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author | Diva Canto | 2012-09-30 06:52:19 -0700 |
---|---|---|
committer | Diva Canto | 2012-09-30 06:52:19 -0700 |
commit | 14a4b146bf7f3552defcbe1e99fdbc64cb8fbf9c (patch) | |
tree | 3c76fe34e863fa990c6da0f72d8350c7476cf1e4 /OpenSim/Region | |
parent | Made a method of GridUserService virtual so it can be overridden. (diff) | |
parent | Get rid of some unnecessary casts in RemoteAdminPlugin. (diff) | |
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to 'OpenSim/Region')
16 files changed, 2225 insertions, 1414 deletions
diff --git a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs index c74584c..130c869 100644 --- a/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs +++ b/OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs | |||
@@ -238,9 +238,23 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments | |||
238 | 238 | ||
239 | sp.ClearAttachments(); | 239 | sp.ClearAttachments(); |
240 | } | 240 | } |
241 | 241 | ||
242 | public bool AttachObject(IScenePresence sp, SceneObjectGroup group, uint attachmentPt, bool silent, bool temp) | 242 | public bool AttachObject(IScenePresence sp, SceneObjectGroup group, uint attachmentPt, bool silent, bool temp) |
243 | { | 243 | { |
244 | if (!Enabled) | ||
245 | return false; | ||
246 | |||
247 | if (AttachObjectInternal(sp, group, attachmentPt, silent, temp)) | ||
248 | { | ||
249 | m_scene.EventManager.TriggerOnAttach(group.LocalId, group.FromItemID, sp.UUID); | ||
250 | return true; | ||
251 | } | ||
252 | |||
253 | return false; | ||
254 | } | ||
255 | |||
256 | private bool AttachObjectInternal(IScenePresence sp, SceneObjectGroup group, uint attachmentPt, bool silent, bool temp) | ||
257 | { | ||
244 | lock (sp.AttachmentsSyncLock) | 258 | lock (sp.AttachmentsSyncLock) |
245 | { | 259 | { |
246 | // m_log.DebugFormat( | 260 | // m_log.DebugFormat( |
@@ -794,7 +808,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments | |||
794 | // This will throw if the attachment fails | 808 | // This will throw if the attachment fails |
795 | try | 809 | try |
796 | { | 810 | { |
797 | AttachObject(sp, objatt, attachmentPt, false, false); | 811 | AttachObjectInternal(sp, objatt, attachmentPt, false, false); |
798 | } | 812 | } |
799 | catch (Exception e) | 813 | catch (Exception e) |
800 | { | 814 | { |
@@ -951,15 +965,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments | |||
951 | AttachmentPt &= 0x7f; | 965 | AttachmentPt &= 0x7f; |
952 | 966 | ||
953 | // Calls attach with a Zero position | 967 | // Calls attach with a Zero position |
954 | if (AttachObject(sp, part.ParentGroup, AttachmentPt, false, false)) | 968 | AttachObject(sp, part.ParentGroup, AttachmentPt, false, false); |
955 | { | ||
956 | // m_log.Debug( | ||
957 | // "[ATTACHMENTS MODULE]: Saving avatar attachment. AgentID: " + remoteClient.AgentId | ||
958 | // + ", AttachmentPoint: " + AttachmentPt); | ||
959 | |||
960 | // Save avatar attachment information | ||
961 | m_scene.EventManager.TriggerOnAttach(objectLocalID, part.ParentGroup.FromItemID, remoteClient.AgentId); | ||
962 | } | ||
963 | } | 969 | } |
964 | catch (Exception e) | 970 | catch (Exception e) |
965 | { | 971 | { |
diff --git a/OpenSim/Region/CoreModules/Avatar/Attachments/Tests/AttachmentsModuleTests.cs b/OpenSim/Region/CoreModules/Avatar/Attachments/Tests/AttachmentsModuleTests.cs index 51e10f5..0ee01c7 100644 --- a/OpenSim/Region/CoreModules/Avatar/Attachments/Tests/AttachmentsModuleTests.cs +++ b/OpenSim/Region/CoreModules/Avatar/Attachments/Tests/AttachmentsModuleTests.cs | |||
@@ -64,6 +64,9 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
64 | private AutoResetEvent m_chatEvent = new AutoResetEvent(false); | 64 | private AutoResetEvent m_chatEvent = new AutoResetEvent(false); |
65 | // private OSChatMessage m_osChatMessageReceived; | 65 | // private OSChatMessage m_osChatMessageReceived; |
66 | 66 | ||
67 | // Used to test whether the operations have fired the attach event. Must be reset after each test. | ||
68 | private int m_numberOfAttachEventsFired; | ||
69 | |||
67 | [TestFixtureSetUp] | 70 | [TestFixtureSetUp] |
68 | public void FixtureInit() | 71 | public void FixtureInit() |
69 | { | 72 | { |
@@ -99,6 +102,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
99 | "attachments-test-scene", TestHelpers.ParseTail(999), 1000, 1000, config); | 102 | "attachments-test-scene", TestHelpers.ParseTail(999), 1000, 1000, config); |
100 | SceneHelpers.SetupSceneModules(scene, config, modules.ToArray()); | 103 | SceneHelpers.SetupSceneModules(scene, config, modules.ToArray()); |
101 | 104 | ||
105 | scene.EventManager.OnAttach += (localID, itemID, avatarID) => m_numberOfAttachEventsFired++; | ||
106 | |||
102 | return scene; | 107 | return scene; |
103 | } | 108 | } |
104 | 109 | ||
@@ -181,6 +186,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
181 | TestHelpers.InMethod(); | 186 | TestHelpers.InMethod(); |
182 | // TestHelpers.EnableLogging(); | 187 | // TestHelpers.EnableLogging(); |
183 | 188 | ||
189 | m_numberOfAttachEventsFired = 0; | ||
190 | |||
184 | Scene scene = CreateTestScene(); | 191 | Scene scene = CreateTestScene(); |
185 | UserAccount ua1 = UserAccountHelpers.CreateUserWithInventory(scene, 0x1); | 192 | UserAccount ua1 = UserAccountHelpers.CreateUserWithInventory(scene, 0x1); |
186 | ScenePresence sp = SceneHelpers.AddScenePresence(scene, ua1); | 193 | ScenePresence sp = SceneHelpers.AddScenePresence(scene, ua1); |
@@ -189,6 +196,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
189 | 196 | ||
190 | SceneObjectGroup so = SceneHelpers.AddSceneObject(scene, attName, sp.UUID); | 197 | SceneObjectGroup so = SceneHelpers.AddSceneObject(scene, attName, sp.UUID); |
191 | 198 | ||
199 | m_numberOfAttachEventsFired = 0; | ||
192 | scene.AttachmentsModule.AttachObject(sp, so, (uint)AttachmentPoint.Chest, false, false); | 200 | scene.AttachmentsModule.AttachObject(sp, so, (uint)AttachmentPoint.Chest, false, false); |
193 | 201 | ||
194 | // Check status on scene presence | 202 | // Check status on scene presence |
@@ -216,7 +224,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
216 | 224 | ||
217 | Assert.That(scene.GetSceneObjectGroups().Count, Is.EqualTo(1)); | 225 | Assert.That(scene.GetSceneObjectGroups().Count, Is.EqualTo(1)); |
218 | 226 | ||
219 | // TestHelpers.DisableLogging(); | 227 | // Check events |
228 | Assert.That(m_numberOfAttachEventsFired, Is.EqualTo(1)); | ||
220 | } | 229 | } |
221 | 230 | ||
222 | /// <summary> | 231 | /// <summary> |
@@ -228,6 +237,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
228 | TestHelpers.InMethod(); | 237 | TestHelpers.InMethod(); |
229 | // TestHelpers.EnableLogging(); | 238 | // TestHelpers.EnableLogging(); |
230 | 239 | ||
240 | m_numberOfAttachEventsFired = 0; | ||
241 | |||
231 | Scene scene = CreateTestScene(); | 242 | Scene scene = CreateTestScene(); |
232 | UserAccount ua1 = UserAccountHelpers.CreateUserWithInventory(scene, 0x1); | 243 | UserAccount ua1 = UserAccountHelpers.CreateUserWithInventory(scene, 0x1); |
233 | ScenePresence sp = SceneHelpers.AddScenePresence(scene, ua1); | 244 | ScenePresence sp = SceneHelpers.AddScenePresence(scene, ua1); |
@@ -247,6 +258,9 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
247 | 258 | ||
248 | Assert.That(sp.HasAttachments(), Is.False); | 259 | Assert.That(sp.HasAttachments(), Is.False); |
249 | Assert.That(scene.GetSceneObjectGroups().Count, Is.EqualTo(1)); | 260 | Assert.That(scene.GetSceneObjectGroups().Count, Is.EqualTo(1)); |
261 | |||
262 | // Check events | ||
263 | Assert.That(m_numberOfAttachEventsFired, Is.EqualTo(0)); | ||
250 | } | 264 | } |
251 | 265 | ||
252 | [Test] | 266 | [Test] |
@@ -261,6 +275,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
261 | 275 | ||
262 | InventoryItemBase attItem = CreateAttachmentItem(scene, ua1.PrincipalID, "att", 0x10, 0x20); | 276 | InventoryItemBase attItem = CreateAttachmentItem(scene, ua1.PrincipalID, "att", 0x10, 0x20); |
263 | 277 | ||
278 | m_numberOfAttachEventsFired = 0; | ||
264 | scene.AttachmentsModule.RezSingleAttachmentFromInventory( | 279 | scene.AttachmentsModule.RezSingleAttachmentFromInventory( |
265 | sp, attItem.ID, (uint)AttachmentPoint.Chest); | 280 | sp, attItem.ID, (uint)AttachmentPoint.Chest); |
266 | 281 | ||
@@ -280,6 +295,9 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
280 | Assert.That(sp.Appearance.GetAttachpoint(attItem.ID), Is.EqualTo((int)AttachmentPoint.Chest)); | 295 | Assert.That(sp.Appearance.GetAttachpoint(attItem.ID), Is.EqualTo((int)AttachmentPoint.Chest)); |
281 | 296 | ||
282 | Assert.That(scene.GetSceneObjectGroups().Count, Is.EqualTo(1)); | 297 | Assert.That(scene.GetSceneObjectGroups().Count, Is.EqualTo(1)); |
298 | |||
299 | // Check events | ||
300 | Assert.That(m_numberOfAttachEventsFired, Is.EqualTo(1)); | ||
283 | } | 301 | } |
284 | 302 | ||
285 | /// <summary> | 303 | /// <summary> |
@@ -338,6 +356,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
338 | ISceneEntity so | 356 | ISceneEntity so |
339 | = scene.AttachmentsModule.RezSingleAttachmentFromInventory( | 357 | = scene.AttachmentsModule.RezSingleAttachmentFromInventory( |
340 | sp, attItem.ID, (uint)AttachmentPoint.Chest); | 358 | sp, attItem.ID, (uint)AttachmentPoint.Chest); |
359 | |||
360 | m_numberOfAttachEventsFired = 0; | ||
341 | scene.AttachmentsModule.DetachSingleAttachmentToGround(sp, so.LocalId); | 361 | scene.AttachmentsModule.DetachSingleAttachmentToGround(sp, so.LocalId); |
342 | 362 | ||
343 | // Check scene presence status | 363 | // Check scene presence status |
@@ -353,6 +373,9 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
353 | 373 | ||
354 | // Check object in scene | 374 | // Check object in scene |
355 | Assert.That(scene.GetSceneObjectGroup("att"), Is.Not.Null); | 375 | Assert.That(scene.GetSceneObjectGroup("att"), Is.Not.Null); |
376 | |||
377 | // Check events | ||
378 | Assert.That(m_numberOfAttachEventsFired, Is.EqualTo(1)); | ||
356 | } | 379 | } |
357 | 380 | ||
358 | [Test] | 381 | [Test] |
@@ -369,6 +392,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
369 | SceneObjectGroup so | 392 | SceneObjectGroup so |
370 | = (SceneObjectGroup)scene.AttachmentsModule.RezSingleAttachmentFromInventory( | 393 | = (SceneObjectGroup)scene.AttachmentsModule.RezSingleAttachmentFromInventory( |
371 | sp, attItem.ID, (uint)AttachmentPoint.Chest); | 394 | sp, attItem.ID, (uint)AttachmentPoint.Chest); |
395 | |||
396 | m_numberOfAttachEventsFired = 0; | ||
372 | scene.AttachmentsModule.DetachSingleAttachmentToInv(sp, so); | 397 | scene.AttachmentsModule.DetachSingleAttachmentToInv(sp, so); |
373 | 398 | ||
374 | // Check status on scene presence | 399 | // Check status on scene presence |
@@ -380,6 +405,9 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
380 | Assert.That(sp.Appearance.GetAttachpoint(attItem.ID), Is.EqualTo(0)); | 405 | Assert.That(sp.Appearance.GetAttachpoint(attItem.ID), Is.EqualTo(0)); |
381 | 406 | ||
382 | Assert.That(scene.GetSceneObjectGroups().Count, Is.EqualTo(0)); | 407 | Assert.That(scene.GetSceneObjectGroups().Count, Is.EqualTo(0)); |
408 | |||
409 | // Check events | ||
410 | Assert.That(m_numberOfAttachEventsFired, Is.EqualTo(1)); | ||
383 | } | 411 | } |
384 | 412 | ||
385 | /// <summary> | 413 | /// <summary> |
@@ -461,10 +489,14 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
461 | 489 | ||
462 | SceneObjectGroup rezzedAtt = presence.GetAttachments()[0]; | 490 | SceneObjectGroup rezzedAtt = presence.GetAttachments()[0]; |
463 | 491 | ||
492 | m_numberOfAttachEventsFired = 0; | ||
464 | scene.IncomingCloseAgent(presence.UUID, false); | 493 | scene.IncomingCloseAgent(presence.UUID, false); |
465 | 494 | ||
466 | // Check that we can't retrieve this attachment from the scene. | 495 | // Check that we can't retrieve this attachment from the scene. |
467 | Assert.That(scene.GetSceneObjectGroup(rezzedAtt.UUID), Is.Null); | 496 | Assert.That(scene.GetSceneObjectGroup(rezzedAtt.UUID), Is.Null); |
497 | |||
498 | // Check events | ||
499 | Assert.That(m_numberOfAttachEventsFired, Is.EqualTo(0)); | ||
468 | } | 500 | } |
469 | 501 | ||
470 | [Test] | 502 | [Test] |
@@ -480,6 +512,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
480 | AgentCircuitData acd = SceneHelpers.GenerateAgentData(ua1.PrincipalID); | 512 | AgentCircuitData acd = SceneHelpers.GenerateAgentData(ua1.PrincipalID); |
481 | acd.Appearance = new AvatarAppearance(); | 513 | acd.Appearance = new AvatarAppearance(); |
482 | acd.Appearance.SetAttachment((int)AttachmentPoint.Chest, attItem.ID, attItem.AssetID); | 514 | acd.Appearance.SetAttachment((int)AttachmentPoint.Chest, attItem.ID, attItem.AssetID); |
515 | |||
516 | m_numberOfAttachEventsFired = 0; | ||
483 | ScenePresence presence = SceneHelpers.AddScenePresence(scene, acd); | 517 | ScenePresence presence = SceneHelpers.AddScenePresence(scene, acd); |
484 | 518 | ||
485 | Assert.That(presence.HasAttachments(), Is.True); | 519 | Assert.That(presence.HasAttachments(), Is.True); |
@@ -502,6 +536,9 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
502 | Assert.That(presence.Appearance.GetAttachpoint(attItem.ID), Is.EqualTo((int)AttachmentPoint.Chest)); | 536 | Assert.That(presence.Appearance.GetAttachpoint(attItem.ID), Is.EqualTo((int)AttachmentPoint.Chest)); |
503 | 537 | ||
504 | Assert.That(scene.GetSceneObjectGroups().Count, Is.EqualTo(1)); | 538 | Assert.That(scene.GetSceneObjectGroups().Count, Is.EqualTo(1)); |
539 | |||
540 | // Check events. We expect OnAttach to fire on login. | ||
541 | Assert.That(m_numberOfAttachEventsFired, Is.EqualTo(1)); | ||
505 | } | 542 | } |
506 | 543 | ||
507 | [Test] | 544 | [Test] |
@@ -522,10 +559,14 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
522 | 559 | ||
523 | Vector3 newPosition = new Vector3(1, 2, 4); | 560 | Vector3 newPosition = new Vector3(1, 2, 4); |
524 | 561 | ||
562 | m_numberOfAttachEventsFired = 0; | ||
525 | scene.SceneGraph.UpdatePrimGroupPosition(attSo.LocalId, newPosition, sp.ControllingClient); | 563 | scene.SceneGraph.UpdatePrimGroupPosition(attSo.LocalId, newPosition, sp.ControllingClient); |
526 | 564 | ||
527 | Assert.That(attSo.AbsolutePosition, Is.EqualTo(sp.AbsolutePosition)); | 565 | Assert.That(attSo.AbsolutePosition, Is.EqualTo(sp.AbsolutePosition)); |
528 | Assert.That(attSo.RootPart.AttachedPos, Is.EqualTo(newPosition)); | 566 | Assert.That(attSo.RootPart.AttachedPos, Is.EqualTo(newPosition)); |
567 | |||
568 | // Check events | ||
569 | Assert.That(m_numberOfAttachEventsFired, Is.EqualTo(0)); | ||
529 | } | 570 | } |
530 | 571 | ||
531 | [Test] | 572 | [Test] |
@@ -574,6 +615,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
574 | Vector3 teleportPosition = new Vector3(10, 11, 12); | 615 | Vector3 teleportPosition = new Vector3(10, 11, 12); |
575 | Vector3 teleportLookAt = new Vector3(20, 21, 22); | 616 | Vector3 teleportLookAt = new Vector3(20, 21, 22); |
576 | 617 | ||
618 | m_numberOfAttachEventsFired = 0; | ||
577 | sceneA.RequestTeleportLocation( | 619 | sceneA.RequestTeleportLocation( |
578 | beforeTeleportSp.ControllingClient, | 620 | beforeTeleportSp.ControllingClient, |
579 | sceneB.RegionInfo.RegionHandle, | 621 | sceneB.RegionInfo.RegionHandle, |
@@ -616,29 +658,9 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments.Tests | |||
616 | Assert.That(actualSceneAAttachments.Count, Is.EqualTo(0)); | 658 | Assert.That(actualSceneAAttachments.Count, Is.EqualTo(0)); |
617 | 659 | ||
618 | Assert.That(sceneA.GetSceneObjectGroups().Count, Is.EqualTo(0)); | 660 | Assert.That(sceneA.GetSceneObjectGroups().Count, Is.EqualTo(0)); |
619 | } | ||
620 | 661 | ||
621 | // I'm commenting this test because scene setup NEEDS InventoryService to | 662 | // Check events |
622 | // be non-null | 663 | Assert.That(m_numberOfAttachEventsFired, Is.EqualTo(0)); |
623 | //[Test] | 664 | } |
624 | // public void T032_CrossAttachments() | ||
625 | // { | ||
626 | // TestHelpers.InMethod(); | ||
627 | // | ||
628 | // ScenePresence presence = scene.GetScenePresence(agent1); | ||
629 | // ScenePresence presence2 = scene2.GetScenePresence(agent1); | ||
630 | // presence2.AddAttachment(sog1); | ||
631 | // presence2.AddAttachment(sog2); | ||
632 | // | ||
633 | // ISharedRegionModule serialiser = new SerialiserModule(); | ||
634 | // SceneHelpers.SetupSceneModules(scene, new IniConfigSource(), serialiser); | ||
635 | // SceneHelpers.SetupSceneModules(scene2, new IniConfigSource(), serialiser); | ||
636 | // | ||
637 | // Assert.That(presence.HasAttachments(), Is.False, "Presence has attachments before cross"); | ||
638 | // | ||
639 | // //Assert.That(presence2.CrossAttachmentsIntoNewRegion(region1, true), Is.True, "Cross was not successful"); | ||
640 | // Assert.That(presence2.HasAttachments(), Is.False, "Presence2 objects were not deleted"); | ||
641 | // Assert.That(presence.HasAttachments(), Is.True, "Presence has not received new objects"); | ||
642 | // } | ||
643 | } | 665 | } |
644 | } | 666 | } \ No newline at end of file |
diff --git a/OpenSim/Region/CoreModules/Scripting/VectorRender/VectorRenderModule.cs b/OpenSim/Region/CoreModules/Scripting/VectorRender/VectorRenderModule.cs index d82551e..b4e3d77 100644 --- a/OpenSim/Region/CoreModules/Scripting/VectorRender/VectorRenderModule.cs +++ b/OpenSim/Region/CoreModules/Scripting/VectorRender/VectorRenderModule.cs | |||
@@ -112,14 +112,19 @@ namespace OpenSim.Region.CoreModules.Scripting.VectorRender | |||
112 | public void GetDrawStringSize(string text, string fontName, int fontSize, | 112 | public void GetDrawStringSize(string text, string fontName, int fontSize, |
113 | out double xSize, out double ySize) | 113 | out double xSize, out double ySize) |
114 | { | 114 | { |
115 | using (Font myFont = new Font(fontName, fontSize)) | 115 | lock (this) |
116 | { | 116 | { |
117 | SizeF stringSize = new SizeF(); | 117 | using (Font myFont = new Font(fontName, fontSize)) |
118 | lock (m_graph) | ||
119 | { | 118 | { |
120 | stringSize = m_graph.MeasureString(text, myFont); | 119 | SizeF stringSize = new SizeF(); |
121 | xSize = stringSize.Width; | 120 | |
122 | ySize = stringSize.Height; | 121 | // XXX: This lock may be unnecessary. |
122 | lock (m_graph) | ||
123 | { | ||
124 | stringSize = m_graph.MeasureString(text, myFont); | ||
125 | xSize = stringSize.Width; | ||
126 | ySize = stringSize.Height; | ||
127 | } | ||
123 | } | 128 | } |
124 | } | 129 | } |
125 | } | 130 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs index 683bc51..3306a97 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs | |||
@@ -34,6 +34,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
34 | 34 | ||
35 | public class BS6DofConstraint : BSConstraint | 35 | public class BS6DofConstraint : BSConstraint |
36 | { | 36 | { |
37 | private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]"; | ||
38 | |||
39 | public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } | ||
40 | |||
37 | // Create a btGeneric6DofConstraint | 41 | // Create a btGeneric6DofConstraint |
38 | public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, | 42 | public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, |
39 | Vector3 frame1, Quaternion frame1rot, | 43 | Vector3 frame1, Quaternion frame1rot, |
@@ -44,11 +48,14 @@ public class BS6DofConstraint : BSConstraint | |||
44 | m_body1 = obj1; | 48 | m_body1 = obj1; |
45 | m_body2 = obj2; | 49 | m_body2 = obj2; |
46 | m_constraint = new BulletConstraint( | 50 | m_constraint = new BulletConstraint( |
47 | BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, | 51 | BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, |
48 | frame1, frame1rot, | 52 | frame1, frame1rot, |
49 | frame2, frame2rot, | 53 | frame2, frame2rot, |
50 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); | 54 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); |
51 | m_enabled = true; | 55 | m_enabled = true; |
56 | world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", | ||
57 | BSScene.DetailLogZero, world.worldID, | ||
58 | obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); | ||
52 | } | 59 | } |
53 | 60 | ||
54 | public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, | 61 | public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, |
@@ -58,11 +65,36 @@ public class BS6DofConstraint : BSConstraint | |||
58 | m_world = world; | 65 | m_world = world; |
59 | m_body1 = obj1; | 66 | m_body1 = obj1; |
60 | m_body2 = obj2; | 67 | m_body2 = obj2; |
61 | m_constraint = new BulletConstraint( | 68 | if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero) |
62 | BulletSimAPI.Create6DofConstraintToPoint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, | 69 | { |
63 | joinPoint, | 70 | world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", |
64 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); | 71 | BSScene.DetailLogZero, world.worldID, |
65 | m_enabled = true; | 72 | obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); |
73 | world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", | ||
74 | "[BULLETSIM 6DOF CONSTRAINT]", world.worldID, | ||
75 | obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); | ||
76 | m_enabled = false; | ||
77 | } | ||
78 | else | ||
79 | { | ||
80 | m_constraint = new BulletConstraint( | ||
81 | BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr, | ||
82 | joinPoint, | ||
83 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); | ||
84 | world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", | ||
85 | BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"), | ||
86 | obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); | ||
87 | if (m_constraint.ptr == IntPtr.Zero) | ||
88 | { | ||
89 | world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", | ||
90 | LogHeader, obj1.ID, obj2.ID); | ||
91 | m_enabled = false; | ||
92 | } | ||
93 | else | ||
94 | { | ||
95 | m_enabled = true; | ||
96 | } | ||
97 | } | ||
66 | } | 98 | } |
67 | 99 | ||
68 | public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) | 100 | public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) |
@@ -70,7 +102,7 @@ public class BS6DofConstraint : BSConstraint | |||
70 | bool ret = false; | 102 | bool ret = false; |
71 | if (m_enabled) | 103 | if (m_enabled) |
72 | { | 104 | { |
73 | BulletSimAPI.SetFrames2(m_constraint.Ptr, frameA, frameArot, frameB, frameBrot); | 105 | BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot); |
74 | ret = true; | 106 | ret = true; |
75 | } | 107 | } |
76 | return ret; | 108 | return ret; |
@@ -81,9 +113,9 @@ public class BS6DofConstraint : BSConstraint | |||
81 | bool ret = false; | 113 | bool ret = false; |
82 | if (m_enabled) | 114 | if (m_enabled) |
83 | { | 115 | { |
84 | BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); | 116 | BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); |
85 | BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); | 117 | BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); |
86 | BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); | 118 | BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); |
87 | ret = true; | 119 | ret = true; |
88 | } | 120 | } |
89 | return ret; | 121 | return ret; |
@@ -94,7 +126,7 @@ public class BS6DofConstraint : BSConstraint | |||
94 | bool ret = false; | 126 | bool ret = false; |
95 | float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; | 127 | float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; |
96 | if (m_enabled) | 128 | if (m_enabled) |
97 | ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); | 129 | ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff); |
98 | return ret; | 130 | return ret; |
99 | } | 131 | } |
100 | 132 | ||
@@ -103,7 +135,7 @@ public class BS6DofConstraint : BSConstraint | |||
103 | bool ret = false; | 135 | bool ret = false; |
104 | float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; | 136 | float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; |
105 | if (m_enabled) | 137 | if (m_enabled) |
106 | ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); | 138 | ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce); |
107 | return ret; | 139 | return ret; |
108 | } | 140 | } |
109 | 141 | ||
@@ -111,7 +143,7 @@ public class BS6DofConstraint : BSConstraint | |||
111 | { | 143 | { |
112 | bool ret = false; | 144 | bool ret = false; |
113 | if (m_enabled) | 145 | if (m_enabled) |
114 | ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.Ptr, threshold); | 146 | ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold); |
115 | return ret; | 147 | return ret; |
116 | } | 148 | } |
117 | } | 149 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 526dbad..b88ec3c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | |||
@@ -28,7 +28,7 @@ using System; | |||
28 | using System.Collections.Generic; | 28 | using System.Collections.Generic; |
29 | using System.Reflection; | 29 | using System.Reflection; |
30 | using log4net; | 30 | using log4net; |
31 | using OpenMetaverse; | 31 | using OMV = OpenMetaverse; |
32 | using OpenSim.Framework; | 32 | using OpenSim.Framework; |
33 | using OpenSim.Region.Physics.Manager; | 33 | using OpenSim.Region.Physics.Manager; |
34 | 34 | ||
@@ -39,48 +39,35 @@ public class BSCharacter : BSPhysObject | |||
39 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | 39 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); |
40 | private static readonly string LogHeader = "[BULLETS CHAR]"; | 40 | private static readonly string LogHeader = "[BULLETS CHAR]"; |
41 | 41 | ||
42 | public BSScene Scene { get; private set; } | ||
43 | private String _avName; | ||
44 | // private bool _stopped; | 42 | // private bool _stopped; |
45 | private Vector3 _size; | 43 | private OMV.Vector3 _size; |
46 | private Vector3 _scale; | 44 | private OMV.Vector3 _scale; |
47 | private PrimitiveBaseShape _pbs; | 45 | private PrimitiveBaseShape _pbs; |
48 | private uint _localID = 0; | ||
49 | private bool _grabbed; | 46 | private bool _grabbed; |
50 | private bool _selected; | 47 | private bool _selected; |
51 | private Vector3 _position; | 48 | private OMV.Vector3 _position; |
52 | private float _mass; | 49 | private float _mass; |
53 | public float _density; | 50 | private float _avatarDensity; |
54 | public float _avatarVolume; | 51 | private float _avatarVolume; |
55 | private Vector3 _force; | 52 | private OMV.Vector3 _force; |
56 | private Vector3 _velocity; | 53 | private OMV.Vector3 _velocity; |
57 | private Vector3 _torque; | 54 | private OMV.Vector3 _torque; |
58 | private float _collisionScore; | 55 | private float _collisionScore; |
59 | private Vector3 _acceleration; | 56 | private OMV.Vector3 _acceleration; |
60 | private Quaternion _orientation; | 57 | private OMV.Quaternion _orientation; |
61 | private int _physicsActorType; | 58 | private int _physicsActorType; |
62 | private bool _isPhysical; | 59 | private bool _isPhysical; |
63 | private bool _flying; | 60 | private bool _flying; |
64 | private bool _setAlwaysRun; | 61 | private bool _setAlwaysRun; |
65 | private bool _throttleUpdates; | 62 | private bool _throttleUpdates; |
66 | private bool _isColliding; | 63 | private bool _isColliding; |
67 | private long _collidingStep; | ||
68 | private bool _collidingGround; | ||
69 | private long _collidingGroundStep; | ||
70 | private bool _collidingObj; | 64 | private bool _collidingObj; |
71 | private bool _floatOnWater; | 65 | private bool _floatOnWater; |
72 | private Vector3 _rotationalVelocity; | 66 | private OMV.Vector3 _rotationalVelocity; |
73 | private bool _kinematic; | 67 | private bool _kinematic; |
74 | private float _buoyancy; | 68 | private float _buoyancy; |
75 | 69 | ||
76 | public override BulletBody BSBody { get; set; } | 70 | private OMV.Vector3 _PIDTarget; |
77 | public override BulletShape BSShape { get; set; } | ||
78 | public override BSLinkset Linkset { get; set; } | ||
79 | |||
80 | private int _subscribedEventsMs = 0; | ||
81 | private int _nextCollisionOkTime = 0; | ||
82 | |||
83 | private Vector3 _PIDTarget; | ||
84 | private bool _usePID; | 71 | private bool _usePID; |
85 | private float _PIDTau; | 72 | private float _PIDTau; |
86 | private bool _useHoverPID; | 73 | private bool _useHoverPID; |
@@ -88,28 +75,26 @@ public class BSCharacter : BSPhysObject | |||
88 | private PIDHoverType _PIDHoverType; | 75 | private PIDHoverType _PIDHoverType; |
89 | private float _PIDHoverTao; | 76 | private float _PIDHoverTao; |
90 | 77 | ||
91 | public BSCharacter(uint localID, String avName, BSScene parent_scene, Vector3 pos, Vector3 size, bool isFlying) | 78 | public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) |
92 | { | 79 | { |
93 | _localID = localID; | 80 | base.BaseInitialize(parent_scene, localID, avName, "BSCharacter"); |
94 | _avName = avName; | ||
95 | Scene = parent_scene; | ||
96 | _physicsActorType = (int)ActorTypes.Agent; | 81 | _physicsActorType = (int)ActorTypes.Agent; |
97 | _position = pos; | 82 | _position = pos; |
98 | _size = size; | 83 | _size = size; |
99 | _flying = isFlying; | 84 | _flying = isFlying; |
100 | _orientation = Quaternion.Identity; | 85 | _orientation = OMV.Quaternion.Identity; |
101 | _velocity = Vector3.Zero; | 86 | _velocity = OMV.Vector3.Zero; |
102 | _buoyancy = ComputeBuoyancyFromFlying(isFlying); | 87 | _buoyancy = ComputeBuoyancyFromFlying(isFlying); |
88 | |||
103 | // The dimensions of the avatar capsule are kept in the scale. | 89 | // The dimensions of the avatar capsule are kept in the scale. |
104 | // Physics creates a unit capsule which is scaled by the physics engine. | 90 | // Physics creates a unit capsule which is scaled by the physics engine. |
105 | _scale = new Vector3(Scene.Params.avatarCapsuleRadius, Scene.Params.avatarCapsuleRadius, size.Z); | 91 | ComputeAvatarScale(_size); |
106 | _density = Scene.Params.avatarDensity; | 92 | _avatarDensity = PhysicsScene.Params.avatarDensity; |
107 | ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale | 93 | // set _avatarVolume and _mass based on capsule size, _density and _scale |
108 | 94 | ComputeAvatarVolumeAndMass(); | |
109 | Linkset = new BSLinkset(Scene, this); | ||
110 | 95 | ||
111 | ShapeData shapeData = new ShapeData(); | 96 | ShapeData shapeData = new ShapeData(); |
112 | shapeData.ID = _localID; | 97 | shapeData.ID = LocalID; |
113 | shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR; | 98 | shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR; |
114 | shapeData.Position = _position; | 99 | shapeData.Position = _position; |
115 | shapeData.Rotation = _orientation; | 100 | shapeData.Rotation = _orientation; |
@@ -118,21 +103,25 @@ public class BSCharacter : BSPhysObject | |||
118 | shapeData.Mass = _mass; | 103 | shapeData.Mass = _mass; |
119 | shapeData.Buoyancy = _buoyancy; | 104 | shapeData.Buoyancy = _buoyancy; |
120 | shapeData.Static = ShapeData.numericFalse; | 105 | shapeData.Static = ShapeData.numericFalse; |
121 | shapeData.Friction = Scene.Params.avatarFriction; | 106 | shapeData.Friction = PhysicsScene.Params.avatarFriction; |
122 | shapeData.Restitution = Scene.Params.avatarRestitution; | 107 | shapeData.Restitution = PhysicsScene.Params.avatarRestitution; |
123 | 108 | ||
124 | // do actual create at taint time | 109 | // do actual create at taint time |
125 | Scene.TaintedObject("BSCharacter.create", delegate() | 110 | PhysicsScene.TaintedObject("BSCharacter.create", delegate() |
126 | { | 111 | { |
127 | DetailLog("{0},BSCharacter.create", _localID); | 112 | DetailLog("{0},BSCharacter.create,taint", LocalID); |
128 | BulletSimAPI.CreateObject(Scene.WorldID, shapeData); | 113 | BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData); |
129 | 114 | ||
130 | // Set the buoyancy for flying. This will be refactored when all the settings happen in C# | 115 | // Set the buoyancy for flying. This will be refactored when all the settings happen in C#. |
131 | BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); | 116 | // If not set at creation, the avatar will stop flying when created after crossing a region boundry. |
117 | BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy); | ||
132 | 118 | ||
133 | BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID)); | 119 | BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID)); |
120 | |||
121 | // This works here because CreateObject has already put the character into the physical world. | ||
122 | BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, | ||
123 | (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask); | ||
134 | }); | 124 | }); |
135 | |||
136 | return; | 125 | return; |
137 | } | 126 | } |
138 | 127 | ||
@@ -140,9 +129,9 @@ public class BSCharacter : BSPhysObject | |||
140 | public override void Destroy() | 129 | public override void Destroy() |
141 | { | 130 | { |
142 | DetailLog("{0},BSCharacter.Destroy", LocalID); | 131 | DetailLog("{0},BSCharacter.Destroy", LocalID); |
143 | Scene.TaintedObject("BSCharacter.destroy", delegate() | 132 | PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() |
144 | { | 133 | { |
145 | BulletSimAPI.DestroyObject(Scene.WorldID, _localID); | 134 | BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID); |
146 | }); | 135 | }); |
147 | } | 136 | } |
148 | 137 | ||
@@ -151,70 +140,83 @@ public class BSCharacter : BSPhysObject | |||
151 | base.RequestPhysicsterseUpdate(); | 140 | base.RequestPhysicsterseUpdate(); |
152 | } | 141 | } |
153 | // No one calls this method so I don't know what it could possibly mean | 142 | // No one calls this method so I don't know what it could possibly mean |
154 | public override bool Stopped { | 143 | public override bool Stopped { |
155 | get { return false; } | 144 | get { return false; } |
156 | } | 145 | } |
157 | public override Vector3 Size { | 146 | public override OMV.Vector3 Size { |
158 | get | 147 | get |
159 | { | 148 | { |
160 | // Avatar capsule size is kept in the scale parameter. | 149 | // Avatar capsule size is kept in the scale parameter. |
161 | return new Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z); | 150 | return new OMV.Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z); |
162 | } | 151 | } |
163 | 152 | ||
164 | set { | 153 | set { |
165 | // When an avatar's size is set, only the height is changed | 154 | // When an avatar's size is set, only the height is changed |
166 | // and that really only depends on the radius. | 155 | // and that really only depends on the radius. |
167 | _size = value; | 156 | _size = value; |
168 | _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y); | 157 | ComputeAvatarScale(_size); |
169 | 158 | ||
170 | // TODO: something has to be done with the avatar's vertical position | 159 | // TODO: something has to be done with the avatar's vertical position |
171 | 160 | ||
172 | ComputeAvatarVolumeAndMass(); | 161 | ComputeAvatarVolumeAndMass(); |
173 | 162 | ||
174 | Scene.TaintedObject("BSCharacter.setSize", delegate() | 163 | PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() |
175 | { | 164 | { |
176 | BulletSimAPI.SetObjectScaleMass(Scene.WorldID, LocalID, _scale, _mass, true); | 165 | BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true); |
177 | }); | 166 | }); |
178 | 167 | ||
179 | } | 168 | } |
180 | } | ||
181 | public override PrimitiveBaseShape Shape { | ||
182 | set { _pbs = value; | ||
183 | } | ||
184 | } | 169 | } |
185 | public override uint LocalID { | 170 | public override PrimitiveBaseShape Shape { |
186 | set { _localID = value; | 171 | set { _pbs = value; |
187 | } | 172 | } |
188 | get { return _localID; } | ||
189 | } | 173 | } |
190 | public override bool Grabbed { | 174 | public override bool Grabbed { |
191 | set { _grabbed = value; | 175 | set { _grabbed = value; |
192 | } | 176 | } |
193 | } | 177 | } |
194 | public override bool Selected { | 178 | public override bool Selected { |
195 | set { _selected = value; | 179 | set { _selected = value; |
196 | } | 180 | } |
197 | } | 181 | } |
198 | public override void CrossingFailure() { return; } | 182 | public override void CrossingFailure() { return; } |
199 | public override void link(PhysicsActor obj) { return; } | 183 | public override void link(PhysicsActor obj) { return; } |
200 | public override void delink() { return; } | 184 | public override void delink() { return; } |
201 | public override void LockAngularMotion(Vector3 axis) { return; } | ||
202 | 185 | ||
203 | public override Vector3 Position { | 186 | // Set motion values to zero. |
187 | // Do it to the properties so the values get set in the physics engine. | ||
188 | // Push the setting of the values to the viewer. | ||
189 | // Called at taint time! | ||
190 | public override void ZeroMotion() | ||
191 | { | ||
