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authorRobert Adams2012-12-16 21:18:32 -0800
committerRobert Adams2012-12-16 21:19:13 -0800
commit2b8efa24dd816fda23fe3aed5822af1d50febf5d (patch)
tree287352bc66cf34ce25ee86a59099af43d2d23cb4 /OpenSim/Region/Physics/BulletSPlugin
parentBulletSim: add even more to the TODO list. (diff)
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BulletSim: add parameter to UpdateProperties call into the linkset so changes from the physics engine can be differentiated from changes made by the user. This eliminates a linkset rebuild loop. Also add logic to not rebuild or freak out when the object/linkset crosses a terrain boundry.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs3
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs48
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs9
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs29
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs10
6 files changed, 65 insertions, 36 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 2486be5..2017fa5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -252,8 +252,9 @@ public abstract class BSLinkset
252 252
253 // Called when a parameter update comes from the physics engine for any object 253 // Called when a parameter update comes from the physics engine for any object
254 // of the linkset is received. 254 // of the linkset is received.
255 // Passed flag is update came from physics engine (true) or the user (false).
255 // Called at taint-time!! 256 // Called at taint-time!!
256 public abstract void UpdateProperties(BSPhysObject physObject); 257 public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate);
257 258
258 // Routine used when rebuilding the body of the root of the linkset 259 // Routine used when rebuilding the body of the root of the linkset
259 // Destroy all the constraints have have been made to root. 260 // Destroy all the constraints have have been made to root.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 8359607..4d4f712 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -28,6 +28,8 @@ using System;
28using System.Collections.Generic; 28using System.Collections.Generic;
29using System.Text; 29using System.Text;
30 30
31using OpenSim.Framework;
32
31using OMV = OpenMetaverse; 33using OMV = OpenMetaverse;
32 34
33namespace OpenSim.Region.Physics.BulletSPlugin 35namespace OpenSim.Region.Physics.BulletSPlugin
@@ -87,25 +89,22 @@ public sealed class BSLinksetCompound : BSLinkset
87 // its internal properties. 89 // its internal properties.
88 public override void Refresh(BSPhysObject requestor) 90 public override void Refresh(BSPhysObject requestor)
89 { 91 {
90 if (!IsRoot(requestor))
91 {
92 }
93 // Something changed so do the rebuilding thing 92 // Something changed so do the rebuilding thing
94 InternalRefresh(requestor); 93 // ScheduleRebuild();
95 } 94 }
96 95
97 // Schedule a refresh to happen after all the other taint processing. 96 // Schedule a refresh to happen after all the other taint processing.
98 private void InternalRefresh(BSPhysObject requestor) 97 private void ScheduleRebuild()
99 { 98 {
100 DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1},rebuilding={2}", 99 DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,rebuilding={1}",
101 LinksetRoot.LocalID, requestor.LocalID, Rebuilding); 100 LinksetRoot.LocalID, Rebuilding);
102 // When rebuilding, it is possible to set properties that would normally require a rebuild. 101 // When rebuilding, it is possible to set properties that would normally require a rebuild.
103 // If already rebuilding, don't request another rebuild. 102 // If already rebuilding, don't request another rebuild.
104 if (!Rebuilding) 103 if (!Rebuilding)
105 { 104 {
106 PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() 105 PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", LinksetRoot.LocalID, delegate()
107 { 106 {
108 if (IsRoot(requestor) && HasAnyChildren) 107 if (HasAnyChildren)
109 RecomputeLinksetCompound(); 108 RecomputeLinksetCompound();
110 }); 109 });
111 } 110 }
@@ -125,8 +124,7 @@ public sealed class BSLinksetCompound : BSLinkset
125 { 124 {
126 // The root is going dynamic. Make sure mass is properly set. 125 // The root is going dynamic. Make sure mass is properly set.
