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authorRobert Adams2012-09-18 08:39:52 -0700
committerRobert Adams2012-09-27 22:01:11 -0700
commitee7cda261cbbc9dcd558c35eabc070cc0bf45644 (patch)
treef30f9c9baf15ef6988983e53bf3141749eab75f9 /OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
parentComment out unused RestPlugins text in OpenSimDefaults.ini (diff)
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BulletSim: move a bunch of common logic out of BSPrim and BSCharacter
and into the parent class BSPhysObject. Rework collision logic to enable extra collision after done colliding. Rename 'Scene' to 'PhysicsScene' to differentiate it from the simulator 'Scene'.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSScene.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs60
1 files changed, 41 insertions, 19 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 52997dd..dabced5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -75,10 +75,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
75 75
76 public Dictionary<uint, BSPhysObject> PhysObjects = new Dictionary<uint, BSPhysObject>(); 76 public Dictionary<uint, BSPhysObject> PhysObjects = new Dictionary<uint, BSPhysObject>();
77 77
78 private HashSet<BSPhysObject> m_objectsWithCollisions = new HashSet<BSPhysObject>(); 78 public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
79 // Following is a kludge and can be removed when avatar animation updating is 79 public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
80 // moved to a better place. 80 // Keep track of all the avatars so we can send them a collision event
81 private HashSet<BSPhysObject> m_avatarsWithCollisions = new HashSet<BSPhysObject>(); 81 // every tick so OpenSim will update its animation.
82 private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
82 83
83 // List of all the objects that have vehicle properties and should be called 84 // List of all the objects that have vehicle properties and should be called
84 // to update each physics step. 85 // to update each physics step.
@@ -379,7 +380,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
379 // TODO: Remove kludge someday. 380 // TODO: Remove kludge someday.
380 // We must generate a collision for avatars whether they collide or not. 381 // We must generate a collision for avatars whether they collide or not.
381 // This is required by OpenSim to update avatar animations, etc. 382 // This is required by OpenSim to update avatar animations, etc.
382 lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Add(actor); 383 lock (m_avatars) m_avatars.Add(actor);
383 384
384 return actor; 385 return actor;
385 } 386 }
@@ -397,7 +398,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
397 { 398 {
398 lock (PhysObjects) PhysObjects.Remove(actor.LocalID); 399 lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
399 // Remove kludge someday 400 // Remove kludge someday
400 lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Remove(bsactor); 401 lock (m_avatars) m_avatars.Remove(bsactor);
401 } 402 }
402 catch (Exception e) 403 catch (Exception e)
403 { 404 {
@@ -464,6 +465,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
464 int collidersCount = 0; 465 int collidersCount = 0;
465 IntPtr collidersPtr; 466 IntPtr collidersPtr;
466 467
468 int beforeTime = 0;
469 int simTime = 0;
470
467 // prevent simulation until we've been initialized 471 // prevent simulation until we've been initialized
468 if (!m_initialized) return 5.0f; 472 if (!m_initialized) return 5.0f;
469 473
@@ -481,10 +485,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
481 int numSubSteps = 0; 485 int numSubSteps = 0;
482 try 486 try
483 { 487 {
488 if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
489
484 numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep, 490 numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
485 out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); 491 out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
486 DetailLog("{0},Simulate,call, nTaints= {1}, substeps={2}, updates={3}, colliders={4}", 492
487 DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); 493 if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
494 DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}",
495 DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
488 } 496 }
489 catch (Exception e) 497 catch (Exception e)
490 { 498 {
@@ -502,12 +510,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
502 // Get a value for 'now' so all the collision and update routines don't have to get their own 510 // Get a value for 'now' so all the collision and update routines don't have to get their own
503 SimulationNowTime = Util.EnvironmentTickCount(); 511 SimulationNowTime = Util.EnvironmentTickCount();
504 512
505 // This is a kludge to get avatar movement updates.
506 // ODE sends collisions for avatars even if there are have been no collisions. This updates
507 // avatar animations and stuff.
508 // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
509 m_objectsWithCollisions = new HashSet<BSPhysObject>(m_avatarsWithCollisions);
510
511 // If there were collisions, process them by sending the event to the prim. 513 // If there were collisions, process them by sending the event to the prim.
512 // Collisions must be processed before updates. 514 // Collisions must be processed before updates.
513 if (collidersCount > 0) 515 if (collidersCount > 0)
@@ -523,11 +525,31 @@ public class BSScene : PhysicsScene, IPhysicsParameters
523 } 525 }
524 } 526 }
525 527
528 // This is a kludge to get avatar movement updates.
529 // ODE sends collisions for avatars even if there are have been no collisions. This updates
530 // avatar animations and stuff.
531 // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
532 foreach (BSPhysObject bsp in m_avatars)
533 bsp.SendCollisions();
534
526 // The above SendCollision's batch up the collisions on the objects. 535 // The above SendCollision's batch up the collisions on the objects.
527 // Now push the collisions into the simulator. 536 // Now push the collisions into the simulator.
528 foreach (BSPhysObject bsp in m_objectsWithCollisions) 537 // If the object is done colliding, it will add itself to the ObjectsWithNoMoreCollisions list.
529 bsp.SendCollisions(); 538 if (ObjectsWithCollisions.Count > 0)
530 m_objectsWithCollisions.Clear(); 539 {
540 foreach (BSPhysObject bsp in ObjectsWithCollisions)
541 if (!m_avatars.Contains(bsp)) // don't call avatars twice
542 bsp.SendCollisions();
543 }
544
545 // Objects that are done colliding are removed from the ObjectsWithCollisions list.
546 // This can't be done by SendCollisions because it is inside an iteration of ObjectWithCollisions.
547 if (ObjectsWithNoMoreCollisions.Count > 0)
548 {
549 foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
550 ObjectsWithCollisions.Remove(po);
551 ObjectsWithNoMoreCollisions.Clear();
552 }
531 553
532 // If any of the objects had updated properties, tell the object it has been changed by the physics engine 554 // If any of the objects had updated properties, tell the object it has been changed by the physics engine
533 if (updatedEntityCount > 0) 555 if (updatedEntityCount > 0)
@@ -555,7 +577,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
555 // The physics engine returns the number of milliseconds it simulated this call. 577 // The physics engine returns the number of milliseconds it simulated this call.
556 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. 578 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
557 // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS. 579 // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS.
558 return numSubSteps * m_fixedTimeStep; 580 return numSubSteps * m_fixedTimeStep * 1000;
559 } 581 }
560 582
561 // Something has collided 583 // Something has collided
@@ -583,7 +605,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
583 if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) 605 if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
584 { 606 {
585 // If a collision was posted, remember to send it to the simulator 607 // If a collision was posted, remember to send it to the simulator
586 m_objectsWithCollisions.Add(collider); 608 ObjectsWithCollisions.Add(collider);
587 } 609 }
588 610
589 return; 611 return;