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-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs814
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs135
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs153
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs329
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs397
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs316
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs200
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs347
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs559
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs346
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs81
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs1494
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs957
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs1015
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs208
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs175
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs461
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs267
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs1603
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs280
-rwxr-xr-x[-rw-r--r--]OpenSim/Region/PhysicsModules/BulletS/BSConstraintCollection.cs (renamed from OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs)15
-rwxr-xr-x[-rw-r--r--]OpenSim/Region/PhysicsModules/BulletS/BSConstraintSlider.cs (renamed from OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs)22
-rw-r--r--OpenSim/Region/PhysicsModules/BulletS/BSDynamics.cs (renamed from OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs)1099
23 files changed, 779 insertions, 10494 deletions
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
deleted file mode 100644
index d91c47f..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
+++ /dev/null
@@ -1,814 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Reflection;
30using log4net;
31using OMV = OpenMetaverse;
32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager;
34
35namespace OpenSim.Region.Physics.BulletSNPlugin
36{
37public sealed class BSCharacter : BSPhysObject
38{
39 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
40 private static readonly string LogHeader = "[BULLETS CHAR]";
41
42 // private bool _stopped;
43 private OMV.Vector3 _size;
44 private bool _grabbed;
45 private bool _selected;
46 private OMV.Vector3 _position;
47 private float _mass;
48 private float _avatarDensity;
49 private float _avatarVolume;
50 private OMV.Vector3 _force;
51 private OMV.Vector3 _velocity;
52 private OMV.Vector3 _torque;
53 private float _collisionScore;
54 private OMV.Vector3 _acceleration;
55 private OMV.Quaternion _orientation;
56 private int _physicsActorType;
57 private bool _isPhysical;
58 private bool _flying;
59 private bool _setAlwaysRun;
60 private bool _throttleUpdates;
61 private bool _isColliding;
62 private bool _collidingObj;
63 private bool _floatOnWater;
64 private OMV.Vector3 _rotationalVelocity;
65 private bool _kinematic;
66 private float _buoyancy;
67
68 // The friction and velocity of the avatar is modified depending on whether walking or not.
69 private OMV.Vector3 _appliedVelocity; // the last velocity applied to the avatar
70 private float _currentFriction; // the friction currently being used (changed by setVelocity).
71
72 private BSVMotor _velocityMotor;
73
74 private OMV.Vector3 _PIDTarget;
75 private bool _usePID;
76 private float _PIDTau;
77 private bool _useHoverPID;
78 private float _PIDHoverHeight;
79 private PIDHoverType _PIDHoverType;
80 private float _PIDHoverTao;
81
82 public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
83 : base(parent_scene, localID, avName, "BSCharacter")
84 {
85 _physicsActorType = (int)ActorTypes.Agent;
86 _position = pos;
87
88 // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
89 // replace with the default values.
90 _size = size;
91 if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
92 if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
93
94 // A motor to control the acceleration and deceleration of the avatar movement.
95 // _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
96 // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
97 // Infinite decay and timescale values so motor only changes current to target values.
98 _velocityMotor = new BSVMotor("BSCharacter.Velocity",
99 0.2f, // time scale
100 BSMotor.Infinite, // decay time scale
101 BSMotor.InfiniteVector, // friction timescale
102 1f // efficiency
103 );
104 _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
105
106 _flying = isFlying;
107 _orientation = OMV.Quaternion.Identity;
108 _velocity = OMV.Vector3.Zero;
109 _appliedVelocity = OMV.Vector3.Zero;
110 _buoyancy = ComputeBuoyancyFromFlying(isFlying);
111 _currentFriction = BSParam.AvatarStandingFriction;
112 _avatarDensity = BSParam.AvatarDensity;
113
114 // The dimensions of the avatar capsule are kept in the scale.
115 // Physics creates a unit capsule which is scaled by the physics engine.
116 ComputeAvatarScale(_size);
117 // set _avatarVolume and _mass based on capsule size, _density and Scale
118 ComputeAvatarVolumeAndMass();
119 DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
120 LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
121
122 // do actual creation in taint time
123 PhysicsScene.TaintedObject("BSCharacter.create", delegate()
124 {
125 DetailLog("{0},BSCharacter.create,taint", LocalID);
126 // New body and shape into PhysBody and PhysShape
127 PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
128
129 SetPhysicalProperties();
130 });
131 return;
132 }
133
134 // called when this character is being destroyed and the resources should be released
135 public override void Destroy()
136 {
137 base.Destroy();
138
139 DetailLog("{0},BSCharacter.Destroy", LocalID);
140 PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
141 {
142 PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
143 PhysBody.Clear();
144 PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
145 PhysShape.Clear();
146 });
147 }
148
149 private void SetPhysicalProperties()
150 {
151 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
152
153 ZeroMotion(true);
154 ForcePosition = _position;
155 // Set the velocity and compute the proper friction
156 ForceVelocity = _velocity;
157 // Setting the current and target in the motor will cause it to start computing any deceleration.
158 _velocityMotor.Reset();
159 _velocityMotor.SetCurrent(_velocity);
160 _velocityMotor.SetTarget(_velocity);
161 _velocityMotor.Enabled = false;
162
163 // This will enable or disable the flying buoyancy of the avatar.
164 // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
165 Flying = _flying;
166
167 BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution);
168 BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
169 BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
170 BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
171 if (BSParam.CcdMotionThreshold > 0f)
172 {
173 BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
174 BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
175 }
176
177 UpdatePhysicalMassProperties(RawMass, false);
178
179 // Make so capsule does not fall over
180 BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
181
182 BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
183
184 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation);
185
186 // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
187 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION);
188 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
189
190 // Do this after the object has been added to the world
191 PhysBody.collisionType = CollisionType.Avatar;
192 PhysBody.ApplyCollisionMask();
193 }
194
195 public override void RequestPhysicsterseUpdate()
196 {
197 base.RequestPhysicsterseUpdate();
198 }
199 // No one calls this method so I don't know what it could possibly mean
200 public override bool Stopped { get { return false; } }
201
202 public override OMV.Vector3 Size {
203 get
204 {
205 // Avatar capsule size is kept in the scale parameter.
206 return _size;
207 }
208
209 set {
210 // When an avatar's size is set, only the height is changed.
211 _size = value;
212 // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
213 // replace with the default values.
214 if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
215 if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
216
217 ComputeAvatarScale(_size);
218 ComputeAvatarVolumeAndMass();
219 DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
220 LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
221
222 PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
223 {
224 if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
225 {
226 BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
227 UpdatePhysicalMassProperties(RawMass, true);
228 // Make sure this change appears as a property update event
229 BulletSimAPI.PushUpdate2(PhysBody.ptr);
230 }
231 });
232
233 }
234 }
235
236 public override PrimitiveBaseShape Shape
237 {
238 set { BaseShape = value; }
239 }
240 // I want the physics engine to make an avatar capsule
241 public override BSPhysicsShapeType PreferredPhysicalShape
242 {
243 get {return BSPhysicsShapeType.SHAPE_CAPSULE; }
244 }
245
246 public override bool Grabbed {
247 set { _grabbed = value; }
248 }
249 public override bool Selected {
250 set { _selected = value; }
251 }
252 public override void CrossingFailure() { return; }
253 public override void link(PhysicsActor obj) { return; }
254 public override void delink() { return; }
255
256 // Set motion values to zero.
257 // Do it to the properties so the values get set in the physics engine.
258 // Push the setting of the values to the viewer.
259 // Called at taint time!
