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/BSScene.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/BSScene.cs')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 163 |
1 files changed, 97 insertions, 66 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7017194..a4a8794 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
@@ -26,6 +26,7 @@ | |||
26 | */ | 26 | */ |
27 | using System; | 27 | using System; |
28 | using System.Collections.Generic; | 28 | using System.Collections.Generic; |
29 | using System.Linq; | ||
29 | using System.Reflection; | 30 | using System.Reflection; |
30 | using System.Runtime.InteropServices; | 31 | using System.Runtime.InteropServices; |
31 | using System.Text; | 32 | using System.Text; |
@@ -81,14 +82,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
81 | internal long m_simulationStep = 0; | 82 | internal long m_simulationStep = 0; |
82 | internal float NominalFrameRate { get; set; } | 83 | internal float NominalFrameRate { get; set; } |
83 | public long SimulationStep { get { return m_simulationStep; } } | 84 | public long SimulationStep { get { return m_simulationStep; } } |
84 | internal int m_taintsToProcessPerStep; | ||
85 | internal float LastTimeStep { get; private set; } | 85 | internal float LastTimeStep { get; private set; } |
86 | 86 | ||
87 | // Physical objects can register for prestep or poststep events | 87 | // Physical objects can register for prestep or poststep events |
88 | public delegate void PreStepAction(float timeStep); | 88 | public delegate void PreStepAction(float timeStep); |
89 | public delegate void PostStepAction(float timeStep); | 89 | public delegate void PostStepAction(float timeStep); |
90 | public event PreStepAction BeforeStep; | 90 | public event PreStepAction BeforeStep; |
91 | public event PreStepAction AfterStep; | 91 | public event PostStepAction AfterStep; |
92 | 92 | ||
93 | // A value of the time now so all the collision and update routines do not have to get their own | 93 | // A value of the time now so all the collision and update routines do not have to get their own |
94 | // Set to 'now' just before all the prims and actors are called for collisions and updates | 94 | // Set to 'now' just before all the prims and actors are called for collisions and updates |
@@ -161,17 +161,22 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
161 | private int m_physicsLoggingFileMinutes; | 161 | private int m_physicsLoggingFileMinutes; |
162 | private bool m_physicsLoggingDoFlush; | 162 | private bool m_physicsLoggingDoFlush; |
163 | private bool m_physicsPhysicalDumpEnabled; | 163 | private bool m_physicsPhysicalDumpEnabled; |
164 | public float PhysicsMetricDumpFrames { get; set; } | 164 | public int PhysicsMetricDumpFrames { get; set; } |
165 | // 'true' of the vehicle code is to log lots of details | 165 | // 'true' of the vehicle code is to log lots of details |
166 | public bool VehicleLoggingEnabled { get; private set; } | 166 | public bool VehicleLoggingEnabled { get; private set; } |
167 | public bool VehiclePhysicalLoggingEnabled { get; private set; } | 167 | public bool VehiclePhysicalLoggingEnabled { get; private set; } |
168 | 168 | ||
169 | #region Construction and Initialization | 169 | #region Construction and Initialization |
170 | public BSScene(string identifier) | 170 | public BSScene(string engineType, string identifier) |
171 | { | 171 | { |
172 | m_initialized = false; | 172 | m_initialized = false; |
173 | // we are passed the name of the region we're working for. | 173 | |
174 | // The name of the region we're working for is passed to us. Keep for identification. | ||
174 | RegionName = identifier; | 175 | RegionName = identifier; |
176 | |||
177 | // Set identifying variables in the PhysicsScene interface. | ||
178 | EngineType = engineType; | ||
179 | Name = EngineType + "/" + RegionName; | ||
