diff options
author | Robert Adams | 2013-05-08 06:02:12 -0700 |
---|---|---|
committer | Robert Adams | 2013-05-08 06:02:12 -0700 |
commit | eb0687f5af127ad6195b95965ce31346f2bc0a24 (patch) | |
tree | 8888b8d4c45874c646da0b475d09bd051b33e1cc /OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |
parent | Add regression test for inventory item give, reject and subsequent trash fold... (diff) | |
download | opensim-SC_OLD-eb0687f5af127ad6195b95965ce31346f2bc0a24.zip opensim-SC_OLD-eb0687f5af127ad6195b95965ce31346f2bc0a24.tar.gz opensim-SC_OLD-eb0687f5af127ad6195b95965ce31346f2bc0a24.tar.bz2 opensim-SC_OLD-eb0687f5af127ad6195b95965ce31346f2bc0a24.tar.xz |
vh: update BulletSim (OpenSim/Region/Physics/BulletSPlugin
and DLL/SO) to ac6dcd35fb77f118fc6c3d72cb029591306c7e99
(Mon May 6 21:10:02 2013 -0400) on top of 0.7.5-postfixes.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 351 |
1 files changed, 252 insertions, 99 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index e7cb3e0..cca887a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |||
@@ -38,12 +38,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
38 | * Class to wrap all objects. | 38 | * Class to wrap all objects. |
39 | * The rest of BulletSim doesn't need to keep checking for avatars or prims | 39 | * The rest of BulletSim doesn't need to keep checking for avatars or prims |
40 | * unless the difference is significant. | 40 | * unless the difference is significant. |
41 | * | 41 | * |
42 | * Variables in the physicsl objects are in three forms: | 42 | * Variables in the physicsl objects are in three forms: |
43 | * VariableName: used by the simulator and performs taint operations, etc | 43 | * VariableName: used by the simulator and performs taint operations, etc |
44 | * RawVariableName: direct reference to the BulletSim storage for the variable value | 44 | * RawVariableName: direct reference to the BulletSim storage for the variable value |
45 | * ForceVariableName: direct reference (store and fetch) to the value in the physics engine. | 45 | * ForceVariableName: direct reference (store and fetch) to the value in the physics engine. |
46 | * The last two (and certainly the last one) should be referenced only in taint-time. | 46 | * The last one should only be referenced in taint-time. |
47 | */ | 47 | */ |
48 | 48 | ||
49 | /* | 49 | /* |
@@ -52,9 +52,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
52 | * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce | 52 | * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce |
53 | * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse | 53 | * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse |
54 | * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v | 54 | * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v |
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. | ||
59 | public 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 | } | ||
58 | public abstract class BSPhysObject : PhysicsActor | 68 | public abstract class BSPhysObject : PhysicsActor |
59 | { | 69 | { |
60 | protected BSPhysObject() | 70 | protected BSPhysObject() |
@@ -62,41 +72,61 @@ public abstract class BSPhysObject : PhysicsActor | |||
62 | } | 72 | } |
63 | protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) | 73 | protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) |
64 | { | 74 | { |
65 | PhysicsScene = parentScene; | 75 | PhysScene = parentScene; |
66 | LocalID = localID; | 76 | LocalID = localID; |
67 | PhysObjectName = name; | 77 | PhysObjectName = name; |
78 | Name = name; // PhysicsActor also has the name of the object. Someday consolidate. | ||
68 | TypeName = typeName; | 79 | TypeName = typeName; |
69 | 80 | ||
81 | // The collection of things that push me around | ||
82 | PhysicalActors = new BSActorCollection(PhysScene); | ||
83 | |||
84 | // Initialize variables kept in base. | ||
85 | GravModifier = 1.0f; | ||
86 | Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); | ||
87 | HoverActive = false; | ||
88 | |||
70 | // We don't have any physical representation yet. | 89 | // We don't have any physical representation yet. |
71 | PhysBody = new BulletBody(localID); | 90 | PhysBody = new BulletBody(localID); |
72 | PhysShape = new BulletShape(); | 91 | PhysShape = new BSShapeNull(); |
