diff options
author | BlueWall | 2012-12-12 16:15:32 -0500 |
---|---|---|
committer | BlueWall | 2012-12-12 16:15:32 -0500 |
commit | c5d333c16cddbcbcceb1ed0bc937e5775c99c2bc (patch) | |
tree | 644d21cbd5b7e86d9ba3316979fd9a85bc028f51 /OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |
parent | Replace Mono.Addins libraries (diff) | |
parent | BulletSim: do not return the current velocity for targetVelocity. (diff) | |
download | opensim-SC_OLD-c5d333c16cddbcbcceb1ed0bc937e5775c99c2bc.zip opensim-SC_OLD-c5d333c16cddbcbcceb1ed0bc937e5775c99c2bc.tar.gz opensim-SC_OLD-c5d333c16cddbcbcceb1ed0bc937e5775c99c2bc.tar.bz2 opensim-SC_OLD-c5d333c16cddbcbcceb1ed0bc937e5775c99c2bc.tar.xz |
Merge branch 'master' of /home/opensim/var/repo/opensim
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 83 |
1 files changed, 54 insertions, 29 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4d203ff..35d22c0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -108,8 +108,8 @@ public sealed class BSPrim : BSPhysObject | |||
108 | _mass = CalculateMass(); | 108 | _mass = CalculateMass(); |
109 | 109 | ||
110 | // No body or shape yet | 110 | // No body or shape yet |
111 | PhysBody = new BulletBody(LocalID, IntPtr.Zero); | 111 | PhysBody = new BulletBody(LocalID); |
112 | PhysShape = new BulletShape(IntPtr.Zero); | 112 | PhysShape = new BulletShape(); |
113 | 113 | ||
114 | DetailLog("{0},BSPrim.constructor,call", LocalID); | 114 | DetailLog("{0},BSPrim.constructor,call", LocalID); |
115 | // do the actual object creation at taint time | 115 | // do the actual object creation at taint time |
@@ -143,7 +143,9 @@ public sealed class BSPrim : BSPhysObject | |||
143 | DetailLog("{0},BSPrim.Destroy,taint,", LocalID); | 143 | DetailLog("{0},BSPrim.Destroy,taint,", LocalID); |
144 | // If there are physical body and shape, release my use of same. | 144 | // If there are physical body and shape, release my use of same. |
145 | PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); | 145 | PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); |
146 | PhysBody.Clear(); | ||
146 | PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); | 147 | PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); |
148 | PhysShape.Clear(); | ||
147 | }); | 149 | }); |
148 | } | 150 | } |
149 | 151 | ||
@@ -189,7 +191,8 @@ public sealed class BSPrim : BSPhysObject | |||
189 | } | 191 | } |
190 | } | 192 | } |
191 | public override bool Selected { | 193 | public override bool Selected { |
192 | set { | 194 | set |
195 | { | ||
193 | if (value != _isSelected) | 196 | if (value != _isSelected) |
194 | { | 197 | { |
195 | _isSelected = value; | 198 | _isSelected = value; |
@@ -247,7 +250,8 @@ public sealed class BSPrim : BSPhysObject | |||
247 | // Zero some other properties in the physics engine | 250 | // Zero some other properties in the physics engine |
248 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() | 251 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() |
249 | { | 252 | { |
250 | BulletSimAPI.ClearAllForces2(PhysBody.ptr); | 253 | if (PhysBody.HasPhysicalBody) |
254 | BulletSimAPI.ClearAllForces2(PhysBody.ptr); | ||
251 | }); | 255 | }); |
252 | } | 256 | } |
253 | public override void ZeroAngularMotion(bool inTaintTime) | 257 | public override void ZeroAngularMotion(bool inTaintTime) |
@@ -257,8 +261,11 @@ public sealed class BSPrim : BSPhysObject | |||
257 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() | 261 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() |
258 | { | 262 | { |
259 | // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); | 263 | // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); |
260 | BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); | 264 | if (PhysBody.HasPhysicalBody) |
261 | BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); | 265 | { |
266 | BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); | ||
267 | BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); | ||
268 | } | ||
262 | }); | 269 | }); |
263 | } | 270 | } |
264 | 271 | ||
@@ -295,8 +302,11 @@ public sealed class BSPrim : BSPhysObject | |||
295 | PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() | 302 | PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() |
296 | { | 303 | { |
297 | // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 304 | // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
298 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | 305 | if (PhysBody.HasPhysicalBody) |
299 | ActivateIfPhysical(false); | 306 | { |
307 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | ||
308 | ActivateIfPhysical(false); | ||
309 | } | ||
300 | }); | 310 | }); |
301 | } | 311 | } |
302 | } | 312 | } |