175 | } | 180 | } |
176 | 181 | ||
177 | public override void Initialise(IMesher meshmerizer, IConfigSource config) | 182 | public override void Initialise(IMesher meshmerizer, IConfigSource config) |
@@ -311,6 +316,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
311 | break; | 316 | break; |
312 | case "bulletxna": | 317 | case "bulletxna": |
313 | ret = new BSAPIXNA(engineName, this); | 318 | ret = new BSAPIXNA(engineName, this); |
319 | // Disable some features that are not implemented in BulletXNA | ||
320 | m_log.InfoFormat("{0} Disabling some physics features not implemented by BulletXNA", LogHeader); | ||
321 | BSParam.ShouldUseBulletHACD = false; | ||
322 | BSParam.ShouldUseSingleConvexHullForPrims = false; | ||
314 | break; | 323 | break; |
315 | } | 324 | } |
316 | 325 | ||
@@ -382,12 +391,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
382 | if (!m_initialized) return null; | 391 | if (!m_initialized) return null; |
383 | 392 | ||
384 | BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying); | 393 | BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying); |
385 | lock (PhysObjects) PhysObjects.Add(localID, actor); | 394 | lock (PhysObjects) |
395 | PhysObjects.Add(localID, actor); | ||
386 | 396 | ||
387 | // TODO: Remove kludge someday. | 397 | // TODO: Remove kludge someday. |
388 | // We must generate a collision for avatars whether they collide or not. | 398 | // We must generate a collision for avatars whether they collide or not. |
389 | // This is required by OpenSim to update avatar animations, etc. | 399 | // This is required by OpenSim to update avatar animations, etc. |
390 | lock (m_avatars) m_avatars.Add(actor); | 400 | lock (m_avatars) |
401 | m_avatars.Add(actor); | ||
391 | 402 | ||
392 | return actor; | 403 | return actor; |
393 | } | 404 | } |
@@ -403,9 +414,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
403 | { | 414 | { |
404 | try | 415 | try |
405 | { | 416 | { |
406 | lock (PhysObjects) PhysObjects.Remove(actor.LocalID); | 417 | lock (PhysObjects) |
418 | PhysObjects.Remove(bsactor.LocalID); | ||
407 | // Remove kludge someday | 419 | // Remove kludge someday |
408 | lock (m_avatars) m_avatars.Remove(bsactor); | 420 | lock (m_avatars) |
421 | m_avatars.Remove(bsactor); | ||
409 | } | 422 | } |
410 | catch (Exception e) | 423 | catch (Exception e) |
411 | { | 424 | { |
@@ -414,13 +427,18 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
414 | bsactor.Destroy(); | 427 | bsactor.Destroy(); |
415 | // bsactor.dispose(); | 428 | // bsactor.dispose(); |
416 | } | 429 | } |
430 | else | ||
431 | { | ||
432 | m_log.ErrorFormat("{0}: Requested to remove avatar that is not a BSCharacter. ID={1}, type={2}", | ||
433 | LogHeader, actor.LocalID, actor.GetType().Name); | ||
434 | } | ||
417 | } | 435 | } |
418 | 436 | ||
419 | public override void RemovePrim(PhysicsActor prim) | 437 | public override void RemovePrim(PhysicsActor prim) |
420 | { | 438 | { |
421 | if (!m_initialized) return; | 439 | if (!m_initialized) return; |
422 | 440 | ||
423 | BSPrim bsprim = prim as BSPrim; | 441 | BSPhysObject bsprim = prim as BSPhysObject; |
424 | if (bsprim != null) | 442 | if (bsprim != null) |
425 | { | 443 | { |
426 | DetailLog("{0},RemovePrim,call", bsprim.LocalID); | 444 | DetailLog("{0},RemovePrim,call", bsprim.LocalID); |
@@ -449,9 +467,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
449 | 467 | ||
450 | if (!m_initialized) return null; | 468 | if (!m_initialized) return null; |
451 | 469 | ||
452 | DetailLog("{0},AddPrimShape,call", localID); | 470 | // DetailLog("{0},BSScene.AddPrimShape,call", localID); |
453 | 471 | ||
454 | BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); | 472 | BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical); |
455 | lock (PhysObjects) PhysObjects.Add(localID, prim); | 473 | lock (PhysObjects) PhysObjects.Add(localID, prim); |
