diff options
author | Robert Adams | 2012-10-21 16:12:06 -0700 |
---|---|---|
committer | Robert Adams | 2012-10-22 22:24:30 -0700 |
commit | a61f20ac74836049cbd24397670c2dcd75fb22da (patch) | |
tree | 5a93b9f5437189f871f8e56223239316bcec21bd /OpenSim/Region | |
parent | Make it possible to turn the base UDP object packet pools on and off whilst r... (diff) | |
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BulletSim: Create LinkSet abstract class and sparate constraint based linksets into own subclass. Will eventually add manual movement linkset subclass.
Diffstat (limited to 'OpenSim/Region')
3 files changed, 434 insertions, 319 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 43b1262..2e6b104 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | |||
@@ -32,10 +32,27 @@ using OMV = OpenMetaverse; | |||
32 | 32 | ||
33 | namespace OpenSim.Region.Physics.BulletSPlugin | 33 | namespace OpenSim.Region.Physics.BulletSPlugin |
34 | { | 34 | { |
35 | public class BSLinkset | 35 | public abstract class BSLinkset |
36 | { | 36 | { |
37 | // private static string LogHeader = "[BULLETSIM LINKSET]"; | 37 | // private static string LogHeader = "[BULLETSIM LINKSET]"; |
38 | 38 | ||
39 | // Create the correct type of linkset for this child | ||
40 | public static BSLinkset Factory(BSScene physScene, BSPhysObject parent) | ||
41 | { | ||
42 | BSLinkset ret = null; | ||
43 | /* | ||
44 | if (parent.IsPhysical) | ||
45 | ret = new BSLinksetConstraints(physScene, parent); | ||
46 | else | ||
47 | ret = new BSLinksetManual(physScene, parent); | ||
48 | */ | ||
49 | |||
50 | // at the moment, there is only one | ||
51 | ret = new BSLinksetConstraints(physScene, parent); | ||
52 | |||
53 | return ret; | ||
54 | } | ||
55 | |||
39 | public BSPhysObject LinksetRoot { get; protected set; } | 56 | public BSPhysObject LinksetRoot { get; protected set; } |
40 | 57 | ||
41 | public BSScene PhysicsScene { get; private set; } | 58 | public BSScene PhysicsScene { get; private set; } |
@@ -52,16 +69,16 @@ public class BSLinkset | |||
52 | // the physical 'taint' children separately. | 69 | // the physical 'taint' children separately. |
53 | // After taint processing and before the simulation step, these | 70 | // After taint processing and before the simulation step, these |
54 | // two lists must be the same. | 71 | // two lists must be the same. |
55 | private HashSet<BSPhysObject> m_children; | 72 | protected HashSet<BSPhysObject> m_children; |
56 | private HashSet<BSPhysObject> m_taintChildren; | 73 | protected HashSet<BSPhysObject> m_taintChildren; |
57 | 74 | ||
58 | // We lock the diddling of linkset classes to prevent any badness. | 75 | // We lock the diddling of linkset classes to prevent any badness. |
59 | // This locks the modification of the instances of this class. Changes | 76 | // This locks the modification of the instances of this class. Changes |
60 | // to the physical representation is done via the tainting mechenism. | 77 | // to the physical representation is done via the tainting mechenism. |
61 | private object m_linksetActivityLock = new Object(); | 78 | protected object m_linksetActivityLock = new Object(); |
62 | 79 | ||
63 | // We keep the prim's mass in the linkset structure since it could be dependent on other prims | 80 | // We keep the prim's mass in the linkset structure since it could be dependent on other prims |
64 | private float m_mass; | 81 | protected float m_mass; |
65 | public float LinksetMass | 82 | public float LinksetMass |
66 | { | 83 | { |
67 | get | 84 | get |
@@ -81,7 +98,7 @@ public class BSLinkset | |||
81 | get { return ComputeLinksetGeometricCenter(); } | 98 | get { return ComputeLinksetGeometricCenter(); } |
82 | } | 99 | } |
83 | 100 | ||
84 | public BSLinkset(BSScene scene, BSPhysObject parent) | 101 | protected void Initialize(BSScene scene, BSPhysObject parent) |
85 | { | 102 | { |
86 | // A simple linkset of one (no children) | 103 | // A simple linkset of one (no children) |
87 | LinksetID = m_nextLinksetID++; | 104 | LinksetID = m_nextLinksetID++; |
@@ -128,7 +145,7 @@ public class BSLinkset | |||
128 | } | 145 | } |
129 | 146 | ||
130 | // The child is down to a linkset of just itself | 147 | // The child is down to a linkset of just itself |
131 | return new BSLinkset(PhysicsScene, child); | 148 | return BSLinkset.Factory(PhysicsScene, child); |
132 | } | 149 | } |
133 | 150 | ||
134 | // Return 'true' if the passed object is the root object of this linkset | 151 | // Return 'true' if the passed object is the root object of this linkset |
@@ -163,24 +180,7 @@ public class BSLinkset | |||
163 | // When physical properties are changed the linkset needs to recalculate | 180 | // When physical properties are changed the linkset needs to recalculate |
164 | // its internal properties. | 181 | // its internal properties. |
165 | // May be called at runtime or taint-time (just pass the appropriate flag). | 182 | // May be called at runtime or taint-time (just pass the appropriate flag). |
166 | public void Refresh(BSPhysObject requestor, bool inTaintTime) | 183 | public abstract void Refresh(BSPhysObject requestor, bool inTaintTime); |
167 | { | ||
168 | // If there are no children, not physical or not root, I am not the one that recomputes the constraints | ||
169 | // (For the moment, static linksets do create constraints so remove the test for physical.) | ||