73 | 92 | ||
74 | // A linkset of just me | 93 | PrimAssetState = PrimAssetCondition.Unknown; |
75 | Linkset = BSLinkset.Factory(PhysicsScene, this); | ||
76 | LastAssetBuildFailed = false; | ||
77 | 94 | ||
78 | // Default material type | 95 | // Default material type. Also sets Friction, Restitution and Density. |
79 | Material = MaterialAttributes.Material.Wood; | 96 | SetMaterial((int)MaterialAttributes.Material.Wood); |
80 | 97 | ||
81 | CollisionCollection = new CollisionEventUpdate(); | 98 | CollisionCollection = new CollisionEventUpdate(); |
99 | CollisionsLastReported = CollisionCollection; | ||
100 | CollisionsLastTick = new CollisionEventUpdate(); | ||
101 | CollisionsLastTickStep = -1; | ||
102 | |||
82 | SubscribedEventsMs = 0; | 103 | SubscribedEventsMs = 0; |
83 | CollidingStep = 0; | 104 | CollidingStep = 0; |
84 | CollidingGroundStep = 0; | 105 | CollidingGroundStep = 0; |
106 | CollisionAccumulation = 0; | ||
107 | ColliderIsMoving = false; | ||
108 | CollisionScore = 0; | ||
109 | |||
110 | // All axis free. | ||
111 | LockedLinearAxis = LockedAxisFree; | ||
112 | LockedAngularAxis = LockedAxisFree; | ||
85 | } | 113 | } |
86 | 114 | ||
87 | // Tell the object to clean up. | 115 | // Tell the object to clean up. |
88 | public virtual void Destroy() | 116 | public virtual void Destroy() |
89 | { | 117 | { |
90 | UnRegisterAllPreStepActions(); | 118 | PhysicalActors.Enable(false); |
119 | PhysScene.TaintedObject("BSPhysObject.Destroy", delegate() | ||
120 | { | ||
121 | PhysicalActors.Dispose(); | ||
122 | }); | ||
91 | } | 123 | } |
92 | 124 | ||
93 | public BSScene PhysicsScene { get; protected set; } | 125 | public BSScene PhysScene { get; protected set; } |
94 | // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor | 126 | // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor |
95 | public string PhysObjectName { get; protected set; } | 127 | public string PhysObjectName { get; protected set; } |
96 | public string TypeName { get; protected set; } | 128 | public string TypeName { get; protected set; } |
97 | 129 | ||
98 | public BSLinkset Linkset { get; set; } | ||
99 | public BSLinksetInfo LinksetInfo { get; set; } | ||
100 | 130 | ||
101 | // Return the object mass without calculating it or having side effects | 131 | // Return the object mass without calculating it or having side effects |
102 | public abstract float RawMass { get; } | 132 | public abstract float RawMass { get; } |
@@ -104,26 +134,26 @@ public abstract class BSPhysObject : PhysicsActor | |||
104 | // 'inWorld' true if the object has already been added to the dynamic world. | 134 | // 'inWorld' true if the object has already been added to the dynamic world. |
105 | public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld); | 135 | public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld); |
106 | 136 | ||
137 | // The gravity being applied to the object. A function of default grav, GravityModifier and Buoyancy. | ||
138 | public virtual OMV.Vector3 Gravity { get; set; } | ||
107 | // The last value calculated for the prim's inertia | 139 | // The last value calculated for the prim's inertia |
108 | public OMV.Vector3 Inertia { get; set; } | 140 | public OMV.Vector3 Inertia { get; set; } |
109 | 141 | ||
110 | // Reference to the physical body (btCollisionObject) of this object | 142 | // Reference to the physical body (btCollisionObject) of this object |
111 | public BulletBody PhysBody; | 143 | public BulletBody PhysBody; |
112 | // Reference to the physical shape (btCollisionShape) of this object | 144 | // Reference to the physical shape (btCollisionShape) of this object |
113 | public BulletShape PhysShape; | 145 | public BSShape PhysShape; |
114 | 146 | ||
115 | // 'true' if the mesh's underlying asset failed to build. | 147 | // The physical representation of the prim might require an asset fetch. |
116 | // This will keep us from looping after the first time the build failed. | 148 | // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'. |
117 | public bool LastAssetBuildFailed { get; set; } | 149 | public enum PrimAssetCondition |
150 | { | ||
151 | Unknown, Waiting, Failed, Fetched | ||
152 | } | ||
153 | public PrimAssetCondition PrimAssetState { get; set; } | ||
