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author | Justin Clark-Casey (justincc) | 2012-10-11 23:56:03 +0100 |
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committer | Justin Clark-Casey (justincc) | 2012-10-11 23:56:03 +0100 |
commit | f5f5f2e3fbc34c2bb0688177ea9a91d7fe674fc4 (patch) | |
tree | 73b56a7b8294cc55c5f33c30b52bcefbf7d24e60 /OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |
parent | Extend "show stats" command to "show stats [list|all|<category name>]" (diff) | |
parent | BulletSim: update the 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 | 62 |
1 files changed, 50 insertions, 12 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index f7b68ba..6a4365c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -196,7 +196,7 @@ public sealed class BSPrim : BSPhysObject | |||
196 | _isSelected = value; | 196 | _isSelected = value; |
197 | PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() | 197 | PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() |
198 | { | 198 | { |
199 | // DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); | 199 | DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); |
200 | SetObjectDynamic(false); | 200 | SetObjectDynamic(false); |
201 | }); | 201 | }); |
202 | } | 202 | } |
@@ -265,6 +265,11 @@ public sealed class BSPrim : BSPhysObject | |||
265 | return _position; | 265 | return _position; |
266 | } | 266 | } |
267 | set { | 267 | set { |
268 | // If you must push the position into the physics engine, use ForcePosition. | ||
269 | if (_position == value) | ||
270 | { | ||
271 | return; | ||
272 | } | ||
268 | _position = value; | 273 | _position = value; |
269 | // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? | 274 | // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? |
270 | PositionSanityCheck(); | 275 | PositionSanityCheck(); |
@@ -322,7 +327,7 @@ public sealed class BSPrim : BSPhysObject | |||
322 | // A version of the sanity check that also makes sure a new position value is | 327 | // A version of the sanity check that also makes sure a new position value is |
323 | // pushed back to the physics engine. This routine would be used by anyone | 328 | // pushed back to the physics engine. This routine would be used by anyone |
324 | // who is not already pushing the value. | 329 | // who is not already pushing the value. |
325 | private bool PositionSanityCheck2(bool atTaintTime) | 330 | private bool PositionSanityCheck2(bool inTaintTime) |
326 | { | 331 | { |
327 | bool ret = false; | 332 | bool ret = false; |
328 | if (PositionSanityCheck()) | 333 | if (PositionSanityCheck()) |
@@ -334,7 +339,7 @@ public sealed class BSPrim : BSPhysObject | |||
334 | DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 339 | DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
335 | BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); | 340 | BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); |
336 | }; | 341 | }; |
337 | if (atTaintTime) | 342 | if (inTaintTime) |
338 | sanityOperation(); | 343 | sanityOperation(); |
339 | else | 344 | else |
340 | PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation); | 345 | PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation); |
@@ -453,7 +458,6 @@ public sealed class BSPrim : BSPhysObject | |||
453 | } | 458 | } |
454 | return; | 459 | return; |
455 | } | 460 | } |
456 | |||
457 | public override OMV.Vector3 Velocity { | 461 | public override OMV.Vector3 Velocity { |
458 | get { return _velocity; } | 462 | get { return _velocity; } |
459 | set { | 463 | set { |
@@ -465,6 +469,13 @@ public sealed class BSPrim : BSPhysObject | |||
465 | }); | 469 | }); |
466 | } | 470 | } |
467 | } | 471 | } |
472 | public override OMV.Vector3 ForceVelocity { | ||
473 | get { return _velocity; } | ||
474 | set { | ||
475 | _velocity = value; | ||
476 | BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); | ||
477 | } | ||
478 | } | ||
468 | public override OMV.Vector3 Torque { | 479 | public override OMV.Vector3 Torque { |
469 | get { return _torque; } | 480 | get { return _torque; } |
470 | set { _torque = value; | 481 | set { _torque = value; |
@@ -490,6 +501,8 @@ public sealed class BSPrim : BSPhysObject | |||
490 | return _orientation; | 501 | return _orientation; |
491 | } | 502 | } |
492 | set { | 503 | set { |
504 | if (_orientation == value) | ||
505 | return; | ||
493 | _orientation = value; | 506 | _orientation = value; |
494 | // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? | 507 | // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? |
