarTemp.Remove(bsactor); - m_avatars = avatarTemp; - } + lock (AvatarsInSceneLock) + AvatarsInScene.Remove(bsactor); } catch (Exception e) { @@ -757,13 +750,18 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // The simulator expects collisions for avatars even if there are have been no collisions. // The event updates avatar animations and stuff. // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. - // Note that we copy the root of the list to search. Any updates will create a new list - // thus freeing this code from having to do an extra lock for every collision. - HashSet avatarTemp = m_avatars; - foreach (BSPhysObject bsp in avatarTemp) - if (!ObjectsWithCollisions.Contains(bsp)) // don't call avatars twice - bsp.SendCollisions(); - avatarTemp = null; + // Note that we get a copy of the list to search because SendCollision() can take a while. + HashSet tempAvatarsInScene; + lock (AvatarsInSceneLock) + { + tempAvatarsInScene = new HashSet(AvatarsInScene); + } + foreach (BSPhysObject actor in tempAvatarsInScene) + { + if (!ObjectsWithCollisions.Contains(actor)) // don't call avatars twice + actor.SendCollisions(); + } + tempAvatarsInScene = null; // Objects that are done colliding are removed from the ObjectsWithCollisions list. // Not done above because it is inside an iteration of ObjectWithCollisions. @@ -813,6 +811,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } BSPhysObject collider; + // NOTE that PhysObjects was locked before the call to SendCollision(). if (!PhysObjects.TryGetValue(localID, out collider)) { // If the object that is colliding cannot be found, just ignore the collision. -- cgit v1.1 From 373455a6fa8b7f7329fb02bc43de257df2410191 Mon Sep 17 00:00:00 2001 From: Oren Hurvitz Date: Sun, 5 Jul 2015 15:56:45 +0300 Subject: Fixed mistakes in string format specifiers (e.g., "{0)" instead of {0}") --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 1a95f91..8a19944 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -409,7 +409,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (ret == null) { - m_log.ErrorFormat("{0) COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader); + m_log.ErrorFormat("{0} COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader); } else { -- cgit v1.1 From 062ec0efbda0e4ca6df5541039569e023d0d0e79 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 23 Aug 2015 21:15:04 -0700 Subject: BulletSim: delay adding a scene presence to the list of presences until it is fully configured. Another addition to fixing the collisions stopping problem. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 13 +++++++---- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 12 ++++++++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 27 +++++++++++----------- 3 files changed, 33 insertions(+), 19 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 9c3f160..cfcccac 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -75,9 +75,10 @@ public sealed class BSCharacter : BSPhysObject // Avatars are always complete (in the physics engine sense) public override bool IsIncomplete { get { return false; } } + // 'activate' is called with this character after all initialization is complete public BSCharacter( - uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying) - + uint localID, String avName, BSScene parent_scene, + OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying, Action activate) : base(parent_scene, localID, avName, "BSCharacter") { _physicsActorType = (int)ActorTypes.Agent; @@ -124,6 +125,9 @@ public sealed class BSCharacter : BSPhysObject SetPhysicalProperties(); IsInitialized = true; + + if (activate != null) + activate(this); }); return; } @@ -472,12 +476,13 @@ public sealed class BSCharacter : BSPhysObject } } + // Force the setting of velocity. Called at taint time. + // Exists so that setting force by anyone can be overridden by a subcless. public override OMV.Vector3 ForceVelocity { get { return RawVelocity; } set { PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity"); -// Util.PrintCallStack(); - DetailLog("{0}: set ForceVelocity = {1}", LocalID, value); + DetailLog("{0},BSCharacter.setForceVelocity,call,vel={1}", LocalID, value); RawVelocity = value; PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 90da7a6..4669d91 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -72,6 +72,11 @@ public abstract class BSPhysObject : PhysicsActor } protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) { + InitializePhysObject(parentScene, localID, name, typeName); + } + + protected void InitializePhysObject(BSScene parentScene, uint localID, string name, string typeName) + { IsInitialized = false; PhysScene = parentScene; @@ -119,6 +124,8 @@ public abstract class BSPhysObject : PhysicsActor // Tell the object to clean up. public virtual void Destroy() { + SubscribedEventsMs = 0; + PhysicalActors.Enable(false); PhysScene.TaintedObject(LocalID, "BSPhysObject.Destroy", delegate() { @@ -455,6 +462,7 @@ public abstract class BSPhysObject : PhysicsActor // Return 'true' if a collision was processed and should be sent up. // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision. // Called at taint time from within the Step() function + // Both 'CollisionLock' and 'PhysObjects' are locked when this is called by 'SendCollisions'. public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); public virtual bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) @@ -512,7 +520,7 @@ public abstract class BSPhysObject : PhysicsActor // If no collisions this call but there were collisions last call, force the collision // event to be happen right now so quick collision_end. - bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0); + bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0); // throttle the collisions to the number of milliseconds specified in the subscription if (force || (PhysScene.SimulationNowTime >= NextCollisionOkTime)) @@ -545,7 +553,7 @@ public abstract class BSPhysObject : PhysicsActor // Subscribe for collision events. // Parameter is the millisecond rate the caller wishes collision events to occur. public override void SubscribeEvents(int ms) { - // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms); + DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms); SubscribedEventsMs = ms; if (ms > 0) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 8a19944..2a8a6a5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -477,16 +477,19 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return null; - BSCharacter actor = new BSCharacter(localID, avName, this, position, velocity, size, isFlying); - lock (PhysObjects) - PhysObjects.Add(localID, actor); - - // TODO: Remove kludge someday. - // We must generate a collision for avatars whether they collide or not. - // This is required by OpenSim to update avatar animations, etc. - lock (AvatarsInSceneLock) - AvatarsInScene.Add(actor); + BSCharacter actor = new BSCharacter(localID, avName, this, position, velocity, size, isFlying, + (aa) => + { + // While the actor exists, don't add it to the active avatar lists until completely initialized + lock (PhysObjects) + PhysObjects.Add(localID, aa); + // TODO: Remove kludge someday. + // We must generate a collision for avatars whether they collide or not. + // This is required by OpenSim to update avatar animations, etc. + lock (AvatarsInSceneLock) + AvatarsInScene.Add(aa); + }); return actor; } @@ -830,10 +833,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) { // If a collision was 'good', remember to send it to the simulator - lock (CollisionLock) - { - ObjectsWithCollisions.Add(collider); - } + // Note that 'CollisionLock' was locked before the call to 'SendCollsions' + ObjectsWithCollisions.Add(collider); } } -- cgit v1.1 From 9a490ad2b979552c04ef0bf0d881e8b9643bebba Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 24 Aug 2015 06:39:06 -0700 Subject: Revert "BulletSim: delay adding a scene presence to the list of presences" Remove these changes until the region crossing problems can be figured out. This reverts commit 062ec0efbda0e4ca6df5541039569e023d0d0e79. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 13 ++++------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 12 ++-------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 27 +++++++++++----------- 3 files changed, 19 insertions(+), 33 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index cfcccac..9c3f160 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -75,10 +75,9 @@ public sealed class BSCharacter : BSPhysObject // Avatars are always complete (in the physics engine sense) public override bool IsIncomplete { get { return false; } } - // 'activate' is called with this character after all initialization is complete public BSCharacter( - uint localID, String avName, BSScene parent_scene, - OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying, Action activate) + uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying) + : base(parent_scene, localID, avName, "BSCharacter") { _physicsActorType = (int)ActorTypes.Agent; @@ -125,9 +124,6 @@ public sealed class BSCharacter : BSPhysObject SetPhysicalProperties(); IsInitialized = true; - - if (activate != null) - activate(this); }); return; } @@ -476,13 +472,12 @@ public sealed class BSCharacter : BSPhysObject } } - // Force the setting of velocity. Called at taint time. - // Exists so that setting force by anyone can be overridden by a subcless. public override OMV.Vector3 ForceVelocity { get { return RawVelocity; } set { PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity"); - DetailLog("{0},BSCharacter.setForceVelocity,call,vel={1}", LocalID, value); +// Util.PrintCallStack(); + DetailLog("{0}: set ForceVelocity = {1}", LocalID, value); RawVelocity = value; PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 4669d91..90da7a6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -72,11 +72,6 @@ public abstract class BSPhysObject : PhysicsActor } protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) { - InitializePhysObject(parentScene, localID, name, typeName); - } - - protected void InitializePhysObject(BSScene parentScene, uint localID, string name, string typeName) - { IsInitialized = false; PhysScene = parentScene; @@ -124,8 +119,6 @@ public abstract class BSPhysObject : PhysicsActor // Tell the object to clean up. public virtual void Destroy() { - SubscribedEventsMs = 0; - PhysicalActors.Enable(false); PhysScene.TaintedObject(LocalID, "BSPhysObject.Destroy", delegate() { @@ -462,7 +455,6 @@ public abstract class BSPhysObject : PhysicsActor // Return 'true' if a collision was processed and should be sent up. // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision. // Called at taint time from within the Step() function - // Both 'CollisionLock' and 'PhysObjects' are locked when this is called by 'SendCollisions'. public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); public virtual bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) @@ -520,7 +512,7 @@ public abstract class BSPhysObject : PhysicsActor // If no collisions this call but there were collisions last call, force the collision // event to be happen right now so quick collision_end. - bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0); + bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0); // throttle the collisions to the number of milliseconds specified in the subscription if (force || (PhysScene.SimulationNowTime >= NextCollisionOkTime)) @@ -553,7 +545,7 @@ public abstract class BSPhysObject : PhysicsActor // Subscribe for collision events. // Parameter is the millisecond rate the caller wishes collision events to occur. public override void SubscribeEvents(int ms) { - DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms); + // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms); SubscribedEventsMs = ms; if (ms > 0) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 2a8a6a5..8a19944 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -477,19 +477,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return null; - BSCharacter actor = new BSCharacter(localID, avName, this, position, velocity, size, isFlying, - (aa) => - { - // While the actor exists, don't add it to the active avatar lists until completely initialized - lock (PhysObjects) - PhysObjects.Add(localID, aa); + BSCharacter actor = new BSCharacter(localID, avName, this, position, velocity, size, isFlying); + lock (PhysObjects) + PhysObjects.Add(localID, actor); + + // TODO: Remove kludge someday. + // We must generate a collision for avatars whether they collide or not. + // This is required by OpenSim to update avatar animations, etc. + lock (AvatarsInSceneLock) + AvatarsInScene.Add(actor); - // TODO: Remove kludge someday. - // We must generate a collision for avatars whether they collide or not. - // This is required by OpenSim to update avatar animations, etc. - lock (AvatarsInSceneLock) - AvatarsInScene.Add(aa); - }); return actor; } @@ -833,8 +830,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) { // If a collision was 'good', remember to send it to the simulator - // Note that 'CollisionLock' was locked before the call to 'SendCollsions' - ObjectsWithCollisions.Add(collider); + lock (CollisionLock) + { + ObjectsWithCollisions.Add(collider); + } } } -- cgit v1.1