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author | Justin Clark-Casey (justincc) | 2012-07-26 23:46:54 +0100 |
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committer | Justin Clark-Casey (justincc) | 2012-07-26 23:46:54 +0100 |
commit | 0aaf52fca43d0fed461b228dfad4b5d3f42da2b7 (patch) | |
tree | 847a357593e5aa532c397d3886366e4c4922958f /OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |
parent | When copying items, copy the item description field instead of the asset desc... (diff) | |
parent | BulletSim: update BulletSim DLLs and SOs (diff) | |
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 66 |
1 files changed, 40 insertions, 26 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a19d6d7..3be28e3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -97,6 +97,9 @@ public sealed class BSPrim : PhysicsActor | |||
97 | long _collidingStep; | 97 | long _collidingStep; |
98 | long _collidingGroundStep; | 98 | long _collidingGroundStep; |
99 | 99 | ||
100 | private BulletBody m_body; | ||
101 | public BulletBody Body { get { return m_body; } } | ||
102 | |||
100 | private BSDynamics _vehicle; | 103 | private BSDynamics _vehicle; |
101 | 104 | ||
102 | private OMV.Vector3 _PIDTarget; | 105 | private OMV.Vector3 _PIDTarget; |
@@ -138,6 +141,11 @@ public sealed class BSPrim : PhysicsActor | |||
138 | _scene.TaintedObject(delegate() | 141 | _scene.TaintedObject(delegate() |
139 | { | 142 | { |
140 | RecreateGeomAndObject(); | 143 | RecreateGeomAndObject(); |
144 | |||
145 | // Get the pointer to the physical body for this object. | ||
146 | // At the moment, we're still letting BulletSim manage the creation and destruction | ||
147 | // of the object. Someday we'll move that into the C# code. | ||
148 | m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); | ||
141 | }); | 149 | }); |
142 | } | 150 | } |
143 | 151 | ||
@@ -161,7 +169,7 @@ public sealed class BSPrim : PhysicsActor | |||
161 | _parentPrim = null; | 169 | _parentPrim = null; |
162 | } | 170 | } |
163 | 171 | ||
164 | // make sure there are no possible children depending on me | 172 | // make sure there are no other prims linked to me |
165 | UnlinkAllChildren(); | 173 | UnlinkAllChildren(); |
166 | 174 | ||
167 | // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. | 175 | // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. |
@@ -333,11 +341,10 @@ public sealed class BSPrim : PhysicsActor | |||
333 | _rotationalVelocity = OMV.Vector3.Zero; | 341 | _rotationalVelocity = OMV.Vector3.Zero; |
334 | 342 | ||
335 | // Zero some other properties directly into the physics engine | 343 | // Zero some other properties directly into the physics engine |
336 | IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); | 344 | BulletSimAPI.SetVelocity2(Body.Ptr, OMV.Vector3.Zero); |
337 | BulletSimAPI.SetVelocity2(obj, OMV.Vector3.Zero); | 345 | BulletSimAPI.SetAngularVelocity2(Body.Ptr, OMV.Vector3.Zero); |
338 | BulletSimAPI.SetAngularVelocity2(obj, OMV.Vector3.Zero); | 346 | BulletSimAPI.SetInterpolation2(Body.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); |
339 | BulletSimAPI.SetInterpolation2(obj, OMV.Vector3.Zero, OMV.Vector3.Zero); | 347 | BulletSimAPI.ClearForces2(Body.Ptr); |
340 | BulletSimAPI.ClearForces2(obj); | ||
341 | } | 348 | } |
342 | 349 | ||
343 | public override void LockAngularMotion(OMV.Vector3 axis) | 350 | public override void LockAngularMotion(OMV.Vector3 axis) |
@@ -383,7 +390,8 @@ public sealed class BSPrim : PhysicsActor | |||
383 | _scene.TaintedObject(delegate() | 390 | _scene.TaintedObject(delegate() |
384 | { | 391 | { |
385 | DetailLog("{0},SetForce,taint,force={1}", LocalID, _force); | 392 | DetailLog("{0},SetForce,taint,force={1}", LocalID, _force); |
386 | BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); | 393 | // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); |
