From 1d6b33bc2da3b312cff1d1802a73aacdf72b0385 Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Sun, 30 Aug 2015 20:06:53 -0700 Subject: Major renaming of Physics dlls / folders. No functional changes, just renames. --- OpenSim/Region/PhysicsModules/BulletS/BSScene.cs | 1281 ++++++++++++++++++++++ 1 file changed, 1281 insertions(+) create mode 100644 OpenSim/Region/PhysicsModules/BulletS/BSScene.cs (limited to 'OpenSim/Region/PhysicsModules/BulletS/BSScene.cs') diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs new file mode 100644 index 0000000..8a19944 --- /dev/null +++ b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs @@ -0,0 +1,1281 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Reflection; +using System.Runtime.InteropServices; +using System.Text; +using System.Threading; +using OpenSim.Framework; +using OpenSim.Framework.Monitoring; +using OpenSim.Region.Framework; +using OpenSim.Region.CoreModules; +using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging; +using OpenSim.Region.Physics.Manager; +using Nini.Config; +using log4net; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public sealed class BSScene : PhysicsScene, IPhysicsParameters +{ + internal static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); + internal static readonly string LogHeader = "[BULLETS SCENE]"; + + // The name of the region we're working for. + public string RegionName { get; private set; } + + public string BulletSimVersion = "?"; + + // The handle to the underlying managed or unmanaged version of Bullet being used. + public string BulletEngineName { get; private set; } + public BSAPITemplate PE; + + // If the physics engine is running on a separate thread + public Thread m_physicsThread; + + public Dictionary PhysObjects; + public BSShapeCollection Shapes; + + // Keeping track of the objects with collisions so we can report begin and end of a collision + public HashSet ObjectsWithCollisions = new HashSet(); + public HashSet ObjectsWithNoMoreCollisions = new HashSet(); + + // All the collision processing is protected with this lock object + public Object CollisionLock = new Object(); + + // Properties are updated here + public Object UpdateLock = new Object(); + public HashSet ObjectsWithUpdates = new HashSet(); + + // Keep track of all the avatars so we can send them a collision event + // every tick so OpenSim will update its animation. + private HashSet AvatarsInScene = new HashSet(); + private Object AvatarsInSceneLock = new Object(); + + // let my minuions use my logger + public ILog Logger { get { return m_log; } } + + public IMesher mesher; + public uint WorldID { get; private set; } + public BulletWorld World { get; private set; } + + // All the constraints that have been allocated in this instance. + public BSConstraintCollection Constraints { get; private set; } + + // Simulation parameters + //internal float m_physicsStepTime; // if running independently, the interval simulated by default + + internal int m_maxSubSteps; + internal float m_fixedTimeStep; + + internal float m_simulatedTime; // the time simulated previously. Used for physics framerate calc. + + internal long m_simulationStep = 0; // The current simulation step. + public long SimulationStep { get { return m_simulationStep; } } + // A number to use for SimulationStep that is probably not any step value + // Used by the collision code (which remembers the step when a collision happens) to remember not any simulation step. + public static long NotASimulationStep = -1234; + + internal float LastTimeStep { get; private set; } // The simulation time from the last invocation of Simulate() + + internal float NominalFrameRate { get; set; } // Parameterized ideal frame rate that simulation is scaled to + + // Physical objects can register for prestep or poststep events + public delegate void PreStepAction(float timeStep); + public delegate void PostStepAction(float timeStep); + public event PreStepAction BeforeStep; + public event PostStepAction AfterStep; + + // A value of the time 'now' so all the collision and update routines do not have to get their own + // Set to 'now' just before all the prims and actors are called for collisions and updates + public int SimulationNowTime { get; private set; } + + // True if initialized and ready to do simulation steps + private bool m_initialized = false; + + // Flag which is true when processing taints. + // Not guaranteed to be correct all the time (don't depend on this) but good for debugging. + public bool InTaintTime { get; private set; } + + // Pinned memory used to pass step information between managed and unmanaged + internal int m_maxCollisionsPerFrame; + internal CollisionDesc[] m_collisionArray; + + internal int m_maxUpdatesPerFrame; + internal EntityProperties[] m_updateArray; + + /// + /// Used to control physics simulation timing if Bullet is running on its own thread. + /// + private ManualResetEvent m_updateWaitEvent; + + public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero + public const uint GROUNDPLANE_ID = 