456 | return prim; | 474 | return prim; |
457 | } | 475 | } |
@@ -486,6 +504,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
486 | ProcessTaints(); | 504 | ProcessTaints(); |
487 | 505 | ||
488 | // Some of the physical objects requre individual, pre-step calls | 506 | // Some of the physical objects requre individual, pre-step calls |
507 | // (vehicles and avatar movement, in particular) | ||
489 | TriggerPreStepEvent(timeStep); | 508 | TriggerPreStepEvent(timeStep); |
490 | 509 | ||
491 | // the prestep actions might have added taints | 510 | // the prestep actions might have added taints |
@@ -527,7 +546,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
527 | collidersCount = 0; | 546 | collidersCount = 0; |
528 | } | 547 | } |
529 | 548 | ||
530 | if ((m_simulationStep % PhysicsMetricDumpFrames) == 0) | 549 | if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0)) |
531 | PE.DumpPhysicsStatistics(World); | 550 | PE.DumpPhysicsStatistics(World); |
532 | 551 | ||
533 | // Get a value for 'now' so all the collision and update routines don't have to get their own. | 552 | // Get a value for 'now' so all the collision and update routines don't have to get their own. |
@@ -543,8 +562,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
543 | uint cB = m_collisionArray[ii].bID; | 562 | uint cB = m_collisionArray[ii].bID; |
544 | Vector3 point = m_collisionArray[ii].point; | 563 | Vector3 point = m_collisionArray[ii].point; |
545 | Vector3 normal = m_collisionArray[ii].normal; | 564 | Vector3 normal = m_collisionArray[ii].normal; |
546 | SendCollision(cA, cB, point, normal, 0.01f); | 565 | float penetration = m_collisionArray[ii].penetration; |
547 | SendCollision(cB, cA, point, -normal, 0.01f); | 566 | SendCollision(cA, cB, point, normal, penetration); |
567 | SendCollision(cB, cA, point, -normal, penetration); | ||
548 | } | 568 | } |
549 | } | 569 | } |
550 | 570 | ||
@@ -682,7 +702,21 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
682 | 702 | ||
683 | public override Dictionary<uint, float> GetTopColliders() | 703 | public override Dictionary<uint, float> GetTopColliders() |
684 | { | 704 | { |
685 | return new Dictionary<uint, float>(); | 705 | Dictionary<uint, float> topColliders; |
706 | |||
707 | lock (PhysObjects) | ||
708 | { | ||
709 | foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects) | ||
710 | { | ||
711 | kvp.Value.ComputeCollisionScore(); | ||
712 | } | ||
713 | |||
714 | List<BSPhysObject> orderedPrims = new List<BSPhysObject>(PhysObjects.Values); | ||
715 | orderedPrims.OrderByDescending(p => p.CollisionScore); | ||
716 | topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore); | ||
717 | } | ||
718 | |||
719 | return topColliders; | ||
686 | } | 720 | } |
687 | 721 | ||
688 | public override bool IsThreaded { get { return false; } } | 722 | public override bool IsThreaded { get { return false; } } |
@@ -694,8 +728,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
694 | // TriggerPreStepEvent | 728 | // TriggerPreStepEvent |
695 | // DoOneTimeTaints | 729 | // DoOneTimeTaints |
696 | // Step() | 730 | // Step() |
697 | // ProcessAndForwardCollisions | 731 | // ProcessAndSendToSimulatorCollisions |
698 | // ProcessAndForwardPropertyUpdates | 732 | // ProcessAndSendToSimulatorPropertyUpdates |
699 | // TriggerPostStepEvent | 733 | // TriggerPostStepEvent |
700 | 734 | ||
701 | // Calls to the PhysicsActors can't directly call into the physics engine | 735 | // Calls to the PhysicsActors can't directly call into the physics engine |
@@ -733,7 +767,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
733 | 767 | ||
734 | private void TriggerPostStepEvent(float timeStep) | 768 | private void TriggerPostStepEvent(float timeStep) |
735 | { | 769 | { |
736 | PreStepAction actions = AfterStep; | 770 | PostStepAction actions = AfterStep; |