127 m_mass = ComputeLinksetMass(); 126 m_mass = ComputeLinksetMass();
128 if (HasAnyChildren) 127 ScheduleRebuild();
129 InternalRefresh(LinksetRoot);
130 } 128 }
131 else 129 else
132 { 130 {
@@ -155,8 +153,7 @@ public sealed class BSLinksetCompound : BSLinkset
155 DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); 153 DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
156 if (IsRoot(child)) 154 if (IsRoot(child))
157 { 155 {
158 if (HasAnyChildren) 156 ScheduleRebuild();
159 InternalRefresh(LinksetRoot);
160 } 157 }
161 else 158 else
162 { 159 {
@@ -172,10 +169,21 @@ public sealed class BSLinksetCompound : BSLinkset
172 return ret; 169 return ret;
173 } 170 }
174 171
175 // Called at taint-time!! 172 public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
176 public override void UpdateProperties(BSPhysObject updated)
177 { 173 {
178 // Nothing to do for compound linksets on property updates 174 // The user moving a child around requires the rebuilding of the linkset compound shape
175 // One problem is this happens when a border is crossed -- the simulator implementation
176 // is to store the position into the group which causes the move of the object
177 // but it also means all the child positions get updated.
178 // What would cause an unnecessary rebuild so we make sure the linkset is in a
179 // region before bothering to do a rebuild.
180 if (!IsRoot(updated)
181 && !physicalUpdate
182 && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
183 {
184 updated.LinksetInfo = null;
185 ScheduleRebuild();
186 }
179 } 187 }
180 188
181 // Routine called when rebuilding the body of some member of the linkset. 189 // Routine called when rebuilding the body of some member of the linkset.
@@ -257,8 +265,8 @@ public sealed class BSLinksetCompound : BSLinkset
257 265
258 DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); 266 DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
259 267
260 // Cause constraints and assorted properties to be recomputed before the next simulation step. 268 // Rebuild the compound shape with the new child shape included
261 InternalRefresh(LinksetRoot); 269 ScheduleRebuild();
262 } 270 }
263 return; 271 return;
264 } 272 }
@@ -285,8 +293,8 @@ public sealed class BSLinksetCompound : BSLinkset
285 } 293 }
286 else 294 else
287 { 295 {
288 // Schedule a rebuild of the linkset before the next simulation tick. 296 // Rebuild the compound shape with the child removed
289 InternalRefresh(LinksetRoot); 297 ScheduleRebuild();
290 } 298 }
291 } 299 }
292 return; 300 return;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 7076ab4..8c36c31 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -78,7 +78,7 @@ public sealed class BSLinksetConstraints : BSLinkset
78 } 78 }
79 79
80 // Called at taint-time!! 80 // Called at taint-time!!
81 public override void UpdateProperties(BSPhysObject updated) 81 public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
82 { 82 {
83 // Nothing to do for constraints on property updates 83 // Nothing to do for constraints on property updates
84 } 84 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 6539b43..92a5f2f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -214,7 +214,7 @@ public abstract class BSPhysObject : PhysicsActor
214 { 214 {
215 bool ret = true; 215 bool ret = true;
216 // If the 'no collision' call, force it to happen right now so quick collision_end 216 // If the 'no collision' call, force it to happen right now so quick collision_end
217 bool force = CollisionCollection.Count == 0; 217 bool force = (CollisionCollection.Count == 0);
218 218
219 // throttle the collisions to the number of milliseconds specified in the subscription 219 // throttle the collisions to the number of milliseconds specified in the subscription
220 if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) 220 if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
@@ -232,8 +232,10 @@ public abstract class BSPhysObject : PhysicsActor
232 // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); 232 // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
233 base.SendCollisionUpdate(CollisionCollection); 233 base.SendCollisionUpdate(CollisionCollection);
234 234
235 // The collisionCollection structure is passed around in the simulator. 235 // The CollisionCollection instance is passed around in the simulator.
236 // Make sure we don't have a handle to that one and that a new one is used for next time. 236 // Make sure we don't have a handle to that one and that a new one is used for next time.
237 // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here,
238 // a race condition is created for the other users of this instance.
237 CollisionCollection = new CollisionEventUpdate(); 239 CollisionCollection = new CollisionEventUpdate();
238 } 240 }
239 return ret; 241 return ret;
@@ -251,7 +253,8 @@ public abstract class BSPhysObject : PhysicsActor
251 253
252 PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() 254 PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
253 { 255 {
254 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 256 if (PhysBody.HasPhysicalBody)
257 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
255 }); 258 });
256 } 259 }
257 else 260 else
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 53be2e3..758d92b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -300,6 +300,10 @@ public sealed class BSPrim : BSPhysObject
300 } 300 }
301 _position = value; 301 _position = value;
302 PositionSanityCheck(false); 302 PositionSanityCheck(false);
303
304 // A linkset might need to know if a component information changed.