260 public override void ZeroMotion(bool inTaintTime)
261 {
262 _velocity = OMV.Vector3.Zero;
263 _acceleration = OMV.Vector3.Zero;
264 _rotationalVelocity = OMV.Vector3.Zero;
265
266 // Zero some other properties directly into the physics engine
267 PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
268 {
269 if (PhysBody.HasPhysicalBody)
270 BulletSimAPI.ClearAllForces2(PhysBody.ptr);
271 });
272 }
273 public override void ZeroAngularMotion(bool inTaintTime)
274 {
275 _rotationalVelocity = OMV.Vector3.Zero;
276
277 PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
278 {
279 if (PhysBody.HasPhysicalBody)
280 {
281 BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
282 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
283 // The next also get rid of applied linear force but the linear velocity is untouched.
284 BulletSimAPI.ClearForces2(PhysBody.ptr);
285 }
286 });
287 }
288
289
290 public override void LockAngularMotion(OMV.Vector3 axis) { return; }
291
292 public override OMV.Vector3 RawPosition
293 {
294 get { return _position; }
295 set { _position = value; }
296 }
297 public override OMV.Vector3 Position {
298 get {
299 // Don't refetch the position because this function is called a zillion times
300 // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
301 return _position;
302 }
303 set {
304 _position = value;
305 PositionSanityCheck();
306
307 PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
308 {
309 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
310 if (PhysBody.HasPhysicalBody)
311 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
312 });
313 }
314 }
315 public override OMV.Vector3 ForcePosition {
316 get {
317 _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
318 return _position;
319 }
320 set {
321 _position = value;
322 PositionSanityCheck();
323 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
324 }
325 }
326
327
328 // Check that the current position is sane and, if not, modify the position to make it so.
329 // Check for being below terrain or on water.
330 // Returns 'true' of the position was made sane by some action.
331 private bool PositionSanityCheck()
332 {
333 bool ret = false;
334
335 // TODO: check for out of bounds
336 if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
337 {
338 // The character is out of the known/simulated area.
339 // Upper levels of code will handle the transition to other areas so, for
340 // the time, we just ignore the position.
341 return ret;
342 }
343
344 // If below the ground, move the avatar up
345 float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
346 if (Position.Z < terrainHeight)
347 {
348 DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
349 _position.Z = terrainHeight + 2.0f;
350 ret = true;
351 }
352 if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
353 {
354 float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
355 if (Position.Z < waterHeight)
356 {
357 _position.Z = waterHeight;
358 ret = true;
359 }
360 }
361
362 return ret;
363 }
364
365 // A version of the sanity check that also makes sure a new position value is
366 // pushed back to the physics engine. This routine would be used by anyone
367 // who is not already pushing the value.
368 private bool PositionSanityCheck(bool inTaintTime)
369 {
370 bool ret = false;
371 if (PositionSanityCheck())
372 {
373 // The new position value must be pushed into the physics engine but we can't
374 // just assign to "Position" because of potential call loops.
375 PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
376 {
377 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
378 if (PhysBody.HasPhysicalBody)
379 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
380 });
381 ret = true;
382 }
383 return ret;
384 }
385
386 public override float Mass { get { return _mass; } }
387
388 // used when we only want this prim's mass and not the linkset thing
389 public override float RawMass {
390 get {return _mass; }
391 }
392 public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
393 {
394 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
395 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
396 }
397
398 public override OMV.Vector3 Force {
399 get { return _force; }
400 set {
401 _force = value;
402 // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
403 PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
404 {
405 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
406 if (PhysBody.HasPhysicalBody)
407 BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
408 });
409 }
410 }
411
412 public bool TouchingGround()
413 {
414 bool ret = BulletSimAPI.RayCastGround(PhysicsScene.World.ptr,_position,_size.Z * 0.55f, PhysBody.ptr);
415 return ret;
416 }
417 // Avatars don't do vehicles
418 public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } }
419 public override void VehicleFloatParam(int param, float value) { }
420 public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
421 public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
422 public override void VehicleFlags(int param, bool remove) { }
423
424 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
425 public override void SetVolumeDetect(int param) { return; }
426
427 public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
428 public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
429
430 // Sets the target in the motor. This starts the changing of the avatar's velocity.
431 public override OMV.Vector3 TargetVelocity
432 {
433 get
434 {
435 return _velocityMotor.TargetValue;
436 }
437 set
438 {
439 DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
440
441 if (!_flying)
442 if ((value.Z >= 0.0001f) || (value.Z <= -0.0001f) || _velocity.Z < -0.0001f)
443 if (!TouchingGround())
444 value.Z = _velocity.Z;
445 if (_setAlwaysRun)
446 value *= 1.3f;
447
448 OMV.Vector3 targetVel = value;
449
450 PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
451 {
452
453 _velocityMotor.Reset();
454 _velocityMotor.SetTarget(targetVel);
455 _velocityMotor.SetCurrent(_velocity);
456 _velocityMotor.Enabled = true;
457
458 // Make sure a property update happens next step so the motor gets incorporated.
459 BulletSimAPI.PushUpdate2(PhysBody.ptr);
460 });
461 }
462 }
463 // Directly setting velocity means this is what the user really wants now.
464 public override OMV.Vector3 Velocity {
465 get { return _velocity; }
466 set {
467 _velocity = value;
468 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
469 PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
470 {
471 _velocityMotor.Reset();
472 _velocityMotor.SetCurrent(_velocity);
473 _velocityMotor.SetTarget(_velocity);
474 // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar.
475 _velocityMotor.Enabled = false;
476
477 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
478 ForceVelocity = _velocity;
479 });
480 }
481 }
482 public override OMV.Vector3 ForceVelocity {
483 get { return _velocity; }
484 set {
485 PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
486
487 _velocity = value;
488 // Depending on whether the avatar is moving or not, change the friction
489 // to keep the avatar from slipping around
490 if (_velocity.Length() == 0)
491 {
492 if (_currentFriction != BSParam.AvatarStandingFriction)
493 {
494 _currentFriction = BSParam.AvatarStandingFriction;
495 if (PhysBody.HasPhysicalBody)
496 BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
497 }
498 }
499 else
500 {
501 if (_currentFriction != BSParam.AvatarFriction)
502 {
503 _currentFriction = BSParam.AvatarFriction;
504 if (PhysBody.HasPhysicalBody)
505 BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
506 }
507 }
508 // Remember the set velocity so we can suppress the reduction by friction, ...
509 _appliedVelocity = value;
510
511 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
512 BulletSimAPI.Activate2(PhysBody.ptr, true);
513 }
514 }
515 public override OMV.Vector3 Torque {
516 get { return _torque; }
517 set { _torque = value;
518 }
519 }
520 public override float CollisionScore {
521 get { return _collisionScore; }
522 set { _collisionScore = value;
523 }
524 }
525 public override OMV.Vector3 Acceleration {
526 get { return _acceleration; }
527 set { _acceleration = value; }
528 }
529 public override OMV.Quaternion RawOrientation
530 {
531 get { return _orientation; }
532 set { _orientation = value; }
533 }
534 public override OMV.Quaternion Orientation {
535 get { return _orientation; }
536 set {
537 _orientation = value;
538 // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
539 PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
540 {
541 if (PhysBody.HasPhysicalBody)
542 {
543 // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
544 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
545 }
546 });
547 }
548 }
549 // Go directly to Bullet to get/set the value.
550 public override OMV.Quaternion ForceOrientation
551 {
552 get
553 {
554 _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
555 return _orientation;
556 }
557 set
558 {
559 _orientation = value;
560 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
561 }
562 }
563 public override int PhysicsActorType {
564 get { return _physicsActorType; }
565 set { _physicsActorType = value;
566 }
567 }
568 public override bool IsPhysical {
569 get { return _isPhysical; }
570 set { _isPhysical = value;
571 }
572 }
573 public override bool IsSolid {
574 get { return true; }
575 }
576 public override bool IsStatic {
577 get { return false; }
578 }
579 public override bool Flying {
580 get { return _flying; }
581 set {
582 _flying = value;
583
584 // simulate flying by changing the effect of gravity
585 Buoyancy = ComputeBuoyancyFromFlying(_flying);
586 }
587 }
588 // Flying is implimented by changing the avatar's buoyancy.