170 | if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor)) | ||
171 | return; | ||
172 | |||
173 | BSScene.TaintCallback refreshOperation = delegate() | ||
174 | { | ||
175 | RecomputeLinksetConstraintVariables(); | ||
176 | DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", | ||
177 | LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); | ||
178 | }; | ||
179 | if (inTaintTime) | ||
180 | refreshOperation(); | ||
181 | else | ||
182 | PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation); | ||
183 | } | ||
184 | 184 | ||
185 | // The object is going dynamic (physical). Do any setup necessary | 185 | // The object is going dynamic (physical). Do any setup necessary |
186 | // for a dynamic linkset. | 186 | // for a dynamic linkset. |
@@ -188,102 +188,36 @@ public class BSLinkset | |||
188 | // has not yet been fully constructed. | 188 | // has not yet been fully constructed. |
189 | // Return 'true' if any properties updated on the passed object. | 189 | // Return 'true' if any properties updated on the passed object. |
190 | // Called at taint-time! | 190 | // Called at taint-time! |
191 | public bool MakeDynamic(BSPhysObject child) | 191 | public abstract bool MakeDynamic(BSPhysObject child); |
192 | { | ||
193 | // What is done for each object in BSPrim is what we want. | ||
194 | return false; | ||
195 | } | ||
196 | 192 | ||
197 | // The object is going static (non-physical). Do any setup necessary | 193 | // The object is going static (non-physical). Do any setup necessary |
198 | // for a static linkset. | 194 | // for a static linkset. |
199 | // Return 'true' if any properties updated on the passed object. | 195 | // Return 'true' if any properties updated on the passed object. |
200 | // Called at taint-time! | 196 | // Called at taint-time! |
201 | public bool MakeStatic(BSPhysObject child) | 197 | public abstract bool MakeStatic(BSPhysObject child); |
202 | { | ||
203 | // What is done for each object in BSPrim is what we want. | ||
204 | return false; | ||
205 | } | ||
206 | 198 | ||
207 | // If the software is handling the movement of all the objects in a linkset | 199 | // If the software is handling the movement of all the objects in a linkset |
208 | // (like if one doesn't use constraints for static linksets), this is called | 200 | // (like if one doesn't use constraints for static linksets), this is called |
209 | // when an update for the root of the linkset is received. | 201 | // when an update for the root of the linkset is received. |
210 | // Called at taint-time!! | 202 | // Called at taint-time!! |
211 | public void UpdateProperties(BSPhysObject physObject) | 203 | public abstract void UpdateProperties(BSPhysObject physObject); |
212 | { | ||
213 | // The root local properties have been updated. Apply to the children if appropriate. | ||
214 | if (IsRoot(physObject) && HasAnyChildren) | ||
215 | { | ||
216 | if (!physObject.IsPhysical) | ||
217 | { | ||
218 | // TODO: implement software linkset update for static object linksets | ||
219 | } | ||
220 | } | ||
221 | } | ||
222 | 204 | ||
223 | // Routine used when rebuilding the body of the root of the linkset | 205 | // Routine used when rebuilding the body of the root of the linkset |
224 | // Destroy all the constraints have have been made to root. | 206 | // Destroy all the constraints have have been made to root. |
225 | // This is called when the root body is changing. | 207 | // This is called when the root body is changing. |
226 | // Returns 'true' of something eas actually removed and would need restoring | 208 | // Returns 'true' of something eas actually removed and would need restoring |
227 | // Called at taint-time!! | 209 | // Called at taint-time!! |
228 | public bool RemoveBodyDependencies(BSPrim child) | 210 | public abstract bool RemoveBodyDependencies(BSPrim child); |
229 | { | ||
230 | bool ret = false; | ||
231 | |||
232 | lock (m_linksetActivityLock) | ||
233 | { | ||
234 | if (IsRoot(child)) | ||
235 | { | ||
236 | // If the one with the dependency is root, must undo all children | ||
237 | DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", | ||
238 | child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); | ||
239 | |||
240 | ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); | ||
241 | } | ||
242 | else | ||
243 | { | ||
244 | DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}", | ||
245 | child.LocalID, | ||
246 | LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), | ||
247 | child.LocalID, child.BSBody.ptr.ToString("X")); | ||
248 | // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child); | ||
249 | // Despite the function name, this removes any link to the specified object. | ||
250 | ret = PhysicallyUnlinkAllChildrenFromRoot(child); | ||
251 | } | ||
252 | } | ||
253 | return ret; | ||
254 | } | ||
255 | 211 | ||
256 | // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', | 212 | // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', |
257 | // this routine will restore the removed constraints. | 213 | // this routine will restore the removed constraints. |
258 | // Called at taint-time!! | 214 | // Called at taint-time!! |
259 | public void RestoreBodyDependencies(BSPrim child) | 215 | public abstract void RestoreBodyDependencies(BSPrim child); |
260 | { | ||