192 | _velocity = OMV.Vector3.Zero; | ||
193 | _acceleration = OMV.Vector3.Zero; | ||
194 | _rotationalVelocity = OMV.Vector3.Zero; | ||
195 | |||
196 | // Zero some other properties directly into the physics engine | ||
197 | BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero); | ||
198 | BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero); | ||
199 | BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); | ||
200 | BulletSimAPI.ClearForces2(BSBody.ptr); | ||
201 | } | ||
202 | |||
203 | public override void LockAngularMotion(OMV.Vector3 axis) { return; } | ||
204 | |||
205 | public override OMV.Vector3 Position { | ||
204 | get { | 206 | get { |
205 | // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); | 207 | // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); |
206 | return _position; | 208 | return _position; |
207 | } | 209 | } |
208 | set { | 210 | set { |
209 | _position = value; | 211 | _position = value; |
210 | PositionSanityCheck(); | 212 | PositionSanityCheck(); |
211 | 213 | ||
212 | Scene.TaintedObject("BSCharacter.setPosition", delegate() | 214 | PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() |
213 | { | 215 | { |
214 | DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 216 | DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
215 | BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation); | 217 | BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); |
216 | }); | 218 | }); |
217 | } | 219 | } |
218 | } | 220 | } |
219 | 221 | ||
220 | // Check that the current position is sane and, if not, modify the position to make it so. | 222 | // Check that the current position is sane and, if not, modify the position to make it so. |
@@ -223,9 +225,9 @@ public class BSCharacter : BSPhysObject | |||
223 | private bool PositionSanityCheck() | 225 | private bool PositionSanityCheck() |
224 | { | 226 | { |
225 | bool ret = false; | 227 | bool ret = false; |
226 | 228 | ||
227 | // If below the ground, move the avatar up | 229 | // If below the ground, move the avatar up |
228 | float terrainHeight = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); | 230 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); |
229 | if (Position.Z < terrainHeight) | 231 | if (Position.Z < terrainHeight) |
230 | { | 232 | { |
231 | DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); | 233 | DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); |
@@ -247,200 +249,200 @@ public class BSCharacter : BSPhysObject | |||
247 | { | 249 | { |
248 | // The new position value must be pushed into the physics engine but we can't | 250 | // The new position value must be pushed into the physics engine but we can't |
249 | // just assign to "Position" because of potential call loops. | 251 | // just assign to "Position" because of potential call loops. |
250 | Scene.TaintedObject("BSCharacter.PositionSanityCheck", delegate() | 252 | PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate() |
251 | { | 253 | { |
252 | DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 254 | DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
253 | BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation); | 255 | BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); |
254 | }); | 256 | }); |
255 | ret = true; | 257 | ret = true; |
256 | } | 258 | } |
257 | return ret; | 259 | return ret; |
258 | } | 260 | } |
259 | 261 | ||
260 | public override float Mass { | 262 | public override float Mass { |
261 | get { | 263 | get { |
262 | return _mass; | 264 | return _mass; |
263 | } | 265 | } |
264 | } | 266 | } |
265 | 267 | ||
266 | // used when we only want this prim's mass and not the linkset thing | 268 | // used when we only want this prim's mass and not the linkset thing |
267 | public override float MassRaw { get {return _mass; } } | 269 | public override float MassRaw { get {return _mass; } } |
268 | 270 | ||
269 | public override Vector3 Force { | 271 | public override OMV.Vector3 Force { |
270 | get { return _force; } | 272 | get { return _force; } |
271 | set { | 273 | set { |
272 | _force = value; | 274 | _force = value; |
273 | // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); | 275 | // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); |
274 | Scene.TaintedObject("BSCharacter.SetForce", delegate() | 276 | PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() |
275 | { | 277 | { |
276 | DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); | 278 | DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); |
277 | BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force); | 279 | BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force); |
278 | }); | 280 | }); |
279 | } | 281 | } |
280 | } | 282 | } |
281 | 283 | ||
282 | public override int VehicleType { | 284 | public override int VehicleType { |
283 | get { return 0; } | 285 | get { return 0; } |
284 | set { return; } | 286 | set { return; } |
285 | } | 287 | } |
286 | public override void VehicleFloatParam(int param, float value) { } | 288 | public override void VehicleFloatParam(int param, float value) { } |
287 | public override void VehicleVectorParam(int param, Vector3 value) {} | 289 | public override void VehicleVectorParam(int param, OMV.Vector3 value) {} |
288 | public override void VehicleRotationParam(int param, Quaternion rotation) { } | 290 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { } |
289 | public override void VehicleFlags(int param, bool remove) { } | 291 | public override void VehicleFlags(int param, bool remove) { } |
290 | 292 | ||
291 | // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more | 293 | // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more |
292 | public override void SetVolumeDetect(int param) { return; } | 294 | public override void SetVolumeDetect(int param) { return; } |
293 | 295 | ||
294 | public override Vector3 GeometricCenter { get { return Vector3.Zero; } } | 296 | public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } |
295 | public override Vector3 CenterOfMass { get { return Vector3.Zero; } } | 297 | public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } |
296 | public override Vector3 Velocity { | 298 | public override OMV.Vector3 Velocity { |
297 | get { return _velocity; } | 299 | get { return _velocity; } |
298 | set { | 300 | set { |
299 | _velocity = value; | 301 | _velocity = value; |
300 | // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); | 302 | // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); |
301 | Scene.TaintedObject("BSCharacter.setVelocity", delegate() | 303 | PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() |
302 | { | 304 | { |
303 | DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); | 305 | DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); |
304 | BulletSimAPI.SetObjectVelocity(Scene.WorldID, _localID, _velocity); | 306 | BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity); |
305 | }); | 307 | }); |
306 | } | 308 | } |
307 | } | 309 | } |
308 | public override Vector3 Torque { | 310 | public override OMV.Vector3 Torque { |
309 | get { return _torque; } | 311 | get { return _torque; } |
310 | set { _torque = value; | 312 | set { _torque = value; |
311 | } | 313 | } |
312 | } | 314 | } |
313 | public override float CollisionScore { | 315 | public override float CollisionScore { |
314 | get { return _collisionScore; } | 316 | get { return _collisionScore; } |
315 | set { _collisionScore = value; | 317 | set { _collisionScore = value; |
316 | } | 318 | } |
317 | } | 319 | } |
318 | public override Vector3 Acceleration { | 320 | public override OMV.Vector3 Acceleration { |
319 | get { return _acceleration; } | 321 | get { return _acceleration; } |
320 | set { _acceleration = value; } | 322 | set { _acceleration = value; } |
321 | } | 323 | } |
322 | public override Quaternion Orientation { | 324 | public override OMV.Quaternion Orientation { |
323 | get { return _orientation; } | 325 | get { return _orientation; } |
324 | set { | 326 | set { |
325 | _orientation = value; | 327 | _orientation = value; |
326 | // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); | 328 | // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); |
327 | Scene.TaintedObject("BSCharacter.setOrientation", delegate() | 329 | PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() |
328 | { | 330 | { |
329 | // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); | 331 | // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); |
330 | BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation); | 332 | BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); |
331 | }); | 333 | }); |
332 | } | 334 | } |
333 | } | 335 | } |
334 | public override int PhysicsActorType { | 336 | public override int PhysicsActorType { |
335 | get { return _physicsActorType; } | 337 | get { return _physicsActorType; } |
336 | set { _physicsActorType = value; | 338 | set { _physicsActorType = value; |
337 | } | 339 | } |
338 | } | 340 | } |
339 | public override bool IsPhysical { | 341 | public override bool IsPhysical { |
340 | get { return _isPhysical; } | 342 | get { return _isPhysical; } |
341 | set { _isPhysical = value; | 343 | set { _isPhysical = value; |
342 | } | 344 | } |
343 | } | 345 | } |
344 | public override bool Flying { | 346 | public override bool Flying { |
345 | get { return _flying; } | 347 | get { return _flying; } |
346 | set { | 348 | set { |
347 | _flying = value; | 349 | _flying = value; |
348 | // simulate flying by changing the effect of gravity | 350 | // simulate flying by changing the effect of gravity |
349 | this.Buoyancy = ComputeBuoyancyFromFlying(_flying); | 351 | this.Buoyancy = ComputeBuoyancyFromFlying(_flying); |
350 | } | 352 | } |
351 | } | 353 | } |
352 | // Flying is implimented by changing the avatar's buoyancy. | 354 | // Flying is implimented by changing the avatar's buoyancy. |
353 | // Would this be done better with a vehicle type? | 355 | // Would this be done better with a vehicle type? |
354 | private float ComputeBuoyancyFromFlying(bool ifFlying) { | 356 | private float ComputeBuoyancyFromFlying(bool ifFlying) { |
355 | return ifFlying ? 1f : 0f; | 357 | return ifFlying ? 1f : 0f; |
356 | } | 358 | } |
357 | public override bool | 359 | public override bool |
358 | SetAlwaysRun { | 360 | SetAlwaysRun { |
359 | get { return _setAlwaysRun; } | 361 | get { return _setAlwaysRun; } |
360 | set { _setAlwaysRun = value; } | 362 | set { _setAlwaysRun = value; } |
361 | } | 363 | } |
362 | public override bool ThrottleUpdates { | 364 | public override bool ThrottleUpdates { |
363 | get { return _throttleUpdates; } | 365 | get { return _throttleUpdates; } |
364 | set { _throttleUpdates = value; } | 366 | set { _throttleUpdates = value; } |
365 | } | 367 | } |
366 | public override bool IsColliding { | 368 | public override bool IsColliding { |
367 | get { return (_collidingStep == Scene.SimulationStep); } | 369 | get { return (CollidingStep == PhysicsScene.SimulationStep); } |
368 | set { _isColliding = value; } | 370 | set { _isColliding = value; } |
369 | } | 371 | } |
370 | public override bool CollidingGround { | 372 | public override bool CollidingGround { |
371 | get { return (_collidingGroundStep == Scene.SimulationStep); } | 373 | get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } |
372 | set { _collidingGround = value; } | 374 | set { CollidingGround = value; } |
373 | } | 375 | } |
374 | public override bool CollidingObj { | 376 | public override bool CollidingObj { |
375 | get { return _collidingObj; } | 377 | get { return _collidingObj; } |
376 | set { _collidingObj = value; } | 378 | set { _collidingObj = value; } |
377 | } | 379 | } |
378 | public override bool FloatOnWater { | 380 | public override bool FloatOnWater { |
379 | set { _floatOnWater = value; } | 381 | set { _floatOnWater = value; } |
380 | } | 382 | } |
381 | public override Vector3 RotationalVelocity { | 383 | public override OMV.Vector3 RotationalVelocity { |
382 | get { return _rotationalVelocity; } | 384 | get { return _rotationalVelocity; } |
383 | set { _rotationalVelocity = value; } | 385 | set { _rotationalVelocity = value; } |
384 | } | 386 | } |
385 | public override bool Kinematic { | 387 | public override bool Kinematic { |
386 | get { return _kinematic; } | 388 | get { return _kinematic; } |
387 | set { _kinematic = value; } | 389 | set { _kinematic = value; } |
388 | } | 390 | } |
389 | // neg=fall quickly, 0=1g, 1=0g, pos=float up | 391 | // neg=fall quickly, 0=1g, 1=0g, pos=float up |
390 | public override float Buoyancy { | 392 | public override float Buoyancy { |
391 | get { return _buoyancy; } | 393 | get { return _buoyancy; } |
392 | set { _buoyancy = value; | 394 | set { _buoyancy = value; |
393 | Scene.TaintedObject("BSCharacter.setBuoyancy", delegate() | 395 | PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate() |
394 | { | 396 | { |
395 | DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); | 397 | DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); |
396 | BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); | 398 | BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy); |
397 | }); | 399 | }); |
398 | } | 400 | } |
399 | } | 401 | } |
400 | 402 | ||
401 | // Used for MoveTo | 403 | // Used for MoveTo |
402 | public override Vector3 PIDTarget { | 404 | public override OMV.Vector3 PIDTarget { |
403 | set { _PIDTarget = value; } | 405 | set { _PIDTarget = value; } |
404 | } | 406 | } |
405 | public override bool PIDActive { | 407 | public override bool PIDActive { |
406 | set { _usePID = value; } | 408 | set { _usePID = value; } |
407 | } | 409 | } |
408 | public override float PIDTau { | 410 | public override float PIDTau { |
409 | set { _PIDTau = value; } | 411 | set { _PIDTau = value; } |
410 | } | 412 | } |
411 | 413 | ||
412 | // Used for llSetHoverHeight and maybe vehicle height | 414 | // Used for llSetHoverHeight and maybe vehicle height |
413 | // Hover Height will override MoveTo target's Z | 415 | // Hover Height will override MoveTo target's Z |
414 | public override bool PIDHoverActive { | 416 | public override bool PIDHoverActive { |
415 | set { _useHoverPID = value; } | 417 | set { _useHoverPID = value; } |
416 | } | 418 | } |
417 | public override float PIDHoverHeight { | 419 | public override float PIDHoverHeight { |
418 | set { _PIDHoverHeight = value; } | 420 | set { _PIDHoverHeight = value; } |
419 | } | 421 | } |
420 | public override PIDHoverType PIDHoverType { | 422 | public override PIDHoverType PIDHoverType { |
421 | set { _PIDHoverType = value; } | 423 | set { _PIDHoverType = value; } |
422 | } | 424 | } |
423 | public override float PIDHoverTau { | 425 | public override float PIDHoverTau { |
424 | set { _PIDHoverTao = value; } | 426 | set { _PIDHoverTao = value; } |
425 | } | 427 | } |
426 | 428 | ||
427 | // For RotLookAt | 429 | // For RotLookAt |
428 | public override Quaternion APIDTarget { set { return; } } | 430 | public override OMV.Quaternion APIDTarget { set { return; } } |
429 | public override bool APIDActive { set { return; } } | 431 | public override bool APIDActive { set { return; } } |
430 | public override float APIDStrength { set { return; } } | 432 | public override float APIDStrength { set { return; } } |
431 | public override float APIDDamping { set { return; } } | 433 | public override float APIDDamping { set { return; } } |
432 | 434 | ||
433 | public override void AddForce(Vector3 force, bool pushforce) { | 435 | public override void AddForce(OMV.Vector3 force, bool pushforce) { |
434 | if (force.IsFinite()) | 436 | if (force.IsFinite()) |
435 | { | 437 | { |
436 | _force.X += force.X; | 438 | _force.X += force.X; |
437 | _force.Y += force.Y; | 439 | _force.Y += force.Y; |
438 | _force.Z += force.Z; | 440 | _force.Z += force.Z; |
439 | // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); | 441 | // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); |
440 | Scene.TaintedObject("BSCharacter.AddForce", delegate() | 442 | PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate() |
441 | { | 443 | { |
442 | DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); | 444 | DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); |
443 | BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); | 445 | BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); |
444 | }); | 446 | }); |
445 | } | 447 | } |
446 | else | 448 | else |
@@ -450,42 +452,19 @@ public class BSCharacter : BSPhysObject | |||
450 | //m_lastUpdateSent = false; | 452 | //m_lastUpdateSent = false; |
451 | } | 453 | } |
452 | 454 | ||
453 | public override void AddAngularForce(Vector3 force, bool pushforce) { | 455 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { |
454 | } | 456 | } |
455 | public override void SetMomentum(Vector3 momentum) { | 457 | public override void SetMomentum(OMV.Vector3 momentum) { |
456 | } | 458 | } |
457 | 459 | ||
458 | // Turn on collision events at a rate no faster than one every the given milliseconds | 460 | private void ComputeAvatarScale(OMV.Vector3 size) |
459 | public override void SubscribeEvents(int ms) { | ||
460 | _subscribedEventsMs = ms; | ||
461 | if (ms > 0) | ||
462 | { | ||
463 | // make sure first collision happens | ||
464 | _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; | ||
465 | |||
466 | Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate() | ||
467 | { | ||
468 | BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
469 | }); | ||
470 | } | ||
471 | } | ||
472 | |||
473 | public override void ZeroMotion() | ||
474 | { | 461 | { |
475 | return; | 462 | _scale.X = PhysicsScene.Params.avatarCapsuleRadius; |
476 | } | 463 | _scale.Y = PhysicsScene.Params.avatarCapsuleRadius; |
477 | 464 | ||
478 | // Stop collision events | 465 | // The 1.15 came from ODE but it seems to cause the avatar to float off the ground |
479 | public override void UnSubscribeEvents() { | 466 | // _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y); |
480 | _subscribedEventsMs = 0; | 467 | _scale.Z = (_size.Z) - (_scale.X + _scale.Y); |
481 | Scene.TaintedObject("BSCharacter.UnSubscribeEvents", delegate() | ||
482 | { | ||
483 | BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
484 | }); | ||
485 | } | ||
486 | // Return 'true' if someone has subscribed to events | ||
487 | public override bool SubscribedEvents() { | ||
488 | return (_subscribedEventsMs > 0); | ||
489 | } | 468 | } |
490 | 469 | ||
491 | // set _avatarVolume and _mass based on capsule size, _density and _scale | 470 | // set _avatarVolume and _mass based on capsule size, _density and _scale |
@@ -502,7 +481,7 @@ public class BSCharacter : BSPhysObject | |||
502 | * Math.Min(_scale.X, _scale.Y) | 481 | * Math.Min(_scale.X, _scale.Y) |
503 | * _scale.Y // plus the volume of the capsule end caps | 482 | * _scale.Y // plus the volume of the capsule end caps |
504 | ); | 483 | ); |
505 | _mass = _density * _avatarVolume; | 484 | _mass = _avatarDensity * _avatarVolume; |
506 | } | 485 | } |
507 | 486 | ||
508 | // The physics engine says that properties have updated. Update same and inform | 487 | // The physics engine says that properties have updated. Update same and inform |
@@ -520,67 +499,9 @@ public class BSCharacter : BSPhysObject | |||
520 | // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. | 499 | // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. |
521 | PositionSanityCheck2(); | 500 | PositionSanityCheck2(); |
522 | 501 | ||
523 | float heightHere = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug | 502 | float heightHere = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug |
524 | DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}", | 503 | DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}", |
525 | LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere); | 504 | LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere); |
526 | } | 505 | } |
527 | |||
528 | // Called by the scene when a collision with this object is reported | ||
529 | // The collision, if it should be reported to the character, is placed in a collection | ||
530 | // that will later be sent to the simulator when SendCollisions() is called. | ||
531 | CollisionEventUpdate collisionCollection = null; | ||
532 | public override bool Collide(uint collidingWith, BSPhysObject collidee, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) | ||
533 | { | ||
534 | bool ret = false; | ||
535 | |||
536 | // The following makes IsColliding() and IsCollidingGround() work | ||
537 | _collidingStep = Scene.SimulationStep; | ||
538 | if (collidingWith <= Scene.TerrainManager.HighestTerrainID) | ||
539 | { | ||
540 | _collidingGroundStep = Scene.SimulationStep; | ||
541 | } | ||
542 | // DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith); | ||
543 | |||
544 | // throttle collisions to the rate specified in the subscription | ||
545 | if (SubscribedEvents()) { | ||
546 | int nowTime = Scene.SimulationNowTime; | ||
547 | if (nowTime >= _nextCollisionOkTime) { | ||
548 | _nextCollisionOkTime = nowTime + _subscribedEventsMs; | ||
549 | |||
550 | if (collisionCollection == null) | ||
551 | collisionCollection = new CollisionEventUpdate(); | ||
552 | collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); | ||
553 | ret = true; | ||
554 | } | ||
555 | } | ||
556 | return ret; | ||
557 | } | ||
558 | |||
559 | public override void SendCollisions() | ||
560 | { | ||
561 | /* | ||
562 | if (collisionCollection != null && collisionCollection.Count > 0) | ||
563 | { | ||
564 | base.SendCollisionUpdate(collisionCollection); | ||
565 | collisionCollection = null; | ||
566 | } | ||
567 | */ | ||
568 | // Kludge to make a collision call even if there are no collisions. | ||
569 | // This causes the avatar animation to get updated. | ||
570 | if (collisionCollection == null) | ||
571 | collisionCollection = new CollisionEventUpdate(); | ||
572 | base.SendCollisionUpdate(collisionCollection); | ||
573 | // If there were any collisions in the collection, make sure we don't use the | ||
574 | // same instance next time. | ||
575 | if (collisionCollection.Count > 0) | ||
576 | collisionCollection = null; | ||
577 | // End kludge | ||
578 | } | ||
579 | |||
580 | // Invoke the detailed logger and output something if it's enabled. | ||
581 | private void DetailLog(string msg, params Object[] args) | ||
582 | { | ||
583 | Scene.PhysicsLogging.Write(msg, args); | ||
584 | } | ||
585 | } | 506 | } |
586 | } | 507 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 1376a29..63a4127 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | |||
@@ -49,20 +49,23 @@ public abstract class BSConstraint : IDisposable | |||
49 | if (m_enabled) | 49 | if (m_enabled) |
50 | { | 50 | { |
51 | m_enabled = false; | 51 | m_enabled = false; |
52 | bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); | 52 | bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); |
53 | m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success); | 53 | m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success); |
54 | m_constraint.Ptr = System.IntPtr.Zero; | 54 | m_constraint.ptr = System.IntPtr.Zero; |
55 | } | 55 | } |
56 | } | 56 | } |
57 | 57 | ||
58 | public BulletBody Body1 { get { return m_body1; } } | 58 | public BulletBody Body1 { get { return m_body1; } } |
59 | public BulletBody Body2 { get { return m_body2; } } | 59 | public BulletBody Body2 { get { return m_body2; } } |
60 | public BulletConstraint Constraint { get { return m_constraint; } } | ||
61 | public abstract ConstraintType Type { get; } | ||
62 | |||
60 | 63 | ||
61 | public virtual bool SetLinearLimits(Vector3 low, Vector3 high) | 64 | public virtual bool SetLinearLimits(Vector3 low, Vector3 high) |
62 | { | 65 | { |
63 | bool ret = false; | 66 | bool ret = false; |
64 | if (m_enabled) | 67 | if (m_enabled) |
65 | ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); | 68 | ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high); |
66 | return ret; | 69 | return ret; |
67 | } | 70 | } |
68 | 71 | ||
@@ -70,7 +73,7 @@ public abstract class BSConstraint : IDisposable | |||
70 | { | 73 | { |
71 | bool ret = false; | 74 | bool ret = false; |
72 | if (m_enabled) | 75 | if (m_enabled) |
73 | ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); | 76 | ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high); |
74 | return ret; | 77 | return ret; |
75 | } | 78 | } |
76 | 79 | ||
@@ -79,7 +82,7 @@ public abstract class BSConstraint : IDisposable | |||
79 | bool ret = false; | 82 | bool ret = false; |
80 | if (m_enabled) | 83 | if (m_enabled) |
81 | { | 84 | { |
82 | BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.Ptr, cnt); | 85 | BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt); |
83 | ret = true; | 86 | ret = true; |
84 | } | 87 | } |
85 | return ret; | 88 | return ret; |
@@ -91,7 +94,7 @@ public abstract class BSConstraint : IDisposable | |||
91 | if (m_enabled) | 94 | if (m_enabled) |
92 | { | 95 | { |
93 | // Recompute the internal transforms | 96 | // Recompute the internal transforms |
94 | BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); | 97 | BulletSimAPI.CalculateTransforms2(m_constraint.ptr); |
95 | ret = true; | 98 | ret = true; |
96 | } | 99 | } |
97 | return ret; | 100 | return ret; |
@@ -110,11 +113,11 @@ public abstract class BSConstraint : IDisposable | |||
110 | // Setting an object's mass to zero (making it static like when it's selected) | 113 | // Setting an object's mass to zero (making it static like when it's selected) |
111 | // automatically disables the constraints. | 114 | // automatically disables the constraints. |
112 | // If the link is enabled, be sure to set the constraint itself to enabled. | 115 | // If the link is enabled, be sure to set the constraint itself to enabled. |
113 | BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true)); | 116 | BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, m_world.physicsScene.NumericBool(true)); |
114 | } | 117 | } |
115 | else | 118 | else |
116 | { | 119 | { |
117 | m_world.scene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID); | 120 | m_world.physicsScene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID); |
118 | } | 121 | } |
119 | } | 122 | } |
120 | return ret; | 123 | return ret; |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 61006f0..65b38d6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
@@ -54,18 +54,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
54 | { | 54 | { |
55 | public class BSDynamics | 55 | public class BSDynamics |
56 | { | 56 | { |
57 | private int frcount = 0; // Used to limit dynamics debug output to | 57 | private BSScene PhysicsScene { get; set; } |
58 | // every 100th frame | 58 | // the prim this dynamic controller belongs to |
59 | 59 | private BSPrim Prim { get; set; } | |
60 | private BSScene m_physicsScene; | ||
61 | private BSPrim m_prim; // the prim this dynamic controller belongs to | ||
62 | 60 | ||
63 | // Vehicle properties | 61 | // Vehicle properties |
64 | private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind | 62 | public Vehicle Type { get; set; } |
65 | public Vehicle Type | 63 | |
66 | { | ||
67 | get { return m_type; } | ||
68 | } | ||
69 | // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier | 64 | // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier |
70 | private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: | 65 | private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: |
71 | // HOVER_TERRAIN_ONLY | 66 | // HOVER_TERRAIN_ONLY |
@@ -126,14 +121,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
126 | 121 | ||
127 | public BSDynamics(BSScene myScene, BSPrim myPrim) | 122 | public BSDynamics(BSScene myScene, BSPrim myPrim) |
128 | { | 123 | { |
129 | m_physicsScene = myScene; | 124 | PhysicsScene = myScene; |
130 | m_prim = myPrim; | 125 | Prim = myPrim; |
131 | m_type = Vehicle.TYPE_NONE; | 126 | Type = Vehicle.TYPE_NONE; |
127 | } | ||
128 | |||
129 | // Return 'true' if this vehicle is doing vehicle things | ||
130 | public bool IsActive | ||
131 | { | ||
132 | get { return Type != Vehicle.TYPE_NONE; } | ||
132 | } | 133 | } |
133 | 134 | ||
134 | internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) | 135 | internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) |
135 | { | 136 | { |
136 | VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); | 137 | VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); |
137 | switch (pParam) | 138 | switch (pParam) |
138 | { | 139 | { |
139 | case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: | 140 | case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: |
@@ -232,7 +233,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
232 | 233 | ||
233 | internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) | 234 | internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) |
234 | { | 235 | { |
235 | VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); | 236 | VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); |
236 | switch (pParam) | 237 | switch (pParam) |
237 | { | 238 | { |
238 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | 239 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: |
@@ -267,7 +268,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
267 | 268 | ||
268 | internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) | 269 | internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) |
269 | { | 270 | { |
270 | VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); | 271 | VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); |
271 | switch (pParam) | 272 | switch (pParam) |
272 | { | 273 | { |
273 | case Vehicle.REFERENCE_FRAME: | 274 | case Vehicle.REFERENCE_FRAME: |
@@ -281,7 +282,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
281 | 282 | ||
282 | internal void ProcessVehicleFlags(int pParam, bool remove) | 283 | internal void ProcessVehicleFlags(int pParam, bool remove) |
283 | { | 284 | { |
284 | VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove); | 285 | VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove); |
285 | VehicleFlag parm = (VehicleFlag)pParam; | 286 | VehicleFlag parm = (VehicleFlag)pParam; |
286 | if (remove) | 287 | if (remove) |
287 | { | 288 | { |
@@ -301,9 +302,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
301 | 302 | ||
302 | internal void ProcessTypeChange(Vehicle pType) | 303 | internal void ProcessTypeChange(Vehicle pType) |
303 | { | 304 | { |
304 | VDetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); | 305 | VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType); |
305 | // Set Defaults For Type | 306 | // Set Defaults For Type |
306 | m_type = pType; | 307 | Type = pType; |
307 | switch (pType) | 308 | switch (pType) |
308 | { | 309 | { |
309 | case Vehicle.TYPE_NONE: | 310 | case Vehicle.TYPE_NONE: |
@@ -465,26 +466,37 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
465 | } | 466 | } |
466 | }//end SetDefaultsForType | 467 | }//end SetDefaultsForType |
467 | 468 | ||
469 | // Some of the properties of this prim may have changed. | ||
470 | // Do any updating needed for a vehicle | ||
471 | public void Refresh() | ||
472 | { | ||
473 | if (Type == Vehicle.TYPE_NONE) return; | ||
474 | |||
475 | // Set the prim's inertia to zero. The vehicle code handles that and this | ||
476 | // removes the torque action introduced by Bullet. | ||
477 | Vector3 inertia = Vector3.Zero; | ||
478 | BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); | ||
479 | BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); | ||
480 | } | ||
481 | |||
468 | // One step of the vehicle properties for the next 'pTimestep' seconds. | 482 | // One step of the vehicle properties for the next 'pTimestep' seconds. |
469 | internal void Step(float pTimestep) | 483 | internal void Step(float pTimestep) |
470 | { | 484 | { |
471 | if (m_type == Vehicle.TYPE_NONE) return; | 485 | if (!IsActive) return; |
472 | |||
473 | frcount++; // used to limit debug comment output | ||
474 | if (frcount > 100) | ||
475 | frcount = 0; | ||
476 | 486 | ||
477 | MoveLinear(pTimestep); | 487 | MoveLinear(pTimestep); |
478 | MoveAngular(pTimestep); | 488 | MoveAngular(pTimestep); |
479 | LimitRotation(pTimestep); | 489 | LimitRotation(pTimestep); |
480 | 490 | ||
481 | // remember the position so next step we can limit absolute movement effects | 491 | // remember the position so next step we can limit absolute movement effects |
482 | m_lastPositionVector = m_prim.Position; | 492 | m_lastPositionVector = Prim.Position; |
483 | 493 | ||
484 | VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", | 494 | VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", |
485 | m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); | 495 | Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity); |
486 | }// end Step | 496 | }// end Step |
487 | 497 | ||
498 | // Apply the effect of the linear motor. | ||
499 | // Also does hover and float. | ||
488 | private void MoveLinear(float pTimestep) | 500 | private void MoveLinear(float pTimestep) |
489 | { | 501 | { |
490 | // m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates | 502 | // m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates |
@@ -499,8 +511,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
499 | Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep); | 511 | Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep); |
500 | // lastLinearVelocityVector is the current body velocity vector | 512 | // lastLinearVelocityVector is the current body velocity vector |
501 | // RA: Not sure what the *10 is for. A correction for pTimestep? | 513 | // RA: Not sure what the *10 is for. A correction for pTimestep? |
502 | // m_lastLinearVelocityVector += (addAmount*10); | 514 | // m_lastLinearVelocityVector += (addAmount*10); |
503 | m_lastLinearVelocityVector += addAmount; | 515 | m_lastLinearVelocityVector += addAmount; |
504 | 516 | ||
505 | // Limit the velocity vector to less than the last set linear motor direction | 517 | // Limit the velocity vector to less than the last set linear motor direction |
506 | if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) | 518 | if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) |
@@ -520,18 +532,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
520 | m_linearMotorDirection *= keepfraction; | 532 | m_linearMotorDirection *= keepfraction; |
521 | 533 | ||
522 | VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}", | 534 | VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}", |
523 | m_prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector); | 535 | Prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector); |
524 | } | 536 | } |
525 | else | 537 | else |
526 | { | 538 | { |
527 | // if what remains of direction is very small, zero it. | 539 | // if what remains of direction is very small, zero it. |
528 | m_linearMotorDirection = Vector3.Zero; | 540 | m_linearMotorDirection = Vector3.Zero; |
529 | m_lastLinearVelocityVector = Vector3.Zero; | 541 | m_lastLinearVelocityVector = Vector3.Zero; |
530 | VDetailLog("{0},MoveLinear,zeroed", m_prim.LocalID); | 542 | VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); |
531 | } | 543 | } |
532 | 544 | ||
533 | // convert requested object velocity to object relative vector | 545 | // convert requested object velocity to object relative vector |
534 | Quaternion rotq = m_prim.Orientation; | 546 | Quaternion rotq = Prim.Orientation; |
535 | m_newVelocity = m_lastLinearVelocityVector * rotq; | 547 | m_newVelocity = m_lastLinearVelocityVector * rotq; |
536 | 548 | ||
537 | // Add the various forces into m_dir which will be our new direction vector (velocity) | 549 | // Add the various forces into m_dir which will be our new direction vector (velocity) |
@@ -539,7 +551,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
539 | // add Gravity and Buoyancy | 551 | // add Gravity and Buoyancy |
540 | // There is some gravity, make a gravity force vector that is applied after object velocity. | 552 | // There is some gravity, make a gravity force vector that is applied after object velocity. |
541 | // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; | 553 | // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; |
542 | Vector3 grav = m_prim.Scene.DefaultGravity * (m_prim.Mass * (1f - m_VehicleBuoyancy)); | 554 | Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Mass * (1f - m_VehicleBuoyancy)); |
543 | 555 | ||
544 | /* | 556 | /* |
545 | * RA: Not sure why one would do this | 557 | * RA: Not sure why one would do this |
@@ -548,11 +560,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
