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authorRobert Adams2017-09-02 13:06:36 -0700
committerRobert Adams2017-09-02 13:06:36 -0700
commit0afa3a294ab36382cf720e9cceb9211a83fbf101 (patch)
tree5e5c1c62be9880052a2cab1a33055017d2d868bd /OpenSim
parentfix cache.cs (used on parcels info) (diff)
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BulletSim: most of the plumbing for raycast. Needs new BulletSim.dll to
work.
Diffstat (limited to 'OpenSim')
-rwxr-xr-xOpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs22
-rwxr-xr-xOpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs8
-rw-r--r--OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs7
-rwxr-xr-xOpenSim/Region/PhysicsModules/BulletS/BSLinksetCompound.cs1
-rwxr-xr-xOpenSim/Region/PhysicsModules/BulletS/BSParam.cs5
-rw-r--r--OpenSim/Region/PhysicsModules/BulletS/BSScene.cs92
-rwxr-xr-xOpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs2
-rwxr-xr-xOpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs115
8 files changed, 252 insertions, 0 deletions
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs b/OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs
index 42db7fe..840e453 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs
@@ -1405,6 +1405,19 @@ public override float GetMargin(BulletShape shape)
1405} 1405}
1406 1406
1407// ===================================================================================== 1407// =====================================================================================
1408// Raycast
1409public override SweepHit ConvexSweepTest2(BulletWorld world, BulletBody sweepObject, Vector3 from, Vector3 to, float margin) {
1410 BulletWorldUnman worldu = world as BulletWorldUnman;
1411 BulletBodyUnman bodyu = sweepObject as BulletBodyUnman;
1412 return BSAPICPP.ConvexSweepTest2(worldu.ptr, bodyu.ptr, from, to, margin);
1413}
1414
1415public override RaycastHit RayTest2(BulletWorld world, Vector3 from, Vector3 to, uint filterGroup, uint filterMask) {
1416 BulletWorldUnman worldu = world as BulletWorldUnman;
1417 return BSAPICPP.RayTest2(worldu.ptr, from, to, filterGroup, filterMask);
1418}
1419
1420// =====================================================================================
1408// Debugging 1421// Debugging
1409public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject) 1422public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject)
1410{ 1423{
@@ -2084,6 +2097,15 @@ public static extern void SetMargin2(IntPtr shape, float val);
2084[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 2097[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
2085public static extern float GetMargin2(IntPtr shape); 2098public static extern float GetMargin2(IntPtr shape);
2086 2099
2100
2101// =====================================================================================
2102// Raycast
2103[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
2104public static extern SweepHit ConvexSweepTest2(IntPtr sim, IntPtr obj, Vector3 from, Vector3 to, float margin);
2105
2106[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
2107public static extern RaycastHit RayTest2(IntPtr sim, Vector3 from, Vector3 to, uint filterGroup, uint filterMask);
2108
2087// ===================================================================================== 2109// =====================================================================================
2088// Debugging 2110// Debugging
2089[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 2111[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs b/OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs
index 37017b0..7d58728 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs
@@ -2459,6 +2459,14 @@ private sealed class BulletConstraintXNA : BulletConstraint
2459 } 2459 }
2460 return false; 2460 return false;
2461 } 2461 }
2462
2463 public override SweepHit ConvexSweepTest2(BulletWorld world, BulletBody obj, Vector3 from, Vector3 to, float margin) {
2464 return new SweepHit();
2465 }
2466
2467 public override RaycastHit RayTest2(BulletWorld world, Vector3 from, Vector3 to, uint filterGroup, uint filterMask) {
2468 return new RaycastHit();
2469 }
2462} 2470}
2463 2471
2464 2472
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs b/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
index 816189f..afb0ba2 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
@@ -128,6 +128,7 @@ public struct RaycastHit
128 public UInt32 ID; 128 public UInt32 ID;
129 public float Fraction; 129 public float Fraction;
130 public Vector3 Normal; 130 public Vector3 Normal;
131 public Vector3 Point;
131} 132}
132[StructLayout(LayoutKind.Sequential)] 133[StructLayout(LayoutKind.Sequential)]
133public struct CollisionDesc 134public struct CollisionDesc
@@ -742,6 +743,12 @@ public abstract void SetMargin(BulletShape shape, float val);
742public abstract float GetMargin(BulletShape shape); 743public abstract float GetMargin(BulletShape shape);
743 744
744// ===================================================================================== 745// =====================================================================================
746// Raycast
747public abstract SweepHit ConvexSweepTest2(BulletWorld world, BulletBody obj, Vector3 from, Vector3 to, float margin);
748
749public abstract RaycastHit RayTest2(BulletWorld world, Vector3 from, Vector3 to, uint filterGroup, uint filterMask);
750
751// =====================================================================================
745// Debugging 752// Debugging
746public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) { } 753public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) { }
747 754
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSLinksetCompound.cs b/OpenSim/Region/PhysicsModules/BulletS/BSLinksetCompound.cs
index 953ddee..dc390b2 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSLinksetCompound.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSLinksetCompound.cs
@@ -450,6 +450,7 @@ public sealed class BSLinksetCompound : BSLinkset
450 m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody); 450 m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody);
451 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}", 451 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}",
452 LinksetRoot.LocalID, LinksetRoot.PhysBody, linksetShape); 452 LinksetRoot.LocalID, LinksetRoot.PhysBody, linksetShape);
453 m_physicsScene.PE.ResetBroadphasePool(m_physicsScene.World); // DEBUG DEBUG
453 454
454 // With all of the linkset packed into the root prim, it has the mass of everyone. 455 // With all of the linkset packed into the root prim, it has the mass of everyone.