261 | lock (m_linksetActivityLock) | ||
262 | { | ||
263 | if (IsRoot(child)) | ||
264 | { | ||
265 | DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}", | ||
266 | child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); | ||
267 | foreach (BSPhysObject bpo in m_taintChildren) | ||
268 | { | ||
269 | PhysicallyLinkAChildToRoot(LinksetRoot, bpo); | ||
270 | } | ||
271 | } | ||
272 | else | ||
273 | { | ||
274 | DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}", | ||
275 | LinksetRoot.LocalID, | ||
276 | LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), | ||
277 | child.LocalID, child.BSBody.ptr.ToString("X")); | ||
278 | PhysicallyLinkAChildToRoot(LinksetRoot, child); | ||
279 | } | ||
280 | } | ||
281 | } | ||
282 | 216 | ||
283 | // ================================================================ | 217 | // ================================================================ |
284 | // Below this point is internal magic | 218 | // Below this point is internal magic |
285 | 219 | ||
286 | private float ComputeLinksetMass() | 220 | protected virtual float ComputeLinksetMass() |
287 | { | 221 | { |
288 | float mass; | 222 | float mass; |
289 | lock (m_linksetActivityLock) | 223 | lock (m_linksetActivityLock) |
@@ -297,7 +231,7 @@ public class BSLinkset | |||
297 | return mass; | 231 | return mass; |
298 | } | 232 | } |
299 | 233 | ||
300 | private OMV.Vector3 ComputeLinksetCenterOfMass() | 234 | protected virtual OMV.Vector3 ComputeLinksetCenterOfMass() |
301 | { | 235 | { |
302 | OMV.Vector3 com; | 236 | OMV.Vector3 com; |
303 | lock (m_linksetActivityLock) | 237 | lock (m_linksetActivityLock) |
@@ -317,7 +251,7 @@ public class BSLinkset | |||
317 | return com; | 251 | return com; |
318 | } | 252 | } |
319 | 253 | ||
320 | private OMV.Vector3 ComputeLinksetGeometricCenter() | 254 | protected virtual OMV.Vector3 ComputeLinksetGeometricCenter() |
321 | { | 255 | { |
322 | OMV.Vector3 com; | 256 | OMV.Vector3 com; |
323 | lock (m_linksetActivityLock) | 257 | lock (m_linksetActivityLock) |
@@ -336,236 +270,21 @@ public class BSLinkset | |||
336 | 270 | ||
337 | // I am the root of a linkset and a new child is being added | 271 | // I am the root of a linkset and a new child is being added |
338 | // Called while LinkActivity is locked. | 272 | // Called while LinkActivity is locked. |
339 | private void AddChildToLinkset(BSPhysObject child) | 273 | protected abstract void AddChildToLinkset(BSPhysObject child); |
340 | { | ||
341 | if (!HasChild(child)) | ||
342 | { | ||
343 | m_children.Add(child); | ||
344 | |||
345 | BSPhysObject rootx = LinksetRoot; // capture the root as of now | ||
346 | BSPhysObject childx = child; | ||
347 | |||
348 | DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); | ||
349 | |||
350 | PhysicsScene.TaintedObject("AddChildToLinkset", delegate() | ||
351 | { | ||
352 | DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", | ||
353 | rootx.LocalID, | ||
354 | rootx.LocalID, rootx.BSBody.ptr.ToString("X"), | ||
355 | childx.LocalID, childx.BSBody.ptr.ToString("X")); | ||
356 | // Since this is taint-time, the body and shape could have changed for the child | ||
357 | rootx.ForcePosition = rootx.Position; // DEBUG | ||
358 | childx.ForcePosition = childx.Position; // DEBUG | ||
359 | PhysicallyLinkAChildToRoot(rootx, childx); | ||
360 | m_taintChildren.Add(child); | ||
361 | }); | ||
362 | } | ||
363 | return; | ||
364 | } | ||
365 | 274 | ||
366 | // Forcefully removing a child from a linkset. | 275 | // Forcefully removing a child from a linkset. |
367 | // This is not being called by the child so we have to make sure the child doesn't think | 276 | // This is not being called by the child so we have to make sure the child doesn't think |
368 | // it's still connected to the linkset. | 277 | // it's still connected to the linkset. |
369 | // Normal OpenSimulator operation will never do this because other SceneObjectPart information | 278 | // Normal OpenSimulator operation will never do this because other SceneObjectPart information |
370 | // also has to be updated (like pointer to prim's parent). | 279 | // also has to be updated (like pointer to prim's parent). |
371 | private void RemoveChildFromOtherLinkset(BSPhysObject pchild) | 280 | protected abstract void RemoveChildFromOtherLinkset(BSPhysObject pchild); |
372 | { | ||
373 | pchild.Linkset = new BSLinkset(PhysicsScene, pchild); | ||
374 | RemoveChildFromLinkset(pchild); | ||
375 | } | ||
376 | 281 | ||
377 | // I am the root of a linkset and one of my children is being removed. | 282 | // I am the root of a linkset and one of my children is being removed. |
378 | // Safe to call even if the child is not really in my linkset. | 283 | // Safe to call even if the child is not really in my linkset. |
379 | private void RemoveChildFromLinkset(BSPhysObject child) | 284 | protected abstract void RemoveChildFromLinkset(BSPhysObject child); |
380 | { | ||
381 | if (m_children.Remove(child)) | ||
382 | { | ||
383 | BSPhysObject rootx = LinksetRoot; // capture the root and body as of now | ||
384 | BSPhysObject childx = child; | ||
385 | |||
386 | DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", | ||
387 | childx.LocalID, | ||
388 | rootx.LocalID, rootx.BSBody.ptr.ToString("X"), | ||
389 | childx.LocalID, childx.BSBody.ptr.ToString("X")); | ||
390 | |||