548 | m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity | 560 | m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity |
549 | */ | 561 | */ |
550 | 562 | ||
551 | Vector3 pos = m_prim.Position; | 563 | Vector3 pos = Prim.Position; |
552 | // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); | 564 | // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); |
553 | 565 | ||
554 | // If below the terrain, move us above the ground a little. | 566 | // If below the terrain, move us above the ground a little. |
555 | float terrainHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos); | 567 | float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); |
556 | // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. | 568 | // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. |
557 | // Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. | 569 | // Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. |
558 | // Vector3 rotatedSize = m_prim.Size * m_prim.Orientation; | 570 | // Vector3 rotatedSize = m_prim.Size * m_prim.Orientation; |
@@ -560,8 +572,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
560 | if (pos.Z < terrainHeight) | 572 | if (pos.Z < terrainHeight) |
561 | { | 573 | { |
562 | pos.Z = terrainHeight + 2; | 574 | pos.Z = terrainHeight + 2; |
563 | m_prim.Position = pos; | 575 | Prim.Position = pos; |
564 | VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", m_prim.LocalID, terrainHeight, pos); | 576 | VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos); |
565 | } | 577 | } |
566 | 578 | ||
567 | // Check if hovering | 579 | // Check if hovering |
@@ -570,7 +582,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
570 | // We should hover, get the target height | 582 | // We should hover, get the target height |
571 | if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) | 583 | if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) |
572 | { | 584 | { |
573 | m_VhoverTargetHeight = m_prim.Scene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; | 585 | m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; |
574 | } | 586 | } |
575 | if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) | 587 | if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) |
576 | { | 588 | { |
@@ -590,7 +602,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
590 | { | 602 | { |
591 | if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) | 603 | if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) |
592 | { | 604 | { |
593 | m_prim.Position = pos; | 605 | Prim.Position = pos; |
594 | } | 606 | } |
595 | } | 607 | } |
596 | else | 608 | else |
@@ -608,7 +620,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
608 | } | 620 | } |
609 | } | 621 | } |
610 | 622 | ||
611 | VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight); | 623 | VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", Prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight); |
612 | } | 624 | } |
613 | 625 | ||
614 | Vector3 posChange = pos - m_lastPositionVector; | 626 | Vector3 posChange = pos - m_lastPositionVector; |
@@ -642,9 +654,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
642 | } | 654 | } |
643 | if (changed) | 655 | if (changed) |
644 | { | 656 | { |
645 | m_prim.Position = pos; | 657 | Prim.Position = pos; |
646 | VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", | 658 | VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", |
647 | m_prim.LocalID, m_BlockingEndPoint, posChange, pos); | 659 | Prim.LocalID, m_BlockingEndPoint, posChange, pos); |
648 | } | 660 | } |
649 | } | 661 | } |
650 | 662 | ||
@@ -664,7 +676,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
664 | float postemp = (pos.Z - terrainHeight); | 676 | float postemp = (pos.Z - terrainHeight); |
665 | if (postemp > 2.5f) | 677 | if (postemp > 2.5f) |
666 | grav.Z = (float)(grav.Z * 1.037125); | 678 | grav.Z = (float)(grav.Z * 1.037125); |
667 | VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav); | 679 | VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", Prim.LocalID, grav); |
668 | } | 680 | } |
669 | if ((m_flags & (VehicleFlag.NO_X)) != 0) | 681 | if ((m_flags & (VehicleFlag.NO_X)) != 0) |
670 | m_newVelocity.X = 0; | 682 | m_newVelocity.X = 0; |
@@ -674,7 +686,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
674 | m_newVelocity.Z = 0; | 686 | m_newVelocity.Z = 0; |
675 | 687 | ||
676 | // Apply velocity | 688 | // Apply velocity |
677 | m_prim.Velocity = m_newVelocity; | 689 | Prim.Velocity = m_newVelocity; |
678 | // apply gravity force | 690 | // apply gravity force |
679 | // Why is this set here? The physics engine already does gravity. | 691 | // Why is this set here? The physics engine already does gravity. |
680 | // m_prim.AddForce(grav, false); | 692 | // m_prim.AddForce(grav, false); |
@@ -683,11 +695,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
683 | Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); | 695 | Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); |
684 | m_lastLinearVelocityVector *= keepFraction; | 696 | m_lastLinearVelocityVector *= keepFraction; |
685 | 697 | ||
686 | VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}", | 698 | VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}", |
687 | m_prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction); | 699 | Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction); |
688 | 700 | ||
689 | } // end MoveLinear() | 701 | } // end MoveLinear() |
690 | 702 | ||
703 | // Apply the effect of the angular motor. | ||
691 | private void MoveAngular(float pTimestep) | 704 | private void MoveAngular(float pTimestep) |
692 | { | 705 | { |
693 | // m_angularMotorDirection // angular velocity requested by LSL motor | 706 | // m_angularMotorDirection // angular velocity requested by LSL motor |
@@ -699,7 +712,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
699 | // m_lastAngularVelocity // what was last applied to body | 712 | // m_lastAngularVelocity // what was last applied to body |
700 | 713 | ||
701 | // Get what the body is doing, this includes 'external' influences | 714 | // Get what the body is doing, this includes 'external' influences |
702 | Vector3 angularVelocity = m_prim.RotationalVelocity; | 715 | Vector3 angularVelocity = Prim.RotationalVelocity; |
703 | 716 | ||
704 | if (m_angularMotorApply > 0) | 717 | if (m_angularMotorApply > 0) |
705 | { | 718 | { |
@@ -715,8 +728,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
715 | m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); | 728 | m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); |
716 | m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); | 729 | m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); |
717 | 730 | ||
718 | VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}", | 731 | VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}", |
719 | m_prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); | 732 | Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); |
720 | 733 | ||
721 | // This is done so that if script request rate is less than phys frame rate the expected | 734 | // This is done so that if script request rate is less than phys frame rate the expected |
722 | // velocity may still be acheived. | 735 | // velocity may still be acheived. |
@@ -737,7 +750,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
737 | { | 750 | { |
738 | float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep); | 751 | float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep); |
739 | // get present body rotation | 752 | // get present body rotation |
740 | Quaternion rotq = m_prim.Orientation; | 753 | Quaternion rotq = Prim.Orientation; |
741 | // make a vector pointing up | 754 | // make a vector pointing up |
742 | Vector3 verterr = Vector3.Zero; | 755 | Vector3 verterr = Vector3.Zero; |
743 | verterr.Z = 1.0f; | 756 | verterr.Z = 1.0f; |
@@ -766,8 +779,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
766 | vertattr.X += bounce * angularVelocity.X; | 779 | vertattr.X += bounce * angularVelocity.X; |
767 | vertattr.Y += bounce * angularVelocity.Y; | 780 | vertattr.Y += bounce * angularVelocity.Y; |
768 | 781 | ||
769 | VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", | 782 | VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", |
770 | m_prim.LocalID, verterr, bounce, vertattr); | 783 | Prim.LocalID, verterr, bounce, vertattr); |
771 | 784 | ||
772 | } // else vertical attractor is off | 785 | } // else vertical attractor is off |
773 | 786 | ||
@@ -779,18 +792,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
779 | 792 | ||
780 | // Sum velocities | 793 | // Sum velocities |
781 | m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection | 794 | m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection |
782 | 795 | ||
783 | if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) | 796 | if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) |
784 | { | 797 | { |
785 | m_lastAngularVelocity.X = 0; | 798 | m_lastAngularVelocity.X = 0; |
786 | m_lastAngularVelocity.Y = 0; | 799 | m_lastAngularVelocity.Y = 0; |
787 | VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); | 800 | VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); |
788 | } | 801 | } |
789 | 802 | ||
790 | if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) | 803 | if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) |
791 | { | 804 | { |
792 | m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. | 805 | m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. |
793 | VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); | 806 | VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); |
794 | } | 807 | } |
795 | 808 | ||
796 | // apply friction | 809 | // apply friction |
@@ -798,14 +811,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
798 | m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; | 811 | m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; |
799 | 812 | ||
800 | // Apply to the body | 813 | // Apply to the body |
801 | m_prim.RotationalVelocity = m_lastAngularVelocity; | 814 | Prim.RotationalVelocity = m_lastAngularVelocity; |
802 | 815 | ||
803 | VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); | 816 | VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); |
804 | } //end MoveAngular | 817 | } //end MoveAngular |
805 | 818 | ||
806 | internal void LimitRotation(float timestep) | 819 | internal void LimitRotation(float timestep) |
807 | { | 820 | { |
808 | Quaternion rotq = m_prim.Orientation; | 821 | Quaternion rotq = Prim.Orientation; |
809 | Quaternion m_rot = rotq; | 822 | Quaternion m_rot = rotq; |
810 | bool changed = false; | 823 | bool changed = false; |
811 | if (m_RollreferenceFrame != Quaternion.Identity) | 824 | if (m_RollreferenceFrame != Quaternion.Identity) |
@@ -840,8 +853,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
840 | } | 853 | } |
841 | if (changed) | 854 | if (changed) |
842 | { | 855 | { |
843 | m_prim.Orientation = m_rot; | 856 | Prim.Orientation = m_rot; |
844 | VDetailLog("{0},LimitRotation,done,orig={1},new={2}", m_prim.LocalID, rotq, m_rot); | 857 | VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); |
845 | } | 858 | } |
846 | 859 | ||
847 | } | 860 | } |
@@ -849,8 +862,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
849 | // Invoke the detailed logger and output something if it's enabled. | 862 | // Invoke the detailed logger and output something if it's enabled. |
850 | private void VDetailLog(string msg, params Object[] args) | 863 | private void VDetailLog(string msg, params Object[] args) |
851 | { | 864 | { |
852 | if (m_prim.Scene.VehicleLoggingEnabled) | 865 | if (Prim.PhysicsScene.VehicleLoggingEnabled) |
853 | m_prim.Scene.PhysicsLogging.Write(msg, args); | 866 | Prim.PhysicsScene.PhysicsLogging.Write(msg, args); |
854 | } | 867 | } |
855 | } | 868 | } |
856 | } | 869 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs index d68048b..7c8a215 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs | |||
@@ -1,55 +1,57 @@ | |||
1 | /* | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ | 2 | * Copyright (c) Contributors, http://opensimulator.org/ |
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
4 | * | 4 | * |
5 | * Redistribution and use in source and binary forms, with or without | 5 | * Redistribution and use in source and binary forms, with or without |
6 | * modification, are permitted provided that the following conditions are met: | 6 | * modification, are permitted provided that the following conditions are met: |
7 | * * Redistributions of source code must retain the above copyright | 7 | * * Redistributions of source code must retain the above copyright |
8 | * notice, this list of conditions and the following disclaimer. | 8 | * notice, this list of conditions and the following disclaimer. |
9 | * * Redistributions in binary form must reproduce the above copyrightD | 9 | * * Redistributions in binary form must reproduce the above copyrightD |
10 | * notice, this list of conditions and the following disclaimer in the | 10 | * notice, this list of conditions and the following disclaimer in the |
11 | * documentation and/or other materials provided with the distribution. | 11 | * documentation and/or other materials provided with the distribution. |
12 | * * Neither the name of the OpenSimulator Project nor the | 12 | * * Neither the name of the OpenSimulator Project nor the |
13 | * names of its contributors may be used to endorse or promote products | 13 | * names of its contributors may be used to endorse or promote products |
14 | * derived from this software without specific prior written permission. | 14 | * derived from this software without specific prior written permission. |
15 | * | 15 | * |
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | 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 | 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 | 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 | 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. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | */ | 26 | */ |
27 | using System; | 27 | using System; |
28 | using System.Collections.Generic; | 28 | using System.Collections.Generic; |
29 | using System.Text; | 29 | using System.Text; |
30 | using OpenMetaverse; | 30 | using OpenMetaverse; |
31 | 31 | ||
32 | namespace OpenSim.Region.Physics.BulletSPlugin | 32 | namespace OpenSim.Region.Physics.BulletSPlugin |
33 | { | 33 | { |
34 | 34 | ||
35 | class BSHingeConstraint : BSConstraint | 35 | class BSHingeConstraint : BSConstraint |
36 | { | 36 | { |
37 | public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, | 37 | public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } } |
38 | Vector3 pivotInA, Vector3 pivotInB, | 38 | |
39 | Vector3 axisInA, Vector3 axisInB, | 39 | public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, |
40 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) | 40 | Vector3 pivotInA, Vector3 pivotInB, |
41 | { | 41 | Vector3 axisInA, Vector3 axisInB, |
42 | m_world = world; | 42 | bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) |
43 | m_body1 = obj1; | 43 | { |
44 | m_body2 = obj2; | 44 | m_world = world; |
45 | m_constraint = new BulletConstraint( | 45 | m_body1 = obj1; |
46 | BulletSimAPI.CreateHingeConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, | 46 | m_body2 = obj2; |
47 | pivotInA, pivotInB, | 47 | m_constraint = new BulletConstraint( |
48 | axisInA, axisInB, | 48 | BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, |
49 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); | 49 | pivotInA, pivotInB, |
50 | m_enabled = true; | 50 | axisInA, axisInB, |
51 | } | 51 | useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies)); |
52 | 52 | m_enabled = true; | |
53 | } | 53 | } |
54 | 54 | ||
55 | } | 55 | } |
56 | |||
57 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 7e784eb..4f225ae 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | |||
@@ -36,17 +36,24 @@ public class BSLinkset | |||
36 | { | 36 | { |
37 | private static string LogHeader = "[BULLETSIM LINKSET]"; | 37 | private static string LogHeader = "[BULLETSIM LINKSET]"; |
38 | 38 | ||
39 | private BSPhysObject m_linksetRoot; | 39 | public BSPhysObject LinksetRoot { get; protected set; } |
40 | public BSPhysObject LinksetRoot { get { return m_linksetRoot; } } | ||
41 | 40 | ||
42 | private BSScene m_physicsScene; | 41 | public BSScene PhysicsScene { get; private set; } |
43 | public BSScene PhysicsScene { get { return m_physicsScene; } } | ||
44 | 42 | ||
45 | static int m_nextLinksetID = 1; | 43 | static int m_nextLinksetID = 1; |
46 | public int LinksetID { get; private set; } | 44 | public int LinksetID { get; private set; } |
47 | 45 | ||
48 | // The children under the root in this linkset | 46 | // The children under the root in this linkset. |
47 | // There are two lists of children: the current children at runtime | ||
48 | // and the children at taint-time. For instance, if you delink a | ||
49 | // child from the linkset, the child is removed from m_children | ||
50 | // but the constraint won't be removed until taint time. | ||
51 | // Two lists lets this track the 'current' children and | ||
52 | // the physical 'taint' children separately. | ||
53 | // After taint processing and before the simulation step, these | ||
54 | // two lists must be the same. | ||
49 | private List<BSPhysObject> m_children; | 55 | private List<BSPhysObject> m_children; |
56 | private List<BSPhysObject> m_taintChildren; | ||
50 | 57 | ||
51 | // We lock the diddling of linkset classes to prevent any badness. | 58 | // We lock the diddling of linkset classes to prevent any badness. |
52 | // This locks the modification of the instances of this class. Changes | 59 | // This locks the modification of the instances of this class. Changes |
@@ -55,9 +62,9 @@ public class BSLinkset | |||
55 | 62 | ||
56 | // We keep the prim's mass in the linkset structure since it could be dependent on other prims | 63 | // We keep the prim's mass in the linkset structure since it could be dependent on other prims |
57 | private float m_mass; | 64 | private float m_mass; |
58 | public float LinksetMass | 65 | public float LinksetMass |
59 | { | 66 | { |
60 | get | 67 | get |
61 | { | 68 | { |
62 | m_mass = ComputeLinksetMass(); | 69 | m_mass = ComputeLinksetMass(); |
63 | return m_mass; | 70 | return m_mass; |
@@ -79,22 +86,26 @@ public class BSLinkset | |||
79 | // A simple linkset of one (no children) | 86 | // A simple linkset of one (no children) |
80 | LinksetID = m_nextLinksetID++; | 87 | LinksetID = m_nextLinksetID++; |
81 | // We create LOTS of linksets. | 88 | // We create LOTS of linksets. |
82 | if (m_nextLinksetID < 0) | 89 | if (m_nextLinksetID <= 0) |
83 | m_nextLinksetID = 1; | 90 | m_nextLinksetID = 1; |
84 | m_physicsScene = scene; | 91 | PhysicsScene = scene; |
85 | m_linksetRoot = parent; | 92 | LinksetRoot = parent; |
86 | m_children = new List<BSPhysObject>(); | 93 | m_children = new List<BSPhysObject>(); |
94 | m_taintChildren = new List<BSPhysObject>(); | ||
87 | m_mass = parent.MassRaw; | 95 | m_mass = parent.MassRaw; |
88 | } | 96 | } |
89 | 97 | ||
90 | // Link to a linkset where the child knows the parent. | 98 | // Link to a linkset where the child knows the parent. |
91 | // Parent changing should not happen so do some sanity checking. | 99 | // Parent changing should not happen so do some sanity checking. |
92 | // We return the parent's linkset so the child can track its membership. | 100 | // We return the parent's linkset so the child can track its membership. |
101 | // Called at runtime. | ||
93 | public BSLinkset AddMeToLinkset(BSPhysObject child) | 102 | public BSLinkset AddMeToLinkset(BSPhysObject child) |
94 | { | 103 | { |
95 | lock (m_linksetActivityLock) | 104 | lock (m_linksetActivityLock) |
96 | { | 105 | { |
97 | AddChildToLinkset(child); | 106 | // Don't add the root to its own linkset |
107 | if (!IsRoot(child)) | ||
108 | AddChildToLinkset(child); | ||
98 | } | 109 | } |
99 | return this; | 110 | return this; |
100 | } | 111 | } |
@@ -102,26 +113,18 @@ public class BSLinkset | |||
102 | // Remove a child from a linkset. | 113 | // Remove a child from a linkset. |
103 | // Returns a new linkset for the child which is a linkset of one (just the | 114 | // Returns a new linkset for the child which is a linkset of one (just the |
104 | // orphened child). | 115 | // orphened child). |
116 | // Called at runtime. | ||
105 | public BSLinkset RemoveMeFromLinkset(BSPhysObject child) | 117 | public BSLinkset RemoveMeFromLinkset(BSPhysObject child) |
106 | { | 118 | { |
107 | lock (m_linksetActivityLock) | 119 | lock (m_linksetActivityLock) |
108 | { | 120 | { |
109 | if (IsRoot(child)) | 121 | if (IsRoot(child)) |
110 | { | 122 | { |
111 | // if root of linkset, take the linkset apart | 123 | // Cannot remove the root from a linkset. |
112 | while (m_children.Count > 0) | 124 | return this; |
113 | { | ||
114 | // Note that we don't do a foreach because the remove routine | ||
115 | // takes it out of the list. | ||
116 | RemoveChildFromOtherLinkset(m_children[0]); | ||
117 | } | ||
118 | m_children.Clear(); // just to make sure | ||
119 | } | ||
120 | else | ||
121 | { | ||
122 | // Just removing a child from an existing linkset | ||
123 | RemoveChildFromLinkset(child); | ||
124 | } | 125 | } |
126 | |||
127 | RemoveChildFromLinkset(child); | ||
125 | } | 128 | } |
126 | 129 | ||
127 | // The child is down to a linkset of just itself | 130 | // The child is down to a linkset of just itself |
@@ -131,7 +134,7 @@ public class BSLinkset | |||
131 | // Return 'true' if the passed object is the root object of this linkset | 134 | // Return 'true' if the passed object is the root object of this linkset |
132 | public bool IsRoot(BSPhysObject requestor) | 135 | public bool IsRoot(BSPhysObject requestor) |
133 | { | 136 | { |
134 | return (requestor.LocalID == m_linksetRoot.LocalID); | 137 | return (requestor.LocalID == LinksetRoot.LocalID); |
135 | } | 138 | } |
136 | 139 | ||
137 | public int NumberOfChildren { get { return m_children.Count; } } | 140 | public int NumberOfChildren { get { return m_children.Count; } } |
@@ -157,51 +160,6 @@ public class BSLinkset | |||
157 | return ret; | 160 | return ret; |
158 | } | 161 | } |
159 | 162 | ||
160 | private float ComputeLinksetMass() | ||
161 | { | ||
162 | float mass = m_linksetRoot.MassRaw; | ||
163 | foreach (BSPhysObject bp in m_children) | ||
164 | { | ||
165 | mass += bp.MassRaw; | ||
166 | } | ||
167 | return mass; | ||
168 | } | ||
169 | |||
170 | private OMV.Vector3 ComputeLinksetCenterOfMass() | ||
171 | { | ||
172 | OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw; | ||
173 | float totalMass = m_linksetRoot.MassRaw; | ||
174 | |||
175 | lock (m_linksetActivityLock) | ||
176 | { | ||
177 | foreach (BSPhysObject bp in m_children) | ||
178 | { | ||
179 | com += bp.Position * bp.MassRaw; | ||
180 | totalMass += bp.MassRaw; | ||
181 | } | ||
182 | if (totalMass != 0f) | ||
183 | com /= totalMass; | ||
184 | } | ||
185 | |||
186 | return com; | ||
187 | } | ||
188 | |||
189 | private OMV.Vector3 ComputeLinksetGeometricCenter() | ||
190 | { | ||
191 | OMV.Vector3 com = m_linksetRoot.Position; | ||
192 | |||
193 | lock (m_linksetActivityLock) | ||
194 | { | ||
195 | foreach (BSPhysObject bp in m_children) | ||
196 | { | ||
197 | com += bp.Position * bp.MassRaw; | ||
198 | } | ||
199 | com /= (m_children.Count + 1); | ||
200 | } | ||
201 | |||
202 | return com; | ||
203 | } | ||
204 | |||
205 | // The object is going dynamic (physical). Do any setup necessary | 163 | // The object is going dynamic (physical). Do any setup necessary |
206 | // for a dynamic linkset. | 164 | // for a dynamic linkset. |
207 | // Only the state of the passed object can be modified. The rest of the linkset | 165 | // Only the state of the passed object can be modified. The rest of the linkset |
@@ -210,8 +168,8 @@ public class BSLinkset | |||
210 | // Called at taint-time! | 168 | // Called at taint-time! |
211 | public bool MakeDynamic(BSPhysObject child) | 169 | public bool MakeDynamic(BSPhysObject child) |
212 | { | 170 | { |
213 | bool ret = false; | 171 | // What is done for each object in BSPrim is what we want. |
214 | return ret; | 172 | return false; |
215 | } | 173 | } |
216 | 174 | ||
217 | // The object is going static (non-physical). Do any setup necessary | 175 | // The object is going static (non-physical). Do any setup necessary |
@@ -226,6 +184,7 @@ public class BSLinkset | |||
226 | 184 | ||
227 | // When physical properties are changed the linkset needs to recalculate | 185 | // When physical properties are changed the linkset needs to recalculate |
228 | // its internal properties. | 186 | // its internal properties. |
187 | // Called at runtime. | ||
229 | public void Refresh(BSPhysObject requestor) | 188 | public void Refresh(BSPhysObject requestor) |
230 | { | 189 | { |
231 | // If there are no children, there can't be any constraints to recompute | 190 | // If there are no children, there can't be any constraints to recompute |
@@ -242,58 +201,125 @@ public class BSLinkset | |||
242 | } | 201 | } |
243 | } | 202 | } |
244 | 203 | ||
245 | // Call each of the constraints that make up this linkset and recompute the | 204 | // Routine used when rebuilding the body of the root of the linkset |
246 | // various transforms and variables. Used when objects are added or removed | 205 | // Destroy all the constraints have have been made to root. |
247 | // from a linkset to make sure the constraints know about the new mass and | 206 | // This is called when the root body is changing. |
248 | // geometry. | 207 | // Returns 'true' of something eas actually removed and would need restoring |
249 | // Must only be called at taint time!! | 208 | // Called at taint-time!! |
250 | private void RecomputeLinksetConstraintVariables() | 209 | public bool RemoveBodyDependencies(BSPrim child) |
251 | { | 210 | { |
252 | float linksetMass = LinksetMass; | 211 | bool ret = false; |
212 | |||
253 | lock (m_linksetActivityLock) | 213 | lock (m_linksetActivityLock) |
254 | { | 214 | { |
255 | bool somethingMissing = false; | 215 | if (IsRoot(child)) |
256 | foreach (BSPhysObject child in m_children) | ||
257 | { | 216 | { |
258 | BSConstraint constrain; | 217 | // If the one with the dependency is root, must undo all children |
259 | if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) | 218 | DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},numChild={2}", |
219 | child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); | ||
220 | foreach (BSPhysObject bpo in m_taintChildren) | ||
260 | { | 221 | { |
261 | // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", | 222 | PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody); |
262 | // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); | 223 | ret = true; |
263 | constrain.RecomputeConstraintVariables(linksetMass); | ||
264 | } | 224 | } |
265 | else | 225 | } |
226 | else | ||
227 | { | ||
228 | DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}", | ||
229 | child.LocalID, | ||
230 | LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), | ||
231 | child.LocalID, child.BSBody.ptr.ToString("X")); | ||
232 | // Remove the dependency on the body of this one | ||
233 | if (m_taintChildren.Contains(child)) | ||
266 | { | 234 | { |
267 | // Non-fatal error that happens when children are being added to the linkset but | 235 | PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody); |
268 | // their constraints have not been created yet. | 236 | ret = true; |
269 | // Caused by the fact that m_children is built at run time but building constraints | ||
270 | // happens at taint time. | ||
271 | somethingMissing = true; | ||
272 | break; | ||
273 | } | 237 | } |
274 | } | 238 | } |
239 | } | ||
240 | return ret; | ||
241 | } | ||
275 | 242 | ||
276 | // If the whole linkset is not here, doesn't make sense to recompute linkset wide values | 243 | // Routine used when rebuilding the body of the root of the linkset |
277 | if (!somethingMissing) | 244 | // This is called after RemoveAllLinksToRoot() to restore all the constraints. |
245 | // This is called when the root body has been changed. | ||
246 | // Called at taint-time!! | ||
247 | public void RestoreBodyDependencies(BSPrim child) | ||
248 | { | ||
249 | lock (m_linksetActivityLock) | ||
250 | { | ||
251 | if (IsRoot(child)) | ||
278 | { | 252 | { |
279 | // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass | 253 | DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}", |
280 | OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); | 254 | child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); |
281 | BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); | 255 | foreach (BSPhysObject bpo in m_taintChildren) |
282 | foreach (BSPhysObject child in m_children) | ||
283 | { | 256 | { |
284 | BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); | 257 | PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody); |
285 | } | 258 | } |
286 | /* | 259 | } |
287 | // The root prim takes on the weight of the whole linkset | 260 | else |
288 | OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(LinksetRoot.BSShape.Ptr, linksetMass); | 261 | { |
289 | BulletSimAPI.SetMassProps2(LinksetRoot.BSBody.Ptr, linksetMass, inertia); | 262 | DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}", |
290 | OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); | 263 | LinksetRoot.LocalID, |
291 | BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity); | 264 | LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), |
292 | BulletSimAPI.UpdateInertiaTensor2(LinksetRoot.BSBody.Ptr); | 265 | child.LocalID, child.BSBody.ptr.ToString("X")); |
293 | */ | 266 | PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody); |
294 | } | 267 | } |
295 | } | 268 | } |
296 | return; | 269 | } |
270 | |||
271 | // ================================================================ | ||
272 | // Below this point is internal magic | ||
273 | |||
274 | private float ComputeLinksetMass() | ||
275 | { | ||
276 | float mass; | ||
277 | lock (m_linksetActivityLock) | ||
278 | { | ||
279 | mass = LinksetRoot.MassRaw; | ||
280 | foreach (BSPhysObject bp in m_taintChildren) | ||
281 | { | ||
282 | mass += bp.MassRaw; | ||
283 | } | ||
284 | } | ||
285 | return mass; | ||
286 | } | ||
287 | |||
288 | private OMV.Vector3 ComputeLinksetCenterOfMass() | ||
289 | { | ||
290 | OMV.Vector3 com; | ||
291 | lock (m_linksetActivityLock) | ||
292 | { | ||
293 | com = LinksetRoot.Position * LinksetRoot.MassRaw; | ||
294 | float totalMass = LinksetRoot.MassRaw; | ||
295 | |||
296 | foreach (BSPhysObject bp in m_taintChildren) | ||
297 | { | ||
298 | com += bp.Position * bp.MassRaw; | ||
299 | totalMass += bp.MassRaw; | ||
300 | } | ||
301 | if (totalMass != 0f) | ||
302 | com /= totalMass; | ||
303 | } | ||
304 | |||
305 | return com; | ||
306 | } | ||
307 | |||
308 | private OMV.Vector3 ComputeLinksetGeometricCenter() | ||
309 | { | ||
310 | OMV.Vector3 com; | ||
311 | lock (m_linksetActivityLock) | ||
312 | { | ||
313 | com = LinksetRoot.Position; | ||
314 | |||
315 | foreach (BSPhysObject bp in m_taintChildren) | ||
316 | { | ||
317 | com += bp.Position * bp.MassRaw; | ||
318 | } | ||
319 | com /= (m_taintChildren.Count + 1); | ||
320 | } | ||
321 | |||
322 | return com; | ||
297 | } | 323 | } |
298 | 324 | ||
299 | // I am the root of a linkset and a new child is being added | 325 | // I am the root of a linkset and a new child is being added |
@@ -304,12 +330,22 @@ public class BSLinkset | |||
304 | { | 330 | { |
305 | m_children.Add(child); | 331 | m_children.Add(child); |
306 | 332 | ||
307 | BSPhysObject rootx = LinksetRoot; // capture the root as of now | 333 | BSPhysObject rootx = LinksetRoot; // capture the root and body as of now |
334 | BulletBody rootBodyx = LinksetRoot.BSBody; | ||
308 | BSPhysObject childx = child; | 335 | BSPhysObject childx = child; |
309 | m_physicsScene.TaintedObject("AddChildToLinkset", delegate() | 336 | BulletBody childBodyx = child.BSBody; |
337 | |||
338 | DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", | ||
339 | rootx.LocalID, | ||
340 | rootx.LocalID, rootBodyx.ptr.ToString("X"), | ||
341 | childx.LocalID, childBodyx.ptr.ToString("X")); | ||
342 | |||
343 | PhysicsScene.TaintedObject("AddChildToLinkset", delegate() | ||
310 | { | 344 | { |
311 | DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); | 345 | DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); |
312 | PhysicallyLinkAChildToRoot(rootx, childx); // build the physical binding between me and the child | 346 | // build the physical binding between me and the child |
347 | m_taintChildren.Add(childx); | ||
348 | PhysicallyLinkAChildToRoot(rootx, rootBodyx, childx, childBodyx); | ||
313 | }); | 349 | }); |
314 | } | 350 | } |
315 | return; | 351 | return; |
@@ -319,10 +355,10 @@ public class BSLinkset | |||
319 | // This is not being called by the child so we have to make sure the child doesn't think | 355 | // This is not being called by the child so we have to make sure the child doesn't think |
320 | // it's still connected to the linkset. | 356 | // it's still connected to the linkset. |
321 | // Normal OpenSimulator operation will never do this because other SceneObjectPart information | 357 | // Normal OpenSimulator operation will never do this because other SceneObjectPart information |
322 | // has to be updated also (like pointer to prim's parent). | 358 | // also has to be updated (like pointer to prim's parent). |
323 | private void RemoveChildFromOtherLinkset(BSPhysObject pchild) | 359 | private void RemoveChildFromOtherLinkset(BSPhysObject pchild) |
324 | { | 360 | { |
325 | pchild.Linkset = new BSLinkset(m_physicsScene, pchild); | 361 | pchild.Linkset = new BSLinkset(PhysicsScene, pchild); |
326 | RemoveChildFromLinkset(pchild); | 362 | RemoveChildFromLinkset(pchild); |
327 | } | 363 | } |
328 | 364 | ||
@@ -332,13 +368,22 @@ public class BSLinkset | |||
332 | { | 368 | { |
333 | if (m_children.Remove(child)) | 369 | if (m_children.Remove(child)) |
334 | { | 370 | { |
335 | BSPhysObject rootx = LinksetRoot; // capture the root as of now | 371 | BSPhysObject rootx = LinksetRoot; // capture the root and body as of now |
372 | BulletBody rootBodyx = LinksetRoot.BSBody; | ||
336 | BSPhysObject childx = child; | 373 | BSPhysObject childx = child; |
337 | m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate() | 374 | BulletBody childBodyx = child.BSBody; |
375 | |||
376 | DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", | ||
377 | childx.LocalID, | ||
378 | rootx.LocalID, rootBodyx.ptr.ToString("X"), | ||
379 | childx.LocalID, childBodyx.ptr.ToString("X")); | ||
380 | |||
381 | PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() | ||
338 | { | 382 | { |
339 | DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); | 383 | if (m_taintChildren.Contains(childx)) |
384 | m_taintChildren.Remove(childx); | ||
340 | 385 | ||
341 | PhysicallyUnlinkAChildFromRoot(rootx, childx); | 386 | PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx); |
342 | RecomputeLinksetConstraintVariables(); | 387 | RecomputeLinksetConstraintVariables(); |
343 | }); | 388 | }); |
344 | 389 | ||
@@ -353,7 +398,8 @@ public class BSLinkset | |||
353 | 398 | ||
354 | // Create a constraint between me (root of linkset) and the passed prim (the child). | 399 | // Create a constraint between me (root of linkset) and the passed prim (the child). |
355 | // Called at taint time! | 400 | // Called at taint time! |
356 | private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) | 401 | private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BulletBody rootBody, |
402 | BSPhysObject childPrim, BulletBody childBody) | ||
357 | { | 403 | { |
358 | // Zero motion for children so they don't interpolate | 404 | // Zero motion for children so they don't interpolate |
359 | childPrim.ZeroMotion(); | 405 | childPrim.ZeroMotion(); |
@@ -365,18 +411,36 @@ public class BSLinkset | |||
365 | // real world coordinate of midpoint between the two objects | 411 | // real world coordinate of midpoint between the two objects |
366 | OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); | 412 | OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); |
367 | 413 | ||
414 | DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", | ||
415 | rootPrim.LocalID, | ||
416 | rootPrim.LocalID, rootBody.ptr.ToString("X"), | ||
417 | childPrim.LocalID, childBody.ptr.ToString("X"), | ||