737 | if (actions != null) | 771 | if (actions != null) |
738 | actions(timeStep); | 772 | actions(timeStep); |
739 | 773 | ||
@@ -825,15 +859,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
825 | { | 859 | { |
826 | DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); | 860 | DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); |
827 | m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); | 861 | m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); |
828 | Util.PrintCallStack(DetailLog); | 862 | // Util.PrintCallStack(DetailLog); |
829 | } | 863 | } |
830 | return InTaintTime; | 864 | return InTaintTime; |
831 | } | 865 | } |
832 | 866 | ||
833 | #endregion // Taints | 867 | #endregion // Taints |
834 | 868 | ||
835 | #region INI and command line parameter processing | ||
836 | |||
837 | #region IPhysicsParameters | 869 | #region IPhysicsParameters |
838 | // Get the list of parameters this physics engine supports | 870 | // Get the list of parameters this physics engine supports |
839 | public PhysParameterEntry[] GetParameterList() | 871 | public PhysParameterEntry[] GetParameterList() |
@@ -848,64 +880,65 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
848 | // will use the next time since it's pinned and shared memory. | 880 | // will use the next time since it's pinned and shared memory. |
849 | // Some of the values require calling into the physics engine to get the new | 881 | // Some of the values require calling into the physics engine to get the new |
850 | // value activated ('terrainFriction' for instance). | 882 | // value activated ('terrainFriction' for instance). |
851 | public bool SetPhysicsParameter(string parm, float val, uint localID) | 883 | public bool SetPhysicsParameter(string parm, string val, uint localID) |
852 | { | 884 | { |
853 | bool ret = false; | 885 | bool ret = false; |
854 | BSParam.ParameterDefn theParam; | 886 | |
887 | BSParam.ParameterDefnBase theParam; | ||
855 | if (BSParam.TryGetParameter(parm, out theParam)) | 888 | if (BSParam.TryGetParameter(parm, out theParam)) |
856 | { | 889 | { |
857 | theParam.setter(this, parm, localID, val); | 890 | // Set the value in the C# code |
891 | theParam.SetValue(this, val); | ||
892 | |||
893 | // Optionally set the parameter in the unmanaged code | ||
894 | if (theParam.HasSetOnObject) | ||
895 | { | ||
896 | // update all the localIDs specified | ||
897 | // If the local ID is APPLY_TO_NONE, just change the default value | ||
898 | // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs | ||
899 | // If the localID is a specific object, apply the parameter change to only that object | ||
900 | List<uint> objectIDs = new List<uint>(); | ||
901 | switch (localID) | ||
902 | { | ||
903 | case PhysParameterEntry.APPLY_TO_NONE: | ||
904 | // This will cause a call into the physical world if some operation is specified (SetOnObject). | ||
905 | objectIDs.Add(TERRAIN_ID); | ||
906 | TaintedUpdateParameter(parm, objectIDs, val); | ||
907 | break; | ||
908 | case PhysParameterEntry.APPLY_TO_ALL: | ||
909 | lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys); | ||
910 | TaintedUpdateParameter(parm, objectIDs, val); | ||
911 | break; | ||
912 | default: | ||
913 | // setting only one localID | ||
914 | objectIDs.Add(localID); | ||
915 | TaintedUpdateParameter(parm, objectIDs, val); | ||
916 | break; | ||
917 | } | ||
918 | } | ||
919 | |||
858 | ret = true; | 920 | ret = true; |
859 | } | 921 | } |
860 | return ret; | 922 | return ret; |
861 | } | 923 | } |
862 | 924 | ||
863 | // update all the localIDs specified | ||
864 | // If the local ID is APPLY_TO_NONE, just change the default value | ||
865 | // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs | ||
866 | // If the localID is a specific object, apply the parameter change to only that object | ||
867 | internal delegate void AssignVal(float x); | ||