391 | PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() | ||
392 | { | ||
393 | m_taintChildren.Remove(child); | ||
394 | PhysicallyUnlinkAChildFromRoot(rootx, childx); | ||
395 | RecomputeLinksetConstraintVariables(); | ||
396 | }); | ||
397 | |||
398 | } | ||
399 | else | ||
400 | { | ||
401 | // This will happen if we remove the root of the linkset first. Non-fatal occurance. | ||
402 | // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); | ||
403 | } | ||
404 | return; | ||
405 | } | ||
406 | |||
407 | // Create a constraint between me (root of linkset) and the passed prim (the child). | ||
408 | // Called at taint time! | ||
409 | private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) | ||
410 | { | ||
411 | // Zero motion for children so they don't interpolate | ||
412 | childPrim.ZeroMotion(); | ||
413 | |||
414 | // Relative position normalized to the root prim | ||
415 | // Essentually a vector pointing from center of rootPrim to center of childPrim | ||
416 | OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position; | ||
417 | |||
418 | // real world coordinate of midpoint between the two objects | ||
419 | OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); | ||
420 | |||
421 | DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", | ||
422 | rootPrim.LocalID, | ||
423 | rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), | ||
424 | childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"), | ||
425 | rootPrim.Position, childPrim.Position, midPoint); | ||
426 | |||
427 | // create a constraint that allows no freedom of movement between the two objects | ||
428 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 | ||
429 | |||
430 | BS6DofConstraint constrain = new BS6DofConstraint( | ||
431 | PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true ); | ||
432 | |||
433 | /* NOTE: below is an attempt to build constraint with full frame computation, etc. | ||
434 | * Using the midpoint is easier since it lets the Bullet code manipulate the transforms | ||
435 | * of the objects. | ||
436 | * Code left as a warning to future programmers. | ||
437 | // ================================================================================== | ||
438 | // relative position normalized to the root prim | ||
439 | OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); | ||
440 | OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation; | ||
441 | |||
442 | // relative rotation of the child to the parent | ||
443 | OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; | ||
444 | OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation); | ||
445 | |||
446 | // create a constraint that allows no freedom of movement between the two objects | ||
447 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 | ||
448 | DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); | ||
449 | BS6DofConstraint constrain = new BS6DofConstraint( | ||
450 | PhysicsScene.World, rootPrim.Body, childPrim.Body, | ||
451 | OMV.Vector3.Zero, | ||
452 | OMV.Quaternion.Inverse(rootPrim.Orientation), | ||
453 | OMV.Vector3.Zero, | ||
454 | OMV.Quaternion.Inverse(childPrim.Orientation), | ||
455 | // A point half way between the parent and child | ||
456 | // childRelativePosition/2, | ||
457 | // childRelativeRotation, | ||
458 | // childRelativePosition/2, | ||
459 | // inverseChildRelativeRotation, | ||
460 | true, | ||
461 | true | ||
462 | ); | ||
463 | // ================================================================================== | ||
464 | */ | ||
465 | |||
466 | PhysicsScene.Constraints.AddConstraint(constrain); | ||
467 | |||
468 | // zero linear and angular limits makes the objects unable to move in relation to each other | ||
469 | constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | ||
470 | constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | ||
471 | |||
472 | // tweek the constraint to increase stability | ||
473 | constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset)); | ||
474 | constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor), | ||
475 | PhysicsScene.Params.linkConstraintTransMotorMaxVel, | ||
476 | PhysicsScene.Params.linkConstraintTransMotorMaxForce); | ||
477 | constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); | ||
478 | if (PhysicsScene.Params.linkConstraintSolverIterations != 0f) | ||
479 | { | ||
480 | constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations); | ||
481 | } | ||
482 | } | ||
483 | |||
484 | // Remove linkage between myself and a particular child | ||
485 | // The root and child bodies are passed in because we need to remove the constraint between | ||
486 | // the bodies that were at unlink time. | ||
487 | // Called at taint time! | ||
488 | private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) | ||
489 | { | ||
490 | bool ret = false; | ||
491 | DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", | ||
492 | rootPrim.LocalID, | ||
493 | rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), | ||
494 | childPrim.LocalID, childPrim.BSBody.ptr.ToString("X")); | ||
495 | |||
496 | // Find the constraint for this link and get rid of it from the overall collection and from my list | ||
497 | if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody)) | ||
498 | { | ||
499 | // Make the child refresh its location | ||
500 | BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); | ||