418 | rootPrim.Position, childPrim.Position, midPoint); | ||
419 | |||
368 | // create a constraint that allows no freedom of movement between the two objects | 420 | // create a constraint that allows no freedom of movement between the two objects |
369 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 | 421 | // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 |
370 | DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}", | 422 | |
371 | rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint); | 423 | // There is great subtlty in these paramters. Notice the check for a ptr of zero. |
424 | // We pass the BulletBody structure into the taint in order to capture the pointer | ||
425 | // of the body at the time of constraint creation. This doesn't work for the very first | ||
426 | // construction because there is no body yet. The body | ||
427 | // is constructed later at taint time. Thus we use the body address at time of the | ||
428 | // taint creation but, if it is zero, use what's in the prim at the moment. | ||
429 | // There is a possible race condition since shape can change without a taint call | ||
430 | // (like changing to a mesh that is already constructed). The fix for that would be | ||
431 | // to only change BSShape at taint time thus syncronizing these operations at | ||
432 | // the cost of efficiency and lag. | ||
372 | BS6DofConstraint constrain = new BS6DofConstraint( | 433 | BS6DofConstraint constrain = new BS6DofConstraint( |
373 | m_physicsScene.World, rootPrim.BSBody, childPrim.BSBody, | 434 | PhysicsScene.World, |
435 | rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody, | ||
436 | childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody, | ||
374 | midPoint, | 437 | midPoint, |
375 | true, | 438 | true, |
376 | true | 439 | true |
377 | ); | 440 | ); |
441 | |||
378 | /* NOTE: below is an attempt to build constraint with full frame computation, etc. | 442 | /* NOTE: below is an attempt to build constraint with full frame computation, etc. |
379 | * Using the midpoint is easier since it lets the Bullet code use the transforms | 443 | * Using the midpoint is easier since it lets the Bullet code manipulate the transforms |
380 | * of the objects. | 444 | * of the objects. |
381 | * Code left as a warning to future programmers. | 445 | * Code left as a warning to future programmers. |
382 | // ================================================================================== | 446 | // ================================================================================== |
@@ -408,7 +472,7 @@ public class BSLinkset | |||
408 | // ================================================================================== | 472 | // ================================================================================== |
409 | */ | 473 | */ |
410 | 474 | ||
411 | m_physicsScene.Constraints.AddConstraint(constrain); | 475 | PhysicsScene.Constraints.AddConstraint(constrain); |
412 | 476 | ||
413 | // zero linear and angular limits makes the objects unable to move in relation to each other | 477 | // zero linear and angular limits makes the objects unable to move in relation to each other |
414 | constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | 478 | constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); |
@@ -429,31 +493,79 @@ public class BSLinkset | |||
429 | } | 493 | } |
430 | 494 | ||
431 | // Remove linkage between myself and a particular child | 495 | // Remove linkage between myself and a particular child |
496 | // The root and child bodies are passed in because we need to remove the constraint between | ||
497 | // the bodies that were at unlink time. | ||
432 | // Called at taint time! | 498 | // Called at taint time! |
433 | private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) | 499 | private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody, |
500 | BSPhysObject childPrim, BulletBody childBody) | ||
434 | { | 501 | { |
435 | DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); | 502 | DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", |
503 | rootPrim.LocalID, | ||
504 | rootPrim.LocalID, rootBody.ptr.ToString("X"), | ||
505 | childPrim.LocalID, childBody.ptr.ToString("X")); | ||
436 | 506 | ||
437 | // Find the constraint for this link and get rid of it from the overall collection and from my list | 507 | // Find the constraint for this link and get rid of it from the overall collection and from my list |
438 | m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody); | 508 | PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootBody, childBody); |
439 | 509 | ||
440 | // Make the child refresh its location | 510 | // Make the child refresh its location |
441 | BulletSimAPI.PushUpdate2(childPrim.BSBody.Ptr); | 511 | BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); |
442 | } | 512 | } |
443 | 513 | ||
444 | // Remove linkage between myself and any possible children I might have | 514 | /* |
515 | // Remove linkage between myself and any possible children I might have. | ||
445 | // Called at taint time! | 516 | // Called at taint time! |
446 | private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) | 517 | private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) |
447 | { | 518 | { |
448 | DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); | 519 | DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); |
449 | 520 | ||
450 | m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); | 521 | PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); |
522 | } | ||
523 | */ | ||
524 | |||
525 | // Call each of the constraints that make up this linkset and recompute the | ||
526 | // various transforms and variables. Used when objects are added or removed | ||
527 | // from a linkset to make sure the constraints know about the new mass and | ||
528 | // geometry. | ||
529 | // Must only be called at taint time!! | ||
530 | private void RecomputeLinksetConstraintVariables() | ||
531 | { | ||
532 | float linksetMass = LinksetMass; | ||
533 | foreach (BSPhysObject child in m_taintChildren) | ||
534 | { | ||
535 | BSConstraint constrain; | ||
536 | if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) | ||
537 | { | ||
538 | // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", | ||
539 | // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); | ||
540 | constrain.RecomputeConstraintVariables(linksetMass); | ||
541 | } | ||
542 | else | ||
543 | { | ||
544 | // Non-fatal error that happens when children are being added to the linkset but | ||
545 | // their constraints have not been created yet. | ||
546 | break; | ||
547 | } | ||
548 | } | ||
549 | |||
550 | // If the whole linkset is not here, doesn't make sense to recompute linkset wide values | ||
551 | if (m_children.Count == m_taintChildren.Count) | ||
552 | { | ||
553 | // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass | ||
554 | OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); | ||
555 | BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); | ||
556 | foreach (BSPhysObject child in m_taintChildren) | ||
557 | { | ||
558 | BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); | ||
559 | } | ||
560 | } | ||
561 | return; | ||
451 | } | 562 | } |
452 | 563 | ||
564 | |||
453 | // Invoke the detailed logger and output something if it's enabled. | 565 | // Invoke the detailed logger and output something if it's enabled. |
454 | private void DetailLog(string msg, params Object[] args) | 566 | private void DetailLog(string msg, params Object[] args) |
455 | { | 567 | { |
456 | m_physicsScene.PhysicsLogging.Write(msg, args); | 568 | PhysicsScene.PhysicsLogging.Write(msg, args); |
457 | } | 569 | } |
458 | 570 | ||
459 | } | 571 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 3fe71e1..d9b738b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |||
@@ -1,4 +1,4 @@ | |||
1 | /* | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ | 2 | * Copyright (c) Contributors, http://opensimulator.org/ |
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
4 | * | 4 | * |
@@ -39,26 +39,171 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
39 | // unless the difference is significant. | 39 | // unless the difference is significant. |
40 | public abstract class BSPhysObject : PhysicsActor | 40 | public abstract class BSPhysObject : PhysicsActor |
41 | { | 41 | { |
42 | public abstract BSLinkset Linkset { get; set; } | 42 | protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName) |
43 | { | ||
44 | PhysicsScene = parentScene; | ||
45 | LocalID = localID; | ||
46 | PhysObjectName = name; | ||
47 | TypeName = typeName; | ||
43 | 48 | ||
44 | public abstract bool Collide(uint collidingWith, BSPhysObject collidee, | 49 | Linkset = new BSLinkset(PhysicsScene, this); |
45 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); | ||
46 | public abstract void SendCollisions(); | ||
47 | 50 | ||
48 | // Return the object mass without calculating it or side effects | 51 | CollisionCollection = new CollisionEventUpdate(); |
52 | SubscribedEventsMs = 0; | ||
53 | CollidingStep = 0; | ||
54 | CollidingGroundStep = 0; | ||
55 | } | ||
56 | |||
57 | public BSScene PhysicsScene { get; protected set; } | ||
58 | // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor | ||
59 | public string PhysObjectName { get; protected set; } | ||
60 | public string TypeName { get; protected set; } | ||
61 | |||
62 | public BSLinkset Linkset { get; set; } | ||
63 | |||
64 | // Return the object mass without calculating it or having side effects | ||
49 | public abstract float MassRaw { get; } | 65 | public abstract float MassRaw { get; } |
50 | 66 | ||
51 | // Reference to the physical body (btCollisionObject) of this object | 67 | // Reference to the physical body (btCollisionObject) of this object |
52 | public abstract BulletBody BSBody { get; set; } | 68 | public BulletBody BSBody; |
53 | // Reference to the physical shape (btCollisionShape) of this object | 69 | // Reference to the physical shape (btCollisionShape) of this object |
54 | public abstract BulletShape BSShape { get; set; } | 70 | public BulletShape BSShape; |
55 | 71 | ||
72 | // Stop all physical motion. | ||
56 | public abstract void ZeroMotion(); | 73 | public abstract void ZeroMotion(); |
57 | 74 | ||
75 | // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured. | ||
58 | public virtual void StepVehicle(float timeStep) { } | 76 | public virtual void StepVehicle(float timeStep) { } |
59 | 77 | ||
78 | // Update the physical location and motion of the object. Called with data from Bullet. | ||
60 | public abstract void UpdateProperties(EntityProperties entprop); | 79 | public abstract void UpdateProperties(EntityProperties entprop); |
61 | 80 | ||
81 | // Tell the object to clean up. | ||
62 | public abstract void Destroy(); | 82 | public abstract void Destroy(); |
83 | |||
84 | #region Collisions | ||
85 | |||
86 | // Requested number of milliseconds between collision events. Zero means disabled. | ||
87 | protected int SubscribedEventsMs { get; set; } | ||
88 | // Given subscription, the time that a collision may be passed up | ||
89 | protected int NextCollisionOkTime { get; set; } | ||
90 | // The simulation step that last had a collision | ||
91 | protected long CollidingStep { get; set; } | ||
92 | // The simulation step that last had a collision with the ground | ||
93 | protected long CollidingGroundStep { get; set; } | ||
94 | // The collision flags we think are set in Bullet | ||
95 | protected CollisionFlags CurrentCollisionFlags { get; set; } | ||
96 | |||
97 | // The collisions that have been collected this tick | ||
98 | protected CollisionEventUpdate CollisionCollection; | ||
99 | |||
100 | // The simulation step is telling this object about a collision. | ||
101 | // Return 'true' if a collision was processed and should be sent up. | ||
102 | // Called at taint time from within the Step() function | ||
103 | public virtual bool Collide(uint collidingWith, BSPhysObject collidee, | ||
104 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) | ||
105 | { | ||
106 | bool ret = false; | ||
107 | |||
108 | // The following lines make IsColliding() and IsCollidingGround() work | ||
109 | CollidingStep = PhysicsScene.SimulationStep; | ||
110 | if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID) | ||
111 | { | ||
112 | CollidingGroundStep = PhysicsScene.SimulationStep; | ||
113 | } | ||
114 | |||
115 | // prims in the same linkset cannot collide with each other | ||
116 | if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) | ||
117 | { | ||
118 | return ret; | ||
119 | } | ||
120 | |||
121 | // if someone has subscribed for collision events.... | ||
122 | if (SubscribedEvents()) { | ||
123 | CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); | ||
124 | // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", | ||
125 | // LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); | ||
126 | |||
127 | ret = true; | ||
128 | } | ||
129 | return ret; | ||
130 | } | ||
131 | |||
132 | // Routine to send the collected collisions into the simulator. | ||
133 | // Also handles removal of this from the collection of objects with collisions if | ||
134 | // there are no collisions from this object. Mechanism is create one last | ||
135 | // collision event to make collision_end work. | ||
136 | // Called at taint time from within the Step() function thus no locking problems | ||
137 | // with CollisionCollection and ObjectsWithNoMoreCollisions. | ||
138 | // Return 'true' if there were some actual collisions passed up | ||
139 | public virtual bool SendCollisions() | ||
140 | { | ||
141 | bool ret = true; | ||
142 | |||
143 | // throttle the collisions to the number of milliseconds specified in the subscription | ||
144 | int nowTime = PhysicsScene.SimulationNowTime; | ||
145 | if (nowTime >= NextCollisionOkTime) | ||
146 | { | ||
147 | NextCollisionOkTime = nowTime + SubscribedEventsMs; | ||
148 | |||
149 | // We are called if we previously had collisions. If there are no collisions | ||
150 | // this time, send up one last empty event so OpenSim can sense collision end. | ||
151 | if (CollisionCollection.Count == 0) | ||
152 | { | ||
153 | // If I have no collisions this time, remove me from the list of objects with collisions. | ||
154 | ret = false; | ||
155 | } | ||
156 | |||
157 | // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); | ||
158 | base.SendCollisionUpdate(CollisionCollection); | ||
159 | |||
160 | // The collisionCollection structure is passed around in the simulator. | ||
161 | // Make sure we don't have a handle to that one and that a new one is used for next time. | ||
162 | CollisionCollection = new CollisionEventUpdate(); | ||
163 | } | ||
164 | return ret; | ||
165 | } | ||
166 | |||
167 | // Subscribe for collision events. | ||
168 | // Parameter is the millisecond rate the caller wishes collision events to occur. | ||
169 | public override void SubscribeEvents(int ms) { | ||
170 | // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms); | ||
171 | SubscribedEventsMs = ms; | ||
172 | if (ms > 0) | ||
173 | { | ||
174 | // make sure first collision happens | ||
175 | NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); | ||
176 | |||
177 | PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() | ||
178 | { | ||
179 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
180 | }); | ||
181 | } | ||
182 | else | ||
183 | { | ||
184 | // Subscribing for zero or less is the same as unsubscribing | ||
185 | UnSubscribeEvents(); | ||
186 | } | ||
187 | } | ||
188 | public override void UnSubscribeEvents() { | ||
189 | // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); | ||
190 | SubscribedEventsMs = 0; | ||
191 | PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() | ||
192 | { | ||
193 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
194 | }); | ||
195 | } | ||
196 | // Return 'true' if the simulator wants collision events | ||
197 | public override bool SubscribedEvents() { | ||
198 | return (SubscribedEventsMs > 0); | ||
199 | } | ||
200 | |||
201 | #endregion // Collisions | ||
202 | |||
203 | // High performance detailed logging routine used by the physical objects. | ||
204 | protected void DetailLog(string msg, params Object[] args) | ||
205 | { | ||
206 | PhysicsScene.PhysicsLogging.Write(msg, args); | ||
207 | } | ||
63 | } | 208 | } |
64 | } | 209 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs index 0f027b8..20f5180 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs | |||
@@ -33,7 +33,7 @@ using OpenMetaverse; | |||
33 | namespace OpenSim.Region.Physics.BulletSPlugin | 33 | namespace OpenSim.Region.Physics.BulletSPlugin |
34 | { | 34 | { |
35 | /// <summary> | 35 | /// <summary> |
36 | /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim. | 36 | /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim. |
37 | /// This module interfaces to an unmanaged C++ library which makes the | 37 | /// This module interfaces to an unmanaged C++ library which makes the |
38 | /// actual calls into the Bullet physics engine. | 38 | /// actual calls into the Bullet physics engine. |
39 | /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/. | 39 | /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/. |
@@ -62,7 +62,7 @@ public class BSPlugin : IPhysicsPlugin | |||
62 | if (Util.IsWindows()) | 62 | if (Util.IsWindows()) |
63 | Util.LoadArchSpecificWindowsDll("BulletSim.dll"); | 63 | Util.LoadArchSpecificWindowsDll("BulletSim.dll"); |
64 | // If not Windows, loading is performed by the | 64 | // If not Windows, loading is performed by the |
65 | // Mono loader as specified in | 65 | // Mono loader as specified in |
66 | // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config". | 66 | // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config". |
67 | 67 | ||
68 | _mScene = new BSScene(sceneIdentifier); | 68 | _mScene = new BSScene(sceneIdentifier); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 26a581f..a0e627e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -24,6 +24,9 @@ | |||
24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | 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. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | */ | 26 | */ |
27 | |||
28 | // Uncomment this it enable code to do all shape an body memory management | ||
29 | // in the C# code. | ||
27 | using System; | 30 | using System; |
28 | using System.Reflection; | 31 | using System.Reflection; |
29 | using System.Collections.Generic; | 32 | using System.Collections.Generic; |
@@ -36,6 +39,7 @@ using OpenSim.Region.Physics.ConvexDecompositionDotNet; | |||
36 | 39 | ||
37 | namespace OpenSim.Region.Physics.BulletSPlugin | 40 | namespace OpenSim.Region.Physics.BulletSPlugin |
38 | { | 41 | { |
42 | |||
39 | [Serializable] | 43 | [Serializable] |
40 | public sealed class BSPrim : BSPhysObject | 44 | public sealed class BSPrim : BSPhysObject |
41 | { | 45 | { |
@@ -49,11 +53,6 @@ public sealed class BSPrim : BSPhysObject | |||
49 | private ulong _hullKey; | 53 | private ulong _hullKey; |
50 | private List<ConvexResult> _hulls; | 54 | private List<ConvexResult> _hulls; |
51 | 55 | ||
52 | private BSScene _scene; | ||
53 | public BSScene Scene { get { return _scene; } } | ||
54 | private String _avName; | ||
55 | private uint _localID = 0; | ||
56 | |||
57 | // _size is what the user passed. _scale is what we pass to the physics engine with the mesh. | 56 | // _size is what the user passed. _scale is what we pass to the physics engine with the mesh. |
58 | // Often _scale is unity because the meshmerizer will apply _size when creating the mesh. | 57 | // Often _scale is unity because the meshmerizer will apply _size when creating the mesh. |
59 | private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user | 58 | private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user |
@@ -87,18 +86,6 @@ public sealed class BSPrim : BSPhysObject | |||
87 | private bool _kinematic; | 86 | private bool _kinematic; |
88 | private float _buoyancy; | 87 | private float _buoyancy; |
89 | 88 | ||
90 | // Membership in a linkset is controlled by this class. | ||
91 | public override BSLinkset Linkset { get; set; } | ||
92 | |||
93 | private int _subscribedEventsMs = 0; | ||
94 | private int _nextCollisionOkTime = 0; | ||
95 | long _collidingStep; | ||
96 | long _collidingGroundStep; | ||
97 | CollisionFlags m_currentCollisionFlags = 0; | ||
98 | |||
99 | public override BulletBody BSBody { get; set; } | ||
100 | public override BulletShape BSShape { get; set; } | ||
101 | |||
102 | private BSDynamics _vehicle; | 89 | private BSDynamics _vehicle; |
103 | 90 | ||
104 | private OMV.Vector3 _PIDTarget; | 91 | private OMV.Vector3 _PIDTarget; |
@@ -113,10 +100,8 @@ public sealed class BSPrim : BSPhysObject | |||
113 | OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) | 100 | OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) |
114 | { | 101 | { |
115 | // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); | 102 | // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); |
116 | _localID = localID; | 103 | base.BaseInitialize(parent_scene, localID, primName, "BSPrim"); |
117 | _avName = primName; | ||
118 | _physicsActorType = (int)ActorTypes.Prim; | 104 | _physicsActorType = (int)ActorTypes.Prim; |
119 | _scene = parent_scene; | ||
120 | _position = pos; | 105 | _position = pos; |
121 | _size = size; | 106 | _size = size; |
122 | _scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type | 107 | _scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type |
@@ -129,25 +114,23 @@ public sealed class BSPrim : BSPhysObject | |||
129 | _pbs = pbs; | 114 | _pbs = pbs; |
130 | _isPhysical = pisPhysical; | 115 | _isPhysical = pisPhysical; |
131 | _isVolumeDetect = false; | 116 | _isVolumeDetect = false; |
132 | _subscribedEventsMs = 0; | 117 | _friction = PhysicsScene.Params.defaultFriction; // TODO: compute based on object material |
133 | _friction = _scene.Params.defaultFriction; // TODO: compute based on object material | 118 | _density = PhysicsScene.Params.defaultDensity; // TODO: compute based on object material |
134 | _density = _scene.Params.defaultDensity; // TODO: compute based on object material | 119 | _restitution = PhysicsScene.Params.defaultRestitution; |
135 | _restitution = _scene.Params.defaultRestitution; | 120 | _vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness |
136 | Linkset = new BSLinkset(Scene, this); // a linkset of one | ||
137 | _vehicle = new BSDynamics(Scene, this); // add vehicleness | ||
138 | _mass = CalculateMass(); | 121 | _mass = CalculateMass(); |
122 | |||
123 | // No body or shape yet | ||
124 | BSBody = new BulletBody(LocalID, IntPtr.Zero); | ||
125 | BSShape = new BulletShape(IntPtr.Zero); | ||
126 | |||
139 | DetailLog("{0},BSPrim.constructor,call", LocalID); | 127 | DetailLog("{0},BSPrim.constructor,call", LocalID); |
140 | // do the actual object creation at taint time | 128 | // do the actual object creation at taint time |
141 | _scene.TaintedObject("BSPrim.create", delegate() | 129 | PhysicsScene.TaintedObject("BSPrim.create", delegate() |
142 | { | 130 | { |
143 | CreateGeomAndObject(true); | 131 | CreateGeomAndObject(true); |
144 | 132 | ||
145 | // Get the pointer to the physical body for this object. | 133 | CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.ptr); |
146 | // At the moment, we're still letting BulletSim manage the creation and destruction | ||
147 | // of the object. Someday we'll move that into the C# code. | ||
148 | BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); | ||
149 | BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); | ||
150 | m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); | ||
151 | }); | 134 | }); |
152 | } | 135 | } |
153 | 136 | ||
@@ -168,57 +151,62 @@ public sealed class BSPrim : BSPhysObject | |||
168 | // Undo any vehicle properties | 151 | // Undo any vehicle properties |
169 | this.VehicleType = (int)Vehicle.TYPE_NONE; | 152 | this.VehicleType = (int)Vehicle.TYPE_NONE; |
170 | 153 | ||
171 | _scene.TaintedObject("BSPrim.destroy", delegate() | 154 | PhysicsScene.TaintedObject("BSPrim.destroy", delegate() |
172 | { | 155 | { |
173 | DetailLog("{0},BSPrim.Destroy,taint,", LocalID); | 156 | DetailLog("{0},BSPrim.Destroy,taint,", LocalID); |
174 | // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. | 157 | // If there are physical body and shape, release my use of same. |
175 | BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); | 158 | PhysicsScene.Shapes.DereferenceBody(BSBody, true, null); |
159 | PhysicsScene.Shapes.DereferenceShape(BSShape, true, null); | ||
176 | }); | 160 | }); |
177 | } | 161 | } |
178 | 162 | ||
179 | public override bool Stopped { | 163 | public override bool Stopped { |
180 | get { return _stopped; } | 164 | get { return _stopped; } |
181 | } | 165 | } |
182 | public override OMV.Vector3 Size { | 166 | public override OMV.Vector3 Size { |
183 | get { return _size; } | 167 | get { return _size; } |
184 | set { | 168 | set { |
185 | _size = value; | 169 | _size = value; |
186 | _scene.TaintedObject("BSPrim.setSize", delegate() | 170 | PhysicsScene.TaintedObject("BSPrim.setSize", delegate() |
187 | { | 171 | { |
188 | _mass = CalculateMass(); // changing size changes the mass | 172 | _mass = CalculateMass(); // changing size changes the mass |
189 | // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct | 173 | // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct |
190 | // scale and margins are set. | 174 | // scale and margins are set. |
191 | CreateGeomAndObject(true); | 175 | CreateGeomAndObject(true); |
192 | DetailLog("{0}: BSPrim.setSize: size={1}, scale={2}, mass={3}, physical={4}", LocalID, _size, _scale, _mass, IsPhysical); | 176 | // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical); |
193 | }); | 177 | }); |
194 | } | 178 | } |
195 | } | 179 | } |
196 | public override PrimitiveBaseShape Shape { | 180 | // Scale is what we set in the physics engine. It is different than 'size' in that |
181 | // 'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>. | ||
182 | public OMV.Vector3 Scale | ||
183 | { | ||
184 | get { return _scale; } | ||
185 | set { _scale = value; } | ||
186 | } | ||
187 | public override PrimitiveBaseShape Shape { | ||
197 | set { | 188 | set { |
198 | _pbs = value; | 189 | _pbs = value; |
199 | _scene.TaintedObject("BSPrim.setShape", delegate() | 190 | PhysicsScene.TaintedObject("BSPrim.setShape", delegate() |
200 | { | 191 | { |
201 | _mass = CalculateMass(); // changing the shape changes the mass | 192 | _mass = CalculateMass(); // changing the shape changes the mass |
202 | CreateGeomAndObject(false); | 193 | CreateGeomAndObject(true); |
203 | }); | 194 | }); |
204 | } | 195 | } |
205 | } | ||
206 | public override uint LocalID { | ||
207 | set { _localID = value; } | ||
208 | get { return _localID; } | ||
209 | } | 196 | } |
210 | public override bool Grabbed { | 197 | public override bool Grabbed { |
211 | set { _grabbed = value; | 198 | set { _grabbed = value; |
212 | } | 199 | } |
213 | } | 200 | } |
214 | public override bool Selected { | 201 | public override bool Selected { |
215 | set { | 202 | set { |
216 | _isSelected = value; | 203 | _isSelected = value; |
217 | _scene.TaintedObject("BSPrim.setSelected", delegate() | 204 | PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() |
218 | { | 205 | { |
219 | SetObjectDynamic(); | 206 | // DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); |
207 | SetObjectDynamic(false); | ||
220 | }); | 208 | }); |
221 | } | 209 | } |
222 | } | 210 | } |
223 | public override void CrossingFailure() { return; } | 211 | public override void CrossingFailure() { return; } |
224 | 212 | ||
@@ -232,10 +220,10 @@ public sealed class BSPrim : BSPhysObject | |||
232 | 220 | ||
233 | Linkset = parent.Linkset.AddMeToLinkset(this); | 221 | Linkset = parent.Linkset.AddMeToLinkset(this); |
234 | 222 | ||
235 | DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", | 223 | DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", |
236 | LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); | 224 | LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); |
237 | } | 225 | } |
238 | return; | 226 | return; |
239 | } | 227 | } |
240 | 228 | ||
241 | // delink me from my linkset | 229 | // delink me from my linkset |
@@ -245,12 +233,12 @@ public sealed class BSPrim : BSPhysObject | |||
245 | 233 | ||
246 | BSPhysObject parentBefore = Linkset.LinksetRoot; | 234 | BSPhysObject parentBefore = Linkset.LinksetRoot; |
247 | int childrenBefore = Linkset.NumberOfChildren; | 235 | int childrenBefore = Linkset.NumberOfChildren; |
248 | 236 | ||
249 | Linkset = Linkset.RemoveMeFromLinkset(this); | 237 | Linkset = Linkset.RemoveMeFromLinkset(this); |
250 | 238 | ||
251 | DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", | 239 | DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", |
252 | LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); | 240 | LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); |
253 | return; | 241 | return; |
254 | } | 242 | } |
255 | 243 | ||
256 | // Set motion values to zero. | 244 | // Set motion values to zero. |
@@ -264,43 +252,40 @@ public sealed class BSPrim : BSPhysObject | |||
264 | _rotationalVelocity = OMV.Vector3.Zero; | 252 | _rotationalVelocity = OMV.Vector3.Zero; |
265 | 253 | ||
266 | // Zero some other properties directly into the physics engine | 254 | // Zero some other properties directly into the physics engine |
267 | BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero); | 255 | BulletSimAPI.ClearForces2(BSBody.ptr); |
268 | BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero); | ||
269 | BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); | ||
270 | BulletSimAPI.ClearForces2(BSBody.Ptr); | ||
271 | } | 256 | } |
272 | 257 | ||
273 | public override void LockAngularMotion(OMV.Vector3 axis) | 258 | public override void LockAngularMotion(OMV.Vector3 axis) |
274 | { | 259 | { |
275 | DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); | 260 | DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); |
276 | return; | 261 | return; |
277 | } | 262 | } |
278 | 263 | ||
279 | public override OMV.Vector3 Position { | 264 | public override OMV.Vector3 Position { |
280 | get { | 265 | get { |
281 | if (!Linkset.IsRoot(this)) | 266 | if (!Linkset.IsRoot(this)) |
282 | // child prims move around based on their parent. Need to get the latest location | 267 | // child prims move around based on their parent. Need to get the latest location |
283 | _position = BulletSimAPI.GetPosition2(BSBody.Ptr); | 268 | _position = BulletSimAPI.GetPosition2(BSBody.ptr); |
284 | 269 | ||
285 | // don't do the GetObjectPosition for root elements because this function is called a zillion times | 270 | // don't do the GetObjectPosition for root elements because this function is called a zillion times |
286 | // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); | 271 | // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); |
287 | return _position; | 272 | return _position; |
288 | } | 273 | } |
289 | set { | 274 | set { |
290 | _position = value; | 275 | _position = value; |
291 | // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? | 276 | // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? |
292 | _scene.TaintedObject("BSPrim.setPosition", delegate() | 277 | PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() |
293 | { | 278 | { |
294 | DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 279 | // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
295 | BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation); | 280 | BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); |
296 | }); | 281 | }); |
297 | } | 282 | } |
298 | } | 283 | } |
299 | 284 | ||
300 | // Return the effective mass of the object. | 285 | // Return the effective mass of the object. |
301 | // If there are multiple items in the linkset, add them together for the root | 286 | // If there are multiple items in the linkset, add them together for the root |
302 | public override float Mass | 287 | public override float Mass |
303 | { | 288 | { |
304 | get | 289 | get |
305 | { | 290 | { |
306 | // return Linkset.LinksetMass; | 291 | // return Linkset.LinksetMass; |
@@ -323,59 +308,59 @@ public sealed class BSPrim : BSPhysObject | |||
323 | get { return Linkset.GeometricCenter; } | 308 | get { return Linkset.GeometricCenter; } |
324 | } | 309 | } |
325 | 310 | ||
326 | public override OMV.Vector3 Force { | 311 | public override OMV.Vector3 Force { |
327 | get { return _force; } | 312 | get { return _force; } |
328 | set { | 313 | set { |
329 | _force = value; | 314 | _force = value; |
330 | _scene.TaintedObject("BSPrim.setForce", delegate() | 315 | PhysicsScene.TaintedObject("BSPrim.setForce", delegate() |
331 | { | 316 | { |
332 | DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); | 317 | // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); |
333 | BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); | 318 | BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); |
334 | }); | 319 | }); |
335 | } | 320 | } |
336 | } | 321 | } |
337 | 322 | ||
338 | public override int VehicleType { | 323 | public override int VehicleType { |
339 | get { | 324 | get { |
340 | return (int)_vehicle.Type; // if we are a vehicle, return that type | 325 | return (int)_vehicle.Type; // if we are a vehicle, return that type |
341 | } | 326 | } |
342 | set { | 327 | set { |
343 | Vehicle type = (Vehicle)value; | 328 | Vehicle type = (Vehicle)value; |
344 | BSPrim vehiclePrim = this; | 329 | BSPrim vehiclePrim = this; |
345 | _scene.TaintedObject("setVehicleType", delegate() | 330 | PhysicsScene.TaintedObject("setVehicleType", delegate() |
346 | { | 331 | { |
347 | // Done at taint time so we're sure the physics engine is not using the variables | 332 | // Done at taint time so we're sure the physics engine is not using the variables |
348 | // Vehicle code changes the parameters for this vehicle type. | 333 | // Vehicle code changes the parameters for this vehicle type. |
349 | _vehicle.ProcessTypeChange(type); | 334 | _vehicle.ProcessTypeChange(type); |
350 | // Tell the scene about the vehicle so it will get processing each frame. | 335 | // Tell the scene about the vehicle so it will get processing each frame. |
351 | _scene.VehicleInSceneTypeChanged(this, type); | 336 | PhysicsScene.VehicleInSceneTypeChanged(this, type); |
352 | }); | 337 | }); |
353 | } | 338 | } |
354 | } | 339 | } |
355 | public override void VehicleFloatParam(int param, float value) | 340 | public override void VehicleFloatParam(int param, float value) |
356 | { | 341 | { |
357 | _scene.TaintedObject("BSPrim.VehicleFloatParam", delegate() | 342 | PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() |
358 | { | 343 | { |
359 | _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); | 344 | _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); |
360 | }); | 345 | }); |
361 | } | 346 | } |
362 | public override void VehicleVectorParam(int param, OMV.Vector3 value) | 347 | public override void VehicleVectorParam(int param, OMV.Vector3 value) |
363 | { | 348 | { |
364 | _scene.TaintedObject("BSPrim.VehicleVectorParam", delegate() | 349 | PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() |
365 | { | 350 | { |
366 | _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); | 351 | _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); |
367 | }); | 352 | }); |
368 | } | 353 | } |
369 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) | 354 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) |
370 | { | 355 | { |
371 | _scene.TaintedObject("BSPrim.VehicleRotationParam", delegate() | 356 | PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() |
372 | { | 357 | { |
373 | _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); | 358 | _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); |
374 | }); | 359 | }); |
375 | } | 360 | } |
376 | public override void VehicleFlags(int param, bool remove) | 361 | public override void VehicleFlags(int param, bool remove) |
377 | { | 362 | { |
378 | _scene.TaintedObject("BSPrim.VehicleFlags", delegate() | 363 | PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate() |
379 | { | 364 | { |
380 | _vehicle.ProcessVehicleFlags(param, remove); | 365 | _vehicle.ProcessVehicleFlags(param, remove); |
381 | }); | 366 | }); |
@@ -392,73 +377,81 @@ public sealed class BSPrim : BSPhysObject | |||
392 | // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more | 377 | // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more |