1; + public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here + + public float SimpleWaterLevel { get; set; } + public BSTerrainManager TerrainManager { get; private set; } + + public ConfigurationParameters Params + { + get { return UnmanagedParams[0]; } + } + public Vector3 DefaultGravity + { + get { return new Vector3(0f, 0f, Params.gravity); } + } + // Just the Z value of the gravity + public float DefaultGravityZ + { + get { return Params.gravity; } + } + + // When functions in the unmanaged code must be called, it is only + // done at a known time just before the simulation step. The taint + // system saves all these function calls and executes them in + // order before the simulation. + public delegate void TaintCallback(); + private struct TaintCallbackEntry + { + public String originator; + public String ident; + public TaintCallback callback; + public TaintCallbackEntry(string pIdent, TaintCallback pCallBack) + { + originator = BSScene.DetailLogZero; + ident = pIdent; + callback = pCallBack; + } + public TaintCallbackEntry(string pOrigin, string pIdent, TaintCallback pCallBack) + { + originator = pOrigin; + ident = pIdent; + callback = pCallBack; + } + } + private Object _taintLock = new Object(); // lock for using the next object + private List _taintOperations; + private Dictionary _postTaintOperations; + private List _postStepOperations; + + // A pointer to an instance if this structure is passed to the C++ code + // Used to pass basic configuration values to the unmanaged code. + internal ConfigurationParameters[] UnmanagedParams; + + // Sometimes you just have to log everything. + public Logging.LogWriter PhysicsLogging; + private bool m_physicsLoggingEnabled; + private string m_physicsLoggingDir; + private string m_physicsLoggingPrefix; + private int m_physicsLoggingFileMinutes; + private bool m_physicsLoggingDoFlush; + private bool m_physicsPhysicalDumpEnabled; + public int PhysicsMetricDumpFrames { get; set; } + // 'true' of the vehicle code is to log lots of details + public bool VehicleLoggingEnabled { get; private set; } + public bool VehiclePhysicalLoggingEnabled { get; private set; } + + #region Construction and Initialization + public BSScene(string engineType, string identifier) + { + m_initialized = false; + + // The name of the region we're working for is passed to us. Keep for identification. + RegionName = identifier; + + // Set identifying variables in the PhysicsScene interface. + EngineType = engineType; + Name = EngineType + "/" + RegionName; + } + + // Old version of initialization that assumes legacy sized regions (256x256) + public override void Initialise(IMesher meshmerizer, IConfigSource config) + { + m_log.ErrorFormat("{0} WARNING WARNING WARNING! BulletSim initialized without region extent specification. Terrain will be messed up."); + Vector3 regionExtent = new Vector3( Constants.RegionSize, Constants.RegionSize, Constants.RegionSize); + Initialise(meshmerizer, config, regionExtent); + + } + + public override void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent) + { + mesher = meshmerizer; + _taintOperations = new List(); + _postTaintOperations = new Dictionary(); + _postStepOperations = new List(); + PhysObjects = new Dictionary(); + Shapes = new BSShapeCollection(this); + + m_simulatedTime = 0f; + LastTimeStep = 0.1f; + + // Allocate pinned memory to pass parameters. + UnmanagedParams = new ConfigurationParameters[1]; + + // Set default values for physics parameters plus any overrides from the ini file + GetInitialParameterValues(config); + + // Force some parameters to values depending on other configurations + // Only use heightmap terrain implementation if terrain larger than legacy size + if ((uint)regionExtent.X > Constants.RegionSize || (uint)regionExtent.Y > Constants.RegionSize) + { + m_log.WarnFormat("{0} Forcing terrain implementation to heightmap for large region", LogHeader); + BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap; + } + + // Get the connection to the physics engine (could be native or one of many DLLs) + PE = SelectUnderlyingBulletEngine(BulletEngineName); + + // Enable very detailed logging. + // By creating an empty logger when not logging, the log message invocation code + // can be left in and every call doesn't have to check for null. + if (m_physicsLoggingEnabled) + { + PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes, m_physicsLoggingDoFlush); + PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output its own error messages. + } + else + { + PhysicsLogging = new Logging.LogWriter(); + } + + // Allocate memory for returning of the updates and collisions from the physics engine + m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame]; + m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; + + // The bounding box for the simulated world. The origin is 0,0,0 unless we're + // a child in a mega-region. + // Bullet actually doesn't care about the extents of the simulated + // area. It tracks active objects no matter where they are. + Vector3 worldExtent = regionExtent; + + World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray); + + Constraints = new BSConstraintCollection(World); + + TerrainManager = new BSTerrainManager(this, worldExtent); + TerrainManager.CreateInitialGroundPlaneAndTerrain(); + + // Put some informational messages into the log file. + m_log.InfoFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation); + + InTaintTime = false; + m_initialized = true; + + // If the physics engine runs on its own thread, start same. + if (BSParam.UseSeparatePhysicsThread) + { + // The physics simulation should happen independently of the heartbeat loop + m_physicsThread + = WorkManager.StartThread( + BulletSPluginPhysicsThread, + string.Format("{0} ({1})", BulletEngineName, RegionName), + ThreadPriority.Normal, + true, + true); + } + } + + // All default parameter values are set here. There should be no values set in the + // variable definitions. + private void GetInitialParameterValues(IConfigSource config) + { + ConfigurationParameters parms = new ConfigurationParameters(); + UnmanagedParams[0] = parms; + + BSParam.SetParameterDefaultValues(this); + + if (config != null) + { + // If there are specifications in the ini file, use those values + IConfig pConfig = config.Configs["BulletSim"]; + if (pConfig != null) + { + BSParam.SetParameterConfigurationValues(this, pConfig); + + // There are two Bullet implementations to choose from + BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged"); + + // Very detailed logging for physics debugging + // TODO: the boolean values can be moved to the normal parameter processing. + m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); + m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", "."); + m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-"); + m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); + m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false); + m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", false); + // Very detailed logging for vehicle debugging + VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); + VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false); + + // Do any replacements in the parameters + m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName); + } + else + { + // Nothing in the configuration INI file so assume unmanaged and other defaults. + BulletEngineName = "BulletUnmanaged"; + m_physicsLoggingEnabled = false; + VehicleLoggingEnabled = false; + } + + // The material characteristics. + BSMaterials.InitializeFromDefaults(Params); + if (pConfig != null) + { + // Let the user add new and interesting material property values. + BSMaterials.InitializefromParameters(pConfig); + } + } + } + + // A helper function that handles a true/false parameter and returns the proper float number encoding + float ParamBoolean(IConfig config, string parmName, float deflt) + { + float ret = deflt; + if (config.Contains(parmName)) + { + ret = ConfigurationParameters.numericFalse; + if (config.GetBoolean(parmName, false)) + { + ret = ConfigurationParameters.numericTrue; + } + } + return ret; + } + + // Select the connection to the actual Bullet implementation. + // The main engine selection is the engineName up to the first hypen. + // So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name + // is passed to the engine to do its special selection, etc. + private BSAPITemplate SelectUnderlyingBulletEngine(string engineName) + { + // For the moment, do a simple switch statement. + // Someday do fancyness with looking up the interfaces in the assembly. + BSAPITemplate ret = null; + + string selectionName = engineName.ToLower(); + int hyphenIndex = engineName.IndexOf("-"); + if (hyphenIndex > 0) + selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1); + + switch (selectionName) + { + case "bullet": + case "bulletunmanaged": + ret = new BSAPIUnman(engineName, this); + break; + case "bulletxna": + ret = new BSAPIXNA(engineName, this); + // Disable some features that are not implemented in BulletXNA + m_log.InfoFormat("{0} Disabling some physics features not implemented by BulletXNA", LogHeader); + m_log.InfoFormat("{0} Disabling ShouldUseBulletHACD", LogHeader); + BSParam.ShouldUseBulletHACD = false; + m_log.InfoFormat("{0} Disabling ShouldUseSingleConvexHullForPrims", LogHeader); + BSParam.ShouldUseSingleConvexHullForPrims = false; + m_log.InfoFormat("{0} Disabling ShouldUseGImpactShapeForPrims", LogHeader); + BSParam.ShouldUseGImpactShapeForPrims = false; + m_log.InfoFormat("{0} Setting terrain implimentation to Heightmap", LogHeader); + BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap; + break; + } + + if (ret == null) + { + m_log.ErrorFormat("{0} COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader); + } + else + { + m_log.InfoFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion); + } + + return ret; + } + + public override void Dispose() + { + // m_log.DebugFormat("{0}: Dispose()", LogHeader); + + // make sure no stepping happens while we're deleting stuff + m_initialized = false; + + lock (PhysObjects) + { + foreach (KeyValuePair kvp in