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authorRobert Adams2013-01-21 15:58:22 -0800
committerRobert Adams2013-01-21 15:58:22 -0800
commit471c4778639aec60078e6cee7c964682c959f033 (patch)
tree2e43aab8780c4b2556fd730529d5bd897fec151b
parentHave SOP and LSL_Api call the proper GetCenterOfMass and GetGeometricCenter (diff)
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BulletSim: allow changing position and rotation of a child of a linkset
without rebuilding the whole compound shape. Should make vehicles move smoother.
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs94
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs10
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs16
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs4
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt28
8 files changed, 112 insertions, 46 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index a9e16e6..7603254 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -899,7 +899,7 @@ public sealed class BSCharacter : BSPhysObject
899 CurrentEntityProperties = entprop; 899 CurrentEntityProperties = entprop;
900 900
901 // Tell the linkset about value changes 901 // Tell the linkset about value changes
902 Linkset.UpdateProperties(this, true); 902 Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
903 903
904 // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. 904 // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
905 // base.RequestPhysicsterseUpdate(); 905 // base.RequestPhysicsterseUpdate();
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index cbd160f..580ea4e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -252,7 +252,7 @@ public abstract class BSLinkset
252 // of the linkset is received. 252 // of the linkset is received.
253 // Passed flag is update came from physics engine (true) or the user (false). 253 // Passed flag is update came from physics engine (true) or the user (false).
254 // Called at taint-time!! 254 // Called at taint-time!!
255 public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate); 255 public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject physObject);
256 256
257 // Routine used when rebuilding the body of the root of the linkset 257 // Routine used when rebuilding the body of the root of the linkset
258 // Destroy all the constraints have have been made to root. 258 // Destroy all the constraints have have been made to root.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 8c9a774..27d8ad0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -51,6 +51,21 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo
51 OffsetFromCenterOfMass = p; 51 OffsetFromCenterOfMass = p;
52 OffsetRot = r; 52 OffsetRot = r;
53 } 53 }
54 // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape)
55 public BSLinksetCompoundInfo(int indx, BSPhysObject root, BSPhysObject child, OMV.Vector3 centerDisplacement)
56 {
57 // Each child position and rotation is given relative to the center-of-mass.
58 OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation);
59 OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation;
60 OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
61 OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation;
62
63 // Save relative position for recomputing child's world position after moving linkset.
64 Index = indx;
65 OffsetFromRoot = displacementFromRoot;
66 OffsetFromCenterOfMass = displacementFromCOM;
67 OffsetRot = displacementRot;
68 }
54 public override void Clear() 69 public override void Clear()
55 { 70 {
56 Index = 0; 71 Index = 0;
@@ -182,24 +197,71 @@ public sealed class BSLinksetCompound : BSLinkset
182 197
183 // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then. 198 // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
184 // Called at taint-time. 199 // Called at taint-time.
185 public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate) 200 public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject updated)
186 { 201 {
187 // The user moving a child around requires the rebuilding of the linkset compound shape 202 // The user moving a child around requires the rebuilding of the linkset compound shape
188 // One problem is this happens when a border is crossed -- the simulator implementation 203 // One problem is this happens when a border is crossed -- the simulator implementation
189 // is to store the position into the group which causes the move of the object 204 // stores the position into the group which causes the move of the object
190 // but it also means all the child positions get updated. 205 // but it also means all the child positions get updated.
191 // What would cause an unnecessary rebuild so we make sure the linkset is in a 206 // What would cause an unnecessary rebuild so we make sure the linkset is in a
192 // region before bothering to do a rebuild. 207 // region before bothering to do a rebuild.
193 if (!IsRoot(updated) 208 if (!IsRoot(updated) && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
194 && !physicalUpdate
195 && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
196 { 209 {
197 // TODO: replace this with are calculation of the child prim's orientation and pos. 210 // If a child of the linkset is updating only the position or rotation, that can be done
198 // TODO: for the moment, don't rebuild the compound shape. 211 // without rebuilding the linkset.
199 // This is often just the car turning its wheels. When we can just reorient the one 212 // If a handle for the child can be fetch, we update the child here. If a rebuild was
200 // member shape of the compound shape, the overhead of rebuilding won't be a problem. 213 // scheduled by someone else, the rebuild will just replace this setting.
201 // updated.LinksetInfo = null; 214
202 // ScheduleRebuild(updated); 215 bool updatedChild = false;
216 // Anything other than updating position or orientation usually means a physical update
217 // and that is caused by us updating the object.
218 if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)
219 {
220 // Gather the child info. It might not be there if the linkset is in transition.