393 | public override void SetVolumeDetect(int param) { | 378 | public override void SetVolumeDetect(int param) { |
394 | bool newValue = (param != 0); | 379 | bool newValue = (param != 0); |
395 | _isVolumeDetect = newValue; | 380 | if (_isVolumeDetect != newValue) |
396 | _scene.TaintedObject("BSPrim.SetVolumeDetect", delegate() | ||
397 | { | 381 | { |
398 | SetObjectDynamic(); | 382 | _isVolumeDetect = newValue; |
399 | }); | 383 | PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() |
400 | return; | 384 | { |
385 | // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); | ||
386 | SetObjectDynamic(true); | ||
387 | }); | ||
388 | } | ||
389 | return; | ||
401 | } | 390 | } |
402 | 391 | ||
403 | public override OMV.Vector3 Velocity { | 392 | public override OMV.Vector3 Velocity { |
404 | get { return _velocity; } | 393 | get { return _velocity; } |
405 | set { | 394 | set { |
406 | _velocity = value; | 395 | _velocity = value; |
407 | _scene.TaintedObject("BSPrim.setVelocity", delegate() | 396 | PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() |
408 | { | 397 | { |
409 | DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); | 398 | // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); |
410 | BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, _velocity); | 399 | BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); |
411 | }); | 400 | }); |
412 | } | 401 | } |
413 | } | 402 | } |
414 | public override OMV.Vector3 Torque { | 403 | public override OMV.Vector3 Torque { |
415 | get { return _torque; } | 404 | get { return _torque; } |
416 | set { _torque = value; | 405 | set { _torque = value; |
417 | DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); | 406 | // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); |
418 | } | 407 | } |
419 | } | 408 | } |
420 | public override float CollisionScore { | 409 | public override float CollisionScore { |
421 | get { return _collisionScore; } | 410 | get { return _collisionScore; } |
422 | set { _collisionScore = value; | 411 | set { _collisionScore = value; |
423 | } | 412 | } |
424 | } | 413 | } |
425 | public override OMV.Vector3 Acceleration { | 414 | public override OMV.Vector3 Acceleration { |
426 | get { return _acceleration; } | 415 | get { return _acceleration; } |
427 | set { _acceleration = value; } | 416 | set { _acceleration = value; } |
428 | } | 417 | } |
429 | public override OMV.Quaternion Orientation { | 418 | public override OMV.Quaternion Orientation { |
430 | get { | 419 | get { |
431 | if (!Linkset.IsRoot(this)) | 420 | if (!Linkset.IsRoot(this)) |
432 | { | 421 | { |
433 | // Children move around because tied to parent. Get a fresh value. | 422 | // Children move around because tied to parent. Get a fresh value. |
434 | _orientation = BulletSimAPI.GetOrientation2(BSBody.Ptr); | 423 | _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr); |
435 | } | 424 | } |
436 | return _orientation; | 425 | return _orientation; |
437 | } | 426 | } |
438 | set { | 427 | set { |
439 | _orientation = value; | 428 | _orientation = value; |
440 | // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? | 429 | // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? |
441 | _scene.TaintedObject("BSPrim.setOrientation", delegate() | 430 | PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() |
442 | { | 431 | { |
443 | // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); | 432 | // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); |
444 | DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 433 | // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
445 | BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation); | 434 | BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); |
446 | }); | 435 | }); |
447 | } | 436 | } |
448 | } | 437 | } |
449 | public override int PhysicsActorType { | 438 | public override int PhysicsActorType { |
450 | get { return _physicsActorType; } | 439 | get { return _physicsActorType; } |
451 | set { _physicsActorType = value; } | 440 | set { _physicsActorType = value; } |
452 | } | 441 | } |
453 | public override bool IsPhysical { | 442 | public override bool IsPhysical { |
454 | get { return _isPhysical; } | 443 | get { return _isPhysical; } |
455 | set { | 444 | set { |
456 | _isPhysical = value; | 445 | if (_isPhysical != value) |
457 | _scene.TaintedObject("BSPrim.setIsPhysical", delegate() | ||
458 | { | 446 | { |
459 | SetObjectDynamic(); | 447 | _isPhysical = value; |
460 | }); | 448 | PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() |
461 | } | 449 | { |
450 | // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); | ||
451 | SetObjectDynamic(true); | ||
452 | }); | ||
453 | } | ||
454 | } | ||
462 | } | 455 | } |
463 | 456 | ||
464 | // An object is static (does not move) if selected or not physical | 457 | // An object is static (does not move) if selected or not physical |
@@ -468,53 +461,64 @@ public sealed class BSPrim : BSPhysObject | |||
468 | } | 461 | } |
469 | 462 | ||
470 | // An object is solid if it's not phantom and if it's not doing VolumeDetect | 463 | // An object is solid if it's not phantom and if it's not doing VolumeDetect |
471 | private bool IsSolid | 464 | public bool IsSolid |
472 | { | 465 | { |
473 | get { return !IsPhantom && !_isVolumeDetect; } | 466 | get { return !IsPhantom && !_isVolumeDetect; } |
474 | } | 467 | } |
475 | 468 | ||
476 | // Make gravity work if the object is physical and not selected | 469 | // Make gravity work if the object is physical and not selected |
477 | // No locking here because only called when it is safe | 470 | // Called at taint-time!! |
471 | private void SetObjectDynamic(bool forceRebuild) | ||
472 | { | ||
473 | // Recreate the physical object if necessary | ||
474 | CreateGeomAndObject(forceRebuild); | ||
475 | } | ||
476 | |||
477 | // Convert the simulator's physical properties into settings on BulletSim objects. | ||
478 | // There are four flags we're interested in: | 478 | // There are four flags we're interested in: |
479 | // IsStatic: Object does not move, otherwise the object has mass and moves | 479 | // IsStatic: Object does not move, otherwise the object has mass and moves |
480 | // isSolid: other objects bounce off of this object | 480 | // isSolid: other objects bounce off of this object |
481 | // isVolumeDetect: other objects pass through but can generate collisions | 481 | // isVolumeDetect: other objects pass through but can generate collisions |
482 | // collisionEvents: whether this object returns collision events | 482 | // collisionEvents: whether this object returns collision events |
483 | private void SetObjectDynamic() | ||
484 | { | ||
485 | // If it's becoming dynamic, it will need hullness | ||
486 | VerifyCorrectPhysicalShape(); | ||
487 | UpdatePhysicalParameters(); | ||
488 | } | ||
489 | |||
490 | private void UpdatePhysicalParameters() | 483 | private void UpdatePhysicalParameters() |
491 | { | 484 | { |
492 | /* | 485 | // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); |
493 | // Bullet wants static objects to have a mass of zero | 486 | |
494 | float mass = IsStatic ? 0f : _mass; | 487 | // Mangling all the physical properties requires the object not be in the physical world. |
488 | // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). | ||
489 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); | ||
495 | 490 | ||
496 | BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); | ||
497 | */ | ||
498 | BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr); | ||
499 | 491 | ||
500 | // Set up the object physicalness (does gravity and collisions move this object) | 492 | // Set up the object physicalness (does gravity and collisions move this object) |
501 | MakeDynamic(IsStatic); | 493 | MakeDynamic(IsStatic); |
502 | 494 | ||
503 | // Make solid or not (do things bounce off or pass through this object) | 495 | // Do any vehicle stuff |
504 | MakeSolid(IsSolid); | 496 | _vehicle.Refresh(); |
505 | 497 | ||
506 | // Arrange for collisions events if the simulator wants them | 498 | // Arrange for collision events if the simulator wants them |
507 | EnableCollisions(SubscribedEvents()); | 499 | EnableCollisions(SubscribedEvents()); |
508 | 500 | ||
509 | BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr); | 501 | // Make solid or not (do things bounce off or pass through this object). |
502 | MakeSolid(IsSolid); | ||
503 | |||
504 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); | ||
505 | |||
506 | // Rebuild its shape | ||
507 | BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); | ||
508 | |||
509 | // Collision filter can be set only when the object is in the world | ||
510 | if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0) | ||
511 | { | ||
512 | BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask); | ||
513 | } | ||
510 | 514 | ||
511 | // Recompute any linkset parameters. | 515 | // Recompute any linkset parameters. |
512 | // When going from non-physical to physical, this re-enables the constraints that | 516 | // When going from non-physical to physical, this re-enables the constraints that |
513 | // had been automatically disabled when the mass was set to zero. | 517 | // had been automatically disabled when the mass was set to zero. |
514 | Linkset.Refresh(this); | 518 | Linkset.Refresh(this); |
515 | 519 | ||
516 | DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,static={1},solid={2},mass={3}, cf={4}", | 520 | DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", |
517 | LocalID, IsStatic, IsSolid, _mass, m_currentCollisionFlags); | 521 | LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); |
518 | } | 522 | } |
519 | 523 | ||
520 | // "Making dynamic" means changing to and from static. | 524 | // "Making dynamic" means changing to and from static. |
@@ -527,65 +531,86 @@ public sealed class BSPrim : BSPhysObject | |||
527 | if (makeStatic) | 531 | if (makeStatic) |
528 | { | 532 | { |
529 | // Become a Bullet 'static' object type | 533 | // Become a Bullet 'static' object type |
530 | m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); | 534 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT); |
531 | // Stop all movement | 535 | // Stop all movement |
532 | BulletSimAPI.ClearAllForces2(BSBody.Ptr); | 536 | BulletSimAPI.ClearAllForces2(BSBody.ptr); |
533 | // Center of mass is at the center of the object | 537 | // Center of mass is at the center of the object |
534 | BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.Ptr, _position, _orientation); | 538 | BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation); |
535 | // Mass is zero which disables a bunch of physics stuff in Bullet | 539 | // Mass is zero which disables a bunch of physics stuff in Bullet |
536 | BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero); | 540 | BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero); |
537 | // There is no inertia in a static object | 541 | // There is no inertia in a static object |
538 | BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); | 542 | BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); |
539 | // There can be special things needed for implementing linksets | 543 | // There can be special things needed for implementing linksets |
540 | Linkset.MakeStatic(this); | 544 | Linkset.MakeStatic(this); |
541 | // The activation state is 'sleeping' so Bullet will not try to act on it | 545 | // The activation state is 'disabled' so Bullet will not try to act on it |
542 | BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING); | 546 | BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); |
547 | |||
548 | BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; | ||
549 | BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; | ||
543 | } | 550 | } |
544 | else | 551 | else |
545 | { | 552 | { |
546 | // Not a Bullet static object | 553 | // Not a Bullet static object |
547 | m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); | 554 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT); |
555 | |||
556 | // Set various physical properties so internal dynamic properties will get computed correctly as they are set | ||
557 | BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction); | ||
558 | BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution); | ||
548 | 559 | ||
549 | // Set various physical properties so internal things will get computed correctly as they are set | ||
550 | BulletSimAPI.SetFriction2(BSBody.Ptr, Scene.Params.defaultFriction); | ||
551 | BulletSimAPI.SetRestitution2(BSBody.Ptr, Scene.Params.defaultRestitution); | ||
552 | // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 | 560 | // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 |
553 | BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero); | 561 | BulletSimAPI.ClearAllForces2(BSBody.ptr); |
554 | BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero); | ||
555 | BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); | ||
556 | 562 | ||
557 | // A dynamic object has mass | 563 | // A dynamic object has mass |
558 | IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr); | 564 | IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); |
559 | OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass); | 565 | OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); |
560 | BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, inertia); | 566 | // OMV.Vector3 inertia = OMV.Vector3.Zero; |
561 | // Inertia is based on our new mass | 567 | BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); |
562 | BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); | 568 | BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); |
563 | 569 | ||
564 | // Various values for simulation limits | 570 | // Various values for simulation limits |
565 | BulletSimAPI.SetDamping2(BSBody.Ptr, Scene.Params.linearDamping, Scene.Params.angularDamping); | 571 | BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping); |
566 | BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, Scene.Params.deactivationTime); | 572 | BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime); |
567 | BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, Scene.Params.linearSleepingThreshold, Scene.Params.angularSleepingThreshold); | 573 | BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); |
568 | BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, Scene.Params.contactProcessingThreshold); | 574 | BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); |
569 | 575 | ||
570 | // There can be special things needed for implementing linksets | 576 | // There can be special things needed for implementing linksets. |
571 | Linkset.MakeDynamic(this); | 577 | Linkset.MakeDynamic(this); |
572 | 578 | ||
573 | // Force activation of the object so Bullet will act on it. | 579 | // Force activation of the object so Bullet will act on it. |
574 | BulletSimAPI.Activate2(BSBody.Ptr, true); | 580 | // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. |
581 | BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); | ||
582 | BulletSimAPI.Activate2(BSBody.ptr, true); | ||
583 | |||
584 | BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter; | ||
585 | BSBody.collisionMask = CollisionFilterGroups.ObjectMask; | ||
575 | } | 586 | } |
576 | } | 587 | } |
577 | 588 | ||
578 | // "Making solid" means that other object will not pass through this object. | 589 | // "Making solid" means that other object will not pass through this object. |
590 | // To make transparent, we create a Bullet ghost object. | ||
591 | // Note: This expects to be called from the UpdatePhysicalParameters() routine as | ||
592 | // the functions after this one set up the state of a possibly newly created collision body. | ||
579 | private void MakeSolid(bool makeSolid) | 593 | private void MakeSolid(bool makeSolid) |
580 | { | 594 | { |
595 | CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr); | ||
581 | if (makeSolid) | 596 | if (makeSolid) |
582 | { | 597 | { |
583 | // Easy in Bullet -- just remove the object flag that controls collision response | 598 | // Verify the previous code created the correct shape for this type of thing. |
584 | m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); | 599 | if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0) |
600 | { | ||
601 | m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType); | ||
602 | } | ||
603 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); | ||
585 | } | 604 | } |
586 | else | 605 | else |
587 | { | 606 | { |
588 | m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); | 607 | if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0) |
608 | { | ||
609 | m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); | ||
610 | } | ||
611 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); | ||
612 | BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter; | ||
613 | BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; | ||
589 | } | 614 | } |
590 | } | 615 | } |
591 | 616 | ||
@@ -594,40 +619,40 @@ public sealed class BSPrim : BSPhysObject | |||
594 | { | 619 | { |
595 | if (wantsCollisionEvents) | 620 | if (wantsCollisionEvents) |
596 | { | 621 | { |
597 | m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 622 | CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
598 | } | 623 | } |
599 | else | 624 | else |
600 | { | 625 | { |
601 | m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | 626 | CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
602 | } | 627 | } |
603 | } | 628 | } |
604 | 629 | ||
605 | // prims don't fly | 630 | // prims don't fly |
606 | public override bool Flying { | 631 | public override bool Flying { |
607 | get { return _flying; } | 632 | get { return _flying; } |
608 | set { | 633 | set { |
609 | _flying = value; | 634 | _flying = value; |
610 | } | 635 | } |
611 | } | 636 | } |
612 | public override bool SetAlwaysRun { | 637 | public override bool SetAlwaysRun { |
613 | get { return _setAlwaysRun; } | 638 | get { return _setAlwaysRun; } |
614 | set { _setAlwaysRun = value; } | 639 | set { _setAlwaysRun = value; } |
615 | } | 640 | } |
616 | public override bool ThrottleUpdates { | 641 | public override bool ThrottleUpdates { |
617 | get { return _throttleUpdates; } | 642 | get { return _throttleUpdates; } |
618 | set { _throttleUpdates = value; } | 643 | set { _throttleUpdates = value; } |
619 | } | 644 | } |
620 | public override bool IsColliding { | 645 | public override bool IsColliding { |
621 | get { return (_collidingStep == _scene.SimulationStep); } | 646 | get { return (CollidingStep == PhysicsScene.SimulationStep); } |
622 | set { _isColliding = value; } | 647 | set { _isColliding = value; } |
623 | } | 648 | } |
624 | public override bool CollidingGround { | 649 | public override bool CollidingGround { |
625 | get { return (_collidingGroundStep == _scene.SimulationStep); } | 650 | get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } |
626 | set { _collidingGround = value; } | 651 | set { _collidingGround = value; } |
627 | } | 652 | } |
628 | public override bool CollidingObj { | 653 | public override bool CollidingObj { |
629 | get { return _collidingObj; } | 654 | get { return _collidingObj; } |
630 | set { _collidingObj = value; } | 655 | set { _collidingObj = value; } |
631 | } | 656 | } |
632 | public bool IsPhantom { | 657 | public bool IsPhantom { |
633 | get { | 658 | get { |
@@ -637,10 +662,10 @@ public sealed class BSPrim : BSPhysObject | |||
637 | return false; | 662 | return false; |
638 | } | 663 | } |
639 | } | 664 | } |
640 | public override bool FloatOnWater { | 665 | public override bool FloatOnWater { |
641 | set { _floatOnWater = value; } | 666 | set { _floatOnWater = value; } |
642 | } | 667 | } |
643 | public override OMV.Vector3 RotationalVelocity { | 668 | public override OMV.Vector3 RotationalVelocity { |
644 | get { | 669 | get { |
645 | /* | 670 | /* |
646 | OMV.Vector3 pv = OMV.Vector3.Zero; | 671 | OMV.Vector3 pv = OMV.Vector3.Zero; |
@@ -652,61 +677,60 @@ public sealed class BSPrim : BSPhysObject | |||
652 | */ | 677 | */ |
653 | 678 | ||
654 | return _rotationalVelocity; | 679 | return _rotationalVelocity; |
655 | } | 680 | } |
656 | set { | 681 | set { |
657 | _rotationalVelocity = value; | 682 | _rotationalVelocity = value; |
658 | // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); | 683 | // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); |
659 | _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate() | 684 | PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() |
660 | { | 685 | { |
661 | DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); | 686 | // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); |
662 | BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, _rotationalVelocity); | 687 | BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity); |
663 | }); | 688 | }); |
664 | } | 689 | } |
665 | } | 690 | } |
666 | public override bool Kinematic { | 691 | public override bool Kinematic { |
667 | get { return _kinematic; } | 692 | get { return _kinematic; } |
668 | set { _kinematic = value; | 693 | set { _kinematic = value; |
669 | // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic); | 694 | // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic); |
670 | } | 695 | } |
671 | } | 696 | } |
672 | public override float Buoyancy { | 697 | public override float Buoyancy { |
673 | get { return _buoyancy; } | 698 | get { return _buoyancy; } |
674 | set { | 699 | set { |
675 | _buoyancy = value; | 700 | _buoyancy = value; |
676 | _scene.TaintedObject("BSPrim.setBuoyancy", delegate() | 701 | PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() |
677 | { | 702 | { |
678 | DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); | 703 | // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); |
679 | // Buoyancy is faked by changing the gravity applied to the object | 704 | // Buoyancy is faked by changing the gravity applied to the object |
680 | float grav = Scene.Params.gravity * (1f - _buoyancy); | 705 | float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); |
681 | BulletSimAPI.SetGravity2(BSBody.Ptr, new OMV.Vector3(0f, 0f, grav)); | 706 | BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); |
682 | // BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); | ||
683 | }); | 707 | }); |
684 | } | 708 | } |
685 | } | 709 | } |
686 | 710 | ||
687 | // Used for MoveTo | 711 | // Used for MoveTo |
688 | public override OMV.Vector3 PIDTarget { | 712 | public override OMV.Vector3 PIDTarget { |
689 | set { _PIDTarget = value; } | 713 | set { _PIDTarget = value; } |
690 | } | 714 | } |
691 | public override bool PIDActive { | 715 | public override bool PIDActive { |
692 | set { _usePID = value; } | 716 | set { _usePID = value; } |
693 | } | 717 | } |
694 | public override float PIDTau { | 718 | public override float PIDTau { |
695 | set { _PIDTau = value; } | 719 | set { _PIDTau = value; } |
696 | } | 720 | } |
697 | 721 | ||
698 | // Used for llSetHoverHeight and maybe vehicle height | 722 | // Used for llSetHoverHeight and maybe vehicle height |
699 | // Hover Height will override MoveTo target's Z | 723 | // Hover Height will override MoveTo target's Z |
700 | public override bool PIDHoverActive { | 724 | public override bool PIDHoverActive { |
701 | set { _useHoverPID = value; } | 725 | set { _useHoverPID = value; } |
702 | } | 726 | } |
703 | public override float PIDHoverHeight { | 727 | public override float PIDHoverHeight { |
704 | set { _PIDHoverHeight = value; } | 728 | set { _PIDHoverHeight = value; } |
705 | } | 729 | } |
706 | public override PIDHoverType PIDHoverType { | 730 | public override PIDHoverType PIDHoverType { |
707 | set { _PIDHoverType = value; } | 731 | set { _PIDHoverType = value; } |
708 | } | 732 | } |
709 | public override float PIDHoverTau { | 733 | public override float PIDHoverTau { |
710 | set { _PIDHoverTao = value; } | 734 | set { _PIDHoverTao = value; } |
711 | } | 735 | } |
712 | 736 | ||
@@ -730,7 +754,7 @@ public sealed class BSPrim : BSPhysObject | |||
730 | m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); | 754 | m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); |
731 | return; | 755 | return; |
732 | } | 756 | } |
733 | _scene.TaintedObject("BSPrim.AddForce", delegate() | 757 | PhysicsScene.TaintedObject("BSPrim.AddForce", delegate() |
734 | { | 758 | { |
735 | OMV.Vector3 fSum = OMV.Vector3.Zero; | 759 | OMV.Vector3 fSum = OMV.Vector3.Zero; |
736 | lock (m_accumulatedForces) | 760 | lock (m_accumulatedForces) |
@@ -741,43 +765,19 @@ public sealed class BSPrim : BSPhysObject | |||
741 | } | 765 | } |
742 | m_accumulatedForces.Clear(); | 766 | m_accumulatedForces.Clear(); |
743 | } | 767 | } |
744 | DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); | 768 | // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); |
745 | // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. | 769 | // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. |
746 | BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum); | 770 | BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); |
747 | }); | 771 | }); |
748 | } | 772 | } |
749 | 773 | ||
750 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { | 774 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { |
751 | DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); | 775 | // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); |
752 | // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); | 776 | // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); |
753 | } | 777 | } |
754 | public override void SetMomentum(OMV.Vector3 momentum) { | 778 | public override void SetMomentum(OMV.Vector3 momentum) { |
755 | DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); | 779 | // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); |
756 | } | 780 | } |
757 | public override void SubscribeEvents(int ms) { | ||
758 | _subscribedEventsMs = ms; | ||
759 | if (ms > 0) | ||
760 | { | ||
761 | // make sure first collision happens | ||
762 | _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; | ||
763 | |||
764 | Scene.TaintedObject("BSPrim.SubscribeEvents", delegate() | ||
765 | { | ||
766 | m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
767 | }); | ||
768 | } | ||
769 | } | ||
770 | public override void UnSubscribeEvents() { | ||
771 | _subscribedEventsMs = 0; | ||
772 | Scene.TaintedObject("BSPrim.UnSubscribeEvents", delegate() | ||
773 | { | ||
774 | m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); | ||
775 | }); | ||
776 | } | ||
777 | public override bool SubscribedEvents() { | ||
778 | return (_subscribedEventsMs > 0); | ||
779 | } | ||
780 | |||
781 | #region Mass Calculation | 781 | #region Mass Calculation |
782 | 782 | ||
783 | private float CalculateMass() | 783 | private float CalculateMass() |
@@ -787,8 +787,8 @@ public sealed class BSPrim : BSPhysObject | |||
787 | 787 | ||
788 | float returnMass = 0; | 788 | float returnMass = 0; |
789 | float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; | 789 | float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; |
790 | float hollowVolume = hollowAmount * hollowAmount; | 790 | float hollowVolume = hollowAmount * hollowAmount; |
791 | 791 | ||
792 | switch (_pbs.ProfileShape) | 792 | switch (_pbs.ProfileShape) |
793 | { | 793 | { |
794 | case ProfileShape.Square: | 794 | case ProfileShape.Square: |
@@ -824,16 +824,16 @@ public sealed class BSPrim : BSPhysObject | |||
824 | 824 | ||
825 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) | 825 | else if (_pbs.PathCurve == (byte)Extrusion.Curve1) |
826 | { | 826 | { |
827 | //a tube | 827 | //a tube |
828 | 828 | ||
829 | volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); | 829 | volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); |
830 | tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); | 830 | tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); |
831 | volume -= volume*tmp*tmp; | 831 | volume -= volume*tmp*tmp; |
832 | 832 | ||
833 | if (hollowAmount > 0.0) | 833 | if (hollowAmount > 0.0) |
834 | { | 834 | { |
835 | hollowVolume *= hollowAmount; | 835 | hollowVolume *= hollowAmount; |
836 | 836 | ||
837 | switch (_pbs.HollowShape) | 837 | switch (_pbs.HollowShape) |
838 | { | 838 | { |
839 | case HollowShape.Square: | 839 | case HollowShape.Square: |
@@ -892,7 +892,7 @@ public sealed class BSPrim : BSPhysObject | |||
892 | volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); | 892 | volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); |
893 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); | 893 | tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); |
894 | volume *= (1.0f - tmp * tmp); | 894 | volume *= (1.0f - tmp * tmp); |
895 | 895 | ||
896 | if (hollowAmount > 0.0) | 896 | if (hollowAmount > 0.0) |
897 | { | 897 | { |
898 | 898 | ||
@@ -1071,302 +1071,17 @@ public sealed class BSPrim : BSPhysObject | |||
1071 | if (returnMass <= 0) | 1071 | if (returnMass <= 0) |
1072 | returnMass = 0.0001f; | 1072 | returnMass = 0.0001f; |
1073 | 1073 | ||
1074 | if (returnMass > _scene.MaximumObjectMass) | 1074 | if (returnMass > PhysicsScene.MaximumObjectMass) |
1075 | returnMass = _scene.MaximumObjectMass; | 1075 | returnMass = PhysicsScene.MaximumObjectMass; |
1076 | 1076 | ||
1077 | return returnMass; | 1077 | return returnMass; |
1078 | }// end CalculateMass | 1078 | }// end CalculateMass |
1079 | #endregion Mass Calculation | 1079 | #endregion Mass Calculation |
1080 | 1080 | ||
1081 | // Create the geometry information in Bullet for later use. | ||
1082 | // The objects needs a hull if it's physical otherwise a mesh is enough. | ||
1083 | // No locking here because this is done when we know physics is not simulating. | ||
1084 | // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used. | ||
1085 | // Returns 'true' if the geometry was rebuilt. | ||
1086 | // Called at taint-time! | ||
1087 | private bool CreateGeom(bool forceRebuild) | ||
1088 | { | ||
1089 | bool ret = false; | ||
1090 | bool haveShape = false; | ||
1091 | |||
1092 | // If the prim attributes are simple, this could be a simple Bullet native shape | ||
1093 | if ((_pbs.SculptEntry && !Scene.ShouldMeshSculptedPrim) | ||
1094 | || (_pbs.ProfileBegin == 0 && _pbs.ProfileEnd == 0 | ||
1095 | && _pbs.ProfileHollow == 0 | ||
1096 | && _pbs.PathTwist == 0 && _pbs.PathTwistBegin == 0 | ||
1097 | && _pbs.PathBegin == 0 && _pbs.PathEnd == 0 | ||
1098 | && _pbs.PathTaperX == 0 && _pbs.PathTaperY == 0 | ||
1099 | && _pbs.PathScaleX == 100 && _pbs.PathScaleY == 100 | ||
1100 | && _pbs.PathShearX == 0 && _pbs.PathShearY == 0) ) | ||
1101 | { | ||
1102 | if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) | ||
1103 | { | ||
1104 | haveShape = true; | ||
1105 | if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) | ||
1106 | { | ||
1107 | DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild); | ||
1108 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; | ||
1109 | // Bullet native objects are scaled by the Bullet engine so pass the size in | ||
1110 | _scale = _size; | ||
1111 | // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? | ||
1112 | ret = true; | ||
1113 | } | ||
1114 | } | ||
1115 | else | ||
1116 | { | ||
1117 | // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); | ||
1118 | haveShape = true; | ||
1119 | if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)) | ||
1120 | { | ||
1121 | DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild); | ||
1122 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; | ||
1123 | _scale = _size; | ||
1124 | // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? | ||
1125 | ret = true; | ||
1126 | } | ||
1127 | } | ||
1128 | } | ||
1129 | // If a simple shape isn't happening, create a mesh and possibly a hull | ||
1130 | if (!haveShape) | ||
1131 | { | ||
1132 | if (IsPhysical) | ||
1133 | { | ||
1134 | if (forceRebuild || _hullKey == 0) | ||
1135 | { | ||
1136 | // physical objects require a hull for interaction. | ||
1137 | // This also creates the mesh if it doesn't already exist | ||
1138 | ret = CreateGeomHull(); | ||
1139 | } | ||
1140 | } | ||
1141 | else | ||
1142 | { | ||
1143 | if (forceRebuild || _meshKey == 0) | ||
1144 | { | ||
1145 | // Static (non-physical) objects only need a mesh for bumping into | ||
1146 | ret = CreateGeomMesh(); | ||
1147 | } | ||
1148 | } | ||
1149 | } | ||
1150 | return ret; | ||
1151 | } | ||
1152 | |||
1153 | // No locking here because this is done when we know physics is not simulating | ||
1154 | // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs). | ||
1155 | // Called at taint-time! | ||
1156 | private bool CreateGeomMesh() | ||
1157 | { | ||
1158 | // level of detail based on size and type of the object | ||
1159 | float lod = _scene.MeshLOD; | ||
1160 | if (_pbs.SculptEntry) | ||
1161 | lod = _scene.SculptLOD; | ||
1162 | float maxAxis = Math.Max(_size.X, Math.Max(_size.Y, _size.Z)); | ||
1163 | if (maxAxis > _scene.MeshMegaPrimThreshold) | ||
1164 | lod = _scene.MeshMegaPrimLOD; | ||
1165 | |||
1166 | ulong newMeshKey = (ulong)_pbs.GetMeshKey(_size, lod); | ||
1167 | // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey); | ||
1168 | |||
1169 | // if this new shape is the same as last time, don't recreate the mesh | ||
1170 | if (_meshKey == newMeshKey) return false; | ||
1171 | |||
1172 | DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey); | ||
1173 | // Since we're recreating new, get rid of any previously generated shape | ||
1174 | if (_meshKey != 0) | ||
1175 | { | ||
1176 | // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey); | ||
1177 | DetailLog("{0},BSPrim.CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey); | ||
1178 | BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); | ||
1179 | _mesh = null; | ||
1180 | _meshKey = 0; | ||
1181 | } | ||
1182 | |||
1183 | _meshKey = newMeshKey; | ||
1184 | // always pass false for physicalness as this creates some sort of bounding box which we don't need | ||
1185 | _mesh = _scene.mesher.CreateMesh(_avName, _pbs, _size, lod, false); | ||
1186 | |||
1187 | int[] indices = _mesh.getIndexListAsInt(); | ||
1188 | List<OMV.Vector3> vertices = _mesh.getVertexList(); | ||
1189 | |||
1190 | float[] verticesAsFloats = new float[vertices.Count * 3]; | ||
1191 | int vi = 0; | ||
1192 | foreach (OMV.Vector3 vv in vertices) | ||
1193 | { | ||
1194 | verticesAsFloats[vi++] = vv.X; | ||
1195 | verticesAsFloats[vi++] = vv.Y; | ||
1196 | verticesAsFloats[vi++] = vv.Z; | ||
1197 | } | ||
1198 | |||
1199 | // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", | ||
1200 | // LogHeader, _localID, _meshKey, indices.Length, vertices.Count); | ||
1201 | BulletSimAPI.CreateMesh(_scene.WorldID, _meshKey, indices.GetLength(0), indices, | ||
1202 | vertices.Count, verticesAsFloats); | ||
1203 | |||
1204 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; | ||
1205 | // meshes are already scaled by the meshmerizer | ||
1206 | _scale = new OMV.Vector3(1f, 1f, 1f); | ||
1207 | return true; | ||
1208 | } | ||
1209 | |||
1210 | // No locking here because this is done when we know physics is not simulating | ||
1211 | // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs). | ||
1212 | private bool CreateGeomHull() | ||
1213 | { | ||
1214 | float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD; | ||
1215 | ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod); | ||
1216 | // m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _hullKey, newHullKey); | ||
1217 | |||
1218 | // if the hull hasn't changed, don't rebuild it | ||
1219 | if (newHullKey == _hullKey) return false; | ||
1220 | |||
1221 | DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey); | ||
1222 | |||
1223 | // Since we're recreating new, get rid of any previously generated shape | ||
1224 | if (_hullKey != 0) | ||
1225 | { | ||
1226 | // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey); | ||
1227 | DetailLog("{0},BSPrim.CreateGeomHull,deleteOldHull,key={1}", LocalID, _hullKey); | ||
1228 | BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); | ||
1229 | _hullKey = 0; | ||
1230 | } | ||
1231 | |||
1232 | _hullKey = newHullKey; | ||
1233 | |||
1234 | // Make sure the underlying mesh exists and is correct | ||
1235 | CreateGeomMesh(); | ||
1236 | |||
1237 | int[] indices = _mesh.getIndexListAsInt(); | ||
1238 | List<OMV.Vector3> vertices = _mesh.getVertexList(); | ||
1239 | |||
1240 | //format conversion from IMesh format to DecompDesc format | ||
1241 | List<int> convIndices = new List<int>(); | ||