501 | ret = true; | ||
502 | } | ||
503 | |||
504 | return ret; | ||
505 | } | ||
506 | |||
507 | // Remove linkage between myself and any possible children I might have. | ||
508 | // Called at taint time! | ||
509 | private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) | ||
510 | { | ||
511 | DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); | ||
512 | bool ret = false; | ||
513 | |||
514 | if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody)) | ||
515 | { | ||
516 | ret = true; | ||
517 | } | ||
518 | return ret; | ||
519 | } | ||
520 | |||
521 | // Call each of the constraints that make up this linkset and recompute the | ||
522 | // various transforms and variables. Used when objects are added or removed | ||
523 | // from a linkset to make sure the constraints know about the new mass and | ||
524 | // geometry. | ||
525 | // Must only be called at taint time!! | ||
526 | private void RecomputeLinksetConstraintVariables() | ||
527 | { | ||
528 | float linksetMass = LinksetMass; | ||
529 | foreach (BSPhysObject child in m_taintChildren) | ||
530 | { | ||
531 | BSConstraint constrain; | ||
532 | if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) | ||
533 | { | ||
534 | // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", | ||
535 | // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); | ||
536 | constrain.RecomputeConstraintVariables(linksetMass); | ||
537 | } | ||
538 | else | ||
539 | { | ||
540 | // Non-fatal error that happens when children are being added to the linkset but | ||
541 | // their constraints have not been created yet. | ||
542 | break; | ||
543 | } | ||
544 | } | ||
545 | |||
546 | // If the whole linkset is not here, doesn't make sense to recompute linkset wide values | ||
547 | if (m_children.Count == m_taintChildren.Count) | ||
548 | { | ||
549 | // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass | ||
550 | OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); | ||
551 | BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, | ||
552 | centerOfMass, OMV.Quaternion.Identity); | ||
553 | DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}", | ||
554 | LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X")); | ||
555 | foreach (BSPhysObject child in m_taintChildren) | ||
556 | { | ||
557 | BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, | ||
558 | centerOfMass, OMV.Quaternion.Identity); | ||
559 | } | ||
560 | |||
561 | // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG | ||
562 | } | ||
563 | return; | ||
564 | } | ||
565 | |||
566 | 285 | ||
567 | // Invoke the detailed logger and output something if it's enabled. | 286 | // Invoke the detailed logger and output something if it's enabled. |
568 | private void DetailLog(string msg, params Object[] args) | 287 | protected void DetailLog(string msg, params Object[] args) |
569 | { | 288 | { |
570 | if (PhysicsScene.PhysicsLogging.Enabled) | 289 | if (PhysicsScene.PhysicsLogging.Enabled) |
571 | PhysicsScene.DetailLog(msg, args); | 290 | PhysicsScene.DetailLog(msg, args); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs new file mode 100755 index 0000000..ee53d92 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs | |||
@@ -0,0 +1,396 @@ | |||
1 | /* | ||
2 | * Copyright (c) Contributors, http://opensimulator.org/ | ||
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | ||
4 | * | ||
5 | * Redistribution and use in source and binary forms, with or without | ||
6 | * modification, are permitted provided that the following conditions are met: | ||
7 | * * Redistributions of source code must retain the above copyright | ||
8 | * notice, this list of conditions and the following disclaimer. | ||
9 | * * Redistributions in binary form must reproduce the above copyrightD | ||
10 | * notice, this list of conditions and the following disclaimer in the | ||
11 | * documentation and/or other materials provided with the distribution. | ||
12 | * * Neither the name of the OpenSimulator Project nor the | ||
13 | * names of its contributors may be used to endorse or promote products | ||
14 | * derived from this software without specific prior written permission. | ||
15 | * | ||
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | ||
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | ||
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | ||
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | ||
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | ||
23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | ||
25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | ||
26 | */ | ||
27 | using System; | ||
28 | using System.Collections.Generic; | ||
29 | using System.Text; | ||
30 | |||
31 | using OMV = OpenMetaverse; | ||
32 | |||
33 | namespace OpenSim.Region.Physics.BulletSPlugin | ||
34 | { | ||
35 | public class BSLinksetConstraints : BSLinkset | ||
36 | { | ||
37 | // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; | ||
38 | |||
39 | public BSLinksetConstraints(BSScene scene, BSPhysObject parent) | ||
40 | { | ||
41 | base.Initialize(scene, parent); | ||
42 | } | ||
43 | |||
44 | // When physical properties are changed the linkset needs to recalculate | ||
45 | // its internal properties. | ||
46 | // May be called at runtime or taint-time (just pass the appropriate flag). | ||
