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author | Robert Adams | 2012-10-01 11:54:35 -0700 |
---|---|---|
committer | Robert Adams | 2012-10-02 11:13:32 -0700 |
commit | 33617e09a185be68ceeaaba0fe9b7b2e6068124d (patch) | |
tree | ea34c6e9a6090ba9c4ae93fcd308f0a9e3df518f /OpenSim/Region | |
parent | Correct my name in CONTRIBUTORS.txt (diff) | |
download | opensim-SC_OLD-33617e09a185be68ceeaaba0fe9b7b2e6068124d.zip opensim-SC_OLD-33617e09a185be68ceeaaba0fe9b7b2e6068124d.tar.gz opensim-SC_OLD-33617e09a185be68ceeaaba0fe9b7b2e6068124d.tar.bz2 opensim-SC_OLD-33617e09a185be68ceeaaba0fe9b7b2e6068124d.tar.xz |
BulletSim: impliment FloatOnWater OS function.
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 41 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 77 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 8 |
3 files changed, 104 insertions, 22 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index b88ec3c..5cf8953 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | |||
@@ -234,6 +234,15 @@ public class BSCharacter : BSPhysObject | |||
234 | _position.Z = terrainHeight + 2.0f; | 234 | _position.Z = terrainHeight + 2.0f; |
235 | ret = true; | 235 | ret = true; |
236 | } | 236 | } |
237 | if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) == 0) | ||
238 | { | ||
239 | float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); | ||
240 | if (Position.Z < waterHeight) | ||
241 | { | ||
242 | _position.Z = waterHeight; | ||
243 | ret = true; | ||
244 | } | ||
245 | } | ||
237 | 246 | ||
238 | // TODO: check for out of bounds | 247 | // TODO: check for out of bounds |
239 | return ret; | 248 | return ret; |
@@ -242,18 +251,22 @@ public class BSCharacter : BSPhysObject | |||
242 | // A version of the sanity check that also makes sure a new position value is | 251 | // A version of the sanity check that also makes sure a new position value is |
243 | // pushed back to the physics engine. This routine would be used by anyone | 252 | // pushed back to the physics engine. This routine would be used by anyone |
244 | // who is not already pushing the value. | 253 | // who is not already pushing the value. |
245 | private bool PositionSanityCheck2() | 254 | private bool PositionSanityCheck2(bool atTaintTime) |
246 | { | 255 | { |
247 | bool ret = false; | 256 | bool ret = false; |
248 | if (PositionSanityCheck()) | 257 | if (PositionSanityCheck()) |
249 | { | 258 | { |
250 | // The new position value must be pushed into the physics engine but we can't | 259 | // The new position value must be pushed into the physics engine but we can't |
251 | // just assign to "Position" because of potential call loops. | 260 | // just assign to "Position" because of potential call loops. |
252 | PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate() | 261 | BSScene.TaintCallback sanityOperation = delegate() |
253 | { | 262 | { |
254 | DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 263 | DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
255 | BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); | 264 | BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); |
256 | }); | 265 | }; |
266 | if (atTaintTime) | ||
267 | sanityOperation(); | ||
268 | else | ||
269 | PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation); | ||
257 | ret = true; | 270 | ret = true; |
258 | } | 271 | } |
259 | return ret; | 272 | return ret; |
@@ -378,7 +391,16 @@ public class BSCharacter : BSPhysObject | |||
378 | set { _collidingObj = value; } | 391 | set { _collidingObj = value; } |
379 | } | 392 | } |
380 | public override bool FloatOnWater { | 393 | public override bool FloatOnWater { |
381 | set { _floatOnWater = value; } | 394 | set { |
395 | _floatOnWater = value; | ||
396 | PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() | ||
397 | { | ||
398 | if (_floatOnWater) | ||
399 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); | ||
400 | else | ||
401 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); | ||
402 | }); | ||
403 | } | ||
382 | } | 404 | } |
383 | public override OMV.Vector3 RotationalVelocity { | 405 | public override OMV.Vector3 RotationalVelocity { |
384 | get { return _rotationalVelocity; } | 406 | get { return _rotationalVelocity; } |
@@ -493,15 +515,14 @@ public class BSCharacter : BSPhysObject | |||
493 | _velocity = entprop.Velocity; | 515 | _velocity = entprop.Velocity; |
494 | _acceleration = entprop.Acceleration; | 516 | _acceleration = entprop.Acceleration; |
495 | _rotationalVelocity = entprop.RotationalVelocity; | 517 | _rotationalVelocity = entprop.RotationalVelocity; |