1242 | List<float3> convVertices = new List<float3>(); | ||
1243 | for (int ii = 0; ii < indices.GetLength(0); ii++) | ||
1244 | { | ||
1245 | convIndices.Add(indices[ii]); | ||
1246 | } | ||
1247 | foreach (OMV.Vector3 vv in vertices) | ||
1248 | { | ||
1249 | convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); | ||
1250 | } | ||
1251 | |||
1252 | // setup and do convex hull conversion | ||
1253 | _hulls = new List<ConvexResult>(); | ||
1254 | DecompDesc dcomp = new DecompDesc(); | ||
1255 | dcomp.mIndices = convIndices; | ||
1256 | dcomp.mVertices = convVertices; | ||
1257 | ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); | ||
1258 | // create the hull into the _hulls variable | ||
1259 | convexBuilder.process(dcomp); | ||
1260 | |||
1261 | // Convert the vertices and indices for passing to unmanaged. | ||
1262 | // The hull information is passed as a large floating point array. | ||
1263 | // The format is: | ||
1264 | // convHulls[0] = number of hulls | ||
1265 | // convHulls[1] = number of vertices in first hull | ||
1266 | // convHulls[2] = hull centroid X coordinate | ||
1267 | // convHulls[3] = hull centroid Y coordinate | ||
1268 | // convHulls[4] = hull centroid Z coordinate | ||
1269 | // convHulls[5] = first hull vertex X | ||
1270 | // convHulls[6] = first hull vertex Y | ||
1271 | // convHulls[7] = first hull vertex Z | ||
1272 | // convHulls[8] = second hull vertex X | ||
1273 | // ... | ||
1274 | // convHulls[n] = number of vertices in second hull | ||
1275 | // convHulls[n+1] = second hull centroid X coordinate | ||
1276 | // ... | ||
1277 | // | ||
1278 | // TODO: is is very inefficient. Someday change the convex hull generator to return | ||
1279 | // data structures that do not need to be converted in order to pass to Bullet. | ||
1280 | // And maybe put the values directly into pinned memory rather than marshaling. | ||
1281 | int hullCount = _hulls.Count; | ||
1282 | int totalVertices = 1; // include one for the count of the hulls | ||
1283 | foreach (ConvexResult cr in _hulls) | ||
1284 | { | ||
1285 | totalVertices += 4; // add four for the vertex count and centroid | ||
1286 | totalVertices += cr.HullIndices.Count * 3; // we pass just triangles | ||
1287 | } | ||
1288 | float[] convHulls = new float[totalVertices]; | ||
1289 | |||
1290 | convHulls[0] = (float)hullCount; | ||
1291 | int jj = 1; | ||
1292 | foreach (ConvexResult cr in _hulls) | ||
1293 | { | ||
1294 | // copy vertices for index access | ||
1295 | float3[] verts = new float3[cr.HullVertices.Count]; | ||
1296 | int kk = 0; | ||
1297 | foreach (float3 ff in cr.HullVertices) | ||
1298 | { | ||
1299 | verts[kk++] = ff; | ||
1300 | } | ||
1301 | |||
1302 | // add to the array one hull's worth of data | ||
1303 | convHulls[jj++] = cr.HullIndices.Count; | ||
1304 | convHulls[jj++] = 0f; // centroid x,y,z | ||
1305 | convHulls[jj++] = 0f; | ||
1306 | convHulls[jj++] = 0f; | ||
1307 | foreach (int ind in cr.HullIndices) | ||
1308 | { | ||
1309 | convHulls[jj++] = verts[ind].x; | ||
1310 | convHulls[jj++] = verts[ind].y; | ||
1311 | convHulls[jj++] = verts[ind].z; | ||
1312 | } | ||
1313 | } | ||
1314 | |||
1315 | // create the hull definition in Bullet | ||
1316 | // m_log.DebugFormat("{0}: CreateGeom: calling CreateHull. lid={1}, key={2}, hulls={3}", LogHeader, _localID, _hullKey, hullCount); | ||
1317 | BulletSimAPI.CreateHull(_scene.WorldID, _hullKey, hullCount, convHulls); | ||
1318 | _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; | ||
1319 | // meshes are already scaled by the meshmerizer | ||
1320 | _scale = new OMV.Vector3(1f, 1f, 1f); | ||
1321 | DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID); | ||
1322 | return true; | ||
1323 | } | ||
1324 | |||
1325 | // Callback from convex hull creater with a newly created hull. | ||
1326 | // Just add it to the collection of hulls for this shape. | ||
1327 | private void HullReturn(ConvexResult result) | ||
1328 | { | ||
1329 | _hulls.Add(result); | ||
1330 | return; | ||
1331 | } | ||
1332 | |||
1333 | private void VerifyCorrectPhysicalShape() | ||
1334 | { | ||
1335 | if (!IsStatic) | ||
1336 | { | ||
1337 | // if not static, it will need a hull to efficiently collide with things | ||
1338 | if (_hullKey == 0) | ||
1339 | { | ||
1340 | CreateGeomAndObject(false); | ||
1341 | } | ||
1342 | |||
1343 | } | ||
1344 | } | ||
1345 | |||
1346 | // Create an object in Bullet if it has not already been created | ||
1347 | // No locking here because this is done when the physics engine is not simulating | ||
1348 | // Returns 'true' if an object was actually created. | ||
1349 | private bool CreateObject() | ||
1350 | { | ||
1351 | // this routine is called when objects are rebuilt. | ||
1352 | |||
1353 | // the mesh or hull must have already been created in Bullet | ||
1354 | ShapeData shape; | ||
1355 | FillShapeInfo(out shape); | ||
1356 | // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type); | ||
1357 | bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); | ||
1358 | |||
1359 | // the CreateObject() may have recreated the rigid body. Make sure we have the latest address. | ||
1360 | BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); | ||
1361 | BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr)); | ||
1362 | |||
1363 | return ret; | ||
1364 | } | ||
1365 | |||
1366 | // Copy prim's info into the BulletSim shape description structure | 1081 | // Copy prim's info into the BulletSim shape description structure |
1367 | public void FillShapeInfo(out ShapeData shape) | 1082 | public void FillShapeInfo(out ShapeData shape) |
1368 | { | 1083 | { |
1369 | shape.ID = _localID; | 1084 | shape.ID = LocalID; |
1370 | shape.Type = _shapeType; | 1085 | shape.Type = _shapeType; |
1371 | shape.Position = _position; | 1086 | shape.Position = _position; |
1372 | shape.Rotation = _orientation; | 1087 | shape.Rotation = _orientation; |
@@ -1380,22 +1095,39 @@ public sealed class BSPrim : BSPhysObject | |||
1380 | shape.Restitution = _restitution; | 1095 | shape.Restitution = _restitution; |
1381 | shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; | 1096 | shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; |
1382 | shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; | 1097 | shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; |
1098 | shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue; | ||
1099 | shape.Size = _size; | ||
1383 | } | 1100 | } |
1384 | |||
1385 | // Rebuild the geometry and object. | 1101 | // Rebuild the geometry and object. |
1386 | // This is called when the shape changes so we need to recreate the mesh/hull. | 1102 | // This is called when the shape changes so we need to recreate the mesh/hull. |
1387 | // No locking here because this is done when the physics engine is not simulating | 1103 | // Called at taint-time!!! |
1388 | private void CreateGeomAndObject(bool forceRebuild) | 1104 | private void CreateGeomAndObject(bool forceRebuild) |
1389 | { | 1105 | { |
1390 | // m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, _localID, forceRebuild); | 1106 | ShapeData shapeData; |
1391 | // Create the geometry that will make up the object | 1107 | FillShapeInfo(out shapeData); |
1392 | if (CreateGeom(forceRebuild)) | 1108 | |
1109 | // If this prim is part of a linkset, we must remove and restore the physical | ||
1110 | // links of the body is rebuilt. | ||
1111 | bool needToRestoreLinkset = false; | ||
1112 | |||
1113 | // Create the correct physical representation for this type of object. | ||
1114 | // Updates BSBody and BSShape with the new information. | ||
1115 | PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs, | ||
1116 | null, delegate(BulletBody dBody) | ||
1117 | { | ||
1118 | // Called if the current prim body is about to be destroyed. | ||
1119 | // Remove all the physical dependencies on the old body. | ||
1120 | needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); | ||
1121 | }); | ||
1122 | |||
1123 | if (needToRestoreLinkset) | ||
1393 | { | 1124 | { |
1394 | // Create the object and place it into the world | 1125 | // If physical body dependencies were removed, restore them |
1395 | CreateObject(); | 1126 | Linkset.RestoreBodyDependencies(this); |
1396 | // Make sure the properties are set on the new object | ||
1397 | UpdatePhysicalParameters(); | ||
1398 | } | 1127 | } |
1128 | |||
1129 | // Make sure the properties are set on the new object | ||
1130 | UpdatePhysicalParameters(); | ||
1399 | return; | 1131 | return; |
1400 | } | 1132 | } |
1401 | 1133 | ||
@@ -1485,66 +1217,10 @@ public sealed class BSPrim : BSPhysObject | |||
1485 | { | 1217 | { |
1486 | // For debugging, we can also report the movement of children | 1218 | // For debugging, we can also report the movement of children |
1487 | DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", | 1219 | DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", |
1488 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, | 1220 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, |
1489 | entprop.Acceleration, entprop.RotationalVelocity); | 1221 | entprop.Acceleration, entprop.RotationalVelocity); |
1490 | } | 1222 | } |
1491 | */ | 1223 | */ |
1492 | } | 1224 | } |
1493 | |||
1494 | // I've collided with something | ||
1495 | // Called at taint time from within the Step() function | ||
1496 | CollisionEventUpdate collisionCollection; | ||
1497 | public override bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) | ||
1498 | { | ||
1499 | bool ret = false; | ||
1500 | |||
1501 | // The following lines make IsColliding() and IsCollidingGround() work | ||
1502 | _collidingStep = Scene.SimulationStep; | ||
1503 | if (collidingWith <= Scene.TerrainManager.HighestTerrainID) | ||
1504 | { | ||
1505 | _collidingGroundStep = Scene.SimulationStep; | ||
1506 | } | ||
1507 | |||
1508 | // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith); | ||
1509 | |||
1510 | // prims in the same linkset cannot collide with each other | ||
1511 | if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) | ||
1512 | { | ||
1513 | return ret; | ||
1514 | } | ||
1515 | |||
1516 | // if someone has subscribed for collision events.... | ||
1517 | if (SubscribedEvents()) { | ||
1518 | // throttle the collisions to the number of milliseconds specified in the subscription | ||
1519 | int nowTime = Scene.SimulationNowTime; | ||
1520 | if (nowTime >= _nextCollisionOkTime) { | ||
1521 | _nextCollisionOkTime = nowTime + _subscribedEventsMs; | ||
1522 | |||
1523 | if (collisionCollection == null) | ||
1524 | collisionCollection = new CollisionEventUpdate(); | ||
1525 | collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); | ||
1526 | ret = true; | ||
1527 | } | ||
1528 | } | ||
1529 | return ret; | ||
1530 | } | ||
1531 | |||
1532 | // The scene is telling us it's time to pass our collected collisions into the simulator | ||
1533 | public override void SendCollisions() | ||
1534 | { | ||
1535 | if (collisionCollection != null && collisionCollection.Count > 0) | ||
1536 | { | ||
1537 | base.SendCollisionUpdate(collisionCollection); | ||
1538 | // The collisionCollection structure is passed around in the simulator. | ||
1539 | // Make sure we don't have a handle to that one and that a new one is used next time. | ||
1540 | collisionCollection = null; | ||
1541 | } | ||
1542 | } | ||
1543 | |||
1544 | // Invoke the detailed logger and output something if it's enabled. | ||
1545 | private void DetailLog(string msg, params Object[] args) | ||
1546 | { | ||
1547 | Scene.PhysicsLogging.Write(msg, args); | ||
1548 | } | ||
1549 | } | 1225 | } |
1550 | } | 1226 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 52997dd..0cf8c91 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
@@ -39,20 +39,20 @@ using log4net; | |||
39 | using OpenMetaverse; | 39 | using OpenMetaverse; |
40 | 40 | ||
41 | // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) | 41 | // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) |
42 | // Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) | 42 | // Move all logic out of the C++ code and into the C# code for easier future modifications. |
43 | // Test sculpties | 43 | // Test sculpties (verified that they don't work) |
44 | // Compute physics FPS reasonably | 44 | // Compute physics FPS reasonably |
45 | // Based on material, set density and friction | 45 | // Based on material, set density and friction |
46 | // More efficient memory usage when passing hull information from BSPrim to BulletSim | 46 | // Don't use constraints in linksets of non-physical objects. Means having to move children manually. |
47 | // Move all logic out of the C++ code and into the C# code for easier future modifications. | ||
48 | // Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? | 47 | // Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? |
49 | // In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) | 48 | // In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) |
50 | // At the moment, physical and phantom causes object to drop through the terrain | 49 | // At the moment, physical and phantom causes object to drop through the terrain |
51 | // Physical phantom objects and related typing (collision options ) | 50 | // Physical phantom objects and related typing (collision options ) |
52 | // Use collision masks for collision with terrain and phantom objects | ||
53 | // Check out llVolumeDetect. Must do something for that. | 51 | // Check out llVolumeDetect. Must do something for that. |
52 | // Use collision masks for collision with terrain and phantom objects | ||
53 | // More efficient memory usage when passing hull information from BSPrim to BulletSim | ||
54 | // Should prim.link() and prim.delink() membership checking happen at taint time? | 54 | // Should prim.link() and prim.delink() membership checking happen at taint time? |
55 | // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once | 55 | // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once. |
56 | // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect | 56 | // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect |
57 | // Implement LockAngularMotion | 57 | // Implement LockAngularMotion |
58 | // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) | 58 | // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) |
@@ -60,7 +60,7 @@ using OpenMetaverse; | |||
60 | // Add PID movement operations. What does ScenePresence.MoveToTarget do? | 60 | // Add PID movement operations. What does ScenePresence.MoveToTarget do? |
61 | // Check terrain size. 128 or 127? | 61 | // Check terrain size. 128 or 127? |
62 | // Raycast | 62 | // Raycast |
63 | // | 63 | // |
64 | namespace OpenSim.Region.Physics.BulletSPlugin | 64 | namespace OpenSim.Region.Physics.BulletSPlugin |
65 | { | 65 | { |
66 | public class BSScene : PhysicsScene, IPhysicsParameters | 66 | public class BSScene : PhysicsScene, IPhysicsParameters |
@@ -73,12 +73,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
73 | 73 | ||
74 | public string BulletSimVersion = "?"; | 74 | public string BulletSimVersion = "?"; |
75 | 75 | ||
76 | public Dictionary<uint, BSPhysObject> PhysObjects = new Dictionary<uint, BSPhysObject>(); | 76 | public Dictionary<uint, BSPhysObject> PhysObjects; |
77 | public BSShapeCollection Shapes; | ||
77 | 78 | ||
78 | private HashSet<BSPhysObject> m_objectsWithCollisions = new HashSet<BSPhysObject>(); | 79 | // Keeping track of the objects with collisions so we can report begin and end of a collision |
79 | // Following is a kludge and can be removed when avatar animation updating is | 80 | public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>(); |
80 | // moved to a better place. | 81 | public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>(); |
81 | private HashSet<BSPhysObject> m_avatarsWithCollisions = new HashSet<BSPhysObject>(); | 82 | // Keep track of all the avatars so we can send them a collision event |
83 | // every tick so OpenSim will update its animation. | ||
84 | private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>(); | ||
82 | 85 | ||
83 | // List of all the objects that have vehicle properties and should be called | 86 | // List of all the objects that have vehicle properties and should be called |
84 | // to update each physics step. | 87 | // to update each physics step. |
@@ -202,6 +205,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
202 | 205 | ||
203 | public override void Initialise(IMesher meshmerizer, IConfigSource config) | 206 | public override void Initialise(IMesher meshmerizer, IConfigSource config) |
204 | { | 207 | { |
208 | mesher = meshmerizer; | ||
209 | _taintedObjects = new List<TaintCallbackEntry>(); | ||
210 | PhysObjects = new Dictionary<uint, BSPhysObject>(); | ||
211 | Shapes = new BSShapeCollection(this); | ||
212 | |||
205 | // Allocate pinned memory to pass parameters. | 213 | // Allocate pinned memory to pass parameters. |
206 | m_params = new ConfigurationParameters[1]; | 214 | m_params = new ConfigurationParameters[1]; |
207 | m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned); | 215 | m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned); |
@@ -215,12 +223,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
215 | m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; | 223 | m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; |
216 | m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); | 224 | m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); |
217 | 225 | ||
218 | mesher = meshmerizer; | ||
219 | _taintedObjects = new List<TaintCallbackEntry>(); | ||
220 | |||
221 | // Enable very detailed logging. | 226 | // Enable very detailed logging. |
222 | // By creating an empty logger when not logging, the log message invocation code | 227 | // By creating an empty logger when not logging, the log message invocation code |
223 | // can be left in and every call doesn't have to check for null. | 228 | // can be left in and every call doesn't have to check for null. |
224 | if (m_physicsLoggingEnabled) | 229 | if (m_physicsLoggingEnabled) |
225 | { | 230 | { |
226 | PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); | 231 | PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); |
@@ -251,7 +256,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
251 | // a child in a mega-region. | 256 | // a child in a mega-region. |
252 | // Turns out that Bullet really doesn't care about the extents of the simulated | 257 | // Turns out that Bullet really doesn't care about the extents of the simulated |
253 | // area. It tracks active objects no matter where they are. | 258 | // area. It tracks active objects no matter where they are. |
254 | Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f); | 259 | Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); |
255 | 260 | ||
256 | // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); | 261 | // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); |
257 | WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), | 262 | WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), |
@@ -322,7 +327,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
322 | { | 327 | { |
323 | m_log.Debug("[BULLETS UNMANAGED]:" + msg); | 328 | m_log.Debug("[BULLETS UNMANAGED]:" + msg); |
324 | } | 329 | } |
325 | 330 | ||
326 | // Called directly from unmanaged code so don't do much | 331 | // Called directly from unmanaged code so don't do much |
327 | private void BulletLoggerPhysLog(string msg) | 332 | private void BulletLoggerPhysLog(string msg) |
328 | { | 333 | { |
@@ -351,6 +356,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
351 | Constraints = null; | 356 | Constraints = null; |
352 | } | 357 | } |
353 | 358 | ||
359 | if (Shapes != null) | ||
360 | { | ||
361 | Shapes.Dispose(); | ||
362 | Shapes = null; | ||
363 | } | ||
364 | |||
354 | // Anything left in the unmanaged code should be cleaned out | 365 | // Anything left in the unmanaged code should be cleaned out |
355 | BulletSimAPI.Shutdown(WorldID); | 366 | BulletSimAPI.Shutdown(WorldID); |
356 | 367 | ||
@@ -379,7 +390,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
379 | // TODO: Remove kludge someday. | 390 | // TODO: Remove kludge someday. |
380 | // We must generate a collision for avatars whether they collide or not. | 391 | // We must generate a collision for avatars whether they collide or not. |
381 | // This is required by OpenSim to update avatar animations, etc. | 392 | // This is required by OpenSim to update avatar animations, etc. |
382 | lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Add(actor); | 393 | lock (m_avatars) m_avatars.Add(actor); |
383 | 394 | ||
384 | return actor; | 395 | return actor; |
385 | } | 396 | } |
@@ -397,7 +408,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
397 | { | 408 | { |
398 | lock (PhysObjects) PhysObjects.Remove(actor.LocalID); | 409 | lock (PhysObjects) PhysObjects.Remove(actor.LocalID); |
399 | // Remove kludge someday | 410 | // Remove kludge someday |
400 | lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Remove(bsactor); | 411 | lock (m_avatars) m_avatars.Remove(bsactor); |
401 | } | 412 | } |
402 | catch (Exception e) | 413 | catch (Exception e) |
403 | { | 414 | { |
@@ -449,7 +460,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
449 | } | 460 | } |
450 | 461 | ||
451 | // This is a call from the simulator saying that some physical property has been updated. | 462 | // This is a call from the simulator saying that some physical property has been updated. |
452 | // The BulletSim driver senses the changing of relevant properties so this taint | 463 | // The BulletSim driver senses the changing of relevant properties so this taint |
453 | // information call is not needed. | 464 | // information call is not needed. |
454 | public override void AddPhysicsActorTaint(PhysicsActor prim) { } | 465 | public override void AddPhysicsActorTaint(PhysicsActor prim) { } |
455 | 466 | ||
@@ -464,6 +475,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
464 | int collidersCount = 0; | 475 | int collidersCount = 0; |
465 | IntPtr collidersPtr; | 476 | IntPtr collidersPtr; |
466 | 477 | ||
478 | int beforeTime = 0; | ||
479 | int simTime = 0; | ||
480 | |||
467 | // prevent simulation until we've been initialized | 481 | // prevent simulation until we've been initialized |
468 | if (!m_initialized) return 5.0f; | 482 | if (!m_initialized) return 5.0f; |
469 | 483 | ||
@@ -481,16 +495,20 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
481 | int numSubSteps = 0; | 495 | int numSubSteps = 0; |
482 | try | 496 | try |
483 | { | 497 | { |
498 | if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); | ||
499 | |||
484 | numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep, | 500 | numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep, |
485 | out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); | 501 | out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); |
486 | DetailLog("{0},Simulate,call, nTaints= {1}, substeps={2}, updates={3}, colliders={4}", | 502 | |
487 | DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); | 503 | if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); |
504 | DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}", | ||
505 | DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); | ||
488 | } | 506 | } |
489 | catch (Exception e) | 507 | catch (Exception e) |
490 | { | 508 | { |
491 | m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}", | 509 | m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}", |
492 | LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e); | 510 | LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e); |
493 | DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}", | 511 | DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}", |
494 | DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); | 512 | DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount); |
495 | updatedEntityCount = 0; | 513 | updatedEntityCount = 0; |
496 | collidersCount = 0; | 514 | collidersCount = 0; |
@@ -502,12 +520,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
502 | // Get a value for 'now' so all the collision and update routines don't have to get their own | 520 | // Get a value for 'now' so all the collision and update routines don't have to get their own |
503 | SimulationNowTime = Util.EnvironmentTickCount(); | 521 | SimulationNowTime = Util.EnvironmentTickCount(); |
504 | 522 | ||
505 | // This is a kludge to get avatar movement updates. | ||
506 | // ODE sends collisions for avatars even if there are have been no collisions. This updates | ||
507 | // avatar animations and stuff. | ||
508 | // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. | ||
509 | m_objectsWithCollisions = new HashSet<BSPhysObject>(m_avatarsWithCollisions); | ||
510 | |||
511 | // If there were collisions, process them by sending the event to the prim. | 523 | // If there were collisions, process them by sending the event to the prim. |
512 | // Collisions must be processed before updates. | 524 | // Collisions must be processed before updates. |
513 | if (collidersCount > 0) | 525 | if (collidersCount > 0) |
@@ -523,11 +535,34 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
523 | } | 535 | } |
524 | } | 536 | } |
525 | 537 | ||
538 | // This is a kludge to get avatar movement updates. | ||
539 | // ODE sends collisions for avatars even if there are have been no collisions. This updates | ||
540 | // avatar animations and stuff. | ||
541 | // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. | ||
542 | foreach (BSPhysObject bsp in m_avatars) | ||
543 | bsp.SendCollisions(); | ||
544 | |||
526 | // The above SendCollision's batch up the collisions on the objects. | 545 | // The above SendCollision's batch up the collisions on the objects. |
527 | // Now push the collisions into the simulator. | 546 | // Now push the collisions into the simulator. |
528 | foreach (BSPhysObject bsp in m_objectsWithCollisions) | 547 | if (ObjectsWithCollisions.Count > 0) |
529 | bsp.SendCollisions(); | 548 | { |
530 | m_objectsWithCollisions.Clear(); | 549 | foreach (BSPhysObject bsp in ObjectsWithCollisions) |
550 | if (!m_avatars.Contains(bsp)) // don't call avatars twice | ||
551 | if (!bsp.SendCollisions()) | ||
552 | { | ||
553 | // If the object is done colliding, see that it's removed from the colliding list | ||
554 | ObjectsWithNoMoreCollisions.Add(bsp); | ||
555 | } | ||
556 | } | ||
557 | |||
558 | // Objects that are done colliding are removed from the ObjectsWithCollisions list. | ||
559 | // This can't be done by SendCollisions because it is inside an iteration of ObjectWithCollisions. | ||
560 | if (ObjectsWithNoMoreCollisions.Count > 0) | ||
561 | { | ||
562 | foreach (BSPhysObject po in ObjectsWithNoMoreCollisions) | ||
563 | ObjectsWithCollisions.Remove(po); | ||
564 | ObjectsWithNoMoreCollisions.Clear(); | ||
565 | } | ||
531 | 566 | ||
532 | // If any of the objects had updated properties, tell the object it has been changed by the physics engine | 567 | // If any of the objects had updated properties, tell the object it has been changed by the physics engine |
533 | if (updatedEntityCount > 0) | 568 | if (updatedEntityCount > 0) |
@@ -555,7 +590,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
555 | // The physics engine returns the number of milliseconds it simulated this call. | 590 | // The physics engine returns the number of milliseconds it simulated this call. |
556 | // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. | 591 | // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. |
557 | // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS. | 592 | // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS. |
558 | return numSubSteps * m_fixedTimeStep; | 593 | return numSubSteps * m_fixedTimeStep * 1000; |
559 | } | 594 | } |
560 | 595 | ||
561 | // Something has collided | 596 | // Something has collided |
@@ -570,20 +605,20 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
570 | if (!PhysObjects.TryGetValue(localID, out collider)) | 605 | if (!PhysObjects.TryGetValue(localID, out collider)) |
571 | { | 606 | { |
572 | // If the object that is colliding cannot be found, just ignore the collision. | 607 | // If the object that is colliding cannot be found, just ignore the collision. |
608 | DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith); | ||
573 | return; | 609 | return; |
574 | } | 610 | } |
575 | 611 | ||
576 | // The terrain is not in the physical object list so 'collidee' | 612 | // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called. |
577 | // can be null when Collide() is called. | ||
578 | BSPhysObject collidee = null; | 613 | BSPhysObject collidee = null; |
579 | PhysObjects.TryGetValue(collidingWith, out collidee); | 614 | PhysObjects.TryGetValue(collidingWith, out collidee); |
580 | 615 | ||
581 | // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); | 616 | DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); |
582 | 617 | ||
583 | if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) | 618 | if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) |
584 | { | 619 | { |
585 | // If a collision was posted, remember to send it to the simulator | 620 | // If a collision was posted, remember to send it to the simulator |
586 | m_objectsWithCollisions.Add(collider); | 621 | ObjectsWithCollisions.Add(collider); |
587 | } | 622 | } |
588 | 623 | ||
589 | return; | 624 | return; |
@@ -599,7 +634,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
599 | TerrainManager.SetTerrain(heightMap); | 634 | TerrainManager.SetTerrain(heightMap); |
600 | } | 635 | } |
601 | 636 | ||
602 | public override void SetWaterLevel(float baseheight) | 637 | public override void SetWaterLevel(float baseheight) |
603 | { | 638 | { |
604 | m_waterLevel = baseheight; | 639 | m_waterLevel = baseheight; |
605 | } | 640 | } |
@@ -609,7 +644,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
609 | return m_waterLevel; | 644 | return m_waterLevel; |
610 | } | 645 | } |
611 | 646 | ||
612 | public override void DeleteTerrain() | 647 | public override void DeleteTerrain() |
613 | { | 648 | { |
614 | // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); | 649 | // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader); |
615 | } | 650 | } |
@@ -771,7 +806,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
771 | // getters and setters. | 806 | // getters and setters. |
772 | // It is easiest to find an existing definition and copy it. | 807 | // It is easiest to find an existing definition and copy it. |
773 | // Parameter values are floats. Booleans are converted to a floating value. | 808 | // Parameter values are floats. Booleans are converted to a floating value. |
774 | // | 809 | // |
775 | // A ParameterDefn() takes the following parameters: | 810 | // A ParameterDefn() takes the following parameters: |
776 | // -- the text name of the parameter. This is used for console input and ini file. | 811 | // -- the text name of the parameter. This is used for console input and ini file. |
777 | // -- a short text description of the parameter. This shows up in the console listing. | 812 | // -- a short text description of the parameter. This shows up in the console listing. |
@@ -998,7 +1033,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
998 | (s) => { return s.m_params[0].shouldRandomizeSolverOrder; }, | 1033 | (s) => { return s.m_params[0].shouldRandomizeSolverOrder; }, |
999 | (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ), | 1034 | (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ), |
1000 | new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", | 1035 | new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", |
1001 | ConfigurationParameters.numericFalse, | 1036 | ConfigurationParameters.numericTrue, |
1002 | (s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, | 1037 | (s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, |
1003 | (s) => { return s.m_params[0].shouldSplitSimulationIslands; }, | 1038 | (s) => { return s.m_params[0].shouldSplitSimulationIslands; }, |
1004 | (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ), | 1039 | (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ), |
@@ -1193,7 +1228,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
1193 | } | 1228 | } |
1194 | }); | 1229 | }); |
1195 | break; | 1230 | break; |
1196 | default: | 1231 | default: |
1197 | // setting only one localID | 1232 | // setting only one localID |
1198 | TaintedUpdateParameter(parm, localID, val); | 1233 | TaintedUpdateParameter(parm, localID, val); |
1199 | break; | 1234 | break; |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs new file mode 100755 index 0000000..dee6243 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | |||
@@ -0,0 +1,735 @@ | |||
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 | using OMV = OpenMetaverse; | ||
31 | using OpenSim.Framework; | ||
32 | using OpenSim.Region.Physics.Manager; | ||
33 | using OpenSim.Region.Physics.ConvexDecompositionDotNet; | ||
34 | |||
35 | namespace OpenSim.Region.Physics.BulletSPlugin | ||
36 | { | ||
37 | public class BSShapeCollection : IDisposable | ||
38 | { | ||
39 | private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; | ||
40 | |||
41 | protected BSScene PhysicsScene { get; set; } | ||
42 | |||
43 | private Object m_collectionActivityLock = new Object(); | ||
44 | |||
45 | // Description of a Mesh | ||
46 | private struct MeshDesc | ||
47 | { | ||
48 | public IntPtr ptr; | ||
49 | public int referenceCount; | ||
50 | public DateTime lastReferenced; | ||
51 | } | ||
52 | |||
53 | // Description of a hull. | ||
54 | // Meshes and hulls have the same shape hash key but we only need hulls for efficient physical objects | ||
55 | private struct HullDesc | ||
56 | { | ||
57 | public IntPtr ptr; | ||
58 | public int referenceCount; | ||
59 | public DateTime lastReferenced; | ||
60 | } | ||
61 | |||
62 | private struct BodyDesc | ||
63 | { | ||
64 | public IntPtr ptr; | ||
65 | // Bodies are only used once so reference count is always either one or zero | ||
66 | public int referenceCount; | ||
67 | public DateTime lastReferenced; | ||
68 | } | ||
69 | |||
70 | private Dictionary<ulong, MeshDesc> Meshes = new Dictionary<ulong, MeshDesc>(); | ||
71 | private Dictionary<ulong, HullDesc> Hulls = new Dictionary<ulong, HullDesc>(); | ||
72 | private Dictionary<uint, BodyDesc> Bodies = new Dictionary<uint, BodyDesc>(); | ||
73 | |||
74 | public BSShapeCollection(BSScene physScene) | ||
75 | { | ||
76 | PhysicsScene = physScene; | ||
77 | } | ||
78 | |||
79 | public void Dispose() | ||
80 | { | ||
81 | // TODO!!!!!!!!! | ||
82 | } | ||
83 | |||
84 | // Callbacks called just before either the body or shape is destroyed. | ||
85 | // Mostly used for changing bodies out from under Linksets. | ||
86 | // Useful for other cases where parameters need saving. | ||
87 | // Passing 'null' says no callback. | ||
88 | public delegate void ShapeDestructionCallback(BulletShape shape); | ||
89 | public delegate void BodyDestructionCallback(BulletBody body); | ||
90 | |||
91 | // Called to update/change the body and shape for an object. | ||
92 | // First checks the shape and updates that if necessary then makes | ||
93 | // sure the body is of the right type. | ||
94 | // Return 'true' if either the body or the shape changed. | ||
95 | // Called at taint-time!! | ||
96 | public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim, | ||
97 | ShapeData shapeData, PrimitiveBaseShape pbs, | ||
98 | ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) | ||
99 | { | ||
100 | bool ret = false; | ||
101 | |||
102 | // This lock could probably be pushed down lower but building shouldn't take long | ||
103 | lock (m_collectionActivityLock) | ||
104 | { | ||
105 | // Do we have the correct geometry for this type of object? | ||
106 | // Updates prim.BSShape with information/pointers to requested shape | ||
107 | bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback); | ||
108 | // If we had to select a new shape geometry for the object, | ||
109 | // rebuild the body around it. | ||
110 | // Updates prim.BSBody with information/pointers to requested body | ||
111 | bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData, bodyCallback); | ||
112 | ret = newGeom || newBody; | ||
113 | } | ||
114 | DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}", | ||
115 | prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape); | ||
116 | |||
117 | return ret; | ||
118 | } | ||
119 | |||
120 | // Track another user of a body | ||