PhysObjects) + { + kvp.Value.Destroy(); + } + PhysObjects.Clear(); + } + + // Now that the prims are all cleaned up, there should be no constraints left + if (Constraints != null) + { + Constraints.Dispose(); + Constraints = null; + } + + if (Shapes != null) + { + Shapes.Dispose(); + Shapes = null; + } + + if (TerrainManager != null) + { + TerrainManager.ReleaseGroundPlaneAndTerrain(); + TerrainManager.Dispose(); + TerrainManager = null; + } + + // Anything left in the unmanaged code should be cleaned out + PE.Shutdown(World); + + // Not logging any more + PhysicsLogging.Close(); + } + #endregion // Construction and Initialization + + #region Prim and Avatar addition and removal + + public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying) + { + m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader); + return null; + } + + public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying) + { + // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName); + + if (!m_initialized) return null; + + BSCharacter actor = new BSCharacter(localID, avName, this, position, velocity, size, isFlying); + lock (PhysObjects) + PhysObjects.Add(localID, actor); + + // TODO: Remove kludge someday. + // We must generate a collision for avatars whether they collide or not. + // This is required by OpenSim to update avatar animations, etc. + lock (AvatarsInSceneLock) + AvatarsInScene.Add(actor); + + return actor; + } + + public override void RemoveAvatar(PhysicsActor actor) + { + // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader); + + if (!m_initialized) return; + + BSCharacter bsactor = actor as BSCharacter; + if (bsactor != null) + { + try + { + lock (PhysObjects) + PhysObjects.Remove(bsactor.LocalID); + // Remove kludge someday + lock (AvatarsInSceneLock) + AvatarsInScene.Remove(bsactor); + } + catch (Exception e) + { + m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e); + } + bsactor.Destroy(); + // bsactor.dispose(); + } + else + { + m_log.ErrorFormat("{0}: Requested to remove avatar that is not a BSCharacter. ID={1}, type={2}", + LogHeader, actor.LocalID, actor.GetType().Name); + } + } + + public override void RemovePrim(PhysicsActor prim) + { + if (!m_initialized) return; + + BSPhysObject bsprim = prim as BSPhysObject; + if (bsprim != null) + { + DetailLog("{0},RemovePrim,call", bsprim.LocalID); + // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); + try + { + lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID); + } + catch (Exception e) + { + m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e); + } + bsprim.Destroy(); + // bsprim.dispose(); + } + else + { + m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader); + } + } + + public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, + Vector3 size, Quaternion rotation, bool isPhysical, uint localID) + { + // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName); + + if (!m_initialized) return null; + + // DetailLog("{0},BSScene.AddPrimShape,call", localID); + + BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical); + lock (PhysObjects) PhysObjects.Add(localID, prim); + return prim; + } + + // This is a call from the simulator saying that some physical property has been updated. + // The BulletSim driver senses the changing of relevant properties so this taint + // information call is not needed. + public override void AddPhysicsActorTaint(PhysicsActor prim) { } + + #endregion // Prim and Avatar addition and removal + + #region Simulation + + // Call from the simulator to send physics information to the simulator objects. + // This pushes all the collision and property update events into the objects in + // the simulator and, since it is on the heartbeat thread, there is an implicit + // locking of those data structures from other heartbeat events. + // If the physics engine is running on a separate thread, the update information + // will be in the ObjectsWithCollions and ObjectsWithUpdates structures. + public override float Simulate(float timeStep) + { + if (!BSParam.UseSeparatePhysicsThread) + { + DoPhysicsStep(timeStep); + } + return SendUpdatesToSimulator(timeStep); + } + + // Call the physics engine to do one 'timeStep' and collect collisions and updates + // into ObjectsWithCollisions and ObjectsWithUpdates data structures. + private void DoPhysicsStep(float timeStep) + { + // prevent simulation until we've been initialized + if (!m_initialized) return; + + LastTimeStep = timeStep; + + int updatedEntityCount = 0; + int collidersCount = 0; + + int beforeTime = Util.EnvironmentTickCount(); + int simTime = 0; + + int numTaints = _taintOperations.Count; + InTaintTime = true; // Only used for debugging so locking is not necessary. + + // update the prim states while we know the physics engine is not busy + ProcessTaints(); + + // Some of the physical objects requre individual, pre-step calls + // (vehicles and avatar movement, in particular) + TriggerPreStepEvent(timeStep); + + // the prestep actions might have added taints + numTaints += _taintOperations.Count; + ProcessTaints(); + + InTaintTime = false; // Only used for debugging so locking is not necessary. + + // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. + // Only enable this in a limited test world with few objects. + if (m_physicsPhysicalDumpEnabled) + PE.DumpAllInfo(World); + + // step the physical world one interval + m_simulationStep++; + int numSubSteps = 0; + try + { + numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount); + + } + catch (Exception e) + { + m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}", + LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e); + DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}", + DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); + updatedEntityCount = 0; + collidersCount = 0; + } + + // Make the physics engine dump useful statistics periodically + if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0)) + PE.DumpPhysicsStatistics(World); + + // Get a value for 'now' so all the collision and update routines don't have to get their own. + SimulationNowTime = Util.EnvironmentTickCount(); + + // Send collision information to the colliding objects. The objects decide if the collision + // is 'real' (like linksets don't collide with themselves) and the individual objects + // know if the simulator has subscribed to collisions. + lock (CollisionLock) + { + if (collidersCount > 0) + { + lock (PhysObjects) + { + for (int ii = 0; ii < collidersCount; ii++) + { + uint cA = m_collisionArray[ii].aID; + uint cB = m_collisionArray[ii].bID; + Vector3 point = m_collisionArray[ii].point; + Vector3 normal = m_collisionArray[ii].normal; + float penetration = m_collisionArray[ii].penetration; + SendCollision(cA, cB, point, normal, penetration); + SendCollision(cB, cA, point, -normal, penetration); + } + } + } + } + + // If any of the objects had updated properties, tell the managed objects about the update + // and remember that there was a change so it will be passed to the simulator. + lock (UpdateLock) + { + if (updatedEntityCount > 0) + { + lock (PhysObjects) + { + for (int ii = 0; ii < updatedEntityCount; ii++) + { + EntityProperties entprop = m_updateArray[ii]; + BSPhysObject pobj; + if (PhysObjects.TryGetValue(entprop.ID, out pobj)) + { + if (pobj.IsInitialized) + pobj.UpdateProperties(entprop); + } + } + } + } + } + + // Some actors want to know when the simulation step is complete. + TriggerPostStepEvent(timeStep); + + simTime = Util.EnvironmentTickCountSubtract(beforeTime); + if (PhysicsLogging.Enabled) + { + DetailLog("{0},DoPhysicsStep,complete,frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", + DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, + updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); + } + + // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. + // Only enable this in a limited test world with few objects. + if (m_physicsPhysicalDumpEnabled) + PE.DumpAllInfo(World); + + // The physics engine returns the number of milliseconds it simulated this call. + // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. + // Multiply by a fixed nominal frame rate to give a rate similar to the simulator (usually 55). + m_simulatedTime += (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate; + } + + // Called by a BSPhysObject to note that it has changed properties and this information + // should be passed up to the simulator at the proper time. + // Note: this is called by the BSPhysObject from invocation via DoPhysicsStep() above so + // this is is under UpdateLock. + public void PostUpdate(BSPhysObject updatee) + { + lock (UpdateLock) + { + ObjectsWithUpdates.Add(updatee); + } + } + + // The simulator thinks it is physics time so return all the collisions and position + // updates that were collected in actual physics simulation. + private float SendUpdatesToSimulator(float timeStep) + { + if (!m_initialized) return 5.0f; + + DetailLog("{0},SendUpdatesToSimulator,collisions={1},updates={2},simedTime={3}", + BSScene.DetailLogZero, ObjectsWithCollisions.Count, ObjectsWithUpdates.Count, m_simulatedTime); + // Push the collisions into the simulator. + lock (CollisionLock) + { + if (ObjectsWithCollisions.Count > 0) + { + foreach (BSPhysObject bsp in ObjectsWithCollisions) + if (!bsp.SendCollisions()) + { + // If the object is done colliding, see that it's removed from the colliding list + ObjectsWithNoMoreCollisions.Add(bsp); + } + } + + // This is a kludge to get avatar movement updates. + // The simulator expects collisions for avatars even if there are have been no collisions. + // The event updates avatar animations and stuff. + // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. + // Note that we get a copy of the list to search because SendCollision() can take a while. + HashSet tempAvatarsInScene; + lock (AvatarsInSceneLock) + { + tempAvatarsInScene = new HashSet(AvatarsInScene); + } + foreach (BSPhysObject actor in tempAvatarsInScene) + { + if (!ObjectsWithCollisions.Contains(actor)) // don't call avatars twice + actor.SendCollisions(); + } + tempAvatarsInScene = null; + + // Objects that are done colliding