118 | 154 | ||
119 | // The objects base shape information. Null if not a prim type shape. | 155 | // The objects base shape information. Null if not a prim type shape. |
120 | public PrimitiveBaseShape BaseShape { get; protected set; } | 156 | public PrimitiveBaseShape BaseShape { get; protected set; } |
121 | // Some types of objects have preferred physical representations. | ||
122 | // Returns SHAPE_UNKNOWN if there is no preference. | ||
123 | public virtual BSPhysicsShapeType PreferredPhysicalShape | ||
124 | { | ||
125 | get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } | ||
126 | } | ||
127 | 157 | ||
128 | // When the physical properties are updated, an EntityProperty holds the update values. | 158 | // When the physical properties are updated, an EntityProperty holds the update values. |
129 | // Keep the current and last EntityProperties to enable computation of differences | 159 | // Keep the current and last EntityProperties to enable computation of differences |
@@ -132,23 +162,35 @@ public abstract class BSPhysObject : PhysicsActor | |||
132 | public EntityProperties LastEntityProperties { get; set; } | 162 | public EntityProperties LastEntityProperties { get; set; } |
133 | 163 | ||
134 | public virtual OMV.Vector3 Scale { get; set; } | 164 | public virtual OMV.Vector3 Scale { get; set; } |
165 | |||
166 | // It can be confusing for an actor to know if it should move or update an object | ||
167 | // depeneding on the setting of 'selected', 'physical, ... | ||
168 | // This flag is the true test -- if true, the object is being acted on in the physical world | ||
169 | public abstract bool IsPhysicallyActive { get; } | ||
170 | |||
171 | // Detailed state of the object. | ||
135 | public abstract bool IsSolid { get; } | 172 | public abstract bool IsSolid { get; } |
136 | public abstract bool IsStatic { get; } | 173 | public abstract bool IsStatic { get; } |
174 | public abstract bool IsSelected { get; } | ||
137 | 175 | ||
138 | // Materialness | 176 | // Materialness |
139 | public MaterialAttributes.Material Material { get; private set; } | 177 | public MaterialAttributes.Material Material { get; private set; } |
140 | public override void SetMaterial(int material) | 178 | public override void SetMaterial(int material) |
141 | { | 179 | { |
142 | Material = (MaterialAttributes.Material)material; | 180 | Material = (MaterialAttributes.Material)material; |
181 | |||
182 | // Setting the material sets the material attributes also. | ||
183 | MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); | ||
184 | Friction = matAttrib.friction; | ||
185 | Restitution = matAttrib.restitution; | ||
186 | Density = matAttrib.density / BSParam.DensityScaleFactor; | ||
187 | // DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density); | ||
143 | } | 188 | } |
144 | 189 | ||
145 | // Stop all physical motion. | 190 | // Stop all physical motion. |
146 | public abstract void ZeroMotion(bool inTaintTime); | 191 | public abstract void ZeroMotion(bool inTaintTime); |
147 | public abstract void ZeroAngularMotion(bool inTaintTime); | 192 | public abstract void ZeroAngularMotion(bool inTaintTime); |
148 | 193 | ||
149 | // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured. | ||
150 | public virtual void StepVehicle(float timeStep) { } | ||
151 | |||
152 | // Update the physical location and motion of the object. Called with data from Bullet. | 194 | // Update the physical location and motion of the object. Called with data from Bullet. |
153 | public abstract void UpdateProperties(EntityProperties entprop); | 195 | public abstract void UpdateProperties(EntityProperties entprop); |
154 | 196 | ||
@@ -158,18 +200,16 @@ public abstract class BSPhysObject : PhysicsActor | |||
158 | public abstract OMV.Quaternion RawOrientation { get; set; } | 200 | public abstract OMV.Quaternion RawOrientation { get; set; } |
159 | public abstract OMV.Quaternion ForceOrientation { get; set; } | 201 | public abstract OMV.Quaternion ForceOrientation { get; set; } |
160 | 202 | ||
161 | // The system is telling us the velocity it wants to move at. | 203 | public OMV.Vector3 RawVelocity { get; set; } |
162 | // protected OMV.Vector3 m_targetVelocity; // use the definition in PhysicsActor | 204 | public abstract OMV.Vector3 ForceVelocity { get; set; } |