305 Linkset.UpdateProperties(this, false);
306
303 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() 307 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
304 { 308 {
305 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 309 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
@@ -329,6 +333,14 @@ public sealed class BSPrim : BSPhysObject
329 { 333 {
330 bool ret = false; 334 bool ret = false;
331 335
336 if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
337 {
338 // The physical object is out of the known/simulated area.
339 // Upper levels of code will handle the transition to other areas so, for
340 // the time, we just ignore the position.
341 return ret;
342 }
343
332 float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); 344 float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
333 OMV.Vector3 upForce = OMV.Vector3.Zero; 345 OMV.Vector3 upForce = OMV.Vector3.Zero;
334 if (RawPosition.Z < terrainHeight) 346 if (RawPosition.Z < terrainHeight)
@@ -352,8 +364,6 @@ public sealed class BSPrim : BSPhysObject
352 } 364 }
353 } 365 }
354 366
355 // TODO: check for out of bounds
356
357 // The above code computes a force to apply to correct any out-of-bounds problems. Apply same. 367 // The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
358 // TODO: This should be intergrated with a geneal physics action mechanism. 368 // TODO: This should be intergrated with a geneal physics action mechanism.
359 // TODO: This should be moderated with PID'ness. 369 // TODO: This should be moderated with PID'ness.
@@ -567,7 +577,10 @@ public sealed class BSPrim : BSPhysObject
567 if (_orientation == value) 577 if (_orientation == value)
568 return; 578 return;
569 _orientation = value; 579 _orientation = value;
570 // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? 580
581 // A linkset might need to know if a component information changed.
582 Linkset.UpdateProperties(this, false);
583
571 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() 584 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
572 { 585 {
573 if (PhysBody.HasPhysicalBody) 586 if (PhysBody.HasPhysicalBody)
@@ -1432,14 +1445,14 @@ public sealed class BSPrim : BSPhysObject
1432 entprop.Velocity = _velocity; 1445 entprop.Velocity = _velocity;
1433 } 1446 }
1434 1447
1435 // remember the current and last set values
1436 LastEntityProperties = CurrentEntityProperties;
1437 CurrentEntityProperties = entprop;
1438
1439 OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG 1448 OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
1440 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", 1449 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
1441 LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); 1450 LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
1442 1451
1452 // remember the current and last set values
1453 LastEntityProperties = CurrentEntityProperties;
1454 CurrentEntityProperties = entprop;
1455
1443 base.RequestPhysicsterseUpdate(); 1456 base.RequestPhysicsterseUpdate();
1444 } 1457 }
1445 /* 1458 /*
@@ -1453,7 +1466,7 @@ public sealed class BSPrim : BSPhysObject
1453 */ 1466 */
1454 1467
1455 // The linkset implimentation might want to know about this. 1468 // The linkset implimentation might want to know about this.
1456 Linkset.UpdateProperties(this); 1469 Linkset.UpdateProperties(this, true);
1457 } 1470 }
1458} 1471}
1459} 1472}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index ac99777..7b44574 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -517,8 +517,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
517 out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); 517 out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
518 518
519 if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); 519 if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
520 DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", 520 DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
521 DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); 521 DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
522 updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
522 if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG 523 if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG
523 } 524 }
524 catch (Exception e) 525 catch (Exception e)
@@ -573,6 +574,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
573 574
574 // Objects that are done colliding are removed from the ObjectsWithCollisions list. 575 // Objects that are done colliding are removed from the ObjectsWithCollisions list.
575 // Not done above because it is inside an iteration of ObjectWithCollisions. 576 // Not done above because it is inside an iteration of ObjectWithCollisions.
577 // This complex collision processing is required to create an empty collision
578 // event call after all collisions have happened on an object. This enables
579 // the simulator to generate the 'collision end' event.
576 if (ObjectsWithNoMoreCollisions.Count > 0) 580 if (ObjectsWithNoMoreCollisions.Count > 0)
577 { 581 {
578 foreach (BSPhysObject po in ObjectsWithNoMoreCollisions) 582 foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
@@ -597,7 +601,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
597 601
598 ProcessPostStepTaints(); 602 ProcessPostStepTaints();
599 603
600 // This causes the unmanaged code to output ALL the values found in ALL the objects in the world. 604 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
601 // Only enable this in a limited test world with few objects. 605 // Only enable this in a limited test world with few objects.
602 // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG 606 // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG
603 607