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')
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