are removed from the ObjectsWithCollisions list. + // Not done above because it is inside an iteration of ObjectWithCollisions. + // This complex collision processing is required to create an empty collision + // event call after all real collisions have happened on an object. This allows + // the simulator to generate the 'collision end' event. + if (ObjectsWithNoMoreCollisions.Count > 0) + { + foreach (BSPhysObject po in ObjectsWithNoMoreCollisions) + ObjectsWithCollisions.Remove(po); + ObjectsWithNoMoreCollisions.Clear(); + } + } + + // Call the simulator for each object that has physics property updates. + HashSet updatedObjects = null; + lock (UpdateLock) + { + if (ObjectsWithUpdates.Count > 0) + { + updatedObjects = ObjectsWithUpdates; + ObjectsWithUpdates = new HashSet(); + } + } + if (updatedObjects != null) + { + foreach (BSPhysObject obj in updatedObjects) + { + obj.RequestPhysicsterseUpdate(); + } + updatedObjects.Clear(); + } + + // Return the framerate simulated to give the above returned results. + // (Race condition here but this is just bookkeeping so rare mistakes do not merit a lock). + float simTime = m_simulatedTime; + m_simulatedTime = 0f; + return simTime; + } + + // Something has collided + private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration) + { + if (localID <= TerrainManager.HighestTerrainID) + { + return; // don't send collisions to the terrain + } + + BSPhysObject collider; + // NOTE that PhysObjects was locked before the call to SendCollision(). + if (!PhysObjects.TryGetValue(localID, out collider)) + { + // If the object that is colliding cannot be found, just ignore the collision. + DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith); + return; + } + + // Note: the terrain is not in the physical object list so 'collidee' can be null when Collide() is called. + BSPhysObject collidee = null; + PhysObjects.TryGetValue(collidingWith, out collidee); + + // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); + + if (collider.IsInitialized) + { + if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) + { + // If a collision was 'good', remember to send it to the simulator + lock (CollisionLock) + { + ObjectsWithCollisions.Add(collider); + } + } + } + + return; + } + + public void BulletSPluginPhysicsThread() + { + Thread.CurrentThread.Priority = ThreadPriority.Highest; + m_updateWaitEvent = new ManualResetEvent(false); + + while (m_initialized) + { + int beginSimulationRealtimeMS = Util.EnvironmentTickCount(); + + if (BSParam.Active) + DoPhysicsStep(BSParam.PhysicsTimeStep); + + int simulationRealtimeMS = Util.EnvironmentTickCountSubtract(beginSimulationRealtimeMS); + int simulationTimeVsRealtimeDifferenceMS = ((int)(BSParam.PhysicsTimeStep*1000f)) - simulationRealtimeMS; + + if (simulationTimeVsRealtimeDifferenceMS > 0) + { + // The simulation of the time interval took less than realtime. + // Do a wait for the rest of realtime. + m_updateWaitEvent.WaitOne(simulationTimeVsRealtimeDifferenceMS); + //Thread.Sleep(simulationTimeVsRealtimeDifferenceMS); + } + else + { + // The simulation took longer than realtime. + // Do some scaling of simulation time. + // TODO. + DetailLog("{0},BulletSPluginPhysicsThread,longerThanRealtime={1}", BSScene.DetailLogZero, simulationTimeVsRealtimeDifferenceMS); + } + + Watchdog.UpdateThread(); + } + + Watchdog.RemoveThread(); + } + + #endregion // Simulation + + public override void GetResults() { } + + #region Terrain + + public override void SetTerrain(float[] heightMap) { + TerrainManager.SetTerrain(heightMap); + } + + public override void SetWaterLevel(float baseheight) + { + SimpleWaterLevel = baseheight; + } + + public override void DeleteTerrain() + { + // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); + } + + // Although no one seems to check this, I do support combining. + public override bool SupportsCombining() + { + return TerrainManager.SupportsCombining(); + } + // This call says I am a child to region zero in a mega-region. 'pScene' is that + // of region zero, 'offset' is my offset from regions zero's origin, and + // 'extents' is the largest XY that is handled in my region. + public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents) + { + TerrainManager.Combine(pScene, offset, extents); + } + + // Unhook all the combining that I know about. + public override void UnCombine(PhysicsScene pScene) + { + TerrainManager.UnCombine(pScene); + } + + #endregion // Terrain + + public override Dictionary GetTopColliders() + { + Dictionary topColliders; + + lock (PhysObjects) + { + foreach (KeyValuePair kvp in PhysObjects) + { + kvp.Value.ComputeCollisionScore(); + } + + List orderedPrims = new List(PhysObjects.Values); + orderedPrims.OrderByDescending(p => p.CollisionScore); + topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore); + } + + return topColliders; + } + + public override bool IsThreaded { get { return false; } } + + #region Extensions + public override object Extension(string pFunct, params object[] pParams) + { + DetailLog("{0} BSScene.Extension,op={1}", DetailLogZero, pFunct); + return