121 | // We presume the caller has allocated the body. | ||
122 | // Bodies only have one user so the reference count is either 1 or 0. | ||
123 | public void ReferenceBody(BulletBody body, bool atTaintTime) | ||
124 | { | ||
125 | lock (m_collectionActivityLock) | ||
126 | { | ||
127 | BodyDesc bodyDesc; | ||
128 | if (Bodies.TryGetValue(body.ID, out bodyDesc)) | ||
129 | { | ||
130 | bodyDesc.referenceCount++; | ||
131 | DetailLog("{0},BSShapeCollection.ReferenceBody,existingBody,body={1},ref={2}", body.ID, body, bodyDesc.referenceCount); | ||
132 | } | ||
133 | else | ||
134 | { | ||
135 | // New entry | ||
136 | bodyDesc.ptr = body.ptr; | ||
137 | bodyDesc.referenceCount = 1; | ||
138 | DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={1}", body.ID, body, bodyDesc.referenceCount); | ||
139 | } | ||
140 | bodyDesc.lastReferenced = System.DateTime.Now; | ||
141 | Bodies[body.ID] = bodyDesc; | ||
142 | } | ||
143 | } | ||
144 | |||
145 | // Release the usage of a body. | ||
146 | // Called when releasing use of a BSBody. BSShape is handled separately. | ||
147 | public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback ) | ||
148 | { | ||
149 | if (body.ptr == IntPtr.Zero) | ||
150 | return; | ||
151 | |||
152 | lock (m_collectionActivityLock) | ||
153 | { | ||
154 | BodyDesc bodyDesc; | ||
155 | if (Bodies.TryGetValue(body.ID, out bodyDesc)) | ||
156 | { | ||
157 | bodyDesc.referenceCount--; | ||
158 | bodyDesc.lastReferenced = System.DateTime.Now; | ||
159 | Bodies[body.ID] = bodyDesc; | ||
160 | DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount); | ||
161 | |||
162 | // If body is no longer being used, free it -- bodies are never shared. | ||
163 | if (bodyDesc.referenceCount == 0) | ||
164 | { | ||
165 | Bodies.Remove(body.ID); | ||
166 | BSScene.TaintCallback removeOperation = delegate() | ||
167 | { | ||
168 | DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}", | ||
169 | body.ID, body.ptr.ToString("X")); | ||
170 | // If the caller needs to know, pass the event up. | ||
171 | if (bodyCallback != null) bodyCallback(body); | ||
172 | |||
173 | // Zero any reference to the shape so it is not freed when the body is deleted. | ||
174 | BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); | ||
175 | // It may have already been removed from the world in which case the next is a NOOP. | ||
176 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); | ||
177 | BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); | ||
178 | }; | ||
179 | // If already in taint-time, do the operations now. Otherwise queue for later. | ||
180 | if (inTaintTime) | ||
181 | removeOperation(); | ||
182 | else | ||
183 | PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation); | ||
184 | } | ||
185 | } | ||
186 | else | ||
187 | { | ||
188 | DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", body.ID, bodyDesc.referenceCount); | ||
189 | } | ||
190 | } | ||
191 | } | ||
192 | |||
193 | // Track the datastructures and use count for a shape. | ||
194 | // When creating a hull, this is called first to reference the mesh | ||
195 | // and then again to reference the hull. | ||
196 | // Meshes and hulls for the same shape have the same hash key. | ||
197 | // NOTE that native shapes are not added to the mesh list or removed. | ||
198 | // Returns 'true' if this is the initial reference to the shape. Otherwise reused. | ||
199 | private bool ReferenceShape(BulletShape shape) | ||
200 | { | ||
201 | bool ret = false; | ||
202 | switch (shape.type) | ||
203 | { | ||
204 | case ShapeData.PhysicsShapeType.SHAPE_MESH: | ||
205 | MeshDesc meshDesc; | ||
206 | if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) | ||
207 | { | ||
208 | // There is an existing instance of this mesh. | ||
209 | meshDesc.referenceCount++; | ||
210 | DetailLog("{0},BSShapeColliction.ReferenceShape,existingMesh,key={1},cnt={2}", | ||
211 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); | ||
212 | } | ||
213 | else | ||
214 | { | ||
215 | // This is a new reference to a mesh | ||
216 | meshDesc.ptr = shape.ptr; | ||
217 | // We keep a reference to the underlying IMesh data so a hull can be built | ||
218 | meshDesc.referenceCount = 1; | ||
219 | DetailLog("{0},BSShapeColliction.ReferenceShape,newMesh,key={1},cnt={2}", | ||
220 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); | ||
221 | ret = true; | ||
222 | } | ||
223 | meshDesc.lastReferenced = System.DateTime.Now; | ||
224 | Meshes[shape.shapeKey] = meshDesc; | ||
225 | break; | ||
226 | case ShapeData.PhysicsShapeType.SHAPE_HULL: | ||
227 | HullDesc hullDesc; | ||
228 | if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) | ||
229 | { | ||
230 | // There is an existing instance of this hull. | ||
231 | hullDesc.referenceCount++; | ||
232 | DetailLog("{0},BSShapeColliction.ReferenceShape,existingHull,key={1},cnt={2}", | ||
233 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); | ||
234 | } | ||
235 | else | ||
236 | { | ||
237 | // This is a new reference to a hull | ||
238 | hullDesc.ptr = shape.ptr; | ||
239 | hullDesc.referenceCount = 1; | ||
240 | DetailLog("{0},BSShapeColliction.ReferenceShape,newHull,key={1},cnt={2}", | ||
241 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); | ||
242 | ret = true; | ||
243 | |||
244 | } | ||
245 | hullDesc.lastReferenced = System.DateTime.Now; | ||
246 | Hulls[shape.shapeKey] = hullDesc; | ||
247 | break; | ||
248 | case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN: | ||
249 | break; | ||
250 | default: | ||
251 | // Native shapes are not tracked and they don't go into any list | ||
252 | break; | ||
253 | } | ||
254 | return ret; | ||
255 | } | ||
256 | |||
257 | // Release the usage of a shape. | ||
258 | // The collisionObject is released since it is a copy of the real collision shape. | ||
259 | public void DereferenceShape(BulletShape shape, bool atTaintTime, ShapeDestructionCallback shapeCallback) | ||
260 | { | ||
261 | if (shape.ptr == IntPtr.Zero) | ||
262 | return; | ||
263 | |||
264 | BSScene.TaintCallback dereferenceOperation = delegate() | ||
265 | { | ||
266 | switch (shape.type) | ||
267 | { | ||
268 | case ShapeData.PhysicsShapeType.SHAPE_HULL: | ||
269 | DereferenceHull(shape, shapeCallback); | ||
270 | break; | ||
271 | case ShapeData.PhysicsShapeType.SHAPE_MESH: | ||
272 | DereferenceMesh(shape, shapeCallback); | ||
273 | break; | ||
274 | case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN: | ||
275 | break; | ||
276 | default: | ||
277 | // Native shapes are not tracked and are released immediately | ||
278 | if (shape.ptr != IntPtr.Zero & shape.isNativeShape) | ||
279 | { | ||
280 | DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", | ||
281 | BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime); | ||
282 | if (shapeCallback != null) shapeCallback(shape); | ||
283 | BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); | ||
284 | } | ||
285 | break; | ||
286 | } | ||
287 | }; | ||
288 | if (atTaintTime) | ||
289 | { | ||
290 | lock (m_collectionActivityLock) | ||
291 | { | ||
292 | dereferenceOperation(); | ||
293 | } | ||
294 | } | ||
295 | else | ||
296 | { | ||
297 | PhysicsScene.TaintedObject("BSShapeCollection.DereferenceShape", dereferenceOperation); | ||
298 | } | ||
299 | } | ||
300 | |||
301 | // Count down the reference count for a mesh shape | ||
302 | // Called at taint-time. | ||
303 | private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback) | ||
304 | { | ||
305 | MeshDesc meshDesc; | ||
306 | if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) | ||
307 | { | ||
308 | meshDesc.referenceCount--; | ||
309 | // TODO: release the Bullet storage | ||
310 | if (shapeCallback != null) shapeCallback(shape); | ||
311 | meshDesc.lastReferenced = System.DateTime.Now; | ||
312 | Meshes[shape.shapeKey] = meshDesc; | ||
313 | DetailLog("{0},BSShapeCollection.DereferenceMesh,key={1},refCnt={2}", | ||
314 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); | ||
315 | |||
316 | } | ||
317 | } | ||
318 | |||
319 | // Count down the reference count for a hull shape | ||
320 | // Called at taint-time. | ||
321 | private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback) | ||
322 | { | ||
323 | HullDesc hullDesc; | ||
324 | if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) | ||
325 | { | ||
326 | hullDesc.referenceCount--; | ||
327 | // TODO: release the Bullet storage (aging old entries?) | ||
328 | if (shapeCallback != null) shapeCallback(shape); | ||
329 | hullDesc.lastReferenced = System.DateTime.Now; | ||
330 | Hulls[shape.shapeKey] = hullDesc; | ||
331 | DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}", | ||
332 | BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); | ||
333 | } | ||
334 | } | ||
335 | |||
336 | // Create the geometry information in Bullet for later use. | ||
337 | // The objects needs a hull if it's physical otherwise a mesh is enough. | ||
338 | // No locking here because this is done when we know physics is not simulating. | ||
339 | // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used. | ||
340 | // Returns 'true' if the geometry was rebuilt. | ||
341 | // Called at taint-time! | ||
342 | private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData, | ||
343 | PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback) | ||
344 | { | ||
345 | bool ret = false; | ||
346 | bool haveShape = false; | ||
347 | bool nativeShapePossible = true; | ||
348 | |||
349 | // If the prim attributes are simple, this could be a simple Bullet native shape | ||
350 | if (nativeShapePossible | ||
351 | && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) | ||
352 | || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 | ||
353 | && pbs.ProfileHollow == 0 | ||
354 | && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 | ||
355 | && pbs.PathBegin == 0 && pbs.PathEnd == 0 | ||
356 | && pbs.PathTaperX == 0 && pbs.PathTaperY == 0 | ||
357 | && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 | ||
358 | && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) ) | ||
359 | { | ||
360 | if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) | ||
361 | { | ||
362 | haveShape = true; | ||
363 | if (forceRebuild | ||
364 | || prim.Scale != shapeData.Size | ||
365 | || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE | ||
366 | ) | ||
367 | { | ||
368 | ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, | ||
369 | ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback); | ||
370 | DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", | ||
371 | prim.LocalID, forceRebuild, prim.BSShape); | ||
372 | } | ||
373 | } | ||
374 | else | ||
375 | { | ||
376 | haveShape = true; | ||
377 | if (forceRebuild | ||
378 | || prim.Scale != shapeData.Size | ||
379 | || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX | ||
380 | ) | ||
381 | { | ||
382 | ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, | ||
383 | ShapeData.FixedShapeKey.KEY_BOX, shapeCallback); | ||
384 | DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", | ||
385 | prim.LocalID, forceRebuild, prim.BSShape); | ||
386 | } | ||
387 | } | ||
388 | } | ||
389 | // If a simple shape is not happening, create a mesh and possibly a hull. | ||
390 | // Note that if it's a native shape, the check for physical/non-physical is not | ||
391 | // made. Native shapes are best used in either case. | ||
392 | if (!haveShape) | ||
393 | { | ||
394 | if (prim.IsPhysical) | ||
395 | { | ||
396 | // Update prim.BSShape to reference a hull of this shape. | ||
397 | ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback); | ||
398 | DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", | ||
399 | shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); | ||
400 | } | ||
401 | else | ||
402 | { | ||
403 | ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback); | ||
404 | DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", | ||
405 | shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); | ||
406 | } | ||
407 | } | ||
408 | return ret; | ||
409 | } | ||
410 | |||
411 | // Creates a native shape and assignes it to prim.BSShape | ||
412 | private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData, | ||
413 | ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey, | ||
414 | ShapeDestructionCallback shapeCallback) | ||
415 | { | ||
416 | BulletShape newShape; | ||
417 | |||
418 | shapeData.Type = shapeType; | ||
419 | // Bullet native objects are scaled by the Bullet engine so pass the size in | ||
420 | prim.Scale = shapeData.Size; | ||
421 | shapeData.Scale = shapeData.Size; | ||
422 | |||
423 | // release any previous shape | ||
424 | DereferenceShape(prim.BSShape, true, shapeCallback); | ||
425 | |||
426 | // Native shapes are always built independently. | ||
427 | newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); | ||
428 | newShape.shapeKey = (ulong)shapeKey; | ||
429 | newShape.isNativeShape = true; | ||
430 | |||
431 | // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked. | ||
432 | // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape); | ||
433 | |||
434 | prim.BSShape = newShape; | ||
435 | return true; | ||
436 | } | ||
437 | |||
438 | // Builds a mesh shape in the physical world and updates prim.BSShape. | ||
439 | // Dereferences previous shape in BSShape and adds a reference for this new shape. | ||
440 | // Returns 'true' of a mesh was actually built. Otherwise . | ||
441 | // Called at taint-time! | ||
442 | private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs, | ||
443 | ShapeDestructionCallback shapeCallback) | ||
444 | { | ||
445 | BulletShape newShape = new BulletShape(IntPtr.Zero); | ||
446 | |||
447 | float lod; | ||
448 | ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod); | ||
449 | |||
450 | // if this new shape is the same as last time, don't recreate the mesh | ||
451 | if (prim.BSShape.shapeKey == newMeshKey) return false; | ||
452 | |||
453 | DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}", | ||
454 | prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); | ||
455 | |||
456 | // Since we're recreating new, get rid of the reference to the previous shape | ||
457 | DereferenceShape(prim.BSShape, true, shapeCallback); | ||
458 | |||
459 | newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod); | ||
460 | |||
461 | ReferenceShape(newShape); | ||
462 | |||
463 | // meshes are already scaled by the meshmerizer | ||
464 | prim.Scale = new OMV.Vector3(1f, 1f, 1f); | ||
465 | prim.BSShape = newShape; | ||
466 | |||
467 | return true; // 'true' means a new shape has been added to this prim | ||
468 | } | ||
469 | |||
470 | private BulletShape CreatePhysicalMesh(string objName, ulong newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) | ||
471 | { | ||
472 | IMesh meshData = null; | ||
473 | IntPtr meshPtr; | ||
474 | MeshDesc meshDesc; | ||
475 | if (Meshes.TryGetValue(newMeshKey, out meshDesc)) | ||
476 | { | ||
477 | // If the mesh has already been built just use it. | ||
478 | meshPtr = meshDesc.ptr; | ||
479 | } | ||
480 | else | ||
481 | { | ||
482 | // Pass false for physicalness as this creates some sort of bounding box which we don't need | ||
483 | meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); | ||
484 | |||
485 | int[] indices = meshData.getIndexListAsInt(); | ||
486 | List<OMV.Vector3> vertices = meshData.getVertexList(); | ||
487 | |||
488 | float[] verticesAsFloats = new float[vertices.Count * 3]; | ||
489 | int vi = 0; | ||
490 | foreach (OMV.Vector3 vv in vertices) | ||
491 | { | ||
492 | verticesAsFloats[vi++] = vv.X; | ||
493 | verticesAsFloats[vi++] = vv.Y; | ||
494 | verticesAsFloats[vi++] = vv.Z; | ||
495 | } | ||
496 | |||
497 | // m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}", | ||
498 | // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count); | ||
499 | |||
500 | meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, | ||
501 | indices.GetLength(0), indices, vertices.Count, verticesAsFloats); | ||
502 | } | ||
503 | BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH); | ||
504 | newShape.shapeKey = newMeshKey; | ||
505 | |||
506 | return newShape; | ||
507 | } | ||
508 | |||
509 | // See that hull shape exists in the physical world and update prim.BSShape. | ||
510 | // We could be creating the hull because scale changed or whatever. | ||
511 | private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs, | ||
512 | ShapeDestructionCallback shapeCallback) | ||
513 | { | ||
514 | BulletShape newShape; | ||
515 | |||
516 | float lod; | ||
517 | ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod); | ||
518 | |||
519 | // if the hull hasn't changed, don't rebuild it | ||
520 | if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) | ||
521 | return false; | ||
522 | |||
523 | DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", | ||
524 | prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X")); | ||
525 | |||
526 | // Remove usage of the previous shape. Also removes reference to underlying mesh if it is a hull. | ||
527 | DereferenceShape(prim.BSShape, true, shapeCallback); | ||
528 | |||
529 | newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); | ||
530 | |||
531 | ReferenceShape(newShape); | ||
532 | |||
533 | // hulls are already scaled by the meshmerizer | ||
534 | prim.Scale = new OMV.Vector3(1f, 1f, 1f); | ||
535 | prim.BSShape = newShape; | ||
536 | return true; // 'true' means a new shape has been added to this prim | ||
537 | } | ||
538 | |||
539 | List<ConvexResult> m_hulls; | ||
540 | private BulletShape CreatePhysicalHull(string objName, ulong newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) | ||
541 | { | ||
542 | |||
543 | IntPtr hullPtr; | ||
544 | HullDesc hullDesc; | ||
545 | if (Hulls.TryGetValue(newHullKey, out hullDesc)) | ||
546 | { | ||
547 | // If the hull shape already is created, just use it. | ||
548 | hullPtr = hullDesc.ptr; | ||
549 | } | ||
550 | else | ||
551 | { | ||
552 | // Build a new hull in the physical world | ||
553 | // Pass false for physicalness as this creates some sort of bounding box which we don't need | ||
554 | IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); | ||
555 | |||
556 | int[] indices = meshData.getIndexListAsInt(); | ||
557 | List<OMV.Vector3> vertices = meshData.getVertexList(); | ||
558 | |||
559 | //format conversion from IMesh format to DecompDesc format | ||
560 | List<int> convIndices = new List<int>(); | ||
561 | List<float3> convVertices = new List<float3>(); | ||
562 | for (int ii = 0; ii < indices.GetLength(0); ii++) | ||
563 | { | ||
564 | convIndices.Add(indices[ii]); | ||
565 | } | ||
566 | foreach (OMV.Vector3 vv in vertices) | ||
567 | { | ||
568 | convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); | ||
569 | } | ||
570 | |||
571 | // setup and do convex hull conversion | ||
572 | m_hulls = new List<ConvexResult>(); | ||
573 | DecompDesc dcomp = new DecompDesc(); | ||
574 | dcomp.mIndices = convIndices; | ||
575 | dcomp.mVertices = convVertices; | ||
576 | ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); | ||
577 | // create the hull into the _hulls variable | ||
578 | convexBuilder.process(dcomp); | ||
579 | |||
580 | // Convert the vertices and indices for passing to unmanaged. | ||
581 | // The hull information is passed as a large floating point array. | ||
582 | // The format is: | ||
583 | // convHulls[0] = number of hulls | ||
584 | // convHulls[1] = number of vertices in first hull | ||
585 | // convHulls[2] = hull centroid X coordinate | ||
586 | // convHulls[3] = hull centroid Y coordinate | ||
587 | // convHulls[4] = hull centroid Z coordinate | ||
588 | // convHulls[5] = first hull vertex X | ||
589 | // convHulls[6] = first hull vertex Y | ||
590 | // convHulls[7] = first hull vertex Z | ||
591 | // convHulls[8] = second hull vertex X | ||
592 | // ... | ||
593 | // convHulls[n] = number of vertices in second hull | ||
594 | // convHulls[n+1] = second hull centroid X coordinate | ||
595 | // ... | ||
596 | // | ||
597 | // TODO: is is very inefficient. Someday change the convex hull generator to return | ||
598 | // data structures that do not need to be converted in order to pass to Bullet. | ||
599 | // And maybe put the values directly into pinned memory rather than marshaling. | ||
600 | int hullCount = m_hulls.Count; | ||
601 | int totalVertices = 1; // include one for the count of the hulls | ||
602 | foreach (ConvexResult cr in m_hulls) | ||
603 | { | ||
604 | totalVertices += 4; // add four for the vertex count and centroid | ||
605 | totalVertices += cr.HullIndices.Count * 3; // we pass just triangles | ||
606 | } | ||
607 | float[] convHulls = new float[totalVertices]; | ||
608 | |||
609 | convHulls[0] = (float)hullCount; | ||
610 | int jj = 1; | ||
611 | foreach (ConvexResult cr in m_hulls) | ||
612 | { | ||
613 | // copy vertices for index access | ||
614 | float3[] verts = new float3[cr.HullVertices.Count]; | ||
615 | int kk = 0; | ||
616 | foreach (float3 ff in cr.HullVertices) | ||
617 | { | ||
618 | verts[kk++] = ff; | ||
619 | } | ||
620 | |||
621 | // add to the array one hull's worth of data | ||
622 | convHulls[jj++] = cr.HullIndices.Count; | ||
623 | convHulls[jj++] = 0f; // centroid x,y,z | ||
624 | convHulls[jj++] = 0f; | ||
625 | convHulls[jj++] = 0f; | ||
626 | foreach (int ind in cr.HullIndices) | ||
627 | { | ||
628 | convHulls[jj++] = verts[ind].x; | ||
629 | convHulls[jj++] = verts[ind].y; | ||
630 | convHulls[jj++] = verts[ind].z; | ||
631 | } | ||
632 | } | ||
633 | // create the hull data structure in Bullet | ||
634 | hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls); | ||
635 | } | ||
636 | |||
637 | BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL); | ||
638 | newShape.shapeKey = newHullKey; | ||
639 | |||
640 | return newShape; // 'true' means a new shape has been added to this prim | ||
641 | } | ||
642 | |||
643 | // Callback from convex hull creater with a newly created hull. | ||
644 | // Just add it to our collection of hulls for this shape. | ||
645 | private void HullReturn(ConvexResult result) | ||
646 | { | ||
647 | m_hulls.Add(result); | ||
648 | return; | ||
649 | } | ||
650 | |||
651 | // Create a hash of all the shape parameters to be used as a key | ||
652 | // for this particular shape. | ||
653 | private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod) | ||
654 | { | ||
655 | // level of detail based on size and type of the object | ||
656 | float lod = PhysicsScene.MeshLOD; | ||
657 | if (pbs.SculptEntry) | ||
658 | lod = PhysicsScene.SculptLOD; | ||
659 | |||
660 | float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z)); | ||
661 | if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) | ||
662 | lod = PhysicsScene.MeshMegaPrimLOD; | ||
663 | |||
664 | retLod = lod; | ||
665 | return (ulong)pbs.GetMeshKey(shapeData.Size, lod); | ||
666 | } | ||
667 | // For those who don't want the LOD | ||
668 | private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs) | ||
669 | { | ||
670 | float lod; | ||
671 | return ComputeShapeKey(shapeData, pbs, out lod); | ||
672 | } | ||
673 | |||
674 | // Create a body object in Bullet. | ||
675 | // Updates prim.BSBody with the information about the new body if one is created. | ||
676 | // Returns 'true' if an object was actually created. | ||
677 | // Called at taint-time. | ||
678 | private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape, | ||
679 | ShapeData shapeData, BodyDestructionCallback bodyCallback) | ||
680 | { | ||
681 | bool ret = false; | ||
682 | |||
683 | // the mesh, hull or native shape must have already been created in Bullet | ||
684 | bool mustRebuild = (prim.BSBody.ptr == IntPtr.Zero); | ||
685 | |||
686 | // If there is an existing body, verify it's of an acceptable type. | ||
687 | // If not a solid object, body is a GhostObject. Otherwise a RigidBody. | ||
688 | if (!mustRebuild) | ||
689 | { | ||
690 | CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.BSBody.ptr); | ||
691 | if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY | ||
692 | || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT) | ||
693 | { | ||
694 | // If the collisionObject is not the correct type for solidness, rebuild what's there | ||
695 | mustRebuild = true; | ||
696 | } | ||
697 | |||
698 | } | ||
699 | |||
700 | if (mustRebuild || forceRebuild) | ||
701 | { | ||
702 | DereferenceBody(prim.BSBody, true, bodyCallback); | ||
703 | |||
704 | BulletBody aBody; | ||
705 | IntPtr bodyPtr = IntPtr.Zero; | ||
706 | if (prim.IsSolid) | ||
707 | { | ||
708 | bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr, | ||
709 | shapeData.ID, shapeData.Position, shapeData.Rotation); | ||
710 | // DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); | ||
711 | } | ||
712 | else | ||
713 | { | ||
714 | bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, | ||
715 | shapeData.ID, shapeData.Position, shapeData.Rotation); | ||
716 | // DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); | ||
717 | } | ||
718 | aBody = new BulletBody(shapeData.ID, bodyPtr); | ||
719 | |||
720 | ReferenceBody(aBody, true); | ||
721 | |||
722 | prim.BSBody = aBody; | ||
723 | |||
724 | ret = true; | ||
725 | } | ||
726 | |||
727 | return ret; | ||
728 | } | ||
729 | |||
730 | private void DetailLog(string msg, params Object[] args) | ||
731 | { | ||
732 | PhysicsScene.PhysicsLogging.Write(msg, args); | ||
733 | } | ||
734 | } | ||
735 | } | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index d48462e..70aa429 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | |||
@@ -57,14 +57,14 @@ public class BSTerrainManager | |||
57 | public const float TERRAIN_COLLISION_MARGIN = 0.0f; | 57 | public const float TERRAIN_COLLISION_MARGIN = 0.0f; |
58 | 58 | ||
59 | // Until the whole simulator is changed to pass us the region size, we rely on constants. | 59 | // Until the whole simulator is changed to pass us the region size, we rely on constants. |
60 | public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, 0f); | 60 | public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); |
61 | 61 | ||
62 | // The scene that I am part of | 62 | // The scene that I am part of |
63 | private BSScene m_physicsScene; | 63 | private BSScene PhysicsScene { get; set; } |
64 | 64 | ||
65 | // The ground plane created to keep thing from falling to infinity. | 65 | // The ground plane created to keep thing from falling to infinity. |
66 | private BulletBody m_groundPlane; | 66 | private BulletBody m_groundPlane; |
67 | 67 | ||
68 | // If doing mega-regions, if we're region zero we will be managing multiple | 68 | // If doing mega-regions, if we're region zero we will be managing multiple |
69 | // region terrains since region zero does the physics for the whole mega-region. | 69 | // region terrains since region zero does the physics for the whole mega-region. |
70 | private Dictionary<Vector2, BulletHeightMapInfo> m_heightMaps; | 70 | private Dictionary<Vector2, BulletHeightMapInfo> m_heightMaps; |
@@ -84,18 +84,18 @@ public class BSTerrainManager | |||
84 | // If the parent region (region 0), this is the extent of the combined regions | 84 | // If the parent region (region 0), this is the extent of the combined regions |
85 | // relative to the origin of region zero | 85 | // relative to the origin of region zero |
86 | private Vector3 m_worldMax; | 86 | private Vector3 m_worldMax; |
87 | private PhysicsScene m_parentScene; | 87 | private PhysicsScene MegaRegionParentPhysicsScene { get; set; } |
88 | 88 | ||
89 | public BSTerrainManager(BSScene physicsScene) | 89 | public BSTerrainManager(BSScene physicsScene) |
90 | { | 90 | { |
91 | m_physicsScene = physicsScene; | 91 | PhysicsScene = physicsScene; |
92 | m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>(); | 92 | m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>(); |
93 | m_terrainModified = false; | 93 | m_terrainModified = false; |
94 | 94 | ||
95 | // Assume one region of default size | 95 | // Assume one region of default size |
96 | m_worldOffset = Vector3.Zero; | 96 | m_worldOffset = Vector3.Zero; |
97 | m_worldMax = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, 4096f); | 97 | m_worldMax = new Vector3(DefaultRegionSize); |
98 | m_parentScene = null; | 98 | MegaRegionParentPhysicsScene = null; |
99 | } | 99 | } |
100 | 100 | ||
101 | // Create the initial instance of terrain and the underlying ground plane. | 101 | // Create the initial instance of terrain and the underlying ground plane. |
@@ -107,10 +107,16 @@ public class BSTerrainManager | |||
107 | public void CreateInitialGroundPlaneAndTerrain() | 107 | public void CreateInitialGroundPlaneAndTerrain() |
108 | { | 108 | { |
109 | // The ground plane is here to catch things that are trying to drop to negative infinity | 109 | // The ground plane is here to catch things that are trying to drop to negative infinity |
110 | BulletShape groundPlaneShape = new BulletShape(BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN)); | 110 | BulletShape groundPlaneShape = new BulletShape( |
111 | m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, | 111 | BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN), |
112 | BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.Ptr, Vector3.Zero, Quaternion.Identity)); | 112 | ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE); |
113 | BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr); | 113 | m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, |
114 | BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, | ||
115 | Vector3.Zero, Quaternion.Identity)); | ||
116 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); | ||
117 | // Everything collides with the ground plane. | ||
118 | BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr, | ||
119 | (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask); | ||
114 | 120 | ||
115 | Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE); | 121 | Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE); |
116 | Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION); | 122 | Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION); |
@@ -126,13 +132,13 @@ public class BSTerrainManager | |||
126 | // Release all the terrain structures we might have allocated | 132 | // Release all the terrain structures we might have allocated |
127 | public void ReleaseGroundPlaneAndTerrain() | 133 | public void ReleaseGroundPlaneAndTerrain() |
128 | { | 134 | { |
129 | if (m_groundPlane.Ptr != IntPtr.Zero) | 135 | if (m_groundPlane.ptr != IntPtr.Zero) |
130 | { | 136 | { |
131 | if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr)) | 137 | if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr)) |
132 | { | 138 | { |
133 | BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, m_groundPlane.Ptr); | 139 | BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr); |
134 | } | 140 | } |
135 | m_groundPlane.Ptr = IntPtr.Zero; | 141 | m_groundPlane.ptr = IntPtr.Zero; |
136 | } | 142 | } |
137 | 143 | ||
138 | ReleaseTerrain(); | 144 | ReleaseTerrain(); |
@@ -143,9 +149,9 @@ public class BSTerrainManager | |||
143 | { | 149 | { |
144 | foreach (KeyValuePair<Vector2, BulletHeightMapInfo> kvp in m_heightMaps) | 150 | foreach (KeyValuePair<Vector2, BulletHeightMapInfo> kvp in m_heightMaps) |
145 | { | 151 | { |
146 | if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, kvp.Value.terrainBody.Ptr)) | 152 | if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr)) |
147 | { | 153 | { |
148 | BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, kvp.Value.terrainBody.Ptr); | 154 | BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr); |
149 | BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr); | 155 | BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr); |
150 | } | 156 | } |
151 | } | 157 | } |
@@ -155,19 +161,19 @@ public class BSTerrainManager | |||
155 | // The simulator wants to set a new heightmap for the terrain. | 161 | // The simulator wants to set a new heightmap for the terrain. |
156 | public void SetTerrain(float[] heightMap) { | 162 | public void SetTerrain(float[] heightMap) { |
157 | float[] localHeightMap = heightMap; | 163 | float[] localHeightMap = heightMap; |
158 | m_physicsScene.TaintedObject("TerrainManager.SetTerrain", delegate() | 164 | PhysicsScene.TaintedObject("TerrainManager.SetTerrain", delegate() |
159 | { | 165 | { |
160 | if (m_worldOffset != Vector3.Zero && m_parentScene != null) | 166 | if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null) |
161 | { | 167 | { |
162 | // If a child of a mega-region, we shouldn't have any terrain allocated for us | 168 | // If a child of a mega-region, we shouldn't have any terrain allocated for us |
163 | ReleaseGroundPlaneAndTerrain(); | 169 | ReleaseGroundPlaneAndTerrain(); |
164 | // If doing the mega-prim stuff and we are the child of the zero region, | 170 | // If doing the mega-prim stuff and we are the child of the zero region, |
165 | // the terrain is added to our parent | 171 | // the terrain is added to our parent |
166 | if (m_parentScene is BSScene) | 172 | if (MegaRegionParentPhysicsScene is BSScene) |
167 | { | 173 | { |
168 | DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", | 174 | DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", |
169 | BSScene.DetailLogZero, m_worldOffset, m_worldMax); | 175 | BSScene.DetailLogZero, m_worldOffset, m_worldMax); |
170 | ((BSScene)m_parentScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID, | 176 | ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID, |
171 | localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true); | 177 | localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true); |
172 | } | 178 | } |
173 | } | 179 | } |
@@ -176,7 +182,8 @@ public class BSTerrainManager | |||
176 | // If not doing the mega-prim thing, just change the terrain | 182 | // If not doing the mega-prim thing, just change the terrain |
177 | DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); | 183 | DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); |
178 | 184 | ||
179 | UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true); | 185 | UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, |
186 | m_worldOffset, m_worldOffset + DefaultRegionSize, true); | ||
180 | } | 187 | } |
181 | }); | 188 | }); |
182 | } | 189 | } |
@@ -194,10 +201,10 @@ public class BSTerrainManager | |||
194 | // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when | 201 | // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when |
195 | // calling this routine from initialization or taint-time routines) or whether to delay | 202 | // calling this routine from initialization or taint-time routines) or whether to delay |
196 | // all the unmanaged activities to taint-time. | 203 | // all the unmanaged activities to taint-time. |
197 | private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool doNow) | 204 | private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool atTaintTime) |
198 | { | 205 | { |
199 | DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},doNow={3}", | 206 | DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},atTaintTime={3}", |
200 | BSScene.DetailLogZero, minCoords, maxCoords, doNow); | 207 | BSScene.DetailLogZero, minCoords, maxCoords, atTaintTime); |
201 | 208 | ||
202 | float minZ = float.MaxValue; | 209 | float minZ = float.MaxValue; |
203 | float maxZ = float.MinValue; | 210 | float maxZ = float.MinValue; |
@@ -227,12 +234,12 @@ public class BSTerrainManager | |||
227 | mapInfo.maxZ = maxZ; | 234 | mapInfo.maxZ = maxZ; |
228 | mapInfo.sizeX = maxCoords.X - minCoords.X; | 235 | mapInfo.sizeX = maxCoords.X - minCoords.X; |
229 | mapInfo.sizeY = maxCoords.Y - minCoords.Y; | 236 | mapInfo.sizeY = maxCoords.Y - minCoords.Y; |
230 | DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", | 237 | DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,call,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", |
231 | BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); | 238 | BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); |
232 | 239 | ||
233 | BSScene.TaintCallback rebuildOperation = delegate() | 240 | BSScene.TaintCallback rebuildOperation = delegate() |
234 | { | 241 | { |
235 | if (m_parentScene != null) | 242 | if (MegaRegionParentPhysicsScene != null) |
236 | { | 243 | { |
237 | // It's possible that Combine() was called after this code was queued. | 244 | // It's possible that Combine() was called after this code was queued. |
238 | // If we are a child of combined regions, we don't create any terrain for us. | 245 | // If we are a child of combined regions, we don't create any terrain for us. |
