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authorRobert Adams2012-10-30 09:12:07 -0700
committerRobert Adams2012-11-03 21:14:49 -0700
commit52be581f71b3c8da6113e4f4b193694683e6f8cc (patch)
treeacaa7c98779c3387321f40d59d8edf6865af48bd /OpenSim
parentBulletSim: Use the PostTaints operation to build the linkset once before the ... (diff)
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BulletSim: remove center-of-mass setting for linksets because it causes the constraint calculation to pull the objects together.
Diffstat (limited to 'OpenSim')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs3
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs1
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs79
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs2
5 files changed, 33 insertions, 54 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
index 3c37d76..23ef052 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
@@ -71,8 +71,7 @@ public sealed class BSConstraint6Dof : BSConstraint
71 BSScene.DetailLogZero, world.worldID, 71 BSScene.DetailLogZero, world.worldID,
72 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); 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}", 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, 74 LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
75 obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
76 m_enabled = false; 75 m_enabled = false;
77 } 76 }
78 else 77 else
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 187951e..6d84fcc 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -132,7 +132,6 @@ public abstract class BSLinkset
132 // Cannot remove the root from a linkset. 132 // Cannot remove the root from a linkset.
133 return this; 133 return this;
134 } 134 }
135
136 RemoveChildFromLinkset(child); 135 RemoveChildFromLinkset(child);
137 } 136 }
138 137
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 6c1fa2a..ecb6ad4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -43,20 +43,16 @@ public sealed class BSLinksetConstraints : BSLinkset
43 43
44 // When physical properties are changed the linkset needs to recalculate 44 // When physical properties are changed the linkset needs to recalculate
45 // its internal properties. 45 // its internal properties.
46 // This is queued in such a way that the 46 // This is queued in the 'post taint' queue so the
47 // refresh will only happen once after all the other taints are applied. 47 // refresh will happen once after all the other taints are applied.
48 public override void Refresh(BSPhysObject requestor) 48 public override void Refresh(BSPhysObject requestor)
49 { 49 {
50 // If there are no children, there are no constraints to recompute.
51 if (!HasAnyChildren)
52 return;
53
54 // Queue to happen after all the other taint processing 50 // Queue to happen after all the other taint processing
55 PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() 51 PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
56 { 52 {
57 RecomputeLinksetConstraints(); 53 if (HasAnyChildren && IsRoot(requestor))
54 RecomputeLinksetConstraints();
58 }); 55 });
59
60 } 56 }
61 57
62 // The object is going dynamic (physical). Do any setup necessary 58 // The object is going dynamic (physical). Do any setup necessary
@@ -71,9 +67,10 @@ public sealed class BSLinksetConstraints : BSLinkset
71 return false; 67 return false;
72 } 68 }
73 69
74 // The object is going static (non-physical). Do any setup necessary 70 // The object is going static (non-physical). Do any setup necessary for a static linkset.
75 // for a static linkset.
76 // Return 'true' if any properties updated on the passed object. 71 // Return 'true' if any properties updated on the passed object.
72 // This doesn't normally happen -- OpenSim removes the objects from the physical
73 // world if it is a static linkset.
77 // Called at taint-time! 74 // Called at taint-time!
78 public override bool MakeStatic(BSPhysObject child) 75 public override bool MakeStatic(BSPhysObject child)
79 { 76 {
@@ -87,21 +84,21 @@ public sealed class BSLinksetConstraints : BSLinkset
87 // Nothing to do for constraints on property updates 84 // Nothing to do for constraints on property updates
88 } 85 }
89 86
90 // Routine used when rebuilding the body of the root of the linkset 87 // Routine called when rebuilding the body of some member of the linkset.
91 // Destroy all the constraints have have been made to root. 88 // Destroy all the constraints have have been made to root and set
92 // This is called when the root body is changing. 89 // up to rebuild the constraints before the next simulation step.
93 // Returns 'true' of something eas actually removed and would need restoring 90 // Returns 'true' of something was actually removed and would need restoring
94 // Called at taint-time!! 91 // Called at taint-time!!
95 public override bool RemoveBodyDependencies(BSPrim child) 92 public override bool RemoveBodyDependencies(BSPrim child)
96 { 93 {
97 bool ret = false; 94 bool ret = false;
98 95
96 DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
97 child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
98
99 lock (m_linksetActivityLock) 99 lock (m_linksetActivityLock)
100 { 100 {
101 // Just undo all the constraints for this linkset. Rebuild at the end of the step. 101 // Just undo all the constraints for this linkset. Rebuild at the end of the step.
