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authorRobert Adams2012-11-01 10:53:55 -0700
committerRobert Adams2012-11-03 21:15:22 -0700
commitf53b4e7a21f62a84e237c4ce8d2806124c3a76d2 (patch)
tree1a815eafa4cec6e930b527fe81985b37f25f006a /OpenSim/Region/Physics
parentBulletSim: Remove use of shapeData in ShapeCollection and rely on the availab... (diff)
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BulletSim: Add RawPosition and RawOrientation to BSPhysObject and rename MassRaw to RawMass. Fix BSShapeCollection to use Raw* for creating the body to eliminate exception from referencing the physical body before it has been created.
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs20
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs16
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs14
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs2
5 files changed, 39 insertions, 17 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 2a634b9..9e1206a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -97,7 +97,7 @@ public sealed class BSCharacter : BSPhysObject
97 // set _avatarVolume and _mass based on capsule size, _density and Scale 97 // set _avatarVolume and _mass based on capsule size, _density and Scale
98 ComputeAvatarVolumeAndMass(); 98 ComputeAvatarVolumeAndMass();
99 DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", 99 DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
100 LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw); 100 LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
101 101
102 // do actual create at taint time 102 // do actual create at taint time
103 PhysicsScene.TaintedObject("BSCharacter.create", delegate() 103 PhysicsScene.TaintedObject("BSCharacter.create", delegate()
@@ -141,7 +141,7 @@ public sealed class BSCharacter : BSPhysObject
141 BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); 141 BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
142 } 142 }
143 143
144 UpdatePhysicalMassProperties(MassRaw); 144 UpdatePhysicalMassProperties(RawMass);
145 145
146 // Make so capsule does not fall over 146 // Make so capsule does not fall over
147 BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); 147 BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
@@ -181,12 +181,12 @@ public sealed class BSCharacter : BSPhysObject
181 ComputeAvatarScale(_size); 181 ComputeAvatarScale(_size);
182 ComputeAvatarVolumeAndMass(); 182 ComputeAvatarVolumeAndMass();
183 DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}", 183 DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}",
184 LocalID, Scale, _avatarDensity, _avatarVolume, MassRaw); 184 LocalID, Scale, _avatarDensity, _avatarVolume, RawMass);
185 185
186 PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() 186 PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
187 { 187 {
188 BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); 188 BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
189 UpdatePhysicalMassProperties(MassRaw); 189 UpdatePhysicalMassProperties(RawMass);
190 }); 190 });
191 191
192 } 192 }
@@ -231,6 +231,11 @@ public sealed class BSCharacter : BSPhysObject
231 231
232 public override void LockAngularMotion(OMV.Vector3 axis) { return; } 232 public override void LockAngularMotion(OMV.Vector3 axis) { return; }
233 233
234 public override OMV.Vector3 RawPosition
235 {
236 get { return _position; }
237 set { _position = value; }
238 }
234 public override OMV.Vector3 Position { 239 public override OMV.Vector3 Position {
235 get { 240 get {
236 // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID); 241 // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
@@ -316,7 +321,7 @@ public sealed class BSCharacter : BSPhysObject
316 public override float Mass { get { return _mass; } } 321 public override float Mass { get { return _mass; } }
317 322
318 // used when we only want this prim's mass and not the linkset thing 323 // used when we only want this prim's mass and not the linkset thing
319 public override float MassRaw { 324 public override float RawMass {
320 get {return _mass; } 325 get {return _mass; }
321 } 326 }
322 public override void UpdatePhysicalMassProperties(float physMass) 327 public override void UpdatePhysicalMassProperties(float physMass)
@@ -405,6 +410,11 @@ public sealed class BSCharacter : BSPhysObject
405 get { return _acceleration; } 410 get { return _acceleration; }
406 set { _acceleration = value; } 411 set { _acceleration = value; }
407 } 412 }
413 public override OMV.Quaternion RawOrientation
414 {
415 get { return _orientation; }
416 set { _orientation = value; }
417 }
408 public override OMV.Quaternion Orientation { 418 public override OMV.Quaternion Orientation {
409 get { return _orientation; } 419 get { return _orientation; }
410 set { 420 set {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index f56851f..9e0f499 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -106,7 +106,7 @@ public abstract class BSLinkset
106 PhysicsScene = scene; 106 PhysicsScene = scene;
107 LinksetRoot = parent; 107 LinksetRoot = parent;
108 m_children = new HashSet<BSPhysObject>(); 108 m_children = new HashSet<BSPhysObject>();
109 m_mass = parent.MassRaw; 109 m_mass = parent.RawMass;
110 } 110 }
111 111
112 // Link to a linkset where the child knows the parent. 112 // Link to a linkset where the child knows the parent.
