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') 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