589 // Would this be done better with a vehicle type?
590 private float ComputeBuoyancyFromFlying(bool ifFlying) {
591 return ifFlying ? 1f : 0f;
592 }
593 public override bool
594 SetAlwaysRun {
595 get { return _setAlwaysRun; }
596 set { _setAlwaysRun = value; }
597 }
598 public override bool ThrottleUpdates {
599 get { return _throttleUpdates; }
600 set { _throttleUpdates = value; }
601 }
602 public override bool IsColliding {
603 get { return (CollidingStep == PhysicsScene.SimulationStep); }
604 set { _isColliding = value; }
605 }
606 public override bool CollidingGround {
607 get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
608 set { CollidingGround = value; }
609 }
610 public override bool CollidingObj {
611 get { return _collidingObj; }
612 set { _collidingObj = value; }
613 }
614 public override bool FloatOnWater {
615 set {
616 _floatOnWater = value;
617 PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
618 {
619 if (PhysBody.HasPhysicalBody)
620 {
621 if (_floatOnWater)
622 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
623 else
624 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
625 }
626 });
627 }
628 }
629 public override OMV.Vector3 RotationalVelocity {
630 get { return _rotationalVelocity; }
631 set { _rotationalVelocity = value; }
632 }
633 public override OMV.Vector3 ForceRotationalVelocity {
634 get { return _rotationalVelocity; }
635 set { _rotationalVelocity = value; }
636 }
637 public override bool Kinematic {
638 get { return _kinematic; }
639 set { _kinematic = value; }
640 }
641 // neg=fall quickly, 0=1g, 1=0g, pos=float up
642 public override float Buoyancy {
643 get { return _buoyancy; }
644 set { _buoyancy = value;
645 PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
646 {
647 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
648 ForceBuoyancy = _buoyancy;
649 });
650 }
651 }
652 public override float ForceBuoyancy {
653 get { return _buoyancy; }
654 set {
655 PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
656
657 _buoyancy = value;
658 DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
659 // Buoyancy is faked by changing the gravity applied to the object
660 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
661 if (PhysBody.HasPhysicalBody)
662 BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
663 }
664 }
665
666 // Used for MoveTo
667 public override OMV.Vector3 PIDTarget {
668 set { _PIDTarget = value; }
669 }
670 public override bool PIDActive {
671 set { _usePID = value; }
672 }
673 public override float PIDTau {
674 set { _PIDTau = value; }
675 }
676
677 // Used for llSetHoverHeight and maybe vehicle height
678 // Hover Height will override MoveTo target's Z
679 public override bool PIDHoverActive {
680 set { _useHoverPID = value; }
681 }
682 public override float PIDHoverHeight {
683 set { _PIDHoverHeight = value; }
684 }
685 public override PIDHoverType PIDHoverType {
686 set { _PIDHoverType = value; }
687 }
688 public override float PIDHoverTau {
689 set { _PIDHoverTao = value; }
690 }
691
692 // For RotLookAt
693 public override OMV.Quaternion APIDTarget { set { return; } }
694 public override bool APIDActive { set { return; } }
695 public override float APIDStrength { set { return; } }
696 public override float APIDDamping { set { return; } }
697
698 public override void AddForce(OMV.Vector3 force, bool pushforce) {
699 if (force.IsFinite())
700 {
701 _force.X += force.X;
702 _force.Y += force.Y;
703 _force.Z += force.Z;
704 // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
705 PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
706 {
707 DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
708 if (PhysBody.HasPhysicalBody)
709 BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
710 });
711 }
712 else
713 {
714 m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader);
715 }
716 //m_lastUpdateSent = false;
717 }
718
719 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
720 }
721 public override void SetMomentum(OMV.Vector3 momentum) {
722 }
723
724 private void ComputeAvatarScale(OMV.Vector3 size)
725 {
726 OMV.Vector3 newScale = size;
727 // newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
728 // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;
729
730 // From the total height, remove the capsule half spheres that are at each end
731 // The 1.15f came from ODE. Not sure what this factors in.
732 // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
733
734 // The total scale height is the central cylindar plus the caps on the two ends.
735 newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f);
736
737 // Convert diameters to radii and height to half height -- the way Bullet expects it.
738 Scale = newScale / 2f;
739 }
740
741 // set _avatarVolume and _mass based on capsule size, _density and Scale
742 private void ComputeAvatarVolumeAndMass()
743 {
744 _avatarVolume = (float)(
745 Math.PI
746 * Scale.X
747 * Scale.Y // the area of capsule cylinder
748 * Scale.Z // times height of capsule cylinder
749 + 1.33333333f
750 * Math.PI
751 * Scale.X
752 * Math.Min(Scale.X, Scale.Y)
753 * Scale.Y // plus the volume of the capsule end caps
754 );
755 _mass = _avatarDensity * _avatarVolume;
756 }
757
758 // The physics engine says that properties have updated. Update same and inform
759 // the world that things have changed.
760 public override void UpdateProperties(EntityProperties entprop)
761 {
762 _position = entprop.Position;
763 _orientation = entprop.Rotation;
764 _velocity = entprop.Velocity;
765 _acceleration = entprop.Acceleration;
766 _rotationalVelocity = entprop.RotationalVelocity;
767
768 // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
769 PositionSanityCheck(true);
770
771 if (_velocityMotor.Enabled)
772 {
773 // TODO: Decide if the step parameters should be changed depending on the avatar's
774 // state (flying, colliding, ...).
775
776 OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
777
778 // If falling, we keep the world's downward vector no matter what the other axis specify.
779 if (!Flying && !IsColliding)
780 {
781 stepVelocity.Z = entprop.Velocity.Z;
782 DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
783 }
784
785 // If the user has said stop and we've stopped applying velocity correction,
786 // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
787 if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
788 {
789 ZeroMotion(true);
790 stepVelocity = OMV.Vector3.Zero;
791 _velocityMotor.Enabled = false;
792 DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
793 }
794
795 _velocity = stepVelocity;
796 entprop.Velocity = _velocity;
797 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
798 }
799
800 // remember the current and last set values
801 LastEntityProperties = CurrentEntityProperties;
802 CurrentEntityProperties = entprop;
803
804 // Tell the linkset about value changes
805 Linkset.UpdateProperties(this, true);
806
807 // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
808 // base.RequestPhysicsterseUpdate();
809
810 DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
811 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
812 }
813}
814}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
deleted file mode 100644
index f1bed39..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
+++ /dev/null
@@ -1,135 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30using OpenMetaverse;
31
32namespace OpenSim.Region.Physics.BulletSNPlugin
33{
34
35public abstract class BSConstraint : IDisposable
36{
37 private static string LogHeader = "[BULLETSIM CONSTRAINT]";
38
39 protected BulletWorld m_world;
40 protected BulletBody m_body1;
41 protected BulletBody m_body2;
42 protected BulletConstraint m_constraint;
43 protected bool m_enabled = false;
44
45 public BulletBody Body1 { get { return m_body1; } }
46 public BulletBody Body2 { get { return m_body2; } }
47 public BulletConstraint Constraint { get { return m_constraint; } }
48 public abstract ConstraintType Type { get; }
49 public bool IsEnabled { get { return m_enabled; } }
50
51 public BSConstraint()
52 {
53 }
54
55 public virtual void Dispose()
56 {
57 if (m_enabled)
58 {
59 m_enabled = false;
60 if (m_constraint.HasPhysicalConstraint)
61 {
62 bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
63 m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
64 BSScene.DetailLogZero,
65 m_body1.ID, m_body1.ptr.ToString(),
66 m_body2.ID, m_body2.ptr.ToString(),
67 success);
68 m_constraint.Clear();
69 }
70 }
71 }
72
73 public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
74 {
75 bool ret = false;
76 if (m_enabled)
77 ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
78 return ret;
79 }
80
81 public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
82 {
83 bool ret = false;
84 if (m_enabled)
85 ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
86 return ret;
87 }
88
89 public virtual bool SetSolverIterations(float cnt)
90 {
91 bool ret = false;
92 if (m_enabled)
93 {
94 BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
95 ret = true;
96 }
97 return ret;
98 }
99
100 public virtual bool CalculateTransforms()
101 {
102 bool ret = false;
103 if (m_enabled)
104 {
105 // Recompute the internal transforms
106 BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
107 ret = true;
108 }
109 return ret;
110 }
111
112 // Reset this constraint making sure it has all its internal structures
113 // recomputed and is enabled and ready to go.