base.Extension(pFunct, pParams); + } + #endregion // Extensions + + public static string PrimitiveBaseShapeToString(PrimitiveBaseShape pbs) + { + float pathShearX = pbs.PathShearX < 128 ? (float)pbs.PathShearX * 0.01f : (float)(pbs.PathShearX - 256) * 0.01f; + float pathShearY = pbs.PathShearY < 128 ? (float)pbs.PathShearY * 0.01f : (float)(pbs.PathShearY - 256) * 0.01f; + float pathBegin = (float)pbs.PathBegin * 2.0e-5f; + float pathEnd = 1.0f - (float)pbs.PathEnd * 2.0e-5f; + float pathScaleX = (float)(200 - pbs.PathScaleX) * 0.01f; + float pathScaleY = (float)(200 - pbs.PathScaleY) * 0.01f; + float pathTaperX = pbs.PathTaperX * 0.01f; + float pathTaperY = pbs.PathTaperY * 0.01f; + + float profileBegin = (float)pbs.ProfileBegin * 2.0e-5f; + float profileEnd = 1.0f - (float)pbs.ProfileEnd * 2.0e-5f; + float profileHollow = (float)pbs.ProfileHollow * 2.0e-5f; + if (profileHollow > 0.95f) + profileHollow = 0.95f; + + StringBuilder buff = new StringBuilder(); + buff.Append("shape="); + buff.Append(((ProfileShape)pbs.ProfileShape).ToString()); + buff.Append(","); + buff.Append("hollow="); + buff.Append(((HollowShape)pbs.HollowShape).ToString()); + buff.Append(","); + buff.Append("pathCurve="); + buff.Append(((Extrusion)pbs.PathCurve).ToString()); + buff.Append(","); + buff.Append("profCurve="); + buff.Append(((Extrusion)pbs.ProfileCurve).ToString()); + buff.Append(","); + buff.Append("profHollow="); + buff.Append(profileHollow.ToString()); + buff.Append(","); + buff.Append("pathBegEnd="); + buff.Append(pathBegin.ToString()); + buff.Append("/"); + buff.Append(pathEnd.ToString()); + buff.Append(","); + buff.Append("profileBegEnd="); + buff.Append(profileBegin.ToString()); + buff.Append("/"); + buff.Append(profileEnd.ToString()); + buff.Append(","); + buff.Append("scaleXY="); + buff.Append(pathScaleX.ToString()); + buff.Append("/"); + buff.Append(pathScaleY.ToString()); + buff.Append(","); + buff.Append("shearXY="); + buff.Append(pathShearX.ToString()); + buff.Append("/"); + buff.Append(pathShearY.ToString()); + buff.Append(","); + buff.Append("taperXY="); + buff.Append(pbs.PathTaperX.ToString()); + buff.Append("/"); + buff.Append(pbs.PathTaperY.ToString()); + buff.Append(","); + buff.Append("skew="); + buff.Append(pbs.PathSkew.ToString()); + buff.Append(","); + buff.Append("twist/Beg="); + buff.Append(pbs.PathTwist.ToString()); + buff.Append("/"); + buff.Append(pbs.PathTwistBegin.ToString()); + + return buff.ToString(); + } + + #region Taints + // The simulation execution order is: + // Simulate() + // DoOneTimeTaints + // TriggerPreStepEvent + // DoOneTimeTaints + // Step() + // ProcessAndSendToSimulatorCollisions + // ProcessAndSendToSimulatorPropertyUpdates + // TriggerPostStepEvent + + // Calls to the PhysicsActors can't directly call into the physics engine + // because it might be busy. We delay changes to a known time. + // We rely on C#'s closure to save and restore the context for the delegate. + public void TaintedObject(string pOriginator, string pIdent, TaintCallback pCallback) + { + TaintedObject(false /*inTaintTime*/, pOriginator, pIdent, pCallback); + } + public void TaintedObject(uint pOriginator, String pIdent, TaintCallback pCallback) + { + TaintedObject(false /*inTaintTime*/, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback); + } + public void TaintedObject(bool inTaintTime, String pIdent, TaintCallback pCallback) + { + TaintedObject(inTaintTime, BSScene.DetailLogZero, pIdent, pCallback); + } + public void TaintedObject(bool inTaintTime, uint pOriginator, String pIdent, TaintCallback pCallback) + { + TaintedObject(inTaintTime, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback); + } + // Sometimes a potentially tainted operation can be used in and out of taint time. + // This routine executes the command immediately if in taint-time otherwise it is queued. + public void TaintedObject(bool inTaintTime, string pOriginator, string pIdent, TaintCallback pCallback) + { + if (!m_initialized) return; + + if (inTaintTime) + pCallback(); + else + { + lock (_taintLock) + { + _taintOperations.Add(new TaintCallbackEntry(pOriginator, pIdent, pCallback)); + } + } + } + + private void TriggerPreStepEvent(float timeStep) + { + PreStepAction actions = BeforeStep; + if (actions != null) + actions(timeStep); + + } + + private void TriggerPostStepEvent(float timeStep) + { + PostStepAction actions = AfterStep; + if (actions != null) + actions(timeStep); + + } + + // When someone tries to change a property on a BSPrim or BSCharacter, the object queues + // a callback into itself to do the actual property change. That callback is called + // here just before the physics engine is called to step the simulation. + public void ProcessTaints() + { + ProcessRegularTaints(); + ProcessPostTaintTaints(); + } + + private void ProcessRegularTaints() + { + if (m_initialized && _taintOperations.Count > 0) // save allocating new list if there is nothing to process + { + // swizzle a new list into the list location so we can process what's there + List oldList; + lock (_taintLock) + { + oldList = _taintOperations; + _taintOperations = new List(); + } + + foreach (TaintCallbackEntry tcbe in oldList) + { + try + { + DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", tcbe.originator, tcbe.ident); // DEBUG DEBUG DEBUG + tcbe.callback(); + } + catch (Exception e) + { + m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e); + } + } + oldList.Clear(); + } + } + + // Schedule an update to happen after all the regular taints are processed. + // Note that new requests for the same operation ("ident") for the same object ("ID") + // will replace any previous operation by the same object. + public void PostTaintObject(String ident, uint ID, TaintCallback callback) + { + string IDAsString = ID.ToString(); + string uniqueIdent = ident + "-" + IDAsString; + lock (_taintLock) + { + _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(IDAsString, uniqueIdent, callback); + } + + return; + } + + // Taints that happen after the normal taint processing but before the simulation step. + private void ProcessPostTaintTaints() + { + if (m_initialized && _postTaintOperations.Count > 0) + { + Dictionary oldList; + lock (_taintLock) + { + oldList = _postTaintOperations; + _postTaintOperations = new Dictionary(); + } + + foreach (KeyValuePair kvp in oldList) + { + try + { + DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG + kvp.Value.callback(); + } + catch (Exception e) + { + m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e); + } + } + oldList.Clear(); + } + } + + // Only used for debugging. Does not change state of anything so locking is not necessary. + public bool AssertInTaintTime(string whereFrom) + { + if (!InTaintTime) + { + DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); + m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); + // Util.PrintCallStack(DetailLog); + } + return InTaintTime; + } + + #endregion // Taints + + #region IPhysicsParameters + // Get the list of parameters this physics engine supports + public PhysParameterEntry[] GetParameterList() + { + BSParam.BuildParameterTable(); + return BSParam.SettableParameters; + } + + // Set parameter on a specific or all instances. + // Return 'false' if not able to set the parameter. + // Setting the value in the m_params block will change the value the physics engine + // will use the next time since it's pinned and shared memory. + // Some of the values require calling into the physics engine to get the new + // value activated ('terrainFriction' for instance). + public bool SetPhysicsParameter(string parm, string val, uint localID) + { + bool ret = false; + + BSParam.ParameterDefnBase theParam; + if (BSParam.TryGetParameter(parm, out theParam)) + { + // Set the value in the C# code + theParam.SetValue(this, val); + + // Optionally set the parameter in the unmanaged code + if (theParam.HasSetOnObject) + { + // update all the localIDs specified + // If the local ID is APPLY_TO_NONE, just change the default value + // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs + // If the localID is a specific object, apply the parameter change to only that object + List objectIDs = new List(); + switch (localID) + { + case PhysParameterEntry.APPLY_TO_NONE: + // This will cause a call into the physical world if some operation is specified (SetOnObject). + objectIDs.Add(TERRAIN_ID); + TaintedUpdateParameter(parm, objectIDs, val); + break; + case PhysParameterEntry.APPLY_TO_ALL: + lock (PhysObjects) objectIDs = new List(PhysObjects.Keys); + TaintedUpdateParameter(parm, objectIDs, val); + break; + default: + // setting only one localID + objectIDs.Add(localID); + TaintedUpdateParameter(parm, objectIDs, val); + break; + } + } + + ret = true; + } + return ret; + } + + // schedule the actual updating of the paramter to when the phys engine is not busy + private void TaintedUpdateParameter(string parm, List lIDs, string val) + { + string xval = val; + List xlIDs = lIDs; + string xparm = parm; + TaintedObject(DetailLogZero, "BSScene.UpdateParameterSet", delegate() { + BSParam.ParameterDefnBase thisParam; + if (BSParam.TryGetParameter(xparm, out thisParam)) + { + if (thisParam.HasSetOnObject) + { + foreach (uint lID in xlIDs) + { + BSPhysObject theObject = null; + if (PhysObjects.TryGetValue(lID, out theObject)) + thisParam.SetOnObject(this, theObject); + } + } + } + }); + } + + // Get parameter. + // Return 'false' if not able to get the parameter. + public bool GetPhysicsParameter(string parm, out string value) + { + string val = String.Empty; + bool ret = false; + BSParam.ParameterDefnBase theParam; + if (BSParam.TryGetParameter(parm, out theParam)) + { + val = theParam.GetValue(this); + ret = true; + } + value = val; + return ret; + } + + #endregion IPhysicsParameters + + // Invoke the detailed logger and output something if it's enabled. + public void DetailLog(string msg, params Object[] args) + { + PhysicsLogging.Write(msg, args); + } + // Used to fill in the LocalID when there isn't one. It's the correct number of characters. + public const string DetailLogZero = "0000000000"; + +} +} -- cgit v1.1