163 | public override OMV.Vector3 TargetVelocity | 205 | |
206 | public OMV.Vector3 RawForce { get; set; } | ||
207 | public OMV.Vector3 RawTorque { get; set; } | ||
208 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) | ||
164 | { | 209 | { |
165 | get { return m_targetVelocity; } | 210 | AddAngularForce(force, pushforce, false); |
166 | set | ||
167 | { | ||
168 | m_targetVelocity = value; | ||
169 | Velocity = value; | ||
170 | } | ||
171 | } | 211 | } |
172 | public abstract OMV.Vector3 ForceVelocity { get; set; } | 212 | public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime); |
173 | 213 | ||
174 | public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } | 214 | public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } |
175 | 215 | ||
@@ -177,6 +217,105 @@ public abstract class BSPhysObject : PhysicsActor | |||
177 | 217 | ||
178 | public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } | 218 | public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; } |
179 | 219 | ||
220 | public override bool PIDActive { set { MoveToTargetActive = value; } } | ||
221 | public override OMV.Vector3 PIDTarget { set { MoveToTargetTarget = value; } } | ||
222 | public override float PIDTau { set { MoveToTargetTau = value; } } | ||
223 | |||
224 | public bool MoveToTargetActive { get; set; } | ||
225 | public OMV.Vector3 MoveToTargetTarget { get; set; } | ||
226 | public float MoveToTargetTau { get; set; } | ||
227 | |||
228 | // Used for llSetHoverHeight and maybe vehicle height. Hover Height will override MoveTo target's Z | ||
229 | public override bool PIDHoverActive { set { HoverActive = value; } } | ||
230 | public override float PIDHoverHeight { set { HoverHeight = value; } } | ||
231 | public override PIDHoverType PIDHoverType { set { HoverType = value; } } | ||
232 | public override float PIDHoverTau { set { HoverTau = value; } } | ||
233 | |||
234 | public bool HoverActive { get; set; } | ||
235 | public float HoverHeight { get; set; } | ||
236 | public PIDHoverType HoverType { get; set; } | ||
237 | public float HoverTau { get; set; } | ||
238 | |||
239 | // For RotLookAt | ||
240 | public override OMV.Quaternion APIDTarget { set { return; } } | ||
241 | public override bool APIDActive { set { return; } } | ||
242 | public override float APIDStrength { set { return; } } | ||
243 | public override float APIDDamping { set { return; } } | ||
244 | |||
245 | // The current velocity forward | ||
246 | public virtual float ForwardSpeed | ||
247 | { | ||
248 | get | ||
249 | { | ||
250 | OMV.Vector3 characterOrientedVelocity = RawVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation)); | ||
251 | return characterOrientedVelocity.X; | ||
252 | } | ||
253 | } | ||
254 | // The forward speed we are trying to achieve (TargetVelocity) | ||
255 | public virtual float TargetVelocitySpeed | ||
256 | { | ||
257 | get | ||
258 | { | ||
259 | OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation)); | ||
260 | return characterOrientedVelocity.X; | ||
261 | } | ||
262 | } | ||
263 | |||
264 | // The user can optionally set the center of mass. The user's setting will override any | ||
265 | // computed center-of-mass (like in linksets). | ||
266 | // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass. | ||
267 | public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; } | ||
268 | |||
269 | public OMV.Vector3 LockedLinearAxis { get; set; } // zero means locked. one means free. | ||
270 | public OMV.Vector3 LockedAngularAxis { get; set; } // zero means locked. one means free. | ||
271 | public const float FreeAxis = 1f; | ||
272 | public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(FreeAxis, FreeAxis, FreeAxis); // All axis are free | ||
273 | |||
274 | // Enable physical actions. Bullet will keep sleeping non-moving physical objects so | ||
275 | // they need waking up when parameters are changed. | ||
276 | // Called in taint-time!! | ||
277 | public void ActivateIfPhysical(bool forceIt) | ||
278 | { | ||
279 | if (IsPhysical && PhysBody.HasPhysicalBody) | ||
280 | PhysScene.PE.Activate(PhysBody, forceIt); | ||
281 | } | ||
282 | |||
283 | // 'actors' act on the physical object to change or constrain its motion. These can range from | ||