114 public virtual bool RecomputeConstraintVariables(float mass)
115 {
116 bool ret = false;
117 if (m_enabled)
118 {
119 ret = CalculateTransforms();
120 if (ret)
121 {
122 // Setting an object's mass to zero (making it static like when it's selected)
123 // automatically disables the constraints.
124 // If the link is enabled, be sure to set the constraint itself to enabled.
125 BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true));
126 }
127 else
128 {
129 m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID);
130 }
131 }
132 return ret;
133 }
134}
135}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs
deleted file mode 100644
index d1e3f55..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs
+++ /dev/null
@@ -1,153 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30using OpenMetaverse;
31
32namespace OpenSim.Region.Physics.BulletSNPlugin
33{
34
35public sealed class BSConstraint6Dof : BSConstraint
36{
37 private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
38
39 public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
40
41 // Create a btGeneric6DofConstraint
42 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
43 Vector3 frame1, Quaternion frame1rot,
44 Vector3 frame2, Quaternion frame2rot,
45 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
46 {
47 m_world = world;
48 m_body1 = obj1;
49 m_body2 = obj2;
50 m_constraint = new BulletConstraint(
51 BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
52 frame1, frame1rot,
53 frame2, frame2rot,
54 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
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(), obj2.ID, obj2.ptr.ToString());
59 }
60
61 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
62 Vector3 joinPoint,
63 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
64 {
65 m_world = world;
66 m_body1 = obj1;
67 m_body2 = obj2;
68 if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
69 {
70 world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
71 BSScene.DetailLogZero, world.worldID,
72 obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
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 LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
75 m_enabled = false;
76 }
77 else
78 {
79 m_constraint = new BulletConstraint(
80 BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
81 joinPoint,
82 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
83 world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
84 BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString(),
85 obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
86 if (!m_constraint.HasPhysicalConstraint)
87 {
88 world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
89 LogHeader, obj1.ID, obj2.ID);
90 m_enabled = false;
91 }
92 else
93 {
94 m_enabled = true;
95 }
96 }
97 }
98
99 public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
100 {
101 bool ret = false;
102 if (m_enabled)
103 {
104 BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
105 ret = true;
106 }
107 return ret;
108 }
109
110 public bool SetCFMAndERP(float cfm, float erp)
111 {
112 bool ret = false;
113 if (m_enabled)
114 {
115 BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
116 BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
117 BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
118 ret = true;
119 }
120 return ret;
121 }
122
123 public bool UseFrameOffset(bool useOffset)
124 {
125 bool ret = false;
126 float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
127 if (m_enabled)
128 ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
129 return ret;
130 }
131
132 public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
133 {
134 bool ret = false;
135 float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
136 if (m_enabled)
137 {
138 ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
139 m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
140 BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
141 }
142 return ret;
143 }
144
145 public bool SetBreakingImpulseThreshold(float threshold)
146 {
147 bool ret = false;
148 if (m_enabled)
149 ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
150 return ret;
151 }
152}
153}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs
deleted file mode 100644
index 845a113..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs
+++ /dev/null
@@ -1,329 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30
31using OMV = OpenMetaverse;
32
33namespace OpenSim.Region.Physics.BulletSNPlugin
34{
35
36// A BSPrim can get individual information about its linkedness attached
37// to it through an instance of a subclass of LinksetInfo.
38// Each type of linkset will define the information needed for its type.
39public abstract class BSLinksetInfo
40{
41 public virtual void Clear() { }
42}
43
44public abstract class BSLinkset
45{
46 // private static string LogHeader = "[BULLETSIM LINKSET]";
47
48 public enum LinksetImplementation
49 {
50 Constraint = 0, // linkset tied together with constraints
51 Compound = 1, // linkset tied together as a compound object
52 Manual = 2 // linkset tied together manually (code moves all the pieces)
53 }
54 // Create the correct type of linkset for this child
55 public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
56 {
57 BSLinkset ret = null;
58
59 switch ((int)BSParam.LinksetImplementation)
60 {
61 case (int)LinksetImplementation.Constraint:
62 ret = new BSLinksetConstraints(physScene, parent);
63 break;
64 case (int)LinksetImplementation.Compound:
65 ret = new BSLinksetCompound(physScene, parent);
66 break;
67 case (int)LinksetImplementation.Manual:
68 // ret = new BSLinksetManual(physScene, parent);
69 break;
70 default:
71 ret = new BSLinksetCompound(physScene, parent);
72 break;
73 }
74 return ret;
75 }
76
77 public BSPhysObject LinksetRoot { get; protected set; }
78
79 public BSScene PhysicsScene { get; private set; }
80
81 static int m_nextLinksetID = 1;
82 public int LinksetID { get; private set; }
83
84 // The children under the root in this linkset.
85 protected HashSet<BSPhysObject> m_children;
86
87 // We lock the diddling of linkset classes to prevent any badness.
88 // This locks the modification of the instances of this class. Changes
89 // to the physical representation is done via the tainting mechenism.
90 protected object m_linksetActivityLock = new Object();
91
92 // Some linksets have a preferred physical shape.
93 // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
94 public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
95 {
96 return BSPhysicsShapeType.SHAPE_UNKNOWN;
97 }
98
99 // We keep the prim's mass in the linkset structure since it could be dependent on other prims
100 public float LinksetMass { get; protected set; }
101
102 public virtual bool LinksetIsColliding { get { return false; } }
103
104 public OMV.Vector3 CenterOfMass
105 {
106 get { return ComputeLinksetCenterOfMass(); }
107 }
108
109 public OMV.Vector3 GeometricCenter
110 {
111 get { return ComputeLinksetGeometricCenter(); }
112 }
113
114 protected BSLinkset(BSScene scene, BSPhysObject parent)
115 {
116 // A simple linkset of one (no children)
117 LinksetID = m_nextLinksetID++;
118 // We create LOTS of linksets.
119 if (m_nextLinksetID <= 0)
120 m_nextLinksetID = 1;
121 PhysicsScene = scene;
122 LinksetRoot = parent;
123 m_children = new HashSet<BSPhysObject>();
124 LinksetMass = parent.RawMass;
125 Rebuilding = false;
126 }
127
128 // Link to a linkset where the child knows the parent.
129 // Parent changing should not happen so do some sanity checking.
130 // We return the parent's linkset so the child can track its membership.
131 // Called at runtime.
132 public BSLinkset AddMeToLinkset(BSPhysObject child)
133 {
134 lock (m_linksetActivityLock)
135 {
136 // Don't add the root to its own linkset
137 if (!IsRoot(child))
138 AddChildToLinkset(child);
139 LinksetMass = ComputeLinksetMass();
140 }
141 return this;
142 }
143
144 // Remove a child from a linkset.
145 // Returns a new linkset for the child which is a linkset of one (just the
146 // orphened child).
147 // Called at runtime.
148 public BSLinkset RemoveMeFromLinkset(BSPhysObject child)
149 {
150 lock (m_linksetActivityLock)
151 {
152 if (IsRoot(child))
153 {
154 // Cannot remove the root from a linkset.