495 | PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() | 508 | PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() |
@@ -570,7 +583,7 @@ public sealed class BSPrim : BSPhysObject | |||
570 | // Set up the object physicalness (does gravity and collisions move this object) | 583 | // Set up the object physicalness (does gravity and collisions move this object) |
571 | MakeDynamic(IsStatic); | 584 | MakeDynamic(IsStatic); |
572 | 585 | ||
573 | // Update vehicle specific parameters | 586 | // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) |
574 | _vehicle.Refresh(); | 587 | _vehicle.Refresh(); |
575 | 588 | ||
576 | // Arrange for collision events if the simulator wants them | 589 | // Arrange for collision events if the simulator wants them |
@@ -593,7 +606,7 @@ public sealed class BSPrim : BSPhysObject | |||
593 | // Recompute any linkset parameters. | 606 | // Recompute any linkset parameters. |
594 | // When going from non-physical to physical, this re-enables the constraints that | 607 | // When going from non-physical to physical, this re-enables the constraints that |
595 | // had been automatically disabled when the mass was set to zero. | 608 | // had been automatically disabled when the mass was set to zero. |
596 | Linkset.Refresh(this); | 609 | Linkset.Refresh(this, true); |
597 | 610 | ||
598 | DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", | 611 | DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", |
599 | LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); | 612 | LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); |
@@ -620,8 +633,10 @@ public sealed class BSPrim : BSPhysObject | |||
620 | BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); | 633 | BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); |
621 | // There can be special things needed for implementing linksets | 634 | // There can be special things needed for implementing linksets |
622 | Linkset.MakeStatic(this); | 635 | Linkset.MakeStatic(this); |
623 | // The activation state is 'disabled' so Bullet will not try to act on it | 636 | // The activation state is 'disabled' so Bullet will not try to act on it. |
624 | BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); | 637 | BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); |
638 | // Start it out sleeping and physical actions could wake it up. | ||
639 | // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); | ||
625 | 640 | ||
626 | BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; | 641 | BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; |
627 | BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; | 642 | BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; |
@@ -638,6 +653,9 @@ public sealed class BSPrim : BSPhysObject | |||
638 | // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 | 653 | // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 |
639 | BulletSimAPI.ClearAllForces2(BSBody.ptr); | 654 | BulletSimAPI.ClearAllForces2(BSBody.ptr); |
640 | 655 | ||
656 | // For good measure, make sure the transform is set through to the motion state | ||
657 | BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); | ||
658 | |||
641 | // A dynamic object has mass | 659 | // A dynamic object has mass |
642 | IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); | 660 | IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); |
643 | OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); | 661 | OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); |
@@ -655,8 +673,8 @@ public sealed class BSPrim : BSPhysObject | |||
655 | 673 | ||
656 | // Force activation of the object so Bullet will act on it. | 674 | // Force activation of the object so Bullet will act on it. |
657 | // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. | 675 | // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. |
658 | BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); | 676 | BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); |
659 | BulletSimAPI.Activate2(BSBody.ptr, true); | 677 | // BulletSimAPI.Activate2(BSBody.ptr, true); |
660 | 678 | ||
661 | BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter; | 679 | BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter; |
662 | BSBody.collisionMask = CollisionFilterGroups.ObjectMask; | 680 | BSBody.collisionMask = CollisionFilterGroups.ObjectMask; |
@@ -774,6 +792,15 @@ public sealed class BSPrim : BSPhysObject | |||
774 | }); | 792 | }); |
775 | } | 793 | } |
776 | } | 794 | } |
795 | public override OMV.Vector3 ForceRotationalVelocity { | ||