455 LinksetMass = ComputeLinksetMass(); 456 LinksetMass = ComputeLinksetMass();
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs b/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
index 352c03e..0792f5d 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
@@ -230,6 +230,8 @@ public static class BSParam
230 public static float LinkConstraintCFM { get; private set; } 230 public static float LinkConstraintCFM { get; private set; }
231 public static float LinkConstraintSolverIterations { get; private set; } 231 public static float LinkConstraintSolverIterations { get; private set; }
232 232
233 public static bool UseBulletRaycast { get; private set; }
234
233 public static float PID_D { get; private set; } // derivative 235 public static float PID_D { get; private set; } // derivative
234 public static float PID_P { get; private set; } // proportional 236 public static float PID_P { get; private set; } // proportional
235 237
@@ -823,6 +825,9 @@ public static class BSParam
823 new ParameterDefn<float>("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", 825 new ParameterDefn<float>("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
824 40 ), 826 40 ),
825 827
828 new ParameterDefn<bool>("UseBulletRaycast", "If 'true', use the raycast function of the Bullet physics engine",
829 true ),
830
826 new ParameterDefn<float>("DebugNumber", "A console setable number sometimes used for debugging", 831 new ParameterDefn<float>("DebugNumber", "A console setable number sometimes used for debugging",
827 1.0f ), 832 1.0f ),
828 833
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
index 7ff0a07..f1ff3a9 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
@@ -956,6 +956,98 @@ namespace OpenSim.Region.PhysicsModule.BulletS
956 956
957 #endregion // Terrain 957 #endregion // Terrain
958 958
959 #region Raycast
960
961 public override bool SupportsRayCast()
962 {
963 return BSParam.UseBulletRaycast;
964 }
965
966 public override bool SupportsRaycastWorldFiltered()
967 {
968 return BSParam.UseBulletRaycast;
969 }
970
971
972 /// <summary>
973 /// Queue a raycast against the physics scene.
974 /// The provided callback method will be called when the raycast is complete
975 ///
976 /// Many physics engines don't support collision testing at the same time as
977 /// manipulating the physics scene, so we queue the request up and callback
978 /// a custom method when the raycast is complete.
979 /// This allows physics engines that give an immediate result to callback immediately
980 /// and ones that don't, to callback when it gets a result back.
981 /// public delegate void RayCallback(List<ContactResult> list);
982 ///
983 /// ODE for example will not allow you to change the scene while collision testing or
984 /// it asserts, 'opteration not valid for locked space'. This includes adding a ray to the scene.
985 ///
986 /// This is named RayCastWorld to not conflict with modrex's Raycast method.