155 return this;
156 }
157 RemoveChildFromLinkset(child);
158 LinksetMass = ComputeLinksetMass();
159 }
160
161 // The child is down to a linkset of just itself
162 return BSLinkset.Factory(PhysicsScene, child);
163 }
164
165 // Return 'true' if the passed object is the root object of this linkset
166 public bool IsRoot(BSPhysObject requestor)
167 {
168 return (requestor.LocalID == LinksetRoot.LocalID);
169 }
170
171 public int NumberOfChildren { get { return m_children.Count; } }
172
173 // Return 'true' if this linkset has any children (more than the root member)
174 public bool HasAnyChildren { get { return (m_children.Count > 0); } }
175
176 // Return 'true' if this child is in this linkset
177 public bool HasChild(BSPhysObject child)
178 {
179 bool ret = false;
180 lock (m_linksetActivityLock)
181 {
182 ret = m_children.Contains(child);
183 /* Safer version but the above should work
184 foreach (BSPhysObject bp in m_children)
185 {
186 if (child.LocalID == bp.LocalID)
187 {
188 ret = true;
189 break;
190 }
191 }
192 */
193 }
194 return ret;
195 }
196
197 // Perform an action on each member of the linkset including root prim.
198 // Depends on the action on whether this should be done at taint time.
199 public delegate bool ForEachMemberAction(BSPhysObject obj);
200 public virtual bool ForEachMember(ForEachMemberAction action)
201 {
202 bool ret = false;
203 lock (m_linksetActivityLock)
204 {
205 action(LinksetRoot);
206 foreach (BSPhysObject po in m_children)
207 {
208 if (action(po))
209 break;
210 }
211 }
212 return ret;
213 }
214
215 // I am the root of a linkset and a new child is being added
216 // Called while LinkActivity is locked.
217 protected abstract void AddChildToLinkset(BSPhysObject child);
218
219 // I am the root of a linkset and one of my children is being removed.
220 // Safe to call even if the child is not really in my linkset.
221 protected abstract void RemoveChildFromLinkset(BSPhysObject child);
222
223 // When physical properties are changed the linkset needs to recalculate
224 // its internal properties.
225 // May be called at runtime or taint-time.
226 public virtual void Refresh(BSPhysObject requestor)
227 {
228 LinksetMass = ComputeLinksetMass();
229 }
230
231 // Flag denoting the linkset is in the process of being rebuilt.
232 // Used to know not the schedule a rebuild in the middle of a rebuild.
233 protected bool Rebuilding { get; set; }
234
235 // The object is going dynamic (physical). Do any setup necessary
236 // for a dynamic linkset.
237 // Only the state of the passed object can be modified. The rest of the linkset
238 // has not yet been fully constructed.
239 // Return 'true' if any properties updated on the passed object.
240 // Called at taint-time!
241 public abstract bool MakeDynamic(BSPhysObject child);
242
243 // The object is going static (non-physical). Do any setup necessary
244 // for a static linkset.
245 // Return 'true' if any properties updated on the passed object.
246 // Called at taint-time!
247 public abstract bool MakeStatic(BSPhysObject child);
248
249 // Called when a parameter update comes from the physics engine for any object
250 // of the linkset is received.
251 // Passed flag is update came from physics engine (true) or the user (false).
252 // Called at taint-time!!
253 public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate);
254
255 // Routine used when rebuilding the body of the root of the linkset
256 // Destroy all the constraints have have been made to root.
257 // This is called when the root body is changing.
258 // Returns 'true' of something was actually removed and would need restoring
259 // Called at taint-time!!
260 public abstract bool RemoveBodyDependencies(BSPrim child);
261
262 // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
263 // this routine will restore the removed constraints.
264 // Called at taint-time!!
265 public abstract void RestoreBodyDependencies(BSPrim child);
266
267 // ================================================================
268 protected virtual float ComputeLinksetMass()
269 {
270 float mass = LinksetRoot.RawMass;
271 if (HasAnyChildren)
272 {
273 lock (m_linksetActivityLock)
274 {
275 foreach (BSPhysObject bp in m_children)
276 {
277 mass += bp.RawMass;
278 }
279 }
280 }
281 return mass;
282 }
283
284 protected virtual OMV.Vector3 ComputeLinksetCenterOfMass()
285 {
286 OMV.Vector3 com;
287 lock (m_linksetActivityLock)
288 {
289 com = LinksetRoot.Position * LinksetRoot.RawMass;
290 float totalMass = LinksetRoot.RawMass;
291
292 foreach (BSPhysObject bp in m_children)
293 {
294 com += bp.Position * bp.RawMass;
295 totalMass += bp.RawMass;
296 }
297 if (totalMass != 0f)
298 com /= totalMass;
299 }
300
301 return com;
302 }
303
304 protected virtual OMV.Vector3 ComputeLinksetGeometricCenter()
305 {
306 OMV.Vector3 com;
307 lock (m_linksetActivityLock)
308 {
309 com = LinksetRoot.Position;
310
311 foreach (BSPhysObject bp in m_children)
312 {
313 com += bp.Position * bp.RawMass;
314 }
315 com /= (m_children.Count + 1);
316 }
317
318 return com;
319 }
320
321 // Invoke the detailed logger and output something if it's enabled.
322 protected void DetailLog(string msg, params Object[] args)
323 {
324 if (PhysicsScene.PhysicsLogging.Enabled)
325 PhysicsScene.DetailLog(msg, args);
326 }
327
328}
329}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
deleted file mode 100644
index 9a977e6..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
+++ /dev/null
@@ -1,397 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30
31using OpenSim.Framework;
32
33using OMV = OpenMetaverse;
34
35namespace OpenSim.Region.Physics.BulletSNPlugin
36{
37
38// When a child is linked, the relationship position of the child to the parent
39// is remembered so the child's world position can be recomputed when it is
40// removed from the linkset.
41sealed class BSLinksetCompoundInfo : BSLinksetInfo
42{
43 public OMV.Vector3 OffsetPos;
44 public OMV.Quaternion OffsetRot;
45 public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r)
46 {
47 OffsetPos = p;
48 OffsetRot = r;
49 }
50 public override void Clear()
51 {
52 OffsetPos = OMV.Vector3.Zero;
53 OffsetRot = OMV.Quaternion.Identity;
54 }
55 public override string ToString()
56 {
57 StringBuilder buff = new StringBuilder();
58 buff.Append("<p=");
59 buff.Append(OffsetPos.ToString());
60 buff.Append(",r=");
61 buff.Append(OffsetRot.ToString());
62 buff.Append(">");
63 return buff.ToString();
64 }
65};
66
67public sealed class BSLinksetCompound : BSLinkset
68{
69 private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
70
71 public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent)
72 {
73 }
74
75 // For compound implimented linksets, if there are children, use compound shape for the root.
76 public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
77 {
78 // Returning 'unknown' means we don't have a preference.
79 BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
80 if (IsRoot(requestor) && HasAnyChildren)
81 {
82 ret = BSPhysicsShapeType.SHAPE_COMPOUND;
83 }
84 // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret);
85 return ret;
86 }
87
88 // When physical properties are changed the linkset needs to recalculate
89 // its internal properties.
90 public override void Refresh(BSPhysObject requestor)
91 {
92 base.Refresh(requestor);
93
94 // Something changed so do the rebuilding thing
95 // ScheduleRebuild();
96 }
97
98 // Schedule a refresh to happen after all the other taint processing.
99 private void ScheduleRebuild(BSPhysObject requestor)
100 {
101 DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}",
102 requestor.LocalID, Rebuilding);
103 // When rebuilding, it is possible to set properties that would normally require a rebuild.
104 // If already rebuilding, don't request another rebuild.
105 if (!Rebuilding)
106 {
107 PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
108 {
109 if (HasAnyChildren)
110 RecomputeLinksetCompound();
111 });
112 }
113 }
114
115 // The object is going dynamic (physical). Do any setup necessary
116 // for a dynamic linkset.
117 // Only the state of the passed object can be modified. The rest of the linkset
118 // has not yet been fully constructed.
119 // Return 'true' if any properties updated on the passed object.
120 // Called at taint-time!