@@ -242,14 +242,14 @@ public abstract class BSLinkset
242 // ================================================================ 242 // ================================================================
243 protected virtual float ComputeLinksetMass() 243 protected virtual float ComputeLinksetMass()
244 { 244 {
245 float mass = LinksetRoot.MassRaw; 245 float mass = LinksetRoot.RawMass;
246 if (HasAnyChildren) 246 if (HasAnyChildren)
247 { 247 {
248 lock (m_linksetActivityLock) 248 lock (m_linksetActivityLock)
249 { 249 {
250 foreach (BSPhysObject bp in m_children) 250 foreach (BSPhysObject bp in m_children)
251 { 251 {
252 mass += bp.MassRaw; 252 mass += bp.RawMass;
253 } 253 }
254 } 254 }
255 } 255 }
@@ -261,13 +261,13 @@ public abstract class BSLinkset
261 OMV.Vector3 com; 261 OMV.Vector3 com;
262 lock (m_linksetActivityLock) 262 lock (m_linksetActivityLock)
263 { 263 {
264 com = LinksetRoot.Position * LinksetRoot.MassRaw; 264 com = LinksetRoot.Position * LinksetRoot.RawMass;
265 float totalMass = LinksetRoot.MassRaw; 265 float totalMass = LinksetRoot.RawMass;
266 266
267 foreach (BSPhysObject bp in m_children) 267 foreach (BSPhysObject bp in m_children)
268 { 268 {
269 com += bp.Position * bp.MassRaw; 269 com += bp.Position * bp.RawMass;
270 totalMass += bp.MassRaw; 270 totalMass += bp.RawMass;
271 } 271 }
272 if (totalMass != 0f) 272 if (totalMass != 0f)
273 com /= totalMass; 273 com /= totalMass;
@@ -285,7 +285,7 @@ public abstract class BSLinkset
285 285
286 foreach (BSPhysObject bp in m_children) 286 foreach (BSPhysObject bp in m_children)
287 { 287 {
288 com += bp.Position * bp.MassRaw; 288 com += bp.Position * bp.RawMass;
289 } 289 }
290 com /= (m_children.Count + 1); 290 com /= (m_children.Count + 1);
291 } 291 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 7d91468..65d7f34 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -63,7 +63,7 @@ public abstract class BSPhysObject : PhysicsActor
63 public BSLinkset Linkset { get; set; } 63 public BSLinkset Linkset { get; set; }
64 64
65 // Return the object mass without calculating it or having side effects 65 // Return the object mass without calculating it or having side effects
66 public abstract float MassRaw { get; } 66 public abstract float RawMass { get; }
67 // Set the raw mass but also update physical mass properties (inertia, ...) 67 // Set the raw mass but also update physical mass properties (inertia, ...)
68 public abstract void UpdatePhysicalMassProperties(float mass); 68 public abstract void UpdatePhysicalMassProperties(float mass);
69 69
@@ -105,8 +105,10 @@ public abstract class BSPhysObject : PhysicsActor
105 // Tell the object to clean up. 105 // Tell the object to clean up.
106 public abstract void Destroy(); 106 public abstract void Destroy();
107 107
108 public abstract OMV.Vector3 RawPosition { get; set; }
108 public abstract OMV.Vector3 ForcePosition { get; set; } 109 public abstract OMV.Vector3 ForcePosition { get; set; }
109 110
111 public abstract OMV.Quaternion RawOrientation { get; set; }
110 public abstract OMV.Quaternion ForceOrientation { get; set; } 112 public abstract OMV.Quaternion ForceOrientation { get; set; }
111 113
112 public abstract OMV.Vector3 ForceVelocity { get; set; } 114 public abstract OMV.Vector3 ForceVelocity { get; set; }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8ce960d..1754be6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -256,6 +256,11 @@ public sealed class BSPrim : BSPhysObject
256 return; 256 return;
257 } 257 }
258 258
259 public override OMV.Vector3 RawPosition
260 {
261 get { return _position; }
262 set { _position = value; }
263 }
259 public override OMV.Vector3 Position { 264 public override OMV.Vector3 Position {
260 get { 265 get {
261 if (!Linkset.IsRoot(this)) 266 if (!Linkset.IsRoot(this))
@@ -366,7 +371,7 @@ public sealed class BSPrim : BSPhysObject
366 } 371 }
367 372
368 // used when we only want this prim's mass and not the linkset thing 373 // used when we only want this prim's mass and not the linkset thing
369 public override float MassRaw { 374 public override float RawMass {
370 get { return _mass; } 375 get { return _mass; }
371 } 376 }
372 // Set the physical mass to the passed mass. 377 // Set the physical mass to the passed mass.
@@ -530,6 +535,11 @@ public sealed class BSPrim : BSPhysObject
530 get { return _acceleration; } 535 get { return _acceleration; }
531 set { _acceleration = value; } 536 set { _acceleration = value; }
532 } 537 }
538 public override OMV.Quaternion RawOrientation
539 {
540 get { return _orientation; }
541 set { _orientation = value; }
542 }
533 public override OMV.Quaternion Orientation { 543 public override OMV.Quaternion Orientation {
534 get { 544 get {
535 if (!Linkset.IsRoot(this)) 545 if (!Linkset.IsRoot(this))
@@ -703,7 +713,7 @@ public sealed class BSPrim : BSPhysObject
703 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); 713 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
704 714
705 // A dynamic object has mass 715 // A dynamic object has mass
706 UpdatePhysicalMassProperties(MassRaw); 716 UpdatePhysicalMassProperties(RawMass);
707 717
708 // Set collision detection parameters 718 // Set collision detection parameters
709 if (PhysicsScene.Params.ccdMotionThreshold > 0f) 719 if (PhysicsScene.Params.ccdMotionThreshold > 0f)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 478924a..e131919 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -811,7 +811,7 @@ public sealed class BSShapeCollection : IDisposable
811 if (prim.IsSolid) 811 if (prim.IsSolid)
812 { 812 {
813 bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, 813 bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
814 prim.LocalID, prim.ForcePosition, prim.ForceOrientation); 814 prim.LocalID, prim.RawPosition, prim.RawOrientation);
815 DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); 815 DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
816 } 816 }
817 else 817 else