284 | // hovering to complex vehicle motion. | ||
285 | // May be called at non-taint time as this just adds the actor to the action list and the real | ||
286 | // work is done during the simulation step. | ||
287 | // Note that, if the actor is already in the list and we are disabling same, the actor is just left | ||
288 | // in the list disabled. | ||
289 | public delegate BSActor CreateActor(); | ||
290 | public void EnableActor(bool enableActor, string actorName, CreateActor creator) | ||
291 | { | ||
292 | lock (PhysicalActors) | ||
293 | { | ||
294 | BSActor theActor; | ||
295 | if (PhysicalActors.TryGetActor(actorName, out theActor)) | ||
296 | { | ||
297 | // The actor already exists so just turn it on or off | ||
298 | DetailLog("{0},BSPhysObject.EnableActor,enablingExistingActor,name={1},enable={2}", LocalID, actorName, enableActor); | ||
299 | theActor.Enabled = enableActor; | ||
300 | } | ||
301 | else | ||
302 | { | ||
303 | // The actor does not exist. If it should, create it. | ||
304 | if (enableActor) | ||
305 | { | ||
306 | DetailLog("{0},BSPhysObject.EnableActor,creatingActor,name={1}", LocalID, actorName); | ||
307 | theActor = creator(); | ||
308 | PhysicalActors.Add(actorName, theActor); | ||
309 | theActor.Enabled = true; | ||
310 | } | ||
311 | else | ||
312 | { | ||
313 | DetailLog("{0},BSPhysObject.EnableActor,notCreatingActorSinceNotEnabled,name={1}", LocalID, actorName); | ||
314 | } | ||
315 | } | ||
316 | } | ||
317 | } | ||
318 | |||
180 | #region Collisions | 319 | #region Collisions |
181 | 320 | ||
182 | // Requested number of milliseconds between collision events. Zero means disabled. | 321 | // Requested number of milliseconds between collision events. Zero means disabled. |
@@ -191,41 +330,56 @@ public abstract class BSPhysObject : PhysicsActor | |||
191 | protected long CollidingObjectStep { get; set; } | 330 | protected long CollidingObjectStep { get; set; } |
192 | // The collision flags we think are set in Bullet | 331 | // The collision flags we think are set in Bullet |
193 | protected CollisionFlags CurrentCollisionFlags { get; set; } | 332 | protected CollisionFlags CurrentCollisionFlags { get; set; } |
333 | // On a collision, check the collider and remember if the last collider was moving | ||
334 | // Used to modify the standing of avatars (avatars on stationary things stand still) | ||
335 | public bool ColliderIsMoving; | ||
336 | // Used by BSCharacter to manage standing (and not slipping) | ||
337 | public bool IsStationary; | ||
338 | |||
339 | // Count of collisions for this object | ||
340 | protected long CollisionAccumulation { get; set; } | ||
194 | 341 | ||
195 | public override bool IsColliding { | 342 | public override bool IsColliding { |
196 | get { return (CollidingStep == PhysicsScene.SimulationStep); } | 343 | get { return (CollidingStep == PhysScene.SimulationStep); } |
197 | set { | 344 | set { |
198 | if (value) | 345 | if (value) |
199 | CollidingStep = PhysicsScene.SimulationStep; | 346 | CollidingStep = PhysScene.SimulationStep; |
200 | else | 347 | else |
201 | CollidingStep = 0; | 348 | CollidingStep = 0; |
202 | } | 349 | } |
203 | } | 350 | } |
204 | public override bool CollidingGround { | 351 | public override bool CollidingGround { |
205 | get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } | 352 | get { return (CollidingGroundStep == PhysScene.SimulationStep); } |
206 | set | 353 | set |
207 | { | 354 | { |
208 | if (value) | 355 | if (value) |
209 | CollidingGroundStep = PhysicsScene.SimulationStep; | 356 | CollidingGroundStep = PhysScene.SimulationStep; |
210 | else | 357 | else |
211 | CollidingGroundStep = 0; | 358 | CollidingGroundStep = 0; |
212 | } | 359 | } |
213 | } | 360 | } |
214 | public override bool CollidingObj { | 361 | public override bool CollidingObj { |
215 | get { return (CollidingObjectStep == PhysicsScene.SimulationStep); } | 362 | get { return (CollidingObjectStep == PhysScene.SimulationStep); } |
216 | set { | 363 | set { |
217 | if (value) | 364 | if (value) |
218 | CollidingObjectStep = PhysicsScene.SimulationStep; | 365 | CollidingObjectStep = PhysScene.SimulationStep; |
219 | else | 366 | else |
220 | CollidingObjectStep = 0; | 367 | CollidingObjectStep = 0; |