47 | public override void Refresh(BSPhysObject requestor, bool inTaintTime) | ||
48 | { | ||
49 | // If there are no children, not physical or not root, I am not the one that recomputes the constraints | ||
50 | // (For the moment, static linksets do create constraints so remove the test for physical.) | ||
51 | if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor)) | ||
52 | return; | ||
53 | |||
54 | BSScene.TaintCallback refreshOperation = delegate() | ||
55 | { | ||
56 | RecomputeLinksetConstraintVariables(); | ||
57 | DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", | ||
58 | LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); | ||
59 | }; | ||
60 | if (inTaintTime) | ||
61 | refreshOperation(); | ||
62 | else | ||
63 | PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation); | ||
64 | } | ||
65 | |||
66 | // The object is going dynamic (physical). Do any setup necessary | ||
67 | // for a dynamic linkset. | ||
68 | // Only the state of the passed object can be modified. The rest of the linkset | ||
69 | // has not yet been fully constructed. | ||
70 | // Return 'true' if any properties updated on the passed object. | ||
71 | // Called at taint-time! | ||
72 | public override bool MakeDynamic(BSPhysObject child) | ||
73 | { | ||
74 | // What is done for each object in BSPrim is what we want. | ||
75 | return false; | ||
76 | } | ||
77 | |||
78 | // The object is going static (non-physical). Do any setup necessary | ||
79 | // for a static linkset. | ||
80 | // Return 'true' if any properties updated on the passed object. | ||
81 | // Called at taint-time! | ||
82 | public override bool MakeStatic(BSPhysObject child) | ||
83 | { | ||
84 | // What is done for each object in BSPrim is what we want. | ||
85 | return false; | ||
86 | } | ||
87 | |||
88 | // If the software is handling the movement of all the objects in a linkset | ||
89 | // (like if one doesn't use constraints for static linksets), this is called | ||
90 | // when an update for the root of the linkset is received. | ||
91 | // Called at taint-time!! | ||
92 | public override void UpdateProperties(BSPhysObject physObject) | ||
93 | { | ||
94 | // The root local properties have been updated. Apply to the children if appropriate. | ||
95 | if (IsRoot(physObject) && HasAnyChildren) | ||
96 | { | ||
97 | if (!physObject.IsPhysical) | ||
98 | { | ||
99 | // TODO: implement software linkset update for static object linksets | ||
100 | } | ||
101 | } | ||
102 | } | ||
103 | |||
104 | // Routine used when rebuilding the body of the root of the linkset | ||
105 | // Destroy all the constraints have have been made to root. | ||
106 | // This is called when the root body is changing. | ||
107 | // Returns 'true' of something eas actually removed and would need restoring | ||
108 | // Called at taint-time!! | ||
109 | public override bool RemoveBodyDependencies(BSPrim child) | ||
110 | { | ||
111 | bool ret = false; | ||
112 | |||
113 | lock (m_linksetActivityLock) | ||
114 | { | ||
115 | if (IsRoot(child)) | ||
116 | { | ||
117 | // If the one with the dependency is root, must undo all children | ||
118 | DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", | ||
119 | child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); | ||
120 | |||
121 | ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); | ||
122 | } | ||
123 | else | ||
124 | { | ||
125 | DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}", | ||
126 | child.LocalID, | ||
127 | LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), | ||
128 | child.LocalID, child.BSBody.ptr.ToString("X")); | ||
129 | // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child); | ||
130 | // Despite the function name, this removes any link to the specified object. | ||
131 | ret = PhysicallyUnlinkAllChildrenFromRoot(child); | ||
132 | } | ||
133 | } | ||
134 | return ret; | ||
135 | } | ||
136 | |||
137 | // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', | ||
138 | // this routine will restore the removed constraints. | ||
139 | // Called at taint-time!! | ||
140 | public override void RestoreBodyDependencies(BSPrim child) | ||
141 | { | ||
142 | lock (m_linksetActivityLock) | ||
143 | { | ||
144 | if (IsRoot(child)) | ||
145 | { | ||
146 | DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}", | ||
147 | child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); | ||
148 | foreach (BSPhysObject bpo in m_taintChildren) | ||
149 | { | ||
150 | PhysicallyLinkAChildToRoot(LinksetRoot, bpo); | ||
151 | } | ||
152 | } | ||
153 | else | ||
154 | { | ||
155 | DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}", | ||
156 | LinksetRoot.LocalID, | ||
157 | LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), | ||
158 | child.LocalID, child.BSBody.ptr.ToString("X")); | ||
159 | PhysicallyLinkAChildToRoot(LinksetRoot, child); | ||
160 | } | ||
161 | } | ||
162 | } | ||
163 | |||
164 | // ================================================================ | ||
165 | // Below this point is internal magic | ||
166 | |||
167 | // I am the root of a linkset and a new child is being added | ||
168 | // Called while LinkActivity is locked. | ||
169 | protected override void AddChildToLinkset(BSPhysObject child) | ||
170 | { | ||
171 | if (!HasChild(child)) | ||
172 | { | ||
173 | m_children.Add(child); | ||
174 | |||