121 public override bool MakeDynamic(BSPhysObject child)
122 {
123 bool ret = false;
124 DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
125 if (IsRoot(child))
126 {
127 // The root is going dynamic. Make sure mass is properly set.
128 ScheduleRebuild(LinksetRoot);
129 }
130 else
131 {
132 // The origional prims are removed from the world as the shape of the root compound
133 // shape takes over.
134 BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
135 BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
136 // We don't want collisions from the old linkset children.
137 BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
138
139 child.PhysBody.collisionType = CollisionType.LinksetChild;
140
141 ret = true;
142 }
143 return ret;
144 }
145
146 // The object is going static (non-physical). Do any setup necessary for a static linkset.
147 // Return 'true' if any properties updated on the passed object.
148 // This doesn't normally happen -- OpenSim removes the objects from the physical
149 // world if it is a static linkset.
150 // Called at taint-time!
151 public override bool MakeStatic(BSPhysObject child)
152 {
153 bool ret = false;
154 DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
155 if (IsRoot(child))
156 {
157 ScheduleRebuild(LinksetRoot);
158 }
159 else
160 {
161 // The non-physical children can come back to life.
162 BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
163
164 child.PhysBody.collisionType = CollisionType.LinksetChild;
165
166 // Don't force activation so setting of DISABLE_SIMULATION can stay if used.
167 BulletSimAPI.Activate2(child.PhysBody.ptr, false);
168 ret = true;
169 }
170 return ret;
171 }
172
173 public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
174 {
175 // The user moving a child around requires the rebuilding of the linkset compound shape
176 // One problem is this happens when a border is crossed -- the simulator implementation
177 // is to store the position into the group which causes the move of the object
178 // but it also means all the child positions get updated.
179 // What would cause an unnecessary rebuild so we make sure the linkset is in a
180 // region before bothering to do a rebuild.
181 if (!IsRoot(updated)
182 && !physicalUpdate
183 && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
184 {
185 updated.LinksetInfo = null;
186 ScheduleRebuild(updated);
187 }
188 }
189
190 // Routine called when rebuilding the body of some member of the linkset.
191 // Since we don't keep in world relationships, do nothing unless it's a child changing.
192 // Returns 'true' of something was actually removed and would need restoring
193 // Called at taint-time!!
194 public override bool RemoveBodyDependencies(BSPrim child)
195 {
196 bool ret = false;
197
198 DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
199 child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), IsRoot(child));
200
201 if (!IsRoot(child))
202 {
203 // Because it is a convenient time, recompute child world position and rotation based on
204 // its position in the linkset.
205 RecomputeChildWorldPosition(child, true);
206 }
207
208 // Cannot schedule a refresh/rebuild here because this routine is called when
209 // the linkset is being rebuilt.
210 // InternalRefresh(LinksetRoot);
211
212 return ret;
213 }
214
215 // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
216 // this routine will restore the removed constraints.
217 // Called at taint-time!!
218 public override void RestoreBodyDependencies(BSPrim child)
219 {
220 }
221
222 // When the linkset is built, the child shape is added to the compound shape relative to the
223 // root shape. The linkset then moves around but this does not move the actual child
224 // prim. The child prim's location must be recomputed based on the location of the root shape.
225 private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
226 {
227 BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
228 if (lci != null)
229 {
230 if (inTaintTime)
231 {
232 OMV.Vector3 oldPos = child.RawPosition;
233 child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos;
234 child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot;
235 DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}",
236 child.LocalID, oldPos, lci, child.RawPosition);
237 }
238 else
239 {
240 // TaintedObject is not used here so the raw position is set now and not at taint-time.
241 child.Position = LinksetRoot.RawPosition + lci.OffsetPos;
242 child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot;
243 }
244 }
245 else
246 {
247 // This happens when children have been added to the linkset but the linkset
248 // has not been constructed yet. So like, at taint time, adding children to a linkset
249 // and then changing properties of the children (makePhysical, for instance)
250 // but the post-print action of actually rebuilding the linkset has not yet happened.
251 // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}",
252 // LogHeader, child.LocalID);
253 DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
254 }
255 }
256
257 // ================================================================
258
259 // Add a new child to the linkset.
260 // Called while LinkActivity is locked.
261 protected override void AddChildToLinkset(BSPhysObject child)
262 {
263 if (!HasChild(child))
264 {
265 m_children.Add(child);
266
267 DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
268
269 // Rebuild the compound shape with the new child shape included
270 ScheduleRebuild(child);
271 }
272 return;
273 }
274
275 // Remove the specified child from the linkset.
276 // Safe to call even if the child is not really in the linkset.
277 protected override void RemoveChildFromLinkset(BSPhysObject child)
278 {
279 if (m_children.Remove(child))
280 {
281 DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
282 child.LocalID,
283 LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(),
284 child.LocalID, child.PhysBody.ptr.ToString());
285
286 // Cause the child's body to be rebuilt and thus restored to normal operation
287 RecomputeChildWorldPosition(child, false);
288 child.ForceBodyShapeRebuild(false);
289
290 if (!HasAnyChildren)
291 {
292 // The linkset is now empty. The root needs rebuilding.
293 LinksetRoot.ForceBodyShapeRebuild(false);
294 }
295 else
296 {
297 // Rebuild the compound shape with the child removed
298 ScheduleRebuild(child);
299 }
300 }
301 return;
302 }
303
304 // Called before the simulation step to make sure the compound based linkset
305 // is all initialized.
306 // Constraint linksets are rebuilt every time.
307 // Note that this works for rebuilding just the root after a linkset is taken apart.
308 // Called at taint time!!
309 private void RecomputeLinksetCompound()
310 {
311 try
312 {
313 // Suppress rebuilding while rebuilding
314 Rebuilding = true;
315
316 // Cause the root shape to be rebuilt as a compound object with just the root in it
317 LinksetRoot.ForceBodyShapeRebuild(true);
318
319 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
320 LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
321
322 // Add a shape for each of the other children in the linkset
323 ForEachMember(delegate(BSPhysObject cPrim)
324 {
325 if (!IsRoot(cPrim))
326 {
327 // Compute the displacement of the child from the root of the linkset.
328 // This info is saved in the child prim so the relationship does not
329 // change over time and the new child position can be computed
330 // when the linkset is being disassembled (the linkset may have moved).
331 BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
332 if (lci == null)
333 {
334 // Each child position and rotation is given relative to the root.
335 OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
336 OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
337 OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
338
339 // Save relative position for recomputing child's world position after moving linkset.
340 lci = new BSLinksetCompoundInfo(displacementPos, displacementRot);
341 cPrim.LinksetInfo = lci;
342 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
343 }
344
345 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
346 LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);
347
348 if (cPrim.PhysShape.isNativeShape)
349 {
350 // A native shape is turning into a hull collision shape because native
351 // shapes are not shared so we have to hullify it so it will be tracked
352 // and freed at the correct time. This also solves the scaling problem
353 // (native shapes scaled but hull/meshes are assumed to not be).
354 // TODO: decide of the native shape can just be used in the compound shape.
355 // Use call to CreateGeomNonSpecial().
356 BulletShape saveShape = cPrim.PhysShape;
357 cPrim.PhysShape.Clear(); // Don't let the create free the child's shape
358 // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null);
359 PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
360 BulletShape newShape = cPrim.PhysShape;
361 cPrim.PhysShape = saveShape;
362 BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot);
363 }
364 else
365 {
366 // For the shared shapes (meshes and hulls), just use the shape in the child.
367 // The reference count added here will be decremented when the compound shape
368 // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced).
369 if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
370 {
371 PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
372 LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
373 }
374 BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot);
375 }
376 }
377 return false; // 'false' says to move onto the next child in the list
378 });
379
380 // With all of the linkset packed into the root prim, it has the mass of everyone.