221 | } | 368 | } |
222 | } | 369 | } |
223 | 370 | ||
224 | // The collisions that have been collected this tick | 371 | // The collisions that have been collected for the next collision reporting (throttled by subscription) |
225 | protected CollisionEventUpdate CollisionCollection; | 372 | protected CollisionEventUpdate CollisionCollection; |
373 | // This is the collision collection last reported to the Simulator. | ||
374 | public CollisionEventUpdate CollisionsLastReported; | ||
375 | // Remember the collisions recorded in the last tick for fancy collision checking | ||
376 | // (like a BSCharacter walking up stairs). | ||
377 | public CollisionEventUpdate CollisionsLastTick; | ||
378 | private long CollisionsLastTickStep = -1; | ||
226 | 379 | ||
227 | // The simulation step is telling this object about a collision. | 380 | // The simulation step is telling this object about a collision. |
228 | // Return 'true' if a collision was processed and should be sent up. | 381 | // Return 'true' if a collision was processed and should be sent up. |
382 | // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision. | ||
229 | // Called at taint time from within the Step() function | 383 | // Called at taint time from within the Step() function |
230 | public virtual bool Collide(uint collidingWith, BSPhysObject collidee, | 384 | public virtual bool Collide(uint collidingWith, BSPhysObject collidee, |
231 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) | 385 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) |
@@ -233,27 +387,35 @@ public abstract class BSPhysObject : PhysicsActor | |||
233 | bool ret = false; | 387 | bool ret = false; |
234 | 388 | ||
235 | // The following lines make IsColliding(), CollidingGround() and CollidingObj work | 389 | // The following lines make IsColliding(), CollidingGround() and CollidingObj work |
236 | CollidingStep = PhysicsScene.SimulationStep; | 390 | CollidingStep = PhysScene.SimulationStep; |
237 | if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID) | 391 | if (collidingWith <= PhysScene.TerrainManager.HighestTerrainID) |
238 | { | 392 | { |
239 | CollidingGroundStep = PhysicsScene.SimulationStep; | 393 | CollidingGroundStep = PhysScene.SimulationStep; |
240 | } | 394 | } |
241 | else | 395 | else |
242 | { | 396 | { |
243 | CollidingObjectStep = PhysicsScene.SimulationStep; | 397 | CollidingObjectStep = PhysScene.SimulationStep; |
244 | } | 398 | } |
245 | 399 | ||
246 | // prims in the same linkset cannot collide with each other | 400 | CollisionAccumulation++; |
247 | if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) | 401 | |
402 | // For movement tests, remember if we are colliding with an object that is moving. | ||
403 | ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false; | ||
404 | |||
405 | // Make a collection of the collisions that happened the last simulation tick. | ||
406 | // This is different than the collection created for sending up to the simulator as it is cleared every tick. | ||
407 | if (CollisionsLastTickStep != PhysScene.SimulationStep) | ||
248 | { | 408 | { |
249 | return ret; | 409 | CollisionsLastTick = new CollisionEventUpdate(); |
410 | CollisionsLastTickStep = PhysScene.SimulationStep; | ||
250 | } | 411 | } |
412 | CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); | ||
251 | 413 | ||
252 | // if someone has subscribed for collision events.... | 414 | // If someone has subscribed for collision events log the collision so it will be reported up |
253 | if (SubscribedEvents()) { | 415 | if (SubscribedEvents()) { |
254 | CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); | 416 | CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); |
255 | DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", | 417 | DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}", |
256 | LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); | 418 | LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving); |
257 | 419 | ||
258 | ret = true; | 420 | ret = true; |
259 | } | 421 | } |
@@ -267,13 +429,14 @@ public abstract class BSPhysObject : PhysicsActor | |||
267 | public virtual bool SendCollisions() | 429 | public virtual bool SendCollisions() |
268 | { | 430 | { |
