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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs44
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs45
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs30
-rwxr-xr-xbin/lib32/BulletSim.dllbin533504 -> 533504 bytes
-rwxr-xr-xbin/lib32/libBulletSim.sobin2340496 -> 2341210 bytes
-rwxr-xr-xbin/lib64/BulletSim.dllbin684032 -> 684032 bytes
-rwxr-xr-xbin/lib64/libBulletSim.sobin2540931 -> 2541764 bytes
7 files changed, 83 insertions, 36 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 09e1f0c..494f5a6 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 +123,10 @@ 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));
128 // avatars get all collisions no matter what
129 BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
119 }); 130 });
120 131
121 return; 132 return;
@@ -124,6 +135,7 @@ public class BSCharacter : PhysicsActor
124 // called when this character is being destroyed and the resources should be released 135 // called when this character is being destroyed and the resources should be released
125 public void Destroy() 136 public void Destroy()
126 { 137 {
138 // DetailLog("{0},Destroy", LocalID);
127 _scene.TaintedObject(delegate() 139 _scene.TaintedObject(delegate()
128 { 140 {
129 BulletSimAPI.DestroyObject(_scene.WorldID, _localID); 141 BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
@@ -174,6 +186,7 @@ public class BSCharacter : PhysicsActor
174 _position = value; 186 _position = value;
175 _scene.TaintedObject(delegate() 187 _scene.TaintedObject(delegate()
176 { 188 {
189 DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
177 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); 190 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
178 }); 191 });
179 } 192 }
@@ -188,9 +201,10 @@ public class BSCharacter : PhysicsActor
188 set { 201 set {
189 _force = value; 202 _force = value;
190 // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); 203 // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
191 _scene.TaintedObject(delegate() 204 Scene.TaintedObject(delegate()
192 { 205 {
193 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); 206 DetailLog("{0},setForce,taint,force={1}", LocalID, _force);
207 BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force);
194 }); 208 });
195 } 209 }
196 } 210 }
@@ -216,6 +230,7 @@ public class BSCharacter : PhysicsActor
216 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); 230 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
217 _scene.TaintedObject(delegate() 231 _scene.TaintedObject(delegate()
218 { 232 {
233 DetailLog("{0},setVelocity,taint,vel={1}", LocalID, _velocity);
219 BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity); 234 BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity);
220 }); 235 });
221 } 236 }
@@ -305,6 +320,7 @@ public class BSCharacter : PhysicsActor
305 set { _buoyancy = value; 320 set { _buoyancy = value;
306 _scene.TaintedObject(delegate() 321 _scene.TaintedObject(delegate()
307 { 322 {
323 DetailLog("{0},setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
308 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy); 324 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy);
309 }); 325 });
310 } 326 }
@@ -351,7 +367,8 @@ public class BSCharacter : PhysicsActor
351 // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); 367 // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
352 _scene.TaintedObject(delegate() 368 _scene.TaintedObject(delegate()
353 { 369 {
354 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); 370 DetailLog("{0},setAddForce,taint,addedForce={1}", LocalID, _force);
371 BulletSimAPI.AddObjectForce2(Body.Ptr, _force);
355 }); 372 });
356 } 373 }
357 else 374 else
@@ -369,11 +386,25 @@ public class BSCharacter : PhysicsActor
369 // Turn on collision events at a rate no faster than one every the given milliseconds 386 // Turn on collision events at a rate no faster than one every the given milliseconds
370 public override void SubscribeEvents(int ms) { 387 public override void SubscribeEvents(int ms) {
371 _subscribedEventsMs = ms; 388 _subscribedEventsMs = ms;
372 _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen 389 if (ms > 0)
390 {
391 // make sure first collision happens
392 _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
393
394 Scene.TaintedObject(delegate()
395 {
396 BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
397 });
398 }
373 } 399 }
374 // Stop collision events 400 // Stop collision events
375 public override void UnSubscribeEvents() { 401 public override void UnSubscribeEvents() {
376 _subscribedEventsMs = 0; 402 _subscribedEventsMs = 0;
403 // Avatars get all their collision events
404 // Scene.TaintedObject(delegate()
405 // {
406 // BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
407 // });
377 } 408 }
378 // Return 'true' if someone has subscribed to events 409 // Return 'true' if someone has subscribed to events
379 public override bool SubscribedEvents() { 410 public override bool SubscribedEvents() {
@@ -480,5 +511,10 @@ public class BSCharacter : PhysicsActor
480 // End kludge 511 // End kludge
481 } 512 }
482 513
514 // Invoke the detailed logger and output something if it's enabled.