@@ -322,12 +332,12 @@ public sealed class BSPrim : BSPhysObject | |||
322 | 332 | ||
323 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); | 333 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); |
324 | OMV.Vector3 upForce = OMV.Vector3.Zero; | 334 | OMV.Vector3 upForce = OMV.Vector3.Zero; |
325 | if (Position.Z < terrainHeight) | 335 | if (RawPosition.Z < terrainHeight) |
326 | { | 336 | { |
327 | DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); | 337 | DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); |
328 | float targetHeight = terrainHeight + (Size.Z / 2f); | 338 | float targetHeight = terrainHeight + (Size.Z / 2f); |
329 | // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec. | 339 | // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec. |
330 | upForce.Z = (terrainHeight - Position.Z) * 1f; | 340 | upForce.Z = (terrainHeight - RawPosition.Z) * 1f; |
331 | ret = true; | 341 | ret = true; |
332 | } | 342 | } |
333 | 343 | ||
@@ -335,10 +345,10 @@ public sealed class BSPrim : BSPhysObject | |||
335 | { | 345 | { |
336 | float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); | 346 | float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); |
337 | // TODO: a floating motor so object will bob in the water | 347 | // TODO: a floating motor so object will bob in the water |
338 | if (Math.Abs(Position.Z - waterHeight) > 0.1f) | 348 | if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f) |
339 | { | 349 | { |
340 | // Upforce proportional to the distance away from the water. Correct the error in 1 sec. | 350 | // Upforce proportional to the distance away from the water. Correct the error in 1 sec. |
341 | upForce.Z = (waterHeight - Position.Z) * 1f; | 351 | upForce.Z = (waterHeight - RawPosition.Z) * 1f; |
342 | ret = true; | 352 | ret = true; |
343 | } | 353 | } |
344 | } | 354 | } |
@@ -413,7 +423,8 @@ public sealed class BSPrim : BSPhysObject | |||
413 | PhysicsScene.TaintedObject("BSPrim.setForce", delegate() | 423 | PhysicsScene.TaintedObject("BSPrim.setForce", delegate() |
414 | { | 424 | { |
415 | // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); | 425 | // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); |
416 | BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); | 426 | if (PhysBody.HasPhysicalBody) |
427 | BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); | ||
417 | }); | 428 | }); |
418 | } | 429 | } |
419 | } | 430 | } |
@@ -507,7 +518,8 @@ public sealed class BSPrim : BSPhysObject | |||
507 | PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() | 518 | PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() |
508 | { | 519 | { |
509 | // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); | 520 | // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); |
510 | BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); | 521 | if (PhysBody.HasPhysicalBody) |
522 | BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); | ||
511 | }); | 523 | }); |
512 | } | 524 | } |
513 | } | 525 | } |
@@ -556,9 +568,12 @@ public sealed class BSPrim : BSPhysObject | |||
556 | // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? | 568 | // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? |
557 | PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() | 569 | PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() |
558 | { | 570 | { |
559 | // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); | 571 | if (PhysBody.HasPhysicalBody) |
560 | // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 572 | { |
561 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | 573 | // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); |
574 | // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); | ||
575 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | ||
576 | } | ||
562 | }); | 577 | }); |
563 | } | 578 | } |
564 | } | 579 | } |
@@ -683,8 +698,9 @@ public sealed class BSPrim : BSPhysObject | |||
683 | ZeroMotion(true); | 698 | ZeroMotion(true); |
684 | 699 | ||
685 | // Set various physical properties so other object interact properly | 700 | // Set various physical properties so other object interact properly |
686 | BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction); | 701 | MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); |
687 | BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution); | 702 | BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); |
703 | BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); | ||
688 | 704 | ||
689 | // Mass is zero which disables a bunch of physics stuff in Bullet | 705 | // Mass is zero which disables a bunch of physics stuff in Bullet |
690 | UpdatePhysicalMassProperties(0f); | 706 | UpdatePhysicalMassProperties(0f); |