@@ -245,17 +252,17 @@ public class BSTerrainManager | |||
245 | return; | 252 | return; |
246 | } | 253 | } |
247 | 254 | ||
248 | if (mapInfo.terrainBody.Ptr != IntPtr.Zero) | 255 | if (mapInfo.terrainBody.ptr != IntPtr.Zero) |
249 | { | 256 | { |
250 | // Updating an existing terrain. | 257 | // Updating an existing terrain. |
251 | DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", | 258 | DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}", |
252 | BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); | 259 | BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY); |
253 | 260 | ||
254 | // Remove from the dynamics world because we're going to mangle this object | 261 | // Remove from the dynamics world because we're going to mangle this object |
255 | BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr); | 262 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); |
256 | 263 | ||
257 | // Get rid of the old terrain | 264 | // Get rid of the old terrain |
258 | BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr); | 265 | BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); |
259 | BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr); | 266 | BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr); |
260 | mapInfo.Ptr = IntPtr.Zero; | 267 | mapInfo.Ptr = IntPtr.Zero; |
261 | 268 | ||
@@ -282,11 +289,11 @@ public class BSTerrainManager | |||
282 | // else | 289 | // else |
283 | { | 290 | { |
284 | // Creating a new terrain. | 291 | // Creating a new terrain. |
285 | DetailLog("{0},UpdateOrCreateTerrain:CreateNewTerrain,taint,baseX={1},baseY={2},minZ={3},maxZ={4}", | 292 | DetailLog("{0},UpdateOrCreateTerrain:CreateNewTerrain,taint,baseX={1},baseY={2},minZ={3},maxZ={4}", |
286 | BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ); | 293 | BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ); |
287 | 294 | ||
288 | mapInfo.ID = id; | 295 | mapInfo.ID = id; |
289 | mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.ID, | 296 | mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID, |
290 | mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); | 297 | mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); |
291 | 298 | ||
292 | // The terrain object initial position is at the center of the object | 299 | // The terrain object initial position is at the center of the object |
@@ -296,43 +303,49 @@ public class BSTerrainManager | |||
296 | centerPos.Z = minZ + ((maxZ - minZ) / 2f); | 303 | centerPos.Z = minZ + ((maxZ - minZ) / 2f); |
297 | 304 | ||
298 | // Create the terrain shape from the mapInfo | 305 | // Create the terrain shape from the mapInfo |
299 | mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr)); | 306 | mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr), |
307 | ShapeData.PhysicsShapeType.SHAPE_TERRAIN); | ||
300 | 308 | ||
301 | mapInfo.terrainBody = new BulletBody(mapInfo.ID, | 309 | mapInfo.terrainBody = new BulletBody(mapInfo.ID, |
302 | BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.Ptr, | 310 | BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, |
303 | centerPos, Quaternion.Identity)); | 311 | id, centerPos, Quaternion.Identity)); |
304 | } | 312 | } |
305 | 313 | ||
306 | // Make sure the entry is in the heightmap table | 314 | // Make sure the entry is in the heightmap table |
307 | m_heightMaps[terrainRegionBase] = mapInfo; | 315 | m_heightMaps[terrainRegionBase] = mapInfo; |
308 | 316 | ||
309 | // Set current terrain attributes | 317 | // Set current terrain attributes |
310 | BulletSimAPI.SetFriction2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainFriction); | 318 | BulletSimAPI.SetFriction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); |
311 | BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainHitFraction); | 319 | BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); |
312 | BulletSimAPI.SetRestitution2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainRestitution); | 320 | BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); |
313 | BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); | 321 | BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); |
314 | 322 | ||
315 | BulletSimAPI.SetMassProps2(mapInfo.terrainBody.Ptr, 0f, Vector3.Zero); | 323 | BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, 0f, Vector3.Zero); |
316 | BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.Ptr); | 324 | BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr); |
317 | 325 | ||
318 | // Return the new terrain to the world of physical objects | 326 | // Return the new terrain to the world of physical objects |
319 | BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr); | 327 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); |
320 | 328 | ||
321 | // redo its bounding box now that it is in the world | 329 | // redo its bounding box now that it is in the world |
322 | BulletSimAPI.UpdateSingleAabb2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr); | 330 | BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); |
331 | |||
332 | BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr, | ||
333 | (uint)CollisionFilterGroups.TerrainFilter, | ||
334 | (uint)CollisionFilterGroups.TerrainMask); | ||
323 | 335 | ||
324 | // Make sure the new shape is processed. | 336 | // Make sure the new shape is processed. |
325 | BulletSimAPI.Activate2(mapInfo.terrainBody.Ptr, true); | 337 | // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); |
338 | BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); | ||
326 | 339 | ||
327 | m_terrainModified = true; | 340 | m_terrainModified = true; |
328 | }; | 341 | }; |
329 | 342 | ||
330 | // There is the option to do the changes now (we're already in 'taint time'), or | 343 | // There is the option to do the changes now (we're already in 'taint time'), or |
331 | // to do the Bullet operations later. | 344 | // to do the Bullet operations later. |
332 | if (doNow) | 345 | if (atTaintTime) |
333 | rebuildOperation(); | 346 | rebuildOperation(); |
334 | else | 347 | else |
335 | m_physicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation); | 348 | PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation); |
336 | } | 349 | } |
337 | else | 350 | else |
338 | { | 351 | { |
@@ -348,7 +361,7 @@ public class BSTerrainManager | |||
348 | Vector3 minCoordsX = minCoords; | 361 | Vector3 minCoordsX = minCoords; |
349 | Vector3 maxCoordsX = maxCoords; | 362 | Vector3 maxCoordsX = maxCoords; |
350 | 363 | ||
351 | DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}", | 364 | DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,call,id={1}, minC={2}, maxC={3}", |
352 | BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); | 365 | BSScene.DetailLogZero, newTerrainID, minCoords, minCoords); |
353 | 366 | ||
354 | // Code that must happen at taint-time | 367 | // Code that must happen at taint-time |
@@ -357,7 +370,7 @@ public class BSTerrainManager | |||
357 | DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y); | 370 | DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y); |
358 | // Create a new mapInfo that will be filled with the new info | 371 | // Create a new mapInfo that will be filled with the new info |
359 | mapInfo = new BulletHeightMapInfo(id, heightMapX, | 372 | mapInfo = new BulletHeightMapInfo(id, heightMapX, |
360 | BulletSimAPI.CreateHeightMapInfo2(m_physicsScene.World.Ptr, newTerrainID, | 373 | BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, newTerrainID, |
361 | minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN)); | 374 | minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN)); |
362 | // Put the unfilled heightmap info into the collection of same | 375 | // Put the unfilled heightmap info into the collection of same |
363 | m_heightMaps.Add(terrainRegionBase, mapInfo); | 376 | m_heightMaps.Add(terrainRegionBase, mapInfo); |
@@ -368,10 +381,10 @@ public class BSTerrainManager | |||
368 | }; | 381 | }; |
369 | 382 | ||
370 | // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time. | 383 | // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time. |
371 | if (doNow) | 384 | if (atTaintTime) |
372 | createOperation(); | 385 | createOperation(); |
373 | else | 386 | else |
374 | m_physicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation); | 387 | PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation); |
375 | } | 388 | } |
376 | } | 389 | } |
377 | 390 | ||
@@ -419,7 +432,7 @@ public class BSTerrainManager | |||
419 | catch | 432 | catch |
420 | { | 433 | { |
421 | // Sometimes they give us wonky values of X and Y. Give a warning and return something. | 434 | // Sometimes they give us wonky values of X and Y. Give a warning and return something. |
422 | m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}", | 435 | PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}", |
423 | LogHeader, terrainBaseXY, regionX, regionY); | 436 | LogHeader, terrainBaseXY, regionX, regionY); |
424 | ret = HEIGHT_GETHEIGHT_RET; | 437 | ret = HEIGHT_GETHEIGHT_RET; |
425 | } | 438 | } |
@@ -428,8 +441,8 @@ public class BSTerrainManager | |||
428 | } | 441 | } |
429 | else | 442 | else |
430 | { | 443 | { |
431 | m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", | 444 | PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", |
432 | LogHeader, m_physicsScene.RegionName, tX, tY); | 445 | LogHeader, PhysicsScene.RegionName, tX, tY); |
433 | } | 446 | } |
434 | m_terrainModified = false; | 447 | m_terrainModified = false; |
435 | lastHeight = ret; | 448 | lastHeight = ret; |
@@ -441,7 +454,7 @@ public class BSTerrainManager | |||
441 | { | 454 | { |
442 | return true; | 455 | return true; |
443 | } | 456 | } |
444 | 457 | ||
445 | // This routine is called two ways: | 458 | // This routine is called two ways: |
446 | // One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum | 459 | // One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum |
447 | // extent of the combined regions. This is to inform the parent of the size | 460 | // extent of the combined regions. This is to inform the parent of the size |
@@ -453,14 +466,14 @@ public class BSTerrainManager | |||
453 | { | 466 | { |
454 | m_worldOffset = offset; | 467 | m_worldOffset = offset; |
455 | m_worldMax = extents; | 468 | m_worldMax = extents; |
456 | m_parentScene = pScene; | 469 | MegaRegionParentPhysicsScene = pScene; |
457 | if (pScene != null) | 470 | if (pScene != null) |
458 | { | 471 | { |
459 | // We are a child. | 472 | // We are a child. |
460 | // We want m_worldMax to be the highest coordinate of our piece of terrain. | 473 | // We want m_worldMax to be the highest coordinate of our piece of terrain. |
461 | m_worldMax = offset + DefaultRegionSize; | 474 | m_worldMax = offset + DefaultRegionSize; |
462 | } | 475 | } |
463 | DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}", | 476 | DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}", |
464 | BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax); | 477 | BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax); |
465 | } | 478 | } |
466 | 479 | ||
@@ -474,7 +487,7 @@ public class BSTerrainManager | |||
474 | 487 | ||
475 | private void DetailLog(string msg, params Object[] args) | 488 | private void DetailLog(string msg, params Object[] args) |
476 | { | 489 | { |
477 | m_physicsScene.PhysicsLogging.Write(msg, args); | 490 | PhysicsScene.PhysicsLogging.Write(msg, args); |
478 | } | 491 | } |
479 | } | 492 | } |
480 | } | 493 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 9221cdb..1125d7e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -38,35 +38,112 @@ namespace OpenSim.Region.Physics.BulletSPlugin { | |||
38 | // The physics engine controller class created at initialization | 38 | // The physics engine controller class created at initialization |
39 | public struct BulletSim | 39 | public struct BulletSim |
40 | { | 40 | { |
41 | public BulletSim(uint worldId, BSScene bss, IntPtr xx) { worldID = worldId; scene = bss; Ptr = xx; } | 41 | public BulletSim(uint worldId, BSScene bss, IntPtr xx) |
42 | { | ||
43 | ptr = xx; | ||
44 | worldID = worldId; | ||
45 | physicsScene = bss; | ||
46 | } | ||
47 | public IntPtr ptr; | ||
42 | public uint worldID; | 48 | public uint worldID; |
43 | // The scene is only in here so very low level routines have a handle to print debug/error messages | 49 | // The scene is only in here so very low level routines have a handle to print debug/error messages |
44 | public BSScene scene; | 50 | public BSScene physicsScene; |
45 | public IntPtr Ptr; | 51 | } |
52 | |||
53 | // An allocated Bullet btRigidBody | ||
54 | public struct BulletBody | ||
55 | { | ||
56 | public BulletBody(uint id, IntPtr xx) | ||
57 | { | ||
58 | ID = id; | ||
59 | ptr = xx; | ||
60 | collisionFilter = 0; | ||
61 | collisionMask = 0; | ||
62 | } | ||
63 | public IntPtr ptr; | ||
64 | public uint ID; | ||
65 | public CollisionFilterGroups collisionFilter; | ||
66 | public CollisionFilterGroups collisionMask; | ||
67 | public override string ToString() | ||
68 | { | ||
69 | StringBuilder buff = new StringBuilder(); | ||
70 | buff.Append("<id="); | ||
71 | buff.Append(ID.ToString()); | ||
72 | buff.Append(",p="); | ||
73 | buff.Append(ptr.ToString("X")); | ||
74 | if (collisionFilter != 0 && collisionMask != 0) | ||
75 | { | ||
76 | buff.Append(",f="); | ||
77 | buff.Append(collisionFilter.ToString("X")); | ||
78 | buff.Append(",m="); | ||
79 | buff.Append(collisionMask.ToString("X")); | ||
80 | } | ||
81 | buff.Append(">"); | ||
82 | return buff.ToString(); | ||
83 | } | ||
46 | } | 84 | } |
47 | 85 | ||
48 | public struct BulletShape | 86 | public struct BulletShape |
49 | { | 87 | { |
50 | public BulletShape(IntPtr xx) { Ptr = xx; } | 88 | public BulletShape(IntPtr xx) |
51 | public IntPtr Ptr; | 89 | { |
90 | ptr = xx; | ||
91 | type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; | ||
92 | shapeKey = 0; | ||
93 | isNativeShape = false; | ||
94 | } | ||
95 | public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ) | ||
96 | { | ||
97 | ptr = xx; | ||
98 | type = typ; | ||
99 | shapeKey = 0; | ||
100 | isNativeShape = false; | ||
101 | } | ||
102 | public IntPtr ptr; | ||
103 | public ShapeData.PhysicsShapeType type; | ||
104 | public ulong shapeKey; | ||
105 | public bool isNativeShape; | ||
106 | // Hulls have an underlying mesh. A pointer to it is hidden here. | ||
107 | public override string ToString() | ||
108 | { | ||
109 | StringBuilder buff = new StringBuilder(); | ||
110 | buff.Append("<p="); | ||
111 | buff.Append(ptr.ToString("X")); | ||
112 | buff.Append(",s="); | ||
113 | buff.Append(type.ToString()); | ||
114 | buff.Append(",k="); | ||
115 | buff.Append(shapeKey.ToString("X")); | ||
116 | buff.Append(",n="); | ||
117 | buff.Append(isNativeShape.ToString()); | ||
118 | buff.Append(">"); | ||
119 | return buff.ToString(); | ||
120 | } | ||
52 | } | 121 | } |
53 | 122 | ||
54 | // An allocated Bullet btRigidBody | 123 | // Constraint type values as defined by Bullet |
55 | public struct BulletBody | 124 | public enum ConstraintType : int |
56 | { | 125 | { |
57 | public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } | 126 | POINT2POINT_CONSTRAINT_TYPE = 3, |
58 | public IntPtr Ptr; | 127 | HINGE_CONSTRAINT_TYPE, |
59 | public uint ID; | 128 | CONETWIST_CONSTRAINT_TYPE, |
129 | D6_CONSTRAINT_TYPE, | ||
130 | SLIDER_CONSTRAINT_TYPE, | ||
131 | CONTACT_CONSTRAINT_TYPE, | ||
132 | D6_SPRING_CONSTRAINT_TYPE, | ||
133 | MAX_CONSTRAINT_TYPE | ||
60 | } | 134 | } |
61 | 135 | ||
62 | // An allocated Bullet btConstraint | 136 | // An allocated Bullet btConstraint |
63 | public struct BulletConstraint | 137 | public struct BulletConstraint |
64 | { | 138 | { |
65 | public BulletConstraint(IntPtr xx) { Ptr = xx; } | 139 | public BulletConstraint(IntPtr xx) |
66 | public IntPtr Ptr; | 140 | { |
141 | ptr = xx; | ||
142 | } | ||
143 | public IntPtr ptr; | ||
67 | } | 144 | } |
68 | 145 | ||
69 | // An allocated HeightMapThing which hold various heightmap info | 146 | // An allocated HeightMapThing which holds various heightmap info. |
70 | // Made a class rather than a struct so there would be only one | 147 | // Made a class rather than a struct so there would be only one |
71 | // instance of this and C# will pass around pointers rather | 148 | // instance of this and C# will pass around pointers rather |
72 | // than making copies. | 149 | // than making copies. |
@@ -96,14 +173,14 @@ public class BulletHeightMapInfo | |||
96 | 173 | ||
97 | // =============================================================================== | 174 | // =============================================================================== |
98 | [StructLayout(LayoutKind.Sequential)] | 175 | [StructLayout(LayoutKind.Sequential)] |
99 | public struct ConvexHull | 176 | public struct ConvexHull |
100 | { | 177 | { |
101 | Vector3 Offset; | 178 | Vector3 Offset; |
102 | int VertexCount; | 179 | int VertexCount; |
103 | Vector3[] Vertices; | 180 | Vector3[] Vertices; |
104 | } | 181 | } |
105 | [StructLayout(LayoutKind.Sequential)] | 182 | [StructLayout(LayoutKind.Sequential)] |
106 | public struct ShapeData | 183 | public struct ShapeData |
107 | { | 184 | { |
108 | public enum PhysicsShapeType | 185 | public enum PhysicsShapeType |
109 | { | 186 | { |
@@ -114,7 +191,9 @@ public struct ShapeData | |||
114 | SHAPE_CYLINDER = 4, | 191 | SHAPE_CYLINDER = 4, |
115 | SHAPE_SPHERE = 5, | 192 | SHAPE_SPHERE = 5, |
116 | SHAPE_MESH = 6, | 193 | SHAPE_MESH = 6, |
117 | SHAPE_HULL = 7 | 194 | SHAPE_HULL = 7, |
195 | SHAPE_GROUNDPLANE = 8, | ||
196 | SHAPE_TERRAIN = 9, | ||
118 | }; | 197 | }; |
119 | public uint ID; | 198 | public uint ID; |
120 | public PhysicsShapeType Type; | 199 | public PhysicsShapeType Type; |
@@ -130,13 +209,24 @@ public struct ShapeData | |||
130 | public float Restitution; | 209 | public float Restitution; |
131 | public float Collidable; // true of things bump into this | 210 | public float Collidable; // true of things bump into this |
132 | public float Static; // true if a static object. Otherwise gravity, etc. | 211 | public float Static; // true if a static object. Otherwise gravity, etc. |
212 | public float Solid; // true if object cannot be passed through | ||
213 | public Vector3 Size; | ||
133 | 214 | ||
134 | // note that bools are passed as floats since bool size changes by language and architecture | 215 | // note that bools are passed as floats since bool size changes by language and architecture |
135 | public const float numericTrue = 1f; | 216 | public const float numericTrue = 1f; |
136 | public const float numericFalse = 0f; | 217 | public const float numericFalse = 0f; |
218 | |||
219 | // The native shapes have predefined shape hash keys | ||
220 | public enum FixedShapeKey : ulong | ||
221 | { | ||
222 | KEY_BOX = 1, | ||
223 | KEY_SPHERE = 2, | ||
224 | KEY_CONE = 3, | ||
225 | KEY_CYLINDER = 4, | ||
226 | } | ||
137 | } | 227 | } |
138 | [StructLayout(LayoutKind.Sequential)] | 228 | [StructLayout(LayoutKind.Sequential)] |
139 | public struct SweepHit | 229 | public struct SweepHit |
140 | { | 230 | { |
141 | public uint ID; | 231 | public uint ID; |
142 | public float Fraction; | 232 | public float Fraction; |
@@ -227,7 +317,17 @@ public enum ActivationState : uint | |||
227 | ISLAND_SLEEPING, | 317 | ISLAND_SLEEPING, |
228 | WANTS_DEACTIVATION, | 318 | WANTS_DEACTIVATION, |
229 | DISABLE_DEACTIVATION, | 319 | DISABLE_DEACTIVATION, |
230 | DISABLE_SIMULATION | 320 | DISABLE_SIMULATION, |
321 | } | ||
322 | |||
323 | public enum CollisionObjectTypes : int | ||
324 | { | ||
325 | CO_COLLISION_OBJECT = 1 << 0, | ||
326 | CO_RIGID_BODY = 1 << 1, | ||
327 | CO_GHOST_OBJECT = 1 << 2, | ||
328 | CO_SOFT_BODY = 1 << 3, | ||
329 | CO_HF_FLUID = 1 << 4, | ||
330 | CO_USER_TYPE = 1 << 5, | ||
231 | } | 331 | } |
232 | 332 | ||
233 | // Values used by Bullet and BulletSim to control object properties. | 333 | // Values used by Bullet and BulletSim to control object properties. |
@@ -244,77 +344,60 @@ public enum CollisionFlags : uint | |||
244 | CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, | 344 | CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, |
245 | // Following used by BulletSim to control collisions | 345 | // Following used by BulletSim to control collisions |
246 | BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, | 346 | BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, |
247 | BS_VOLUME_DETECT_OBJECT = 1 << 11, | 347 | // BS_VOLUME_DETECT_OBJECT = 1 << 11, |
248 | BS_PHANTOM_OBJECT = 1 << 12, | 348 | // BS_PHANTOM_OBJECT = 1 << 12, |
249 | BS_PHYSICAL_OBJECT = 1 << 13, | 349 | // BS_PHYSICAL_OBJECT = 1 << 13, |
250 | BS_TERRAIN_OBJECT = 1 << 14, | 350 | // BS_TERRAIN_OBJECT = 1 << 14, |
251 | BS_NONE = 0, | 351 | BS_NONE = 0, |
252 | BS_ALL = 0xFFFFFFFF | 352 | BS_ALL = 0xFFFFFFFF, |
353 | |||
354 | // These are the collision flags switched depending on physical state. | ||
355 | // The other flags are used for other things and should not be fooled with. | ||
356 | BS_ACTIVE = CF_STATIC_OBJECT | ||
357 | | CF_KINEMATIC_OBJECT | ||
358 | | CF_NO_CONTACT_RESPONSE | ||
359 | // | BS_VOLUME_DETECT_OBJECT | ||
360 | // | BS_PHANTOM_OBJECT | ||
361 | // | BS_PHYSICAL_OBJECT, | ||
253 | }; | 362 | }; |
254 | 363 | ||
255 | // Values for collisions groups and masks | 364 | // Values for collisions groups and masks |
256 | public enum CollisionFilterGroups : uint | 365 | public enum CollisionFilterGroups : uint |
257 | { | 366 | { |
258 | NoneFilter = 0, | 367 | // Don't use the bit definitions!! Define the use in a |
259 | DefaultFilter = 1 << 0, | 368 | // filter/mask definition below. This way collision interactions |
260 | StaticFilter = 1 << 1, | 369 | // are more easily debugged. |
261 | KinematicFilter = 1 << 2, | 370 | BNoneFilter = 0, |
262 | DebrisFilter = 1 << 3, | 371 | BDefaultFilter = 1 << 0, |
263 | SensorTrigger = 1 << 4, | 372 | BStaticFilter = 1 << 1, |
264 | CharacterFilter = 1 << 5, | 373 | BKinematicFilter = 1 << 2, |
265 | AllFilter = 0xFFFFFFFF, | 374 | BDebrisFilter = 1 << 3, |
375 | BSensorTrigger = 1 << 4, | ||
376 | BCharacterFilter = 1 << 5, | ||
377 | BAllFilter = 0xFFFFFFFF, | ||
266 | // Filter groups defined by BulletSim | 378 | // Filter groups defined by BulletSim |
267 | GroundPlaneFilter = 1 << 10, | 379 | BGroundPlaneFilter = 1 << 10, |
268 | TerrainFilter = 1 << 11, | 380 | BTerrainFilter = 1 << 11, |
269 | RaycastFilter = 1 << 12, | 381 | BRaycastFilter = 1 << 12, |
270 | SolidFilter = 1 << 13, | 382 | BSolidFilter = 1 << 13, |
271 | }; | 383 | |
384 | // The collsion filters and masked are defined in one place -- don't want them scattered | ||
385 | AvatarFilter = BCharacterFilter, | ||
386 | AvatarMask = BAllFilter, | ||
387 | ObjectFilter = BSolidFilter, | ||
388 | ObjectMask = BAllFilter, | ||
389 | StaticObjectFilter = BStaticFilter, | ||
390 | StaticObjectMask = BAllFilter, | ||
391 | VolumeDetectFilter = BSensorTrigger, | ||
392 | VolumeDetectMask = ~BSensorTrigger, | ||
393 | TerrainFilter = BTerrainFilter, | ||
394 | TerrainMask = BAllFilter & ~BStaticFilter, | ||
395 | GroundPlaneFilter = BAllFilter, | ||
396 | GroundPlaneMask = BAllFilter | ||
272 | 397 | ||
273 | // For each type, we first clear and then set the collision flags | 398 | }; |
274 | public enum ClearCollisionFlag : uint | ||
275 | { | ||
276 | Terrain = CollisionFlags.BS_ALL, | ||
277 | Phantom = CollisionFlags.BS_ALL, | ||
278 | VolumeDetect = CollisionFlags.BS_ALL, | ||
279 | PhysicalObject = CollisionFlags.BS_ALL, | ||
280 | StaticObject = CollisionFlags.BS_ALL | ||
281 | } | ||
282 | 399 | ||
283 | public enum SetCollisionFlag : uint | ||
284 | { | ||
285 | Terrain = CollisionFlags.CF_STATIC_OBJECT | ||
286 | | CollisionFlags.BS_TERRAIN_OBJECT, | ||
287 | Phantom = CollisionFlags.CF_STATIC_OBJECT | ||
288 | | CollisionFlags.BS_PHANTOM_OBJECT | ||
289 | | CollisionFlags.CF_NO_CONTACT_RESPONSE, | ||
290 | VolumeDetect = CollisionFlags.CF_STATIC_OBJECT | ||
291 | | CollisionFlags.BS_VOLUME_DETECT_OBJECT | ||
292 | | CollisionFlags.CF_NO_CONTACT_RESPONSE, | ||
293 | PhysicalObject = CollisionFlags.BS_PHYSICAL_OBJECT, | ||
294 | StaticObject = CollisionFlags.CF_STATIC_OBJECT, | ||
295 | } | ||
296 | 400 | ||
297 | // Collision filters used for different types of objects | ||
298 | public enum SetCollisionFilter : uint | ||
299 | { | ||
300 | Terrain = CollisionFilterGroups.AllFilter, | ||
301 | Phantom = CollisionFilterGroups.GroundPlaneFilter | ||
302 | | CollisionFilterGroups.TerrainFilter, | ||
303 | VolumeDetect = CollisionFilterGroups.AllFilter, | ||
304 | PhysicalObject = CollisionFilterGroups.AllFilter, | ||
305 | StaticObject = CollisionFilterGroups.AllFilter, | ||
306 | } | ||
307 | |||
308 | // Collision masks used for different types of objects | ||
309 | public enum SetCollisionMask : uint | ||
310 | { | ||
311 | Terrain = CollisionFilterGroups.AllFilter, | ||
312 | Phantom = CollisionFilterGroups.GroundPlaneFilter | ||
313 | | CollisionFilterGroups.TerrainFilter, | ||
314 | VolumeDetect = CollisionFilterGroups.AllFilter, | ||
315 | PhysicalObject = CollisionFilterGroups.AllFilter, | ||
316 | StaticObject = CollisionFilterGroups.AllFilter | ||
317 | } | ||
318 | 401 | ||
319 | // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 | 402 | // CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 |
320 | // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. | 403 | // ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. |
@@ -350,8 +433,8 @@ public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg | |||
350 | public static extern string GetVersion(); | 433 | public static extern string GetVersion(); |
351 | 434 | ||
352 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 435 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
353 | public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, | 436 | public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, |
354 | int maxCollisions, IntPtr collisionArray, | 437 | int maxCollisions, IntPtr collisionArray, |
355 | int maxUpdates, IntPtr updateArray, | 438 | int maxUpdates, IntPtr updateArray, |
356 | DebugLogCallback logRoutine); | 439 | DebugLogCallback logRoutine); |
357 | 440 | ||
@@ -370,19 +453,19 @@ public static extern bool UpdateParameter(uint worldID, uint localID, | |||
370 | 453 | ||
371 | // =============================================================================== | 454 | // =============================================================================== |
372 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 455 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
373 | public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, | 456 | public static extern int PhysicsStep(uint worldID, float timeStep, int maxSubSteps, float fixedTimeStep, |
374 | out int updatedEntityCount, | 457 | out int updatedEntityCount, |
375 | out IntPtr updatedEntitiesPtr, | 458 | out IntPtr updatedEntitiesPtr, |
376 | out int collidersCount, | 459 | out int collidersCount, |
377 | out IntPtr collidersPtr); | 460 | out IntPtr collidersPtr); |
378 | 461 | ||
379 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 462 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
380 | public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, | 463 | public static extern bool CreateHull(uint worldID, System.UInt64 meshKey, |
381 | int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls | 464 | int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls |
382 | ); | 465 | ); |
383 | 466 | ||
384 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 467 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
385 | public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, | 468 | public static extern bool CreateMesh(uint worldID, System.UInt64 meshKey, |
386 | int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, | 469 | int indexCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, |
387 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices | 470 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices |
388 | ); | 471 | ); |
@@ -496,7 +579,7 @@ public static extern void Shutdown2(IntPtr sim); | |||
496 | 579 | ||
497 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 580 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
498 | public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, | 581 | public static extern int PhysicsStep2(IntPtr world, float timeStep, int maxSubSteps, float fixedTimeStep, |
499 | out int updatedEntityCount, | 582 | out int updatedEntityCount, |
500 | out IntPtr updatedEntitiesPtr, | 583 | out IntPtr updatedEntitiesPtr, |
501 | out int collidersCount, | 584 | out int collidersCount, |
502 | out IntPtr collidersPtr); | 585 | out IntPtr collidersPtr); |
@@ -507,8 +590,8 @@ public static extern bool PushUpdate2(IntPtr obj); | |||
507 | // ===================================================================================== | 590 | // ===================================================================================== |
508 | // Mesh, hull, shape and body creation helper routines | 591 | // Mesh, hull, shape and body creation helper routines |
509 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 592 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
510 | public static extern IntPtr CreateMeshShape2(IntPtr world, | 593 | public static extern IntPtr CreateMeshShape2(IntPtr world, |
511 | int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, | 594 | int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, |
512 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); | 595 | int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); |
513 | 596 | ||
514 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 597 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -516,11 +599,10 @@ public static extern IntPtr CreateHullShape2(IntPtr world, | |||
516 | int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); | 599 | int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); |
517 | 600 | ||
518 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 601 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
519 | public static extern IntPtr BuildHullShape2(IntPtr world, IntPtr meshShape); | 602 | public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape); |
520 | 603 | ||
521 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 604 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
522 | public static extern IntPtr BuildNativeShape2(IntPtr world, | 605 | public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); |
523 | float shapeType, float collisionMargin, Vector3 scale); | ||
524 | 606 | ||
525 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 607 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
526 | public static extern bool IsNativeShape2(IntPtr shape); | 608 | public static extern bool IsNativeShape2(IntPtr shape); |
@@ -535,16 +617,25 @@ public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShap | |||
535 | public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape); | 617 | public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape); |
536 | 618 | ||
537 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 619 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
538 | public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo); | 620 | public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id); |
621 | |||
622 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
623 | public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo); | ||
539 | 624 | ||
540 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 625 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
541 | public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); | 626 | public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); |
542 | 627 | ||
543 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 628 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
544 | public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); | 629 | public static extern int GetBodyType2(IntPtr obj); |
630 | |||
631 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
632 | public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); | ||
545 | 633 | ||
546 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 634 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
547 | public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); | 635 | public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot); |
636 | |||
637 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
638 | public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot); | ||
548 | 639 | ||
549 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 640 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
550 | public static extern IntPtr AllocateBodyInfo2(IntPtr obj); | 641 | public static extern IntPtr AllocateBodyInfo2(IntPtr obj); |
@@ -558,11 +649,11 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj); | |||
558 | // ===================================================================================== | 649 | // ===================================================================================== |
559 | // Terrain creation and helper routines | 650 | // Terrain creation and helper routines |
560 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 651 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
561 | public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, | 652 | public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, |
562 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); | 653 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); |
563 | 654 | ||
564 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 655 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
565 | public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, | 656 | public static extern IntPtr FillHeightMapInfo2(IntPtr sim, IntPtr mapInfo, uint id, Vector3 minCoords, Vector3 maxCoords, |
566 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); | 657 | [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); |
567 | 658 | ||
568 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 659 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -600,7 +691,7 @@ public static extern void SetConstraintEnable2(IntPtr constrain, float numericTr | |||
600 | public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); | 691 | public static extern void SetConstraintNumSolverIterations2(IntPtr constrain, float iterations); |
601 | 692 | ||
602 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 693 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
603 | public static extern bool SetFrames2(IntPtr constrain, | 694 | public static extern bool SetFrames2(IntPtr constrain, |
604 | Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); | 695 | Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot); |
605 | 696 | ||
606 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 697 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
@@ -963,6 +1054,9 @@ public static extern Vector3 GetPushVelocity2(IntPtr obj); | |||
963 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 1054 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
964 | public static extern Vector3 GetTurnVelocity2(IntPtr obj); | 1055 | public static extern Vector3 GetTurnVelocity2(IntPtr obj); |
965 | 1056 | ||
1057 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1058 | public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask); | ||
1059 | |||
966 | // ===================================================================================== | 1060 | // ===================================================================================== |
967 | // btCollisionShape entries | 1061 | // btCollisionShape entries |
968 | 1062 | ||
@@ -1014,9 +1108,6 @@ public static extern void SetMargin2(IntPtr shape, float val); | |||
1014 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 1108 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |
1015 | public static extern float GetMargin2(IntPtr shape); | 1109 | public static extern float GetMargin2(IntPtr shape); |
1016 | 1110 | ||
1017 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | ||
1018 | public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint mask); | ||
1019 | |||
1020 | // ===================================================================================== | 1111 | // ===================================================================================== |
1021 | // Debugging | 1112 | // Debugging |
1022 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] | 1113 | [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] |