394 | BulletSimAPI.SetObjectForce2(Body.Ptr, _force); | ||
387 | }); | 395 | }); |
388 | } | 396 | } |
389 | } | 397 | } |
@@ -407,8 +415,7 @@ public sealed class BSPrim : PhysicsActor | |||
407 | _scene.TaintedObject(delegate() | 415 | _scene.TaintedObject(delegate() |
408 | { | 416 | { |
409 | // Tell the physics engine to clear state | 417 | // Tell the physics engine to clear state |
410 | IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); | 418 | BulletSimAPI.ClearForces2(this.Body.Ptr); |
411 | BulletSimAPI.ClearForces2(obj); | ||
412 | }); | 419 | }); |
413 | 420 | ||
414 | // make it so the scene will call us each tick to do vehicle things | 421 | // make it so the scene will call us each tick to do vehicle things |
@@ -420,7 +427,6 @@ public sealed class BSPrim : PhysicsActor | |||
420 | } | 427 | } |
421 | public override void VehicleFloatParam(int param, float value) | 428 | public override void VehicleFloatParam(int param, float value) |
422 | { | 429 | { |
423 | m_log.DebugFormat("{0} VehicleFloatParam. {1} <= {2}", LogHeader, param, value); | ||
424 | _scene.TaintedObject(delegate() | 430 | _scene.TaintedObject(delegate() |
425 | { | 431 | { |
426 | _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); | 432 | _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); |
@@ -428,7 +434,6 @@ public sealed class BSPrim : PhysicsActor | |||
428 | } | 434 | } |
429 | public override void VehicleVectorParam(int param, OMV.Vector3 value) | 435 | public override void VehicleVectorParam(int param, OMV.Vector3 value) |
430 | { | 436 | { |
431 | m_log.DebugFormat("{0} VehicleVectorParam. {1} <= {2}", LogHeader, param, value); | ||
432 | _scene.TaintedObject(delegate() | 437 | _scene.TaintedObject(delegate() |
433 | { | 438 | { |
434 | _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); | 439 | _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); |
@@ -436,7 +441,6 @@ public sealed class BSPrim : PhysicsActor | |||
436 | } | 441 | } |
437 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) | 442 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) |
438 | { | 443 | { |
439 | m_log.DebugFormat("{0} VehicleRotationParam. {1} <= {2}", LogHeader, param, rotation); | ||
440 | _scene.TaintedObject(delegate() | 444 | _scene.TaintedObject(delegate() |
441 | { | 445 | { |
442 | _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); | 446 | _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); |
@@ -444,7 +448,6 @@ public sealed class BSPrim : PhysicsActor | |||
444 | } | 448 | } |
445 | public override void VehicleFlags(int param, bool remove) | 449 | public override void VehicleFlags(int param, bool remove) |
446 | { | 450 | { |
447 | m_log.DebugFormat("{0} VehicleFlags. {1}. Remove={2}", LogHeader, param, remove); | ||
448 | _scene.TaintedObject(delegate() | 451 | _scene.TaintedObject(delegate() |
449 | { | 452 | { |
450 | _vehicle.ProcessVehicleFlags(param, remove); | 453 | _vehicle.ProcessVehicleFlags(param, remove); |
@@ -1292,11 +1295,10 @@ public sealed class BSPrim : PhysicsActor | |||
1292 | // relative to each other. | 1295 | // relative to each other. |
1293 | void CreateLinkset() | 1296 | void CreateLinkset() |
1294 | { | 1297 | { |
1295 | DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); | 1298 | // DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); |
1296 | 1299 | ||
1297 | // remove any constraints that might be in place | 1300 | // remove any constraints that might be in place |
1298 | DebugLog("{0}: CreateLinkset: RemoveConstraints between me and any children", LogHeader, LocalID); | 1301 | UnlinkAllChildren(); |
1299 | BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); | ||
1300 | 1302 | ||
