BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add skeleton of BSLinksetCompound.

author: Robert Adams 2012-10-31 14:49:28 -0700
committer: Robert Adams 2012-11-03 21:15:06 -0700
commit: 364a7c308804a3e331199ca60c6dfafa406b5d0d (patch)
tree: f9755f07a181265c57542d3df19879c20a924947 /OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
parent: BulletSim: vehicle tweeking. (diff)
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1 files changed, 173 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
new file mode 100755
index 0000000..1c569b5
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -0,0 +1,173 @@
+/*
+ * 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.Text;
+using OMV = OpenMetaverse;
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public sealed class BSLinksetCompound : BSLinkset
+{
+    // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
+    public BSLinksetCompound(BSScene scene, BSPhysObject parent)
+    {
+        base.Initialize(scene, parent);
+    }
+    // When physical properties are changed the linkset needs to recalculate
+    //   its internal properties.
+    // This is queued in the 'post taint' queue so the
+    //   refresh will happen once after all the other taints are applied.
+    public override void Refresh(BSPhysObject requestor)
+    {
+        // Queue to happen after all the other taint processing
+        PhysicsScene.PostTaintObject("BSLinksetcompound.Refresh", requestor.LocalID, delegate()
+            {
+                if (HasAnyChildren && IsRoot(requestor))
+                    RecomputeLinksetCompound();
+            });
+    }
+    // The object is going dynamic (physical). Do any setup necessary
+    //     for a dynamic linkset.
+    // Only the state of the passed object can be modified. The rest of the linkset
+    //     has not yet been fully constructed.
+    // Return 'true' if any properties updated on the passed object.
+    // Called at taint-time!
+    public override bool MakeDynamic(BSPhysObject child)
+    {
+        // What is done for each object in BSPrim is what we want.
+        return false;
+    }
+    // The object is going static (non-physical). Do any setup necessary for a static linkset.
+    // Return 'true' if any properties updated on the passed object.
+    // This doesn't normally happen -- OpenSim removes the objects from the physical
+    //     world if it is a static linkset.
+    // Called at taint-time!
+    public override bool MakeStatic(BSPhysObject child)
+    {
+        // What is done for each object in BSPrim is what we want.
+        return false;
+    }
+    // Called at taint-time!!
+    public override void UpdateProperties(BSPhysObject updated)
+    {
+        // Nothing to do for constraints on property updates
+    }
+    // Routine called when rebuilding the body of some member of the linkset.
+    // Destroy all the constraints have have been made to root and set
+    //     up to rebuild the constraints before the next simulation step.
+    // Returns 'true' of something was actually removed and would need restoring
+    // Called at taint-time!!
+    public override bool RemoveBodyDependencies(BSPrim child)
+    {
+        bool ret = false;
+        DetailLog("{0},BSLinksetcompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
+                                    child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"));
+        // Cause the current shape to be freed and the new one to be built.
+        Refresh(LinksetRoot);
+        return ret;
+    }
+    // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
+    // this routine will restore the removed constraints.
+    // Called at taint-time!!
+    public override void RestoreBodyDependencies(BSPrim child)
+    {
+        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
+    }
+    // ================================================================
+    // Add a new child to the linkset.
+    // Called while LinkActivity is locked.
+    protected override void AddChildToLinkset(BSPhysObject child)
+    {
+        if (!HasChild(child))
+        {
+            m_children.Add(child);
+            DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
+            // Cause constraints and assorted properties to be recomputed before the next simulation step.
+            Refresh(LinksetRoot);
+        }
+        return;
+    }
+    // Remove the specified child from the linkset.
+    // Safe to call even if the child is not really in my linkset.
+    protected override void RemoveChildFromLinkset(BSPhysObject child)
+    {
+        if (m_children.Remove(child))
+        {
+            DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
+                            child.LocalID,
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"),
+                            child.LocalID, child.PhysBody.ptr.ToString("X"));
+            // See that the linkset parameters are recomputed at the end of the taint time.
+            Refresh(LinksetRoot);
+        }
+        else
+        {
+            // Non-fatal occurance.
+            // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
+        }
+        return;
+    }
+    // Call each of the constraints that make up this linkset and recompute the
+    //    various transforms and variables. Create constraints of not created yet.
+    // Called before the simulation step to make sure the constraint based linkset
+    //    is all initialized.
+    // Called at taint time!!
+    private void RecomputeLinksetCompound()
+    {
+        float linksetMass = LinksetMass;
+        LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
+            // DEBUG: see of inter-linkset collisions are causing problems
+        // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 
+        //                     (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
+        DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,set,rBody={1},linksetMass={2}",
+                            LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass);
+    }
+}
+}
+\ No newline at end of file
author	Robert Adams	2012-10-31 14:49:28 -0700
committer	Robert Adams	2012-11-03 21:15:06 -0700
commit	364a7c308804a3e331199ca60c6dfafa406b5d0d (patch)
tree	f9755f07a181265c57542d3df19879c20a924947 /OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
parent	BulletSim: vehicle tweeking. (diff)
download	opensim-SC_OLD-364a7c308804a3e331199ca60c6dfafa406b5d0d.zip opensim-SC_OLD-364a7c308804a3e331199ca60c6dfafa406b5d0d.tar.gz opensim-SC_OLD-364a7c308804a3e331199ca60c6dfafa406b5d0d.tar.bz2 opensim-SC_OLD-364a7c308804a3e331199ca60c6dfafa406b5d0d.tar.xz

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs new file mode 100755 index 0000000..1c569b5 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -0,0 +1,173 @@
	1	/*
	2	* Copyright (c) Contributors, http://opensimulator.org/
	3	* See CONTRIBUTORS.TXT for a full list of copyright holders.
