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author | Justin Clark-Casey (justincc) | 2012-09-08 00:17:57 +0100 |
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committer | Justin Clark-Casey (justincc) | 2012-09-08 00:17:57 +0100 |
commit | fa3edcf55c941811220d7502e1fcf1025ed85f79 (patch) | |
tree | b72f8ee5e843bcfac3623ea1c043b5b05434f55c /OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |
parent | 4096 is used in various places as the maximum height of a region, refactoring... (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 | 98 |
1 files changed, 81 insertions, 17 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6bfce5c..6d0af63 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -94,8 +94,10 @@ public sealed class BSPrim : BSPhysObject | |||
94 | private int _nextCollisionOkTime = 0; | 94 | private int _nextCollisionOkTime = 0; |
95 | long _collidingStep; | 95 | long _collidingStep; |
96 | long _collidingGroundStep; | 96 | long _collidingGroundStep; |
97 | CollisionFlags m_currentCollisionFlags = 0; | ||
97 | 98 | ||
98 | public override BulletBody Body { get; set; } | 99 | public override BulletBody BSBody { get; set; } |
100 | public override BulletShape BSShape { get; set; } | ||
99 | 101 | ||
100 | private BSDynamics _vehicle; | 102 | private BSDynamics _vehicle; |
101 | 103 | ||
@@ -113,6 +115,7 @@ public sealed class BSPrim : BSPhysObject | |||
113 | // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); | 115 | // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); |
114 | _localID = localID; | 116 | _localID = localID; |
115 | _avName = primName; | 117 | _avName = primName; |
118 | _physicsActorType = (int)ActorTypes.Prim; | ||
116 | _scene = parent_scene; | 119 | _scene = parent_scene; |
117 | _position = pos; | 120 | _position = pos; |
118 | _size = size; | 121 | _size = size; |
@@ -142,7 +145,9 @@ public sealed class BSPrim : BSPhysObject | |||
142 | // Get the pointer to the physical body for this object. | 145 | // Get the pointer to the physical body for this object. |
143 | // At the moment, we're still letting BulletSim manage the creation and destruction | 146 | // At the moment, we're still letting BulletSim manage the creation and destruction |
144 | // of the object. Someday we'll move that into the C# code. | 147 | // of the object. Someday we'll move that into the C# code. |
145 | Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); | 148 | BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); |
149 | BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); | ||
150 | m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); | ||
146 | }); | 151 | }); |
147 | } | 152 | } |
148 | 153 | ||
@@ -258,10 +263,10 @@ public sealed class BSPrim : BSPhysObject | |||
258 | _rotationalVelocity = OMV.Vector3.Zero; | 263 | _rotationalVelocity = OMV.Vector3.Zero; |
259 | 264 | ||
260 | // Zero some other properties directly into the physics engine | 265 | // Zero some other properties directly into the physics engine |
261 | BulletSimAPI.SetVelocity2(Body.Ptr, OMV.Vector3.Zero); | 266 | BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero); |
262 | BulletSimAPI.SetAngularVelocity2(Body.Ptr, OMV.Vector3.Zero); | 267 | BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero); |
263 | BulletSimAPI.SetInterpolation2(Body.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); | 268 | BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); |
264 | BulletSimAPI.ClearForces2(Body.Ptr); | 269 | BulletSimAPI.ClearForces2(BSBody.Ptr); |
265 | } | 270 | } |
266 | 271 | ||
267 | public override void LockAngularMotion(OMV.Vector3 axis) | 272 | public override void LockAngularMotion(OMV.Vector3 axis) |
@@ -324,7 +329,7 @@ public sealed class BSPrim : BSPhysObject | |||
324 | { | 329 | { |
325 | DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); | 330 | DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); |
326 | // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); | 331 | // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); |
327 | BulletSimAPI.SetObjectForce2(Body.Ptr, _force); | 332 | BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); |
328 | }); | 333 | }); |
329 | } | 334 | } |
330 | } | 335 | } |
@@ -442,8 +447,7 @@ public sealed class BSPrim : BSPhysObject | |||
442 | } | 447 | } |
443 | public override int PhysicsActorType { | 448 | public override int PhysicsActorType { |
444 | get { return _physicsActorType; } | 449 | get { return _physicsActorType; } |
445 | set { _physicsActorType = value; | 450 | set { _physicsActorType = value; } |
446 | } | ||
447 | } | 451 | } |
448 | public override bool IsPhysical { | 452 | public override bool IsPhysical { |
449 | get { return _isPhysical; } | 453 | get { return _isPhysical; } |
@@ -470,6 +474,11 @@ public sealed class BSPrim : BSPhysObject | |||
470 | 474 | ||
471 | // Make gravity work if the object is physical and not selected | 475 | // Make gravity work if the object is physical and not selected |
472 | // No locking here because only called when it is safe | 476 | // No locking here because only called when it is safe |
477 | // There are four flags we're interested in: | ||
478 | // IsStatic: Object does not move, otherwise the object has mass and moves | ||
479 | // isSolid: other objects bounce off of this object | ||
480 | // isVolumeDetect: other objects pass through but can generate collisions | ||
481 | // collisionEvents: whether this object returns collision events | ||
473 | private void SetObjectDynamic() | 482 | private void SetObjectDynamic() |
474 | { | 483 | { |
475 | // If it's becoming dynamic, it will need hullness | 484 | // If it's becoming dynamic, it will need hullness |
@@ -479,12 +488,66 @@ public sealed class BSPrim : BSPhysObject | |||
