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') 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