381 LinksetMass = LinksetMass;
382 LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
383 }
384 finally
385 {
386 Rebuilding = false;
387 }
388
389 BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr);
390
391 // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets.
392 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
393 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
394
395 }
396}
397} \ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs
deleted file mode 100644
index 46ff99f..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs
+++ /dev/null
@@ -1,316 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30
31using OMV = OpenMetaverse;
32
33namespace OpenSim.Region.Physics.BulletSNPlugin
34{
35public sealed class BSLinksetConstraints : BSLinkset
36{
37 // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
38
39 public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent)
40 {
41 }
42
43 // When physical properties are changed the linkset needs to recalculate
44 // its internal properties.
45 // This is queued in the 'post taint' queue so the
46 // refresh will happen once after all the other taints are applied.
47 public override void Refresh(BSPhysObject requestor)
48 {
49 base.Refresh(requestor);
50
51 // Queue to happen after all the other taint processing
52 PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
53 {
54 if (HasAnyChildren && IsRoot(requestor))
55 RecomputeLinksetConstraints();
56 });
57 }
58
59 // The object is going dynamic (physical). Do any setup necessary
60 // for a dynamic linkset.
61 // Only the state of the passed object can be modified. The rest of the linkset
62 // has not yet been fully constructed.
63 // Return 'true' if any properties updated on the passed object.
64 // Called at taint-time!
65 public override bool MakeDynamic(BSPhysObject child)
66 {
67 // What is done for each object in BSPrim is what we want.
68 return false;
69 }
70
71 // The object is going static (non-physical). Do any setup necessary for a static linkset.
72 // Return 'true' if any properties updated on the passed object.
73 // This doesn't normally happen -- OpenSim removes the objects from the physical
74 // world if it is a static linkset.
75 // Called at taint-time!
76 public override bool MakeStatic(BSPhysObject child)
77 {
78 // What is done for each object in BSPrim is what we want.
79 return false;
80 }
81
82 // Called at taint-time!!
83 public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
84 {
85 // Nothing to do for constraints on property updates
86 }
87
88 // Routine called when rebuilding the body of some member of the linkset.
89 // Destroy all the constraints have have been made to root and set
90 // up to rebuild the constraints before the next simulation step.
91 // Returns 'true' of something was actually removed and would need restoring
92 // Called at taint-time!!
93 public override bool RemoveBodyDependencies(BSPrim child)
94 {
95 bool ret = false;
96
97 DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
98 child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString());
99
100 lock (m_linksetActivityLock)
101 {
102 // Just undo all the constraints for this linkset. Rebuild at the end of the step.
103 ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
104 // Cause the constraints, et al to be rebuilt before the next simulation step.
105 Refresh(LinksetRoot);
106 }
107 return ret;
108 }
109
110 // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
111 // this routine will restore the removed constraints.
112 // Called at taint-time!!
113 public override void RestoreBodyDependencies(BSPrim child)
114 {
115 // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
116 }
117
118 // ================================================================
119
120 // Add a new child to the linkset.
121 // Called while LinkActivity is locked.
122 protected override void AddChildToLinkset(BSPhysObject child)
123 {
124 if (!HasChild(child))
125 {
126 m_children.Add(child);
127
128 DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
129
130 // Cause constraints and assorted properties to be recomputed before the next simulation step.
131 Refresh(LinksetRoot);
132 }
133 return;
134 }
135
136 // Remove the specified child from the linkset.
137 // Safe to call even if the child is not really in my linkset.
138 protected override void RemoveChildFromLinkset(BSPhysObject child)
139 {
140 if (m_children.Remove(child))
141 {
142 BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
143 BSPhysObject childx = child;
144
145 DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
146 childx.LocalID,
147 rootx.LocalID, rootx.PhysBody.ptr.ToString(),
148 childx.LocalID, childx.PhysBody.ptr.ToString());
149
150 PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
151 {
152 PhysicallyUnlinkAChildFromRoot(rootx, childx);
153 });
154 // See that the linkset parameters are recomputed at the end of the taint time.
155 Refresh(LinksetRoot);
156 }
157 else
158 {
159 // Non-fatal occurance.
160 // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
161 }
162 return;
163 }
164
165 // Create a constraint between me (root of linkset) and the passed prim (the child).
166 // Called at taint time!
167 private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
168 {
169 // Don't build the constraint when asked. Put it off until just before the simulation step.
170 Refresh(rootPrim);
171 }
172
173 private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
174 {
175 // Zero motion for children so they don't interpolate
176 childPrim.ZeroMotion(true);
177
178 // Relative position normalized to the root prim
179 // Essentually a vector pointing from center of rootPrim to center of childPrim
180 OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position;
181
182 // real world coordinate of midpoint between the two objects
183 OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
184
185 DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
186 rootPrim.LocalID,
187 rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
188 childPrim.LocalID, childPrim.PhysBody.ptr.ToString(),
189 rootPrim.Position, childPrim.Position, midPoint);
190
191 // create a constraint that allows no freedom of movement between the two objects
192 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
193
194 BSConstraint6Dof constrain = new BSConstraint6Dof(
195 PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
196 // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true );
197
198 /* NOTE: below is an attempt to build constraint with full frame computation, etc.
199 * Using the midpoint is easier since it lets the Bullet code manipulate the transforms
200 * of the objects.
201 * Code left for future programmers.
202 // ==================================================================================
203 // relative position normalized to the root prim
204 OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
205 OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation;
206
207 // relative rotation of the child to the parent
208 OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
209 OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
210
211 DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
212 BS6DofConstraint constrain = new BS6DofConstraint(
213 PhysicsScene.World, rootPrim.Body, childPrim.Body,
214 OMV.Vector3.Zero,
215 OMV.Quaternion.Inverse(rootPrim.Orientation),
216 OMV.Vector3.Zero,
217 OMV.Quaternion.Inverse(childPrim.Orientation),
218 true,
219 true
220 );
221 // ==================================================================================
222 */
223
224 PhysicsScene.Constraints.AddConstraint(constrain);
225
226 // zero linear and angular limits makes the objects unable to move in relation to each other
227 constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
228 constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
229
230 // tweek the constraint to increase stability
231 constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset));
232 constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor),
233 BSParam.LinkConstraintTransMotorMaxVel,
234 BSParam.LinkConstraintTransMotorMaxForce);
235 constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP);
236 if (BSParam.LinkConstraintSolverIterations != 0f)
237 {
238 constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations);
239 }
240 return constrain;
241 }
242
243 // Remove linkage between the linkset root and a particular child
244 // The root and child bodies are passed in because we need to remove the constraint between
245 // the bodies that were present at unlink time.
246 // Called at taint time!
247 private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
248 {
249 bool ret = false;
250 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
251 rootPrim.LocalID,
252 rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
253 childPrim.LocalID, childPrim.PhysBody.ptr.ToString());
254
255 // Find the constraint for this link and get rid of it from the overall collection and from my list
256 if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
257 {
258 // Make the child refresh its location
259 BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr);
260 ret = true;
261 }
262
263 return ret;
264 }
265
266 // Remove linkage between myself and any possible children I might have.
267 // Returns 'true' of any constraints were destroyed.
268 // Called at taint time!
269 private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
270 {
271 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
272
273 return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
274 }
275
276 // Call each of the constraints that make up this linkset and recompute the
277 // various transforms and variables. Create constraints of not created yet.
278 // Called before the simulation step to make sure the constraint based linkset
279 // is all initialized.
280 // Called at taint time!!
281 private void RecomputeLinksetConstraints()
282 {
283 float linksetMass = LinksetMass;
284 LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
285
286 // DEBUG: see of inter-linkset collisions are causing problems
287 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
288 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
289 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
290 LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), linksetMass);
291
292 foreach (BSPhysObject child in m_children)
293 {
294 // A child in the linkset physically shows the mass of the whole linkset.
295 // This allows Bullet to apply enough force on the child to move the whole linkset.