102 DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
103 child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
104
105 ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); 102 ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
106 // Cause the constraints, et al to be rebuilt before the next simulation step. 103 // Cause the constraints, et al to be rebuilt before the next simulation step.
107 Refresh(LinksetRoot); 104 Refresh(LinksetRoot);
@@ -114,13 +111,12 @@ public sealed class BSLinksetConstraints : BSLinkset
114 // Called at taint-time!! 111 // Called at taint-time!!
115 public override void RestoreBodyDependencies(BSPrim child) 112 public override void RestoreBodyDependencies(BSPrim child)
116 { 113 {
117 // The Refresh operation will build any missing constraints. 114 // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
118 } 115 }
119 116
120 // ================================================================ 117 // ================================================================
121 // Below this point is internal magic
122 118
123 // I am the root of a linkset and a new child is being added 119 // Add a new child to the linkset.
124 // Called while LinkActivity is locked. 120 // Called while LinkActivity is locked.
125 protected override void AddChildToLinkset(BSPhysObject child) 121 protected override void AddChildToLinkset(BSPhysObject child)
126 { 122 {
@@ -131,7 +127,7 @@ public sealed class BSLinksetConstraints : BSLinkset
131 BSPhysObject rootx = LinksetRoot; // capture the root as of now 127 BSPhysObject rootx = LinksetRoot; // capture the root as of now
132 BSPhysObject childx = child; 128 BSPhysObject childx = child;
133 129
134 DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); 130 DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
135 131
136 // Cause constraints and assorted properties to be recomputed before the next simulation step. 132 // Cause constraints and assorted properties to be recomputed before the next simulation step.
137 Refresh(LinksetRoot); 133 Refresh(LinksetRoot);
@@ -150,7 +146,7 @@ public sealed class BSLinksetConstraints : BSLinkset
150 RemoveChildFromLinkset(pchild); 146 RemoveChildFromLinkset(pchild);
151 } 147 }
152 148
153 // I am the root of a linkset and one of my children is being removed. 149 // Remove the specified child from the linkset.
154 // Safe to call even if the child is not really in my linkset. 150 // Safe to call even if the child is not really in my linkset.
155 protected override void RemoveChildFromLinkset(BSPhysObject child) 151 protected override void RemoveChildFromLinkset(BSPhysObject child)
156 { 152 {
@@ -159,12 +155,12 @@ public sealed class BSLinksetConstraints : BSLinkset
159 BSPhysObject rootx = LinksetRoot; // capture the root and body as of now 155 BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
160 BSPhysObject childx = child; 156 BSPhysObject childx = child;
161 157
162 DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", 158 DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
163 childx.LocalID, 159 childx.LocalID,
164 rootx.LocalID, rootx.BSBody.ptr.ToString("X"), 160 rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
165 childx.LocalID, childx.BSBody.ptr.ToString("X")); 161 childx.LocalID, childx.BSBody.ptr.ToString("X"));
166 162
167 PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() 163 PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
168 { 164 {
169 PhysicallyUnlinkAChildFromRoot(rootx, childx); 165 PhysicallyUnlinkAChildFromRoot(rootx, childx);
170 }); 166 });
@@ -173,7 +169,7 @@ public sealed class BSLinksetConstraints : BSLinkset
173 } 169 }
174 else 170 else
175 { 171 {
176 // This will happen if we remove the root of the linkset first. Non-fatal occurance. 172 // Non-fatal occurance.
177 // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); 173 // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
178 } 174 }
179 return; 175 return;
@@ -215,7 +211,7 @@ public sealed class BSLinksetConstraints : BSLinkset
215 /* NOTE: below is an attempt to build constraint with full frame computation, etc. 211 /* NOTE: below is an attempt to build constraint with full frame computation, etc.
216 * Using the midpoint is easier since it lets the Bullet code manipulate the transforms 212 * Using the midpoint is easier since it lets the Bullet code manipulate the transforms
217 * of the objects. 213 * of the objects.
218 * Code left as a warning to future programmers. 214 * Code left for future programmers.