1301 | // create constraints between the root prim and each of the children | 1303 | // create constraints between the root prim and each of the children |
1302 | foreach (BSPrim prim in _childrenPrims) | 1304 | foreach (BSPrim prim in _childrenPrims) |
@@ -1321,15 +1323,25 @@ public sealed class BSPrim : PhysicsActor | |||
1321 | 1323 | ||
1322 | // create a constraint that allows no freedom of movement between the two objects | 1324 | // create a constraint that allows no freedom of movement between the two objects |
1323 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 | 1325 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 |
1324 | DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); | 1326 | // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); |
1325 | DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); | 1327 | DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); |
1326 | BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, childPrim.LocalID, | 1328 | BSConstraint constrain = _scene.Constraints.CreateConstraint( |
1327 | childRelativePosition, | 1329 | _scene.World, this.Body, childPrim.Body, |
1328 | childRelativeRotation, | 1330 | childRelativePosition, |
1329 | OMV.Vector3.Zero, | 1331 | childRelativeRotation, |
1330 | OMV.Quaternion.Identity, | 1332 | OMV.Vector3.Zero, |
1331 | OMV.Vector3.Zero, OMV.Vector3.Zero, | 1333 | OMV.Quaternion.Identity); |
1332 | OMV.Vector3.Zero, OMV.Vector3.Zero); | 1334 | constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); |
1335 | constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | ||
1336 | |||
1337 | // tweek the constraint to increase stability | ||
1338 | constrain.UseFrameOffset(_scene.BoolNumeric(_scene.Params.linkConstraintUseFrameOffset)); | ||
1339 | if (_scene.BoolNumeric(_scene.Params.linkConstraintEnableTransMotor)) | ||
1340 | { | ||
1341 | constrain.TranslationalLimitMotor(true, | ||
1342 | _scene.Params.linkConstraintTransMotorMaxVel, | ||
1343 | _scene.Params.linkConstraintTransMotorMaxForce); | ||
1344 | } | ||
1333 | } | 1345 | } |
1334 | 1346 | ||
1335 | // Remove linkage between myself and a particular child | 1347 | // Remove linkage between myself and a particular child |
@@ -1339,7 +1351,8 @@ public sealed class BSPrim : PhysicsActor | |||
1339 | DebugLog("{0}: UnlinkAChildFromMe: RemoveConstraint between root prim {1} and child prim {2}", | 1351 | DebugLog("{0}: UnlinkAChildFromMe: RemoveConstraint between root prim {1} and child prim {2}", |
1340 | LogHeader, LocalID, childPrim.LocalID); | 1352 | LogHeader, LocalID, childPrim.LocalID); |
1341 | DetailLog("{0},UnlinkAChildFromMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); | 1353 | DetailLog("{0},UnlinkAChildFromMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); |
1342 | BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); | 1354 | // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); |
1355 | _scene.Constraints.RemoveAndDestroyConstraint(this.Body, childPrim.Body); | ||
1343 | } | 1356 | } |
1344 | 1357 | ||
1345 | // Remove linkage between myself and any possible children I might have | 1358 | // Remove linkage between myself and any possible children I might have |
@@ -1348,7 +1361,8 @@ public sealed class BSPrim : PhysicsActor | |||
1348 | { | 1361 | { |
1349 | DebugLog("{0}: UnlinkAllChildren:", LogHeader); | 1362 | DebugLog("{0}: UnlinkAllChildren:", LogHeader); |
1350 | DetailLog("{0},UnlinkAllChildren,taint", LocalID); | 1363 | DetailLog("{0},UnlinkAllChildren,taint", LocalID); |
1351 | BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); | 1364 | _scene.Constraints.RemoveAndDestroyConstraint(this.Body); |
1365 | // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); | ||
1352 | } | 1366 | } |
1353 | 1367 | ||
1354 | #endregion // Linkset creation and destruction | 1368 | #endregion // Linkset creation and destruction |