796 | get { | ||
797 | return _rotationalVelocity; | ||
798 | } | ||
799 | set { | ||
800 | _rotationalVelocity = value; | ||
801 | BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity); | ||
802 | } | ||
803 | } | ||
777 | public override bool Kinematic { | 804 | public override bool Kinematic { |
778 | get { return _kinematic; } | 805 | get { return _kinematic; } |
779 | set { _kinematic = value; | 806 | set { _kinematic = value; |
@@ -828,6 +855,9 @@ public sealed class BSPrim : BSPhysObject | |||
828 | 855 | ||
829 | private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>(); | 856 | private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>(); |
830 | public override void AddForce(OMV.Vector3 force, bool pushforce) { | 857 | public override void AddForce(OMV.Vector3 force, bool pushforce) { |
858 | AddForce(force, pushforce, false); | ||
859 | } | ||
860 | public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { | ||
831 | // for an object, doesn't matter if force is a pushforce or not | 861 | // for an object, doesn't matter if force is a pushforce or not |
832 | if (force.IsFinite()) | 862 | if (force.IsFinite()) |
833 | { | 863 | { |
@@ -840,11 +870,12 @@ public sealed class BSPrim : BSPhysObject | |||
840 | m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); | 870 | m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); |
841 | return; | 871 | return; |
842 | } | 872 | } |
843 | PhysicsScene.TaintedObject("BSPrim.AddForce", delegate() | 873 | BSScene.TaintCallback addForceOperation = delegate() |
844 | { | 874 | { |
845 | OMV.Vector3 fSum = OMV.Vector3.Zero; | 875 | OMV.Vector3 fSum = OMV.Vector3.Zero; |
846 | lock (m_accumulatedForces) | 876 | lock (m_accumulatedForces) |
847 | { | 877 | { |
878 | // Sum the accumulated additional forces for one big force to apply once. | ||
848 | foreach (OMV.Vector3 v in m_accumulatedForces) | 879 | foreach (OMV.Vector3 v in m_accumulatedForces) |
849 | { | 880 | { |
850 | fSum += v; | 881 | fSum += v; |
@@ -854,7 +885,11 @@ public sealed class BSPrim : BSPhysObject | |||
854 | // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); | 885 | // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); |
855 | // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. | 886 | // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. |
856 | BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); | 887 | BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); |
857 | }); | 888 | }; |
889 | if (inTaintTime) | ||
890 | addForceOperation(); | ||
891 | else | ||
892 | PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation); | ||
858 | } | 893 | } |
859 | 894 | ||
860 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { | 895 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { |
@@ -1204,6 +1239,7 @@ public sealed class BSPrim : BSPhysObject | |||
1204 | { | 1239 | { |
1205 | // Called if the current prim body is about to be destroyed. | 1240 | // Called if the current prim body is about to be destroyed. |
1206 | // Remove all the physical dependencies on the old body. | 1241 | // Remove all the physical dependencies on the old body. |
1242 | // (Maybe someday make the changing of BSShape an event handled by BSLinkset.) | ||
1207 | needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); | 1243 | needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); |
1208 | }); | 1244 | }); |
1209 | 1245 | ||
@@ -1294,6 +1330,8 @@ public sealed class BSPrim : BSPhysObject | |||
1294 | 1330 | ||
1295 | PositionSanityCheck2(true); | 1331 | PositionSanityCheck2(true); |
1296 | 1332 | ||
1333 | Linkset.UpdateProperties(this); | ||
1334 | |||
1297 | DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", | 1335 | DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", |
1298 | LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); | 1336 | LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); |
1299 | 1337 | ||
@@ -1304,7 +1342,7 @@ public sealed class BSPrim : BSPhysObject | |||
1304 | /* | 1342 | /* |
1305 | else | 1343 | else |
1306 | { | 1344 | { |
1307 | // For debugging, we can also report the movement of children | 1345 | // For debugging, report the movement of children |
1308 | DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", | 1346 | DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", |
1309 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, | 1347 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, |
1310 | entprop.Acceleration, entprop.RotationalVelocity); | 1348 | entprop.Acceleration, entprop.RotationalVelocity); |