	4	*
	5	* Redistribution and use in source and binary forms, with or without
	6	* modification, are permitted provided that the following conditions are met:
	7	* * Redistributions of source code must retain the above copyright
	8	* notice, this list of conditions and the following disclaimer.
	9	* * Redistributions in binary form must reproduce the above copyrightD
	10	* notice, this list of conditions and the following disclaimer in the
	11	* documentation and/or other materials provided with the distribution.
	12	* * Neither the name of the OpenSimulator Project nor the
	13	* names of its contributors may be used to endorse or promote products
	14	* derived from this software without specific prior written permission.
	15	*
	16	* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
	17	* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
	18	* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
	19	* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
	20	* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
	21	* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
	22	* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
	23	* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
	24	* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
	25	* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
	26	*/
	27	using System;
	28	using System.Collections.Generic;
	29	using System.Text;
	30
	31	using OMV = OpenMetaverse;
	32
	33	namespace OpenSim.Region.Physics.BulletSPlugin
	34	{
	35	public sealed class BSLinksetCompound : BSLinkset
	36	{
	37	// private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
	38
	39	public BSLinksetCompound(BSScene scene, BSPhysObject parent)
	40	{
	41	base.Initialize(scene, parent);
	42	}
	43
	44	// When physical properties are changed the linkset needs to recalculate
	45	// its internal properties.
	46	// This is queued in the 'post taint' queue so the
	47	// refresh will happen once after all the other taints are applied.
	48	public override void Refresh(BSPhysObject requestor)
	49	{
	50	// Queue to happen after all the other taint processing
	51	PhysicsScene.PostTaintObject("BSLinksetcompound.Refresh", requestor.LocalID, delegate()
	52	{
	53	if (HasAnyChildren && IsRoot(requestor))
	54	RecomputeLinksetCompound();
	55	});
	56	}
	57
	58	// The object is going dynamic (physical). Do any setup necessary
	59	// for a dynamic linkset.
	60	// Only the state of the passed object can be modified. The rest of the linkset
	61	// has not yet been fully constructed.
	62	// Return 'true' if any properties updated on the passed object.
	63	// Called at taint-time!
	64	public override bool MakeDynamic(BSPhysObject child)
	65	{
	66	// What is done for each object in BSPrim is what we want.
	67	return false;
	68	}
	69
	70	// The object is going static (non-physical). Do any setup necessary for a static linkset.
	71	// Return 'true' if any properties updated on the passed object.
	72	// This doesn't normally happen -- OpenSim removes the objects from the physical
	73	// world if it is a static linkset.
	74	// Called at taint-time!
	75	public override bool MakeStatic(BSPhysObject child)
	76	{
	77	// What is done for each object in BSPrim is what we want.
	78	return false;
	79	}
	80
	81	// Called at taint-time!!
	82	public override void UpdateProperties(BSPhysObject updated)
	83	{
	84	// Nothing to do for constraints on property updates
	85	}
	86
	87	// Routine called when rebuilding the body of some member of the linkset.
	88	// Destroy all the constraints have have been made to root and set
	89	// up to rebuild the constraints before the next simulation step.
	90	// Returns 'true' of something was actually removed and would need restoring
	91	// Called at taint-time!!
	92	public override bool RemoveBodyDependencies(BSPrim child)
	93	{
	94	bool ret = false;
	95
	96	DetailLog("{0},BSLinksetcompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
	97	child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"));
	98
	99	// Cause the current shape to be freed and the new one to be built.
	100	Refresh(LinksetRoot);
	101
	102	return ret;
	103	}
	104
	105	// Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
	106	// this routine will restore the removed constraints.
	107	// Called at taint-time!!
	108	public override void RestoreBodyDependencies(BSPrim child)
	109	{
	110	// The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
	111	}
	112
	113	// ================================================================
	114
	115	// Add a new child to the linkset.
	116	// Called while LinkActivity is locked.
	117	protected override void AddChildToLinkset(BSPhysObject child)
	118	{
	119	if (!HasChild(child))
	120	{
	121	m_children.Add(child);
	122
	123	DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
	124
	125	// Cause constraints and assorted properties to be recomputed before the next simulation step.
	126	Refresh(LinksetRoot);
	127	}
	128	return;
	129	}
	130
	131	// Remove the specified child from the linkset.
	132	// Safe to call even if the child is not really in my linkset.
	133	protected override void RemoveChildFromLinkset(BSPhysObject child)
	134	{
	135	if (m_children.Remove(child))
	136	{
	137	DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
	138	child.LocalID,
	139	LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"),
	140	child.LocalID, child.PhysBody.ptr.ToString("X"));
	141
	142	// See that the linkset parameters are recomputed at the end of the taint time.
	143	Refresh(LinksetRoot);
	144	}
	145	else
	146	{
	147	// Non-fatal occurance.
	148	// PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
	149	}
	150	return;
	151	}
	152
	153
	154	// Call each of the constraints that make up this linkset and recompute the
	155	// various transforms and variables. Create constraints of not created yet.
	156	// Called before the simulation step to make sure the constraint based linkset
	157	// is all initialized.
	158	// Called at taint time!!
	159	private void RecomputeLinksetCompound()
	160	{
	161	float linksetMass = LinksetMass;
	162	LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
	163
	164	// DEBUG: see of inter-linkset collisions are causing problems
	165	// BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
	166	// (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
	167	DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,set,rBody={1},linksetMass={2}",
	168	LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass);
	169
	170
	171	}
	172	}
	173	} \ No newline at end of file