479 | float mass = IsStatic ? 0f : _mass; | 488 | float mass = IsStatic ? 0f : _mass; |
480 | 489 | ||
481 | BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); | 490 | BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); |
491 | /* | ||
492 | BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr); | ||
493 | |||
494 | // Set up the object physicalness (static or dynamic) | ||
495 | MakeDynamic(); | ||
496 | |||
497 | // Make solid or not and arrange for collisions, etc | ||
498 | MakeSolid(); | ||
499 | |||
500 | m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); | ||
482 | 501 | ||
483 | // recompute any linkset parameters | 502 | BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr); |
503 | */ | ||
504 | |||
505 | // Recompute any linkset parameters. | ||
506 | // When going from non-physical to physical, this re-enables the constraints that | ||
507 | // had been automatically disabled when the mass was set to zero. | ||
484 | Linkset.Refresh(this); | 508 | Linkset.Refresh(this); |
485 | 509 | ||
486 | CollisionFlags cf = BulletSimAPI.GetCollisionFlags2(Body.Ptr); | 510 | DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, m_currentCollisionFlags); |
487 | DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, cf); | 511 | } |
512 | |||
513 | // "Making dynamic" means changing to and from static. | ||
514 | // When static, gravity does not effect the object and it is fixed in space. | ||
515 | // When dynamic, the object can fall and be pushed by others. | ||
516 | // This is independent of its 'solidness' which controls what passes through | ||
517 | // this object and what interacts with it. | ||
518 | private void MakeDynamic() | ||
519 | { | ||
520 | if (IsStatic) | ||
521 | { | ||
522 | // Become a Bullet 'static' object type | ||
523 | BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); | ||
524 | // Stop all movement | ||
525 | BulletSimAPI.ClearAllForces2(BSBody.Ptr); | ||
526 | // Mass is zero which disables a bunch of physics stuff in Bullet | ||
527 | BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero); | ||
528 | // There is no inertia in a static object | ||
529 | BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); | ||
530 | // The activation state is 'sleeping' so Bullet will not try to act on it | ||
531 | BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING); | ||
532 | } | ||
533 | else | ||
534 | { | ||
535 | // Not a Bullet static object | ||
536 | BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); | ||
537 | // A dynamic object has mass | ||
538 | BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, OMV.Vector3.Zero); | ||
539 | // The shape is interesting and has mass and a center of gravity | ||
540 | IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr); | ||
541 | BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass, OMV.Vector3.Zero); | ||
542 | // Inertia is based on our new mass | ||
543 | BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); | ||
544 | // Force activation of the object so Bullet will act on it. | ||
545 | BulletSimAPI.Activate2(BSBody.Ptr, true); | ||
546 | } | ||
547 | } | ||
548 | |||
549 | private void MakeSolid() | ||
550 | { | ||
488 | } | 551 | } |
489 | 552 | ||
490 | // prims don't fly | 553 | // prims don't fly |
@@ -609,7 +672,7 @@ public sealed class BSPrim : BSPhysObject | |||
609 | } | 672 | } |
610 | else | 673 | else |
611 | { | 674 | { |
612 | m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); | 675 | m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); |
613 | return; | 676 | return; |
614 | } | 677 | } |
615 | _scene.TaintedObject("BSPrim.AddForce", delegate() | 678 | _scene.TaintedObject("BSPrim.AddForce", delegate() |
@@ -624,7 +687,8 @@ public sealed class BSPrim : BSPhysObject | |||
624 | m_accumulatedForces.Clear(); | 687 | m_accumulatedForces.Clear(); |
625 | } | 688 | } |
626 | DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); | 689 | DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); |
627 | BulletSimAPI.AddObjectForce2(Body.Ptr, fSum); | 690 | // For unknown reason, "ApplyCentralForce" is really additive. |
691 | BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum); | ||
628 | }); | 692 | }); |
629 | } | 693 | } |
630 | 694 | ||
@@ -644,7 +708,7 @@ public sealed class BSPrim : BSPhysObject | |||
644 | 708 | ||
645 | Scene.TaintedObject("BSPrim.SubscribeEvents", delegate() | 709 | Scene.TaintedObject("BSPrim.SubscribeEvents", delegate() |
646 | { | 710 | { |
647 | BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 711 | m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
648 | }); | 712 | }); |
649 | } | 713 | } |
650 | } | 714 | } |
@@ -652,7 +716,7 @@ public sealed class BSPrim : BSPhysObject | |||
652 | _subscribedEventsMs = 0; | 716 | _subscribedEventsMs = 0; |
653 | Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate() | 717 | Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate() |
654 | { | 718 | { |
655 | BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 719 | m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
656 | }); | 720 | }); |
657 | } | 721 | } |
658 | public override bool SubscribedEvents() { | 722 | public override bool SubscribedEvents() { |
@@ -1237,7 +1301,7 @@ public sealed class BSPrim : BSPhysObject | |||
1237 | bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); | 1301 | bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); |
1238 | 1302 | ||
1239 | // the CreateObject() may have recreated the rigid body. Make sure we have the latest. | 1303 | // the CreateObject() may have recreated the rigid body. Make sure we have the latest. |
1240 | Body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); | 1304 | BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); |
1241 | 1305 | ||
1242 | return ret; | 1306 | return ret; |
1243 | } | 1307 | } |