987 /// </summary>
988 /// <param name="position">Origin of the ray</param>
989 /// <param name="direction">Direction of the ray</param>
990 /// <param name="length">Length of ray in meters</param>
991 /// <param name="retMethod">Method to call when the raycast is complete</param>
992 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
993 {
994 if (retMethod != null)
995 {
996 if (BSParam.UseBulletRaycast)
997 {
998 Vector3 posFrom = position;
999 Vector3 posTo = Vector3.Normalize(direction) * length + position;
1000
1001 TaintedObject(DetailLogZero, "BSScene.RaycastWorld1", delegate ()
1002 {
1003 RaycastHit hitInfo = PE.RayTest2(World, posFrom, posTo, 0xffff, 0xffff);
1004 retMethod(true, hitInfo.Point, hitInfo.ID, hitInfo.Fraction, hitInfo.Normal);
1005 });
1006 }
1007 else
1008 {
1009 retMethod(false, Vector3.Zero, 0, 999999999999f, Vector3.Zero);
1010 }
1011 }
1012 }
1013
1014 public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
1015 {
1016 if (retMethod != null)
1017 {
1018 if (BSParam.UseBulletRaycast)
1019 {
1020 List<ContactResult> hitInfo = RaycastWorld(position, direction, length, count);
1021 retMethod(hitInfo);
1022 }
1023 else
1024 {
1025 retMethod(new List<ContactResult>());
1026 }
1027 }
1028 }
1029
1030 public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
1031 {
1032 List<ContactResult> ret = new List<ContactResult>();
1033 if (BSParam.UseBulletRaycast)
1034 {
1035 }
1036 return ret;
1037 }
1038
1039 public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
1040 {
1041 object ret = null;
1042 if (BSParam.UseBulletRaycast)
1043 {
1044 }
1045 return ret;
1046 }
1047
1048 #endregion Raycast
1049
1050
959 public override Dictionary<uint, float> GetTopColliders() 1051 public override Dictionary<uint, float> GetTopColliders()
960 { 1052 {
961 Dictionary<uint, float> topColliders; 1053 Dictionary<uint, float> topColliders;
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs b/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs
index 4ec6f51..cd72c98 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs
@@ -229,6 +229,8 @@ public sealed class BSShapeCollection : IDisposable
229 ret = CreateGeomMeshOrHull(prim, shapeCallback); 229 ret = CreateGeomMeshOrHull(prim, shapeCallback);
230 } 230 }
231 231
232 m_physicsScene.PE.ResetBroadphasePool(m_physicsScene.World); // DEBUG DEBUG
233
232 return ret; 234 return ret;
233 } 235 }
234 236
diff --git a/OpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs b/OpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs
new file mode 100755
index 0000000..046df56
--- /dev/null
+++ b/OpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs
@@ -0,0 +1,115 @@
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 copyright
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
28using System;
29using System.Collections.Generic;
30using System.Linq;
31using System.Text;
32
33using NUnit.Framework;
34using log4net;
35
36using OpenSim.Framework;
37using OpenSim.Region.PhysicsModule.BulletS;
38using OpenSim.Region.PhysicsModules.SharedBase;
39using OpenSim.Tests.Common;
40
41using OpenMetaverse;
42
43namespace OpenSim.Region.PhysicsModule.BulletS.Tests
44{
45 [TestFixture]
46 public class BulletSimRaycast : OpenSimTestCase
47 {
48 // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1
49 // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1
50
51 BSScene PhysicsScene { get; set; }
52 BSPrim TargetSphere { get; set; }
53 Vector3 TargetSpherePosition { get; set; }
54 float simulationTimeStep = 0.089f;
55
56 [TestFixtureSetUp]
57 public void Init()
58 {
59 Dictionary<string, string> engineParams = new Dictionary<string, string>();
60 engineParams.Add("UseBulletRaycast", "true");
61 PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
62
63 PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere();
64 Vector3 pos = new Vector3(100.0f, 100.0f, 50f);
65 pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f;
66 TargetSpherePosition = pos;
67 Vector3 size = new Vector3(10f, 10f, 10f);
68 pbs.Scale = size;
69 Quaternion rot = Quaternion.Identity;
70 bool isPhys = false;
71 uint localID = 123;
72
73 PhysicsScene.AddPrimShape("TargetSphere", pbs, pos, size, rot, isPhys, localID);
74 TargetSphere = (BSPrim)PhysicsScene.PhysObjects[localID];
75 // The actual prim shape creation happens at taint time
76 PhysicsScene.ProcessTaints();
77
78 }
79
80 [TestFixtureTearDown]
81 public void TearDown()
82 {
83 if (PhysicsScene != null)
84 {
85 // The Dispose() will also free any physical objects in the scene
86 PhysicsScene.Dispose();
87 PhysicsScene = null;
88 }
89 }
90
91 // There is a 10x10x10 sphere at <100,100,50>
92 // Shoot rays around the sphere and verify it hits and doesn't hit
93 // TestCase parameters are <x,y,z> of start and <x,y,z> of end and expected result
94 [TestCase(20f, 20f, 50f, 50f, 50f, 50f, true)] // in front to sphere
95 [TestCase(20f, 20f, 100f, 50f, 50f, 50f, true)] // from above to sphere
96 [TestCase(50f, 50f, 50f, 150f, 150f, 50f, true)] // through sphere
97 [TestCase(50f, 50f, 65f, 150f, 150f, 65f, false)] // pass over sphere
98 public void RaycastAroundObject(float fromX, float fromY, float fromZ, float toX, float toY, float toZ, bool expected) {
99 Vector3 fromPos = new Vector3(fromX, fromY, fromZ);
100 Vector3 toPos = new Vector3(toX, toY, toZ);
101 Vector3 direction = toPos - fromPos;
102 float len = Vector3.Distance(fromPos, toPos);
103
104 List<ContactResult> results = PhysicsScene.RaycastWorld(fromPos, direction, len, 1);
105
106 if (expected) {
107 Assert.True(results.Count > 0);
108 }
109 else
110 {
111 Assert.False(results.Count > 0);
112 }
113 }
114 }
115} \ No newline at end of file