@@ -711,9 +727,10 @@ public sealed class BSPrim : BSPhysObject | |||
711 | // Not a Bullet static object | 727 | // Not a Bullet static object |
712 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); | 728 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); |
713 | 729 | ||
714 | // Set various physical properties so internal dynamic properties will get computed correctly as they are set | 730 | // Set various physical properties so other object interact properly |
715 | BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction); | 731 | MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true); |
716 | BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution); | 732 | BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); |
733 | BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); | ||
717 | 734 | ||
718 | // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 | 735 | // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 |
719 | // Since this can be called multiple times, only zero forces when becoming physical | 736 | // Since this can be called multiple times, only zero forces when becoming physical |
@@ -861,7 +878,8 @@ public sealed class BSPrim : BSPhysObject | |||
861 | PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() | 878 | PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() |
862 | { | 879 | { |
863 | DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); | 880 | DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); |
864 | BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); | 881 | if (PhysBody.HasPhysicalBody) |
882 | BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); | ||
865 | }); | 883 | }); |
866 | } | 884 | } |
867 | } | 885 | } |
@@ -896,8 +914,11 @@ public sealed class BSPrim : BSPhysObject | |||
896 | _buoyancy = value; | 914 | _buoyancy = value; |
897 | // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); | 915 | // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); |
898 | // Buoyancy is faked by changing the gravity applied to the object | 916 | // Buoyancy is faked by changing the gravity applied to the object |
899 | float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); | 917 | if (PhysBody.HasPhysicalBody) |
900 | BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); | 918 | { |
919 | float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); | ||
920 | BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); | ||
921 | } | ||
901 | } | 922 | } |
902 | } | 923 | } |
903 | 924 | ||
@@ -965,7 +986,8 @@ public sealed class BSPrim : BSPhysObject | |||
965 | } | 986 | } |
966 | DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum); | 987 | DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum); |
967 | if (fSum != OMV.Vector3.Zero) | 988 | if (fSum != OMV.Vector3.Zero) |
968 | BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); | 989 | if (PhysBody.HasPhysicalBody) |
990 | BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); | ||
969 | }); | 991 | }); |
970 | } | 992 | } |
971 | 993 | ||
@@ -976,7 +998,8 @@ public sealed class BSPrim : BSPhysObject | |||
976 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate() | 998 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate() |
977 | { | 999 | { |
978 | DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse); | 1000 | DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse); |
979 | BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse); | 1001 | if (PhysBody.HasPhysicalBody) |
1002 | BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse); | ||
980 | }); | 1003 | }); |
981 | } | 1004 | } |
982 | 1005 | ||
@@ -1012,7 +1035,8 @@ public sealed class BSPrim : BSPhysObject | |||
1012 | DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum); | 1035 | DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum); |
1013 | if (fSum != OMV.Vector3.Zero) | 1036 | if (fSum != OMV.Vector3.Zero) |
1014 | { | 1037 | { |
1015 | BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum); | 1038 | if (PhysBody.HasPhysicalBody) |
1039 | BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum); | ||
1016 | _torque = fSum; | 1040 | _torque = fSum; |
1017 | } | 1041 | } |
1018 | }); | 1042 | }); |
@@ -1026,7 +1050,8 @@ public sealed class BSPrim : BSPhysObject | |||
1026 | OMV.Vector3 applyImpulse = impulse; | 1050 | OMV.Vector3 applyImpulse = impulse; |
1027 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() | 1051 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() |
1028 | { | 1052 | { |
1029 | BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); | 1053 | if (PhysBody.HasPhysicalBody) |
1054 | BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); | ||
1030 | }); | 1055 | }); |
1031 | } | 1056 | } |
1032 | 1057 | ||