518 | // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. | ||
519 | PositionSanityCheck2(true); | ||
520 | |||
496 | // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. | 521 | // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. |
497 | // base.RequestPhysicsterseUpdate(); | 522 | // base.RequestPhysicsterseUpdate(); |
498 | 523 | ||
499 | // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. | 524 | DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", |
500 | PositionSanityCheck2(); | 525 | LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); |
501 | |||
502 | float heightHere = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug | ||
503 | DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}", | ||
504 | LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere); | ||
505 | } | 526 | } |
506 | } | 527 | } |
507 | } | 528 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e54bf75..e37a4a0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -267,6 +267,7 @@ public sealed class BSPrim : BSPhysObject | |||
267 | set { | 267 | set { |
268 | _position = value; | 268 | _position = value; |
269 | // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? | 269 | // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? |
270 | PositionSanityCheck(); | ||
270 | PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() | 271 | PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() |
271 | { | 272 | { |
272 | // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 273 | // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
@@ -275,6 +276,63 @@ public sealed class BSPrim : BSPhysObject | |||
275 | } | 276 | } |
276 | } | 277 | } |
277 | 278 | ||
279 | // Check that the current position is sane and, if not, modify the position to make it so. | ||
280 | // Check for being below terrain and being out of bounds. | ||
281 | // Returns 'true' of the position was made sane by some action. | ||
282 | private bool PositionSanityCheck() | ||
283 | { | ||
284 | bool ret = false; | ||
285 | |||
286 | // If totally below the ground, move the prim up | ||
287 | // TODO: figure out the right solution for this... only for dynamic objects? | ||
288 | /* | ||
289 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); | ||
290 | if (Position.Z < terrainHeight) | ||
291 | { | ||
292 | DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); | ||
293 | _position.Z = terrainHeight + 2.0f; | ||
294 | ret = true; | ||
295 | } | ||
296 | */ | ||
297 | if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) | ||
298 | { | ||
299 | float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); | ||
300 | if (Position.Z < waterHeight) | ||
301 | { | ||
302 | _position.Z = waterHeight; | ||
303 | ret = true; | ||
304 | } | ||
305 | } | ||
306 | |||
307 | // TODO: check for out of bounds | ||
308 | return ret; | ||
309 | } | ||
310 | |||
311 | // A version of the sanity check that also makes sure a new position value is | ||
312 | // pushed back to the physics engine. This routine would be used by anyone | ||
313 | // who is not already pushing the value. | ||
314 | private bool PositionSanityCheck2(bool atTaintTime) | ||
315 | { | ||
316 | bool ret = false; | ||
317 | if (PositionSanityCheck()) | ||
318 | { | ||
319 | // The new position value must be pushed into the physics engine but we can't | ||
320 | // just assign to "Position" because of potential call loops. | ||
321 | BSScene.TaintCallback sanityOperation = delegate() | ||
322 | { | ||
323 | DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); | ||
324 | BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); | ||
325 | }; | ||
326 | if (atTaintTime) | ||
327 | sanityOperation(); | ||
328 | else | ||
329 | PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation); | ||
330 | |||
331 | ret = true; | ||
332 | } | ||
333 | return ret; | ||
334 | } | ||
335 | |||
278 | // Return the effective mass of the object. | 336 | // Return the effective mass of the object. |
279 | // If there are multiple items in the linkset, add them together for the root | 337 | // If there are multiple items in the linkset, add them together for the root |
280 | public override float Mass | 338 | public override float Mass |
@@ -481,11 +539,10 @@ public sealed class BSPrim : BSPhysObject | |||
481 | // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). | 539 | // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). |
482 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); | 540 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); |
483 | 541 | ||
484 | |||