221 BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo;
222 if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null)
223 {
224 if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape))
225 {
226 BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index);
227 if (linksetChildShape.HasPhysicalShape)
228 {
229 // Compute the offset from the center-of-gravity
230 BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement);
231 PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index,
232 newLsi.OffsetFromCenterOfMass,
233 newLsi.OffsetRot,
234 true /* shouldRecalculateLocalAabb */);
235 DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1}newLsi={2}",
236 updated.LocalID, whichUpdated, newLsi);
237 updated.LinksetInfo = newLsi;
238 updatedChild = true;
239 }
240 else // DEBUG DEBUG
241 { // DEBUG DEBUG
242 DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
243 updated.LocalID, linksetChildShape);
244 } // DEBUG DEBUG
245 }
246 else // DEBUG DEBUG
247 { // DEBUG DEBUG
248 DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,notCompound", updated.LocalID);
249 } // DEBUG DEBUG
250 }
251 else // DEBUG DEBUG
252 { // DEBUG DEBUG
253 DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,rootPhysShape={1},lsi={2}",
254 updated.LocalID, LinksetRoot.PhysShape, lsi == null ? "NULL" : lsi.ToString());
255 } // DEBUG DEBUG
256 if (!updatedChild)
257 {
258 // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.
259 DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
260 updated.LocalID, whichUpdated);
261 updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed.
262 ScheduleRebuild(updated);
263 }
264 }
203 } 265 }
204 } 266 }
205 267
@@ -372,15 +434,7 @@ public sealed class BSLinksetCompound : BSLinkset
372 BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; 434 BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
373 if (lci == null) 435 if (lci == null)
374 { 436 {
375 // Each child position and rotation is given relative to the center-of-mass. 437 lci = new BSLinksetCompoundInfo(memberIndex, LinksetRoot, cPrim, centerDisplacement);
376 OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
377 OMV.Vector3 displacementFromRoot = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
378 OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
379 OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
380
381 // Save relative position for recomputing child's world position after moving linkset.
382 lci = new BSLinksetCompoundInfo(memberIndex, displacementFromCOM, displacementRot);
383 lci.OffsetFromRoot = displacementFromRoot;
384 cPrim.LinksetInfo = lci; 438 cPrim.LinksetInfo = lci;
385 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); 439 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
386 } 440 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index d0b2a56..89f186c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -83,7 +83,7 @@ public sealed class BSLinksetConstraints : BSLinkset
83 } 83 }
84 84
85 // Called at taint-time!! 85 // Called at taint-time!!
86 public override void UpdateProperties(BSPhysObject updated, bool inTaintTime) 86 public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject pObj)
87 { 87 {
88 // Nothing to do for constraints on property updates 88 // Nothing to do for constraints on property updates
89 } 89 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 5353c75..027c786 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -55,6 +55,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
55 * BS.ApplyCentralForce BS.ApplyTorque 55 * BS.ApplyCentralForce BS.ApplyTorque
56 */ 56 */
57 57
58// Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc.
59public enum UpdatedProperties : uint
60{
61 Position = 1 << 0,
62 Orientation = 1 << 1,
63 Velocity = 1 << 2,
64 Acceleration = 1 << 3,
65 RotationalVelocity = 1 << 4,
66 EntPropUpdates = Position | Orientation | Velocity | Acceleration | RotationalVelocity,
67}
58public abstract class BSPhysObject : PhysicsActor 68public abstract class BSPhysObject : PhysicsActor
59{ 69{
60 protected BSPhysObject() 70 protected BSPhysObject()
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index b63523c..468ff40 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -311,13 +311,14 @@ public sealed class BSPrim : BSPhysObject
311 _position = value; 311 _position = value;
312 PositionSanityCheck(false); 312 PositionSanityCheck(false);
313 313
314 // A linkset might need to know if a component information changed.
315 Linkset.UpdateProperties(this, false);
316
317 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() 314 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
318 { 315 {
319 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 316 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
320 ForcePosition = _position; 317 ForcePosition = _position;
318
319 // A linkset might need to know if a component information changed.
320 Linkset.UpdateProperties(UpdatedProperties.Position, this);
321
321 }); 322 });
322 } 323 }
323 } 324 }
@@ -682,12 +683,13 @@ public sealed class BSPrim : BSPhysObject
682 return; 683 return;
683 _orientation = value; 684 _orientation = value;
684 685
685 // A linkset might need to know if a component information changed.
686 Linkset.UpdateProperties(this, false);
687
688 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() 686 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
689 { 687 {
690 ForceOrientation = _orientation; 688 ForceOrientation = _orientation;
689
690 // A linkset might need to know if a component information changed.