868 | internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val) | ||
869 | { | ||
870 | List<uint> objectIDs = new List<uint>(); | ||
871 | switch (localID) | ||
872 | { | ||
873 | case PhysParameterEntry.APPLY_TO_NONE: | ||
874 | setDefault(val); // setting only the default value | ||
875 | // This will cause a call into the physical world if some operation is specified (SetOnObject). | ||
876 | objectIDs.Add(TERRAIN_ID); | ||
877 | TaintedUpdateParameter(parm, objectIDs, val); | ||
878 | break; | ||
879 | case PhysParameterEntry.APPLY_TO_ALL: | ||
880 | setDefault(val); // setting ALL also sets the default value | ||
881 | lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys); | ||
882 | TaintedUpdateParameter(parm, objectIDs, val); | ||
883 | break; | ||
884 | default: | ||
885 | // setting only one localID | ||
886 | objectIDs.Add(localID); | ||
887 | TaintedUpdateParameter(parm, objectIDs, val); | ||
888 | break; | ||
889 | } | ||
890 | } | ||
891 | |||
892 | // schedule the actual updating of the paramter to when the phys engine is not busy | 925 | // schedule the actual updating of the paramter to when the phys engine is not busy |
893 | private void TaintedUpdateParameter(string parm, List<uint> lIDs, float val) | 926 | private void TaintedUpdateParameter(string parm, List<uint> lIDs, string val) |
894 | { | 927 | { |
895 | float xval = val; | 928 | string xval = val; |
896 | List<uint> xlIDs = lIDs; | 929 | List<uint> xlIDs = lIDs; |
897 | string xparm = parm; | 930 | string xparm = parm; |
898 | TaintedObject("BSScene.UpdateParameterSet", delegate() { | 931 | TaintedObject("BSScene.UpdateParameterSet", delegate() { |
899 | BSParam.ParameterDefn thisParam; | 932 | BSParam.ParameterDefnBase thisParam; |
900 | if (BSParam.TryGetParameter(xparm, out thisParam)) | 933 | if (BSParam.TryGetParameter(xparm, out thisParam)) |
901 | { | 934 | { |
902 | if (thisParam.onObject != null) | 935 | if (thisParam.HasSetOnObject) |
903 | { | 936 | { |
904 | foreach (uint lID in xlIDs) | 937 | foreach (uint lID in xlIDs) |
905 | { | 938 | { |
906 | BSPhysObject theObject = null; | 939 | BSPhysObject theObject = null; |
907 | PhysObjects.TryGetValue(lID, out theObject); | 940 | if (PhysObjects.TryGetValue(lID, out theObject)) |
908 | thisParam.onObject(this, theObject, xval); | 941 | thisParam.SetOnObject(this, theObject); |
909 | } | 942 | } |
910 | } | 943 | } |
911 | } | 944 | } |
@@ -914,14 +947,14 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
914 | 947 | ||
915 | // Get parameter. | 948 | // Get parameter. |
916 | // Return 'false' if not able to get the parameter. | 949 | // Return 'false' if not able to get the parameter. |
917 | public bool GetPhysicsParameter(string parm, out float value) | 950 | public bool GetPhysicsParameter(string parm, out string value) |
918 | { | 951 | { |
919 | float val = 0f; | 952 | string val = String.Empty; |
920 | bool ret = false; | 953 | bool ret = false; |
921 | BSParam.ParameterDefn theParam; | 954 | BSParam.ParameterDefnBase theParam; |
922 | if (BSParam.TryGetParameter(parm, out theParam)) | 955 | if (BSParam.TryGetParameter(parm, out theParam)) |
923 | { | 956 | { |
924 | val = theParam.getter(this); | 957 | val = theParam.GetValue(this); |
925 | ret = true; | 958 | ret = true; |
926 | } | 959 | } |
927 | value = val; | 960 | value = val; |
@@ -930,8 +963,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
930 | 963 | ||
931 | #endregion IPhysicsParameters | 964 | #endregion IPhysicsParameters |
932 | 965 | ||
933 | #endregion Runtime settable parameters | ||
934 | |||
935 | // Invoke the detailed logger and output something if it's enabled. | 966 | // Invoke the detailed logger and output something if it's enabled. |
936 | public void DetailLog(string msg, params Object[] args) | 967 | public void DetailLog(string msg, params Object[] args) |
937 | { | 968 | { |