485 | // Set up the object physicalness (does gravity and collisions move this object) | 542 | // Set up the object physicalness (does gravity and collisions move this object) |
486 | MakeDynamic(IsStatic); | 543 | MakeDynamic(IsStatic); |
487 | 544 | ||
488 | // Do any vehicle stuff | 545 | // Update vehicle specific parameters |
489 | _vehicle.Refresh(); | 546 | _vehicle.Refresh(); |
490 | 547 | ||
491 | // Arrange for collision events if the simulator wants them | 548 | // Arrange for collision events if the simulator wants them |
@@ -556,7 +613,6 @@ public sealed class BSPrim : BSPhysObject | |||
556 | // A dynamic object has mass | 613 | // A dynamic object has mass |
557 | IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); | 614 | IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); |
558 | OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); | 615 | OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); |
559 | // OMV.Vector3 inertia = OMV.Vector3.Zero; | ||
560 | BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); | 616 | BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); |
561 | BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); | 617 | BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); |
562 | 618 | ||
@@ -566,7 +622,7 @@ public sealed class BSPrim : BSPhysObject | |||
566 | BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); | 622 | BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); |
567 | BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); | 623 | BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); |
568 | 624 | ||
569 | // There can be special things needed for implementing linksets. | 625 | // There might be special things needed for implementing linksets. |
570 | Linkset.MakeDynamic(this); | 626 | Linkset.MakeDynamic(this); |
571 | 627 | ||
572 | // Force activation of the object so Bullet will act on it. | 628 | // Force activation of the object so Bullet will act on it. |
@@ -656,7 +712,16 @@ public sealed class BSPrim : BSPhysObject | |||
656 | } | 712 | } |
657 | } | 713 | } |
658 | public override bool FloatOnWater { | 714 | public override bool FloatOnWater { |
659 | set { _floatOnWater = value; } | 715 | set { |
716 | _floatOnWater = value; | ||
717 | PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() | ||
718 | { | ||
719 | if (_floatOnWater) | ||
720 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); | ||
721 | else | ||
722 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); | ||
723 | }); | ||
724 | } | ||
660 | } | 725 | } |
661 | public override OMV.Vector3 RotationalVelocity { | 726 | public override OMV.Vector3 RotationalVelocity { |
662 | get { | 727 | get { |
@@ -1198,6 +1263,8 @@ public sealed class BSPrim : BSPhysObject | |||
1198 | _acceleration = entprop.Acceleration; | 1263 | _acceleration = entprop.Acceleration; |
1199 | _rotationalVelocity = entprop.RotationalVelocity; | 1264 | _rotationalVelocity = entprop.RotationalVelocity; |
1200 | 1265 | ||
1266 | PositionSanityCheck2(true); | ||
1267 | |||
1201 | DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", | 1268 | DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", |
1202 | LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); | 1269 | LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); |
1203 | 1270 | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 1125d7e..d49e5f3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -344,10 +344,7 @@ public enum CollisionFlags : uint | |||
344 | CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, | 344 | CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, |
345 | // Following used by BulletSim to control collisions | 345 | // Following used by BulletSim to control collisions |
346 | BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, | 346 | BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, |
347 | // BS_VOLUME_DETECT_OBJECT = 1 << 11, | 347 | BS_FLOATS_ON_WATER = 1 << 11, |
348 | // BS_PHANTOM_OBJECT = 1 << 12, | ||
349 | // BS_PHYSICAL_OBJECT = 1 << 13, | ||
350 | // BS_TERRAIN_OBJECT = 1 << 14, | ||
351 | BS_NONE = 0, | 348 | BS_NONE = 0, |
352 | BS_ALL = 0xFFFFFFFF, | 349 | BS_ALL = 0xFFFFFFFF, |
353 | 350 | ||
@@ -356,9 +353,6 @@ public enum CollisionFlags : uint | |||
356 | BS_ACTIVE = CF_STATIC_OBJECT | 353 | BS_ACTIVE = CF_STATIC_OBJECT |
357 | | CF_KINEMATIC_OBJECT | 354 | | CF_KINEMATIC_OBJECT |
358 | | CF_NO_CONTACT_RESPONSE | 355 | | CF_NO_CONTACT_RESPONSE |
359 | // | BS_VOLUME_DETECT_OBJECT | ||
360 | // | BS_PHANTOM_OBJECT | ||
361 | // | BS_PHYSICAL_OBJECT, | ||
362 | }; | 356 | }; |
363 | 357 | ||
364 | // Values for collisions groups and masks | 358 | // Values for collisions groups and masks |