269 | bool ret = true; | 431 | bool ret = true; |
432 | |||
270 | // If the 'no collision' call, force it to happen right now so quick collision_end | 433 | // If the 'no collision' call, force it to happen right now so quick collision_end |
271 | bool force = (CollisionCollection.Count == 0); | 434 | bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0); |
272 | 435 | ||
273 | // throttle the collisions to the number of milliseconds specified in the subscription | 436 | // throttle the collisions to the number of milliseconds specified in the subscription |
274 | if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) | 437 | if (force || (PhysScene.SimulationNowTime >= NextCollisionOkTime)) |
275 | { | 438 | { |
276 | NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs; | 439 | NextCollisionOkTime = PhysScene.SimulationNowTime + SubscribedEventsMs; |
277 | 440 | ||
278 | // We are called if we previously had collisions. If there are no collisions | 441 | // We are called if we previously had collisions. If there are no collisions |
279 | // this time, send up one last empty event so OpenSim can sense collision end. | 442 | // this time, send up one last empty event so OpenSim can sense collision end. |
@@ -283,12 +446,15 @@ public abstract class BSPhysObject : PhysicsActor | |||
283 | ret = false; | 446 | ret = false; |
284 | } | 447 | } |
285 | 448 | ||
286 | // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); | 449 | DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); |
287 | base.SendCollisionUpdate(CollisionCollection); | 450 | base.SendCollisionUpdate(CollisionCollection); |
288 | 451 | ||
452 | // Remember the collisions from this tick for some collision specific processing. | ||
453 | CollisionsLastReported = CollisionCollection; | ||
454 | |||
289 | // The CollisionCollection instance is passed around in the simulator. | 455 | // The CollisionCollection instance is passed around in the simulator. |
290 | // Make sure we don't have a handle to that one and that a new one is used for next time. | 456 | // Make sure we don't have a handle to that one and that a new one is used for next time. |
291 | // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, | 457 | // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, |
292 | // a race condition is created for the other users of this instance. | 458 | // a race condition is created for the other users of this instance. |
293 | CollisionCollection = new CollisionEventUpdate(); | 459 | CollisionCollection = new CollisionEventUpdate(); |
294 | } | 460 | } |
@@ -305,10 +471,10 @@ public abstract class BSPhysObject : PhysicsActor | |||
305 | // make sure first collision happens | 471 | // make sure first collision happens |
306 | NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); | 472 | NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); |
307 | 473 | ||
308 | PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() | 474 | PhysScene.TaintedObject(TypeName+".SubscribeEvents", delegate() |
309 | { | 475 | { |
310 | if (PhysBody.HasPhysicalBody) | 476 | if (PhysBody.HasPhysicalBody) |
311 | CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 477 | CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
312 | }); | 478 | }); |
313 | } | 479 | } |
314 | else | 480 | else |
@@ -320,66 +486,53 @@ public abstract class BSPhysObject : PhysicsActor | |||
320 | public override void UnSubscribeEvents() { | 486 | public override void UnSubscribeEvents() { |
321 | // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); | 487 | // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); |
322 | SubscribedEventsMs = 0; | 488 | SubscribedEventsMs = 0; |
323 | PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() | 489 | PhysScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() |
324 | { | 490 | { |
325 | // Make sure there is a body there because sometimes destruction happens in an un-ideal order. | 491 | // Make sure there is a body there because sometimes destruction happens in an un-ideal order. |
326 | if (PhysBody.HasPhysicalBody) | 492 | if (PhysBody.HasPhysicalBody) |
327 | CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 493 | CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
328 | }); | 494 | }); |
329 | } | 495 | } |