175 | BSPhysObject rootx = LinksetRoot; // capture the root as of now | ||
176 | BSPhysObject childx = child; | ||
177 | |||
178 | DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); | ||
179 | |||
180 | PhysicsScene.TaintedObject("AddChildToLinkset", delegate() | ||
181 | { | ||
182 | DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", | ||
183 | rootx.LocalID, | ||
184 | rootx.LocalID, rootx.BSBody.ptr.ToString("X"), | ||
185 | childx.LocalID, childx.BSBody.ptr.ToString("X")); | ||
186 | // Since this is taint-time, the body and shape could have changed for the child | ||
187 | rootx.ForcePosition = rootx.Position; // DEBUG | ||
188 | childx.ForcePosition = childx.Position; // DEBUG | ||
189 | PhysicallyLinkAChildToRoot(rootx, childx); | ||
190 | m_taintChildren.Add(child); | ||
191 | }); | ||
192 | } | ||
193 | return; | ||
194 | } | ||
195 | |||
196 | // Forcefully removing a child from a linkset. | ||
197 | // This is not being called by the child so we have to make sure the child doesn't think | ||
198 | // it's still connected to the linkset. | ||
199 | // Normal OpenSimulator operation will never do this because other SceneObjectPart information | ||
200 | // also has to be updated (like pointer to prim's parent). | ||
201 | protected override void RemoveChildFromOtherLinkset(BSPhysObject pchild) | ||
202 | { | ||
203 | pchild.Linkset = BSLinkset.Factory(PhysicsScene, pchild); | ||
204 | RemoveChildFromLinkset(pchild); | ||
205 | } | ||
206 | |||
207 | // I am the root of a linkset and one of my children is being removed. | ||
208 | // Safe to call even if the child is not really in my linkset. | ||
209 | protected override void RemoveChildFromLinkset(BSPhysObject child) | ||
210 | { | ||
211 | if (m_children.Remove(child)) | ||
212 | { | ||
213 | BSPhysObject rootx = LinksetRoot; // capture the root and body as of now | ||
214 | BSPhysObject childx = child; | ||
215 | |||
216 | DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", | ||
217 | childx.LocalID, | ||
218 | rootx.LocalID, rootx.BSBody.ptr.ToString("X"), | ||
219 | childx.LocalID, childx.BSBody.ptr.ToString("X")); | ||
220 | |||
221 | PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() | ||
222 | { | ||
223 | m_taintChildren.Remove(child); | ||
224 | PhysicallyUnlinkAChildFromRoot(rootx, childx); | ||
225 | RecomputeLinksetConstraintVariables(); | ||
226 | }); | ||
227 | |||
228 | } | ||
229 | else | ||
230 | { | ||
231 | // This will happen if we remove the root of the linkset first. Non-fatal occurance. | ||
232 | // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); | ||
233 | } | ||
234 | return; | ||
235 | } | ||
236 | |||
237 | // Create a constraint between me (root of linkset) and the passed prim (the child). | ||
238 | // Called at taint time! | ||
239 | private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) | ||
240 | { | ||
241 | // Zero motion for children so they don't interpolate | ||
242 | childPrim.ZeroMotion(); | ||
243 | |||
244 | // Relative position normalized to the root prim | ||
245 | // Essentually a vector pointing from center of rootPrim to center of childPrim | ||
246 | OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position; | ||
247 | |||
248 | // real world coordinate of midpoint between the two objects | ||
249 | OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); | ||
250 | |||
251 | DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", | ||
252 | rootPrim.LocalID, | ||
253 | rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), | ||
254 | childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"), | ||
255 | rootPrim.Position, childPrim.Position, midPoint); | ||
256 | |||
257 | // create a constraint that allows no freedom of movement between the two objects | ||
258 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 | ||
259 | |||
260 | BS6DofConstraint constrain = new BS6DofConstraint( | ||
261 | PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true ); | ||
262 | |||
263 | /* NOTE: below is an attempt to build constraint with full frame computation, etc. | ||
264 | * Using the midpoint is easier since it lets the Bullet code manipulate the transforms | ||
265 | * of the objects. | ||
266 | * Code left as a warning to future programmers. | ||
267 | // ================================================================================== | ||
268 | // relative position normalized to the root prim | ||
269 | OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); | ||
270 | OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation; | ||
271 | |||
272 | // relative rotation of the child to the parent | ||
273 | OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; | ||
274 | OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation); | ||
275 | |||
276 | // create a constraint that allows no freedom of movement between the two objects | ||
277 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 | ||
278 | DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); | ||
279 | BS6DofConstraint constrain = new BS6DofConstraint( | ||
280 | PhysicsScene.World, rootPrim.Body, childPrim.Body, | ||
281 | OMV.Vector3.Zero, | ||
282 | OMV.Quaternion.Inverse(rootPrim.Orientation), | ||
283 | OMV.Vector3.Zero, | ||
284 | OMV.Quaternion.Inverse(childPrim.Orientation), | ||
285 | // A point half way between the parent and child | ||
286 | // childRelativePosition/2, | ||