515 private void DetailLog(string msg, params Object[] args)
516 {
517 Scene.PhysicsLogging.Write(msg, args);
518 }
483} 519}
484} 520}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index ebfd85b..8e6685b 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
@@ -647,11 +642,23 @@ public sealed class BSPrim : PhysicsActor
647 } 642 }
648 public override void SubscribeEvents(int ms) { 643 public override void SubscribeEvents(int ms) {
649 _subscribedEventsMs = ms; 644 _subscribedEventsMs = ms;
650 // make sure first collision happens 645 if (ms > 0)
651 _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; 646 {
647 // make sure first collision happens
648 _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
649
650 Scene.TaintedObject(delegate()
651 {
652 BulletSimAPI.AddToCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
653 });
654 }
652 } 655 }
653 public override void UnSubscribeEvents() { 656 public override void UnSubscribeEvents() {
654 _subscribedEventsMs = 0; 657 _subscribedEventsMs = 0;
658 Scene.TaintedObject(delegate()
659 {
660 BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
661 });
655 } 662 }
656 public override bool SubscribedEvents() { 663 public override bool SubscribedEvents() {
657 return (_subscribedEventsMs > 0); 664 return (_subscribedEventsMs > 0);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 0ffbc94..4e05df6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -179,17 +179,18 @@ public struct ConfigurationParameters
179// Values used by Bullet and BulletSim to control collisions 179// Values used by Bullet and BulletSim to control collisions
180public enum CollisionFlags : uint 180public enum CollisionFlags : uint
181{ 181{
182 STATIC_OBJECT = 1 << 0, 182 CF_STATIC_OBJECT = 1 << 0,
183 KINEMATIC_OBJECT = 1 << 1, 183 CF_KINEMATIC_OBJECT = 1 << 1,
184 NO_CONTACT_RESPONSE = 1 << 2, 184 CF_NO_CONTACT_RESPONSE = 1 << 2,
185 CUSTOM_MATERIAL_CALLBACK = 1 << 3, 185 CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3,
186 CHARACTER_OBJECT = 1 << 4, 186 CF_CHARACTER_OBJECT = 1 << 4,
187 DISABLE_VISUALIZE_OBJECT = 1 << 5, 187 CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
188 DISABLE_SPU_COLLISION_PROCESS = 1 << 6, 188 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
189 // Following used by BulletSim to control collisions 189 // Following used by BulletSim to control collisions
190 VOLUME_DETECT_OBJECT = 1 << 10, 190 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
191 PHANTOM_OBJECT = 1 << 11, 191 BS_VOLUME_DETECT_OBJECT = 1 << 11,
192 PHYSICAL_OBJECT = 1 << 12, 192 BS_PHANTOM_OBJECT = 1 << 12,
193 BS_PHYSICAL_OBJECT = 1 << 13,
193}; 194};
194 195
195// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 196// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
@@ -448,6 +449,9 @@ public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocit
448public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); 449public static extern bool SetObjectForce2(IntPtr obj, Vector3 force);
449 450
450[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 451[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
452public static extern bool AddObjectForce2(IntPtr obj, Vector3 force);
453
454[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
451public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); 455public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val);
452 456
453[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 457[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@@ -478,13 +482,13 @@ public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val);
478public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); 482public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang);
479 483
480[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 484[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
481public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags); 485public static extern IntPtr SetCollisionFlags2(IntPtr obj, CollisionFlags flags);
482 486
483[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 487[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
484public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags); 488public static extern IntPtr AddToCollisionFlags2(IntPtr obj, CollisionFlags flags);
485 489
486[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 490[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
487public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags); 491public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, CollisionFlags flags);
488 492
489[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] 493[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
490public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); 494public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia);
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index 03e8f26..4f8bb4a 100755
--- a/bin/lib32/BulletSim.dll
+++ b/bin/lib32/BulletSim.dll
Binary files differ
diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so
index 4e119c4..5fa17f2 100755
--- a/bin/lib32/libBulletSim.so
+++ b/bin/lib32/libBulletSim.so
Binary files differ
diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll
index 6e8d6b4..a0e471f 100755
--- a/bin/lib64/BulletSim.dll
+++ b/bin/lib64/BulletSim.dll
Binary files differ
diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so
index 9363d1a..c646383 100755
--- a/bin/lib64/libBulletSim.so
+++ b/bin/lib64/libBulletSim.so
Binary files differ