219 // ================================================================================== 215 // ==================================================================================
220 // relative position normalized to the root prim 216 // relative position normalized to the root prim
221 OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); 217 OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
@@ -225,8 +221,6 @@ public sealed class BSLinksetConstraints : BSLinkset
225 OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; 221 OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
226 OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation); 222 OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
227 223
228 // create a constraint that allows no freedom of movement between the two objects
229 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
230 DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); 224 DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
231 BS6DofConstraint constrain = new BS6DofConstraint( 225 BS6DofConstraint constrain = new BS6DofConstraint(
232 PhysicsScene.World, rootPrim.Body, childPrim.Body, 226 PhysicsScene.World, rootPrim.Body, childPrim.Body,
@@ -234,11 +228,6 @@ public sealed class BSLinksetConstraints : BSLinkset
234 OMV.Quaternion.Inverse(rootPrim.Orientation), 228 OMV.Quaternion.Inverse(rootPrim.Orientation),
235 OMV.Vector3.Zero, 229 OMV.Vector3.Zero,
236 OMV.Quaternion.Inverse(childPrim.Orientation), 230 OMV.Quaternion.Inverse(childPrim.Orientation),
237 // A point half way between the parent and child
238 // childRelativePosition/2,
239 // childRelativeRotation,
240 // childRelativePosition/2,
241 // inverseChildRelativeRotation,
242 true, 231 true,
243 true 232 true
244 ); 233 );
@@ -264,9 +253,9 @@ public sealed class BSLinksetConstraints : BSLinkset
264 return constrain; 253 return constrain;
265 } 254 }
266 255
267 // Remove linkage between myself and a particular child 256 // Remove linkage between the linkset root and a particular child
268 // The root and child bodies are passed in because we need to remove the constraint between 257 // The root and child bodies are passed in because we need to remove the constraint between
269 // the bodies that were at unlink time. 258 // the bodies that were present at unlink time.
270 // Called at taint time! 259 // Called at taint time!
271 private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) 260 private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
272 { 261 {
@@ -288,44 +277,36 @@ public sealed class BSLinksetConstraints : BSLinkset
288 } 277 }
289 278
290 // Remove linkage between myself and any possible children I might have. 279 // Remove linkage between myself and any possible children I might have.
280 // Returns 'true' of any constraints were destroyed.
291 // Called at taint time! 281 // Called at taint time!
292 private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) 282 private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
293 { 283 {
294 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); 284 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
295 bool ret = false;
296 285
297 if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody)) 286 return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
298 {
299 ret = true;
300 }
301 return ret;
302 } 287 }
303 288
304 // Call each of the constraints that make up this linkset and recompute the 289 // Call each of the constraints that make up this linkset and recompute the
305 // various transforms and variables. Create constraints of not created yet. 290 // various transforms and variables. Create constraints of not created yet.
306 // Called before the simulation step to make sure the constraint based linkset 291 // Called before the simulation step to make sure the constraint based linkset
307 // is all initialized. 292 // is all initialized.
308 // Must only be called at taint time!! 293 // Called at taint time!!
309 private void RecomputeLinksetConstraints() 294 private void RecomputeLinksetConstraints()
310 { 295 {
311 float linksetMass = LinksetMass; 296 float linksetMass = LinksetMass;
312 LinksetRoot.UpdatePhysicalMassProperties(linksetMass); 297 LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
313 298
314 // For a multiple object linkset, set everybody's center of mass to the set's center of mass 299 // DEBUG: see of inter-linkset collisions are causing problems
315 OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
316 BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
317
318 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 300 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
319 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); 301 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
320 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,setCenterOfMass,COM={1},rBody={2},linksetMass={3}", 302 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,setCenterOfMass,rBody={1},linksetMass={2}",
321 LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass); 303 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass);
322 304
323 foreach (BSPhysObject child in m_children) 305 foreach (BSPhysObject child in m_children)
324 { 306 {
325 // A child in the linkset physically shows the mass of the whole linkset. 307 // A child in the linkset physically shows the mass of the whole linkset.
326 // This allows Bullet to apply enough force on the child to move the whole linkset. 308 // This allows Bullet to apply enough force on the child to move the whole linkset.
327 // (Also do the mass stuff before recomputing the constraint so mass is not zero.) 309 // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
328 BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
329 child.UpdatePhysicalMassProperties(linksetMass); 310 child.UpdatePhysicalMassProperties(linksetMass);
330 311
331 BSConstraint constrain; 312 BSConstraint constrain;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index ad09a61..7851a40 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -634,7 +634,7 @@ public sealed class BSPrim : BSPhysObject
634 // had been automatically disabled when the mass was set to zero. 634 // had been automatically disabled when the mass was set to zero.
635 Linkset.Refresh(this); 635 Linkset.Refresh(this);
636 636
637 DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", 637 DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
638 LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); 638 LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
639 } 639 }
640 640
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 1c0e6f5..1219fc0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -109,7 +109,7 @@ public sealed class BSShapeCollection : IDisposable
109 prim.BSShape, shapeData, bodyCallback); 109 prim.BSShape, shapeData, bodyCallback);
110 ret = newGeom || newBody; 110 ret = newGeom || newBody;
111 } 111 }
112 DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}", 112 DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
113 prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape); 113 prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape);
114 114
115 return ret; 115 return ret;