330 | // Return 'true' if the simulator wants collision events | 496 | // Return 'true' if the simulator wants collision events |
331 | public override bool SubscribedEvents() { | 497 | public override bool SubscribedEvents() { |
332 | return (SubscribedEventsMs > 0); | 498 | return (SubscribedEventsMs > 0); |
333 | } | 499 | } |
500 | // Because 'CollisionScore' is called many times while sorting, it should not be recomputed | ||
501 | // each time called. So this is built to be light weight for each collision and to do | ||
502 | // all the processing when the user asks for the info. | ||
503 | public void ComputeCollisionScore() | ||
504 | { | ||
505 | // Scale the collision count by the time since the last collision. | ||
506 | // The "+1" prevents dividing by zero. | ||
507 | long timeAgo = PhysScene.SimulationStep - CollidingStep + 1; | ||
508 | CollisionScore = CollisionAccumulation / timeAgo; | ||
509 | } | ||
510 | public override float CollisionScore { get; set; } | ||
334 | 511 | ||
335 | #endregion // Collisions | 512 | #endregion // Collisions |
336 | 513 | ||
337 | #region Per Simulation Step actions | 514 | #region Per Simulation Step actions |
338 | // There are some actions that must be performed for a physical object before each simulation step. | ||
339 | // These actions are optional so, rather than scanning all the physical objects and asking them | ||
340 | // if they have anything to do, a physical object registers for an event call before the step is performed. | ||
341 | // This bookkeeping makes it easy to add, remove and clean up after all these registrations. | ||
342 | private Dictionary<string, BSScene.PreStepAction> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>(); | ||
343 | protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn) | ||
344 | { | ||
345 | string identifier = op + "-" + id.ToString(); | ||
346 | RegisteredActions[identifier] = actn; | ||
347 | PhysicsScene.BeforeStep += actn; | ||
348 | DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); | ||
349 | } | ||
350 | 515 | ||
351 | // Unregister a pre step action. Safe to call if the action has not been registered. | 516 | public BSActorCollection PhysicalActors; |
352 | protected void UnRegisterPreStepAction(string op, uint id) | ||
353 | { | ||
354 | string identifier = op + "-" + id.ToString(); | ||
355 | bool removed = false; | ||
356 | if (RegisteredActions.ContainsKey(identifier)) | ||
357 | { | ||
358 | PhysicsScene.BeforeStep -= RegisteredActions[identifier]; | ||
359 | RegisteredActions.Remove(identifier); | ||
360 | removed = true; | ||
361 | } | ||
362 | DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed); | ||
363 | } | ||
364 | 517 | ||
365 | protected void UnRegisterAllPreStepActions() | 518 | // When an update to the physical properties happens, this event is fired to let |
519 | // different actors to modify the update before it is passed around | ||
520 | public delegate void PreUpdatePropertyAction(ref EntityProperties entprop); | ||
521 | public event PreUpdatePropertyAction OnPreUpdateProperty; | ||
522 | protected void TriggerPreUpdatePropertyAction(ref EntityProperties entprop) | ||
366 | { | 523 | { |
367 | foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions) | 524 | PreUpdatePropertyAction actions = OnPreUpdateProperty; |
368 | { | 525 | if (actions != null) |
369 | PhysicsScene.BeforeStep -= kvp.Value; | 526 | actions(ref entprop); |
370 | } | ||
371 | RegisteredActions.Clear(); | ||
372 | DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID); | ||
373 | } | 527 | } |
374 | 528 | ||
375 | |||
376 | #endregion // Per Simulation Step actions | 529 | #endregion // Per Simulation Step actions |
377 | 530 | ||
378 | // High performance detailed logging routine used by the physical objects. | 531 | // High performance detailed logging routine used by the physical objects. |
379 | protected void DetailLog(string msg, params Object[] args) | 532 | protected void DetailLog(string msg, params Object[] args) |
380 | { | 533 | { |
381 | if (PhysicsScene.PhysicsLogging.Enabled) | 534 | if (PhysScene.PhysicsLogging.Enabled) |
382 | PhysicsScene.DetailLog(msg, args); | 535 | PhysScene.DetailLog(msg, args); |
383 | } | 536 | } |
384 | 537 | ||
385 | } | 538 | } |