287 | // childRelativeRotation, | ||
288 | // childRelativePosition/2, | ||
289 | // inverseChildRelativeRotation, | ||
290 | true, | ||
291 | true | ||
292 | ); | ||
293 | // ================================================================================== | ||
294 | */ | ||
295 | |||
296 | PhysicsScene.Constraints.AddConstraint(constrain); | ||
297 | |||
298 | // zero linear and angular limits makes the objects unable to move in relation to each other | ||
299 | constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | ||
300 | constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | ||
301 | |||
302 | // tweek the constraint to increase stability | ||
303 | constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset)); | ||
304 | constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor), | ||
305 | PhysicsScene.Params.linkConstraintTransMotorMaxVel, | ||
306 | PhysicsScene.Params.linkConstraintTransMotorMaxForce); | ||
307 | constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); | ||
308 | if (PhysicsScene.Params.linkConstraintSolverIterations != 0f) | ||
309 | { | ||
310 | constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations); | ||
311 | } | ||
312 | } | ||
313 | |||
314 | // Remove linkage between myself and a particular child | ||
315 | // The root and child bodies are passed in because we need to remove the constraint between | ||
316 | // the bodies that were at unlink time. | ||
317 | // Called at taint time! | ||
318 | private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) | ||
319 | { | ||
320 | bool ret = false; | ||
321 | DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", | ||
322 | rootPrim.LocalID, | ||
323 | rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), | ||
324 | childPrim.LocalID, childPrim.BSBody.ptr.ToString("X")); | ||
325 | |||
326 | // Find the constraint for this link and get rid of it from the overall collection and from my list | ||
327 | if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody)) | ||
328 | { | ||
329 | // Make the child refresh its location | ||
330 | BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); | ||
331 | ret = true; | ||
332 | } | ||
333 | |||
334 | return ret; | ||
335 | } | ||
336 | |||
337 | // Remove linkage between myself and any possible children I might have. | ||
338 | // Called at taint time! | ||
339 | private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) | ||
340 | { | ||
341 | DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); | ||
342 | bool ret = false; | ||
343 | |||
344 | if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody)) | ||
345 | { | ||
346 | ret = true; | ||
347 | } | ||
348 | return ret; | ||
349 | } | ||
350 | |||
351 | // Call each of the constraints that make up this linkset and recompute the | ||
352 | // various transforms and variables. Used when objects are added or removed | ||
353 | // from a linkset to make sure the constraints know about the new mass and | ||
354 | // geometry. | ||
355 | // Must only be called at taint time!! | ||
356 | private void RecomputeLinksetConstraintVariables() | ||
357 | { | ||
358 | float linksetMass = LinksetMass; | ||
359 | foreach (BSPhysObject child in m_taintChildren) | ||
360 | { | ||
361 | BSConstraint constrain; | ||
362 | if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) | ||
363 | { | ||
364 | // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", | ||
365 | // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); | ||
366 | constrain.RecomputeConstraintVariables(linksetMass); | ||
367 | } | ||
368 | else | ||
369 | { | ||
370 | // Non-fatal error that happens when children are being added to the linkset but | ||
371 | // their constraints have not been created yet. | ||
372 | break; | ||
373 | } | ||
374 | } | ||
375 | |||
376 | // If the whole linkset is not here, doesn't make sense to recompute linkset wide values | ||
377 | if (m_children.Count == m_taintChildren.Count) | ||
378 | { | ||
379 | // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass | ||
380 | OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); | ||
381 | BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, | ||
382 | centerOfMass, OMV.Quaternion.Identity); | ||
383 | DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}", | ||
384 | LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X")); | ||
385 | foreach (BSPhysObject child in m_taintChildren) | ||
386 | { | ||
387 | BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, | ||
388 | centerOfMass, OMV.Quaternion.Identity); | ||
389 | } | ||
390 | |||
391 | // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG | ||
392 | } | ||
393 | return; | ||
394 | } | ||
395 | } | ||
396 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index ead6a08..51b9196 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |||
@@ -46,7 +46,7 @@ public abstract class BSPhysObject : PhysicsActor | |||
46 | PhysObjectName = name; | 46 | PhysObjectName = name; |
47 | TypeName = typeName; | 47 | TypeName = typeName; |
48 | 48 | ||
49 | Linkset = new BSLinkset(PhysicsScene, this); | 49 | Linkset = BSLinkset.Factory(PhysicsScene, this); |
50 | LastAssetBuildFailed = false; | 50 | LastAssetBuildFailed = false; |
51 | 51 | ||
52 | CollisionCollection = new CollisionEventUpdate(); | 52 | CollisionCollection = new CollisionEventUpdate(); |