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authorRobert Adams2012-08-01 15:04:09 -0700
committerRobert Adams2012-08-03 15:09:52 -0700
commitea36d4a4cf716442e83cc9cd1b419a43be5adc6e (patch)
treed0f24359e5f62ce4b112abe91e52e30ec5ce5f62 /OpenSim
parentConsolidate PersistBakedTextures, DelayBeforeAppearanceSend and DelayBeforeAp... (diff)
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BulletSim: Add AddObjectForce to BulletSim API.
Add interface 2 enhancements to BSCharacter. Modify AddForce and SetForce to use the new Bullet interface. More DetailLog statements for character.
Diffstat (limited to 'OpenSim')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs26
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs29
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs3
3 files changed, 38 insertions, 20 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 09e1f0c..a5635ff 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -40,6 +40,7 @@ public class BSCharacter : PhysicsActor
40 private static readonly string LogHeader = "[BULLETS CHAR]"; 40 private static readonly string LogHeader = "[BULLETS CHAR]";
41 41
42 private BSScene _scene; 42 private BSScene _scene;
43 public BSScene Scene { get { return _scene; } }
43 private String _avName; 44 private String _avName;
44 // private bool _stopped; 45 // private bool _stopped;
45 private Vector3 _size; 46 private Vector3 _size;
@@ -73,6 +74,12 @@ public class BSCharacter : PhysicsActor
73 private bool _kinematic; 74 private bool _kinematic;
74 private float _buoyancy; 75 private float _buoyancy;
75 76
77 private BulletBody m_body;
78 public BulletBody Body {
79 get { return m_body; }
80 set { m_body = value; }
81 }
82
76 private int _subscribedEventsMs = 0; 83 private int _subscribedEventsMs = 0;
77 private int _nextCollisionOkTime = 0; 84 private int _nextCollisionOkTime = 0;
78 85
@@ -116,6 +123,8 @@ public class BSCharacter : PhysicsActor
116 _scene.TaintedObject(delegate() 123 _scene.TaintedObject(delegate()
117 { 124 {
118 BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData); 125 BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData);
126
127 m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
119 }); 128 });
120 129
121 return; 130 return;
@@ -124,6 +133,7 @@ public class BSCharacter : PhysicsActor
124 // called when this character is being destroyed and the resources should be released 133 // called when this character is being destroyed and the resources should be released
125 public void Destroy() 134 public void Destroy()
126 { 135 {
136 // DetailLog("{0},Destroy", LocalID);
127 _scene.TaintedObject(delegate() 137 _scene.TaintedObject(delegate()
128 { 138 {
129 BulletSimAPI.DestroyObject(_scene.WorldID, _localID); 139 BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
@@ -174,6 +184,7 @@ public class BSCharacter : PhysicsActor
174 _position = value; 184 _position = value;
175 _scene.TaintedObject(delegate() 185 _scene.TaintedObject(delegate()
176 { 186 {
187 DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
177 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 188 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
178 }); 189 });
179 } 190 }
@@ -188,9 +199,10 @@ public class BSCharacter : PhysicsActor
188 set { 199 set {
189 _force = value; 200 _force = value;
190 // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); 201 // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
191 _scene.TaintedObject(delegate() 202 Scene.TaintedObject(delegate()
192 { 203 {
193 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); 204 DetailLog("{0},setForce,taint,force={1}", LocalID, _force);
205 BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force);
194 }); 206 });
195 } 207 }
196 } 208 }
@@ -216,6 +228,7 @@ public class BSCharacter : PhysicsActor
216 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); 228 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
217 _scene.TaintedObject(delegate() 229 _scene.TaintedObject(delegate()
218 { 230 {
231 DetailLog("{0},setVelocity,taint,vel={1}", LocalID, _velocity);
219 BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); 232 BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity);
220 }); 233 });
221 } 234 }
@@ -305,6 +318,7 @@ public class BSCharacter : PhysicsActor
305 set { _buoyancy = value; 318 set { _buoyancy = value;
306 _scene.TaintedObject(delegate() 319 _scene.TaintedObject(delegate()
307 { 320 {
321 DetailLog("{0},setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
308 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); 322 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy);
309 }); 323 });
310 } 324 }
@@ -351,7 +365,8 @@ public class BSCharacter : PhysicsActor
351 // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); 365 // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
352 _scene.TaintedObject(delegate() 366 _scene.TaintedObject(delegate()
353 { 367 {
354 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); 368 DetailLog("{0},setAddForce,taint,addedForce={1}", LocalID, _force);
369 BulletSimAPI.AddObjectForce2(Body.Ptr, _force);
355 }); 370 });
356 } 371 }
357 else 372 else
@@ -480,5 +495,10 @@ public class BSCharacter : PhysicsActor
480 // End kludge 495 // End kludge
481 } 496 }
482 497
498 // Invoke the detailed logger and output something if it's enabled.