691 Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
692
691 }); 693 });
692 } 694 }
693 } 695 }
@@ -1686,7 +1688,7 @@ public sealed class BSPrim : BSPhysObject
1686 */ 1688 */
1687 1689
1688 // The linkset implimentation might want to know about this. 1690 // The linkset implimentation might want to know about this.
1689 Linkset.UpdateProperties(this, true); 1691 Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
1690 } 1692 }
1691} 1693}
1692} 1694}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 12b1ef1..8075b73 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -846,8 +846,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
846 846
847 #endregion // Taints 847 #endregion // Taints
848 848
849 #region INI and command line parameter processing
850
851 #region IPhysicsParameters 849 #region IPhysicsParameters
852 // Get the list of parameters this physics engine supports 850 // Get the list of parameters this physics engine supports
853 public PhysParameterEntry[] GetParameterList() 851 public PhysParameterEntry[] GetParameterList()
@@ -944,8 +942,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
944 942
945 #endregion IPhysicsParameters 943 #endregion IPhysicsParameters
946 944
947 #endregion Runtime settable parameters
948
949 // Invoke the detailed logger and output something if it's enabled. 945 // Invoke the detailed logger and output something if it's enabled.
950 public void DetailLog(string msg, params Object[] args) 946 public void DetailLog(string msg, params Object[] args)
951 { 947 {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index c1bf766..41bab26 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -1,25 +1,20 @@
1CURRENT PRIORITIES 1CURRENT PRIORITIES
2================================================= 2=================================================
3Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 3Child movement in linkset (don't rebuild linkset)
4 Msg Kayaker on OSGrid when working 4Vehicle angular vertical attraction
5vehicle angular banking
6Center-of-gravity
7Vehicle angular deflection
8 Preferred orientation angular correction fix
5when should angular and linear motor targets be zeroed? when selected? 9when should angular and linear motor targets be zeroed? when selected?
6 Need a vehicle.clear()? Or an 'else' in prestep if not physical. 10 Need a vehicle.clear()? Or an 'else' in prestep if not physical.
7Teravus llMoveToTarget script debug 11Teravus llMoveToTarget script debug
8 Mixing of hover, buoyancy/gravity, moveToTarget, into one force 12 Mixing of hover, buoyancy/gravity, moveToTarget, into one force
9Boats floating at proper level
10Nebadon vehicles turning funny in arena 13Nebadon vehicles turning funny in arena
11limitMotorUp calibration (more down?) 14limitMotorUp calibration (more down?)
12llRotLookAt 15llRotLookAt
13llLookAt 16llLookAt
14Vehicle angular vertical attraction
15Vehicle angular deflection
16 Preferred orientation angular correction fix
17vehicle angular banking
18Avatars walking up stairs (HALF DONE) 17Avatars walking up stairs (HALF DONE)
19 Radius of the capsule affects ability to climb edges.
20Vehicle movement on terrain smoothness
21When is force introduced by SetForce removed? The prestep action could go forever.
22Boats float low in the water (DONE)
23Avatar movement 18Avatar movement
24 flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) 19 flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
25 walking up stairs is not calibrated correctly (stairs out of Kepler cabin) 20 walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
@@ -75,6 +70,7 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
75 70
76GENERAL TODO LIST: 71GENERAL TODO LIST:
77================================================= 72=================================================
73llMoveToTarget objects are not effected by gravity until target is removed.
78Implement llSetPhysicalMaterial. 74Implement llSetPhysicalMaterial.
79 extend it with Center-of-mass, rolling friction, density 75 extend it with Center-of-mass, rolling friction, density
80Implement llSetForceAndTorque. 76Implement llSetForceAndTorque.
@@ -315,4 +311,12 @@ Remove HeightmapInfo from terrain specification (DONE)
315 Since C++ code does not need terrain height, this structure et al are not needed. 311 Since C++ code does not need terrain height, this structure et al are not needed.
316Surfboard go wonky when turning (DONE) 312Surfboard go wonky when turning (DONE)
317 Angular motor direction is global coordinates rather than local coordinates? 313 Angular motor direction is global coordinates rather than local coordinates?
318 (Resolution: made angular motor direction correct coordinate system) \ No newline at end of file 314 (Resolution: made angular motor direction correct coordinate system)
315Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE)
316 Msg Kayaker on OSGrid when working
317 (Resolution: LINEAR_DIRECTION is in vehicle coords. Test script does the
318 same in SL as in OS/BulletSim)
319Boats float low in the water (DONE)
320Boats floating at proper level (DONE)
321When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
322 (Resolution: setForce registers a prestep action which keeps applying the force) \ No newline at end of file