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authorRobert Adams2013-04-29 17:30:38 -0700
committerRobert Adams2013-04-29 17:30:38 -0700
commit15a3f80e2eb82c5e4726d5cd93cfed32da5d6768 (patch)
tree603cc242e5cce5140d559db4138f12914bf0d322 /OpenSim/Region/Physics/BulletSPlugin
parentBulletSim: remove trailing white space to make git happier. No functional cha... (diff)
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BulletSim: LinksetCompound work to disable collision for root and
child prims so compound shape can do all collisions. Don't try to build a compound linkset for non-physical linksets. Remove and replace root body when compound shape is added so collision cache is rebuilt.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs44
1 files changed, 30 insertions, 14 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 1fd541f..e967dfc 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -143,19 +143,18 @@ public sealed class BSLinksetCompound : BSLinkset
143 // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. 143 // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
144 ScheduleRebuild(LinksetRoot); 144 ScheduleRebuild(LinksetRoot);
145 } 145 }
146 else
147 {
148 // The origional prims are removed from the world as the shape of the root compound
149 // shape takes over.
150 m_physicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
151 m_physicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION);
152 // We don't want collisions from the old linkset children.
153 m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
154 146
155 child.PhysBody.collisionType = CollisionType.LinksetChild; 147 // The origional prims are removed from the world as the shape of the root compound
148 // shape takes over.
149 m_physicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
150 m_physicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION);
151 // We don't want collisions from the old linkset children.
152 m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
153
154 child.PhysBody.collisionType = CollisionType.LinksetChild;
155
156 ret = true;
156 157
157 ret = true;
158 }
159 return ret; 158 return ret;
160 } 159 }
161 160
@@ -190,6 +189,13 @@ public sealed class BSLinksetCompound : BSLinkset
190 // Called at taint-time. 189 // Called at taint-time.
191 public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated) 190 public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated)
192 { 191 {
192 if (!LinksetRoot.IsPhysicallyActive)
193 {
194 // No reason to do this physical stuff for static linksets.
195 DetailLog("{0},BSLinksetCompound.UpdateProperties,notPhysical", LinksetRoot.LocalID);
196 return;
197 }
198
193 // The user moving a child around requires the rebuilding of the linkset compound shape 199 // The user moving a child around requires the rebuilding of the linkset compound shape
194 // One problem is this happens when a border is crossed -- the simulator implementation 200 // One problem is this happens when a border is crossed -- the simulator implementation
195 // stores the position into the group which causes the move of the object 201 // stores the position into the group which causes the move of the object
@@ -392,6 +398,13 @@ public sealed class BSLinksetCompound : BSLinkset
392 private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged 398 private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged
393 private void RecomputeLinksetCompound() 399 private void RecomputeLinksetCompound()
394 { 400 {
401 if (!LinksetRoot.IsPhysicallyActive)
402 {
403 // There is no reason to build all this physical stuff for a non-physical linkset
404 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
405 return;
406 }
407
395 try 408 try
396 { 409 {
397 // This replaces the physical shape of the root prim with a compound shape made up of the root 410 // This replaces the physical shape of the root prim with a compound shape made up of the root
@@ -403,7 +416,8 @@ public sealed class BSLinksetCompound : BSLinkset
403 // Free up any shape we'd previously built. 416 // Free up any shape we'd previously built.
404 LinksetShape.Dereference(m_physicsScene); 417 LinksetShape.Dereference(m_physicsScene);
405 418
406 LinksetShape = BSShapeCompound.GetReference(m_physicsScene, LinksetRoot); 419 // Get a new compound shape to build the linkset shape in.
420 LinksetShape = BSShapeCompound.GetReference(m_physicsScene);
407 421
408 // The center of mass for the linkset is the geometric center of the group. 422 // The center of mass for the linkset is the geometric center of the group.
409 // Compute a displacement for each component so it is relative to the center-of-mass. 423 // Compute a displacement for each component so it is relative to the center-of-mass.
@@ -431,8 +445,7 @@ public sealed class BSLinksetCompound : BSLinkset
431 cPrim.LinksetChildIndex = memberIndex; 445 cPrim.LinksetChildIndex = memberIndex;
432 } 446 }
433 447
434 BSShape childShape = cPrim.PhysShape; 448 BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);
435 childShape.IncrementReference();
436 OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; 449 OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
437 OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; 450 OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
438 m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); 451 m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
@@ -446,7 +459,10 @@ public sealed class BSLinksetCompound : BSLinkset
446 459
447 // Sneak the built compound shape in as the shape of the root prim. 460 // Sneak the built compound shape in as the shape of the root prim.
448 // Note this doesn't touch the root prim's PhysShape so be sure the manage the difference. 461 // Note this doesn't touch the root prim's PhysShape so be sure the manage the difference.
462 // Object removed and added to world to get collision cache rebuilt for new shape.
463 m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody);
449 m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); 464 m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo);
465 m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody);
450 466
451 // With all of the linkset packed into the root prim, it has the mass of everyone. 467 // With all of the linkset packed into the root prim, it has the mass of everyone.
452 LinksetMass = ComputeLinksetMass(); 468 LinksetMass = ComputeLinksetMass();