499 private void DetailLog(string msg, params Object[] args)
500 {
501 Scene.PhysicsLogging.Write(msg, args);
502 }
483} 503}
484} 504}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index ebfd85b..22f5995 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -187,7 +187,7 @@ public sealed class BSPrim : PhysicsActor
187 { 187 {
188 _mass = CalculateMass(); // changing size changes the mass 188 _mass = CalculateMass(); // changing size changes the mass
189 BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); 189 BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical);
190 DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); 190 // DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
191 RecreateGeomAndObject(); 191 RecreateGeomAndObject();
192 }); 192 });
193 } 193 }
@@ -318,7 +318,7 @@ public sealed class BSPrim : PhysicsActor
318 _force = value; 318 _force = value;
319 _scene.TaintedObject(delegate() 319 _scene.TaintedObject(delegate()
320 { 320 {
321 DetailLog("{0},SetForce,taint,force={1}", LocalID, _force); 321 DetailLog("{0},setForce,taint,force={1}", LocalID, _force);
322 // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); 322 // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
323 BulletSimAPI.SetObjectForce2(Body.Ptr, _force); 323 BulletSimAPI.SetObjectForce2(Body.Ptr, _force);
324 }); 324 });
@@ -443,7 +443,7 @@ public sealed class BSPrim : PhysicsActor
443 _scene.TaintedObject(delegate() 443 _scene.TaintedObject(delegate()
444 { 444 {
445 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); 445 // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
446 DetailLog("{0},SetOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); 446 DetailLog("{0},setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
447 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 447 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
448 }); 448 });
449 } 449 }
@@ -487,10 +487,8 @@ public sealed class BSPrim : PhysicsActor
487 // Maybe a VerifyCorrectPhysicalShape() routine? 487 // Maybe a VerifyCorrectPhysicalShape() routine?
488 // RecreateGeomAndObject(); 488 // RecreateGeomAndObject();
489 489
490 float mass = _mass; 490 // Bullet wants static objects to have a mass of zero
491 // Bullet wants static objects have a mass of zero 491 float mass = IsStatic ? 0f : _mass;
492 if (IsStatic)
493 mass = 0f;
494 492
495 DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass); 493 DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass);
496 BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); 494 BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
@@ -607,6 +605,7 @@ public sealed class BSPrim : PhysicsActor
607 605
608 private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>(); 606 private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
609 public override void AddForce(OMV.Vector3 force, bool pushforce) { 607 public override void AddForce(OMV.Vector3 force, bool pushforce) {
608 // for an object, doesn't matter if force is a pushforce or not
610 if (force.IsFinite()) 609 if (force.IsFinite())
611 { 610 {
612 // _force += force; 611 // _force += force;
@@ -620,21 +619,17 @@ public sealed class BSPrim : PhysicsActor
620 } 619 }
621 _scene.TaintedObject(delegate() 620 _scene.TaintedObject(delegate()
622 { 621 {
622 OMV.Vector3 fSum = OMV.Vector3.Zero;
623 lock (m_accumulatedForces) 623 lock (m_accumulatedForces)
624 { 624 {
625 if (m_accumulatedForces.Count > 0) 625 foreach (OMV.Vector3 v in m_accumulatedForces)
626 { 626 {
627 OMV.Vector3 fSum = OMV.Vector3.Zero; 627 fSum += v;
628 foreach (OMV.Vector3 v in m_accumulatedForces)
629 {
630 fSum += v;
631 }
632 m_accumulatedForces.Clear();
633
634 DetailLog("{0},SetObjectForce,taint,force={1}", LocalID, fSum);
635 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, fSum);
636 } 628 }
629 m_accumulatedForces.Clear();
637 } 630 }
631 DetailLog("{0},AddObjectForce,taint,force={1}", LocalID, _force);
632 BulletSimAPI.AddObjectForce2(Body.Ptr, fSum);
638 }); 633 });
639 } 634 }
640 635
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 0ffbc94..1881e41 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -448,6 +448,9 @@ public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocit
448public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); 448public static extern bool SetObjectForce2(IntPtr obj, Vector3 force);
449 449
450[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 450[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
451public static extern bool AddObjectForce2(IntPtr obj, Vector3 force);
452
453[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
451public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); 454public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val);
452 455
453[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 456[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]