296 // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
297 child.UpdatePhysicalMassProperties(linksetMass, true);
298
299 BSConstraint constrain;
300 if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
301 {
302 // If constraint doesn't exist yet, create it.
303 constrain = BuildConstraint(LinksetRoot, child);
304 }
305 constrain.RecomputeConstraintVariables(linksetMass);
306
307 // DEBUG: see of inter-linkset collisions are causing problems
308 // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr,
309 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
310
311 // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr); // DEBUG DEBUG
312 }
313
314 }
315}
316}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs
deleted file mode 100644
index d7941b6..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs
+++ /dev/null
@@ -1,200 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30using System.Reflection;
31using Nini.Config;
32
33namespace OpenSim.Region.Physics.BulletSNPlugin
34{
35
36public struct MaterialAttributes
37{
38 // Material type values that correspond with definitions for LSL
39 public enum Material : int
40 {
41 Stone = 0,
42 Metal,
43 Glass,
44 Wood,
45 Flesh,
46 Plastic,
47 Rubber,
48 Light,
49 // Hereafter are BulletSim additions
50 Avatar,
51 NumberOfTypes // the count of types in the enum.
52 }
53
54 // Names must be in the order of the above enum.
55 // These names must coorespond to the lower case field names in the MaterialAttributes
56 // structure as reflection is used to select the field to put the value in.
57 public static readonly string[] MaterialAttribs = { "Density", "Friction", "Restitution"};
58
59 public MaterialAttributes(string t, float d, float f, float r)
60 {
61 type = t;
62 density = d;
63 friction = f;
64 restitution = r;
65 }
66 public string type;
67 public float density;
68 public float friction;
69 public float restitution;
70}
71
72public static class BSMaterials
73{
74 // Attributes for each material type
75 private static readonly MaterialAttributes[] Attributes;
76
77 // Map of material name to material type code
78 public static readonly Dictionary<string, MaterialAttributes.Material> MaterialMap;
79
80 static BSMaterials()
81 {
82 // Attribute sets for both the non-physical and physical instances of materials.
83 Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2];
84
85 // Map of name to type code.
86 MaterialMap = new Dictionary<string, MaterialAttributes.Material>();
87 MaterialMap.Add("Stone", MaterialAttributes.Material.Stone);
88 MaterialMap.Add("Metal", MaterialAttributes.Material.Metal);
89 MaterialMap.Add("Glass", MaterialAttributes.Material.Glass);
90 MaterialMap.Add("Wood", MaterialAttributes.Material.Wood);
91 MaterialMap.Add("Flesh", MaterialAttributes.Material.Flesh);
92 MaterialMap.Add("Plastic", MaterialAttributes.Material.Plastic);
93 MaterialMap.Add("Rubber", MaterialAttributes.Material.Rubber);
94 MaterialMap.Add("Light", MaterialAttributes.Material.Light);
95 MaterialMap.Add("Avatar", MaterialAttributes.Material.Avatar);
96 }
97
98 // This is where all the default material attributes are defined.
99 public static void InitializeFromDefaults(ConfigurationParameters parms)
100 {
101 // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
102 float dDensity = parms.defaultDensity;
103 float dFriction = parms.defaultFriction;
104 float dRestitution = parms.defaultRestitution;
105 Attributes[(int)MaterialAttributes.Material.Stone] =
106 new MaterialAttributes("stone",dDensity, 0.8f, 0.4f);
107 Attributes[(int)MaterialAttributes.Material.Metal] =
108 new MaterialAttributes("metal",dDensity, 0.3f, 0.4f);
109 Attributes[(int)MaterialAttributes.Material.Glass] =
110 new MaterialAttributes("glass",dDensity, 0.2f, 0.7f);
111 Attributes[(int)MaterialAttributes.Material.Wood] =
112 new MaterialAttributes("wood",dDensity, 0.6f, 0.5f);
113 Attributes[(int)MaterialAttributes.Material.Flesh] =
114 new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f);
115 Attributes[(int)MaterialAttributes.Material.Plastic] =
116 new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f);
117 Attributes[(int)MaterialAttributes.Material.Rubber] =
118 new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f);
119 Attributes[(int)MaterialAttributes.Material.Light] =
120 new MaterialAttributes("light",dDensity, dFriction, dRestitution);
121 Attributes[(int)MaterialAttributes.Material.Avatar] =
122 new MaterialAttributes("avatar",3.5f, 0.2f, 0f);
123
124 Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
125 new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f);
126 Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
127 new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f);
128 Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
129 new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f);
130 Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
131 new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f);
132 Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
133 new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f);
134 Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
135 new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f);
136 Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
137 new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f);
138 Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
139 new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution);
140 Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
141 new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f);
142 }
143
144 // Under the [BulletSim] section, one can change the individual material
145 // attribute values. The format of the configuration parameter is:
146 // <materialName><Attribute>["Physical"] = floatValue
147 // For instance:
148 // [BulletSim]
149 // StoneFriction = 0.2
150 // FleshRestitutionPhysical = 0.8
151 // Materials can have different parameters for their static and
152 // physical instantiations. When setting the non-physical value,
153 // both values are changed. Setting the physical value only changes
154 // the physical value.
155 public static void InitializefromParameters(IConfig pConfig)
156 {
157 foreach (KeyValuePair<string, MaterialAttributes.Material> kvp in MaterialMap)
158 {
159 string matName = kvp.Key;
160 foreach (string attribName in MaterialAttributes.MaterialAttribs)
161 {
162 string paramName = matName + attribName;
163 if (pConfig.Contains(paramName))
164 {
165 float paramValue = pConfig.GetFloat(paramName);
166 SetAttributeValue((int)kvp.Value, attribName, paramValue);
167 // set the physical value also
168 SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
169 }
170 paramName += "Physical";
171 if (pConfig.Contains(paramName))
172 {
173 float paramValue = pConfig.GetFloat(paramName);
174 SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
175 }
176 }
177 }
178 }
179
180 // Use reflection to set the value in the attribute structure.
181 private static void SetAttributeValue(int matType, string attribName, float val)
182 {
183 MaterialAttributes thisAttrib = Attributes[matType];
184 FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName.ToLower());
185 if (fieldInfo != null)
186 {
187 fieldInfo.SetValue(thisAttrib, val);
188 Attributes[matType] = thisAttrib;
189 }
190 }
191
192 // Given a material type, return a structure of attributes.
193 public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical)
194 {
195 int ind = (int)type;
196 if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes;
197 return Attributes[ind];
198 }
199}
200}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs
deleted file mode 100644
index 7abc9b2..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs
+++ /dev/null
@@ -1,347 +0,0 @@
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.Text;
31using OpenMetaverse;
32using OpenSim.Framework;
33
34namespace OpenSim.Region.Physics.BulletSNPlugin
35{
36public abstract class BSMotor
37{
38 // Timescales and other things can be turned off by setting them to 'infinite'.
39 public const float Infinite = 12345.6f;
40 public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
41
42 public BSMotor(string useName)
43 {
44 UseName = useName;
45 PhysicsScene = null;
46 Enabled = true;
47 }
48 public virtual bool Enabled { get; set; }
49 public virtual void Reset() { }
50 public virtual void Zero() { }
51 public virtual void GenerateTestOutput(float timeStep) { }
52
53 // A name passed at motor creation for easily identifyable debugging messages.
54 public string UseName { get; private set; }
55
56 // Used only for outputting debug information. Might not be set so check for null.
57 public BSScene PhysicsScene { get; set; }
58 protected void MDetailLog(string msg, params Object[] parms)
59 {
60 if (PhysicsScene != null)
61 {
62 if (PhysicsScene.VehicleLoggingEnabled)
63 {
64 PhysicsScene.DetailLog(msg, parms);
65 }
66 }
67 }
68}
69
70// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
71// The TargetValue decays in TargetValueDecayTimeScale and
72// the CurrentValue will be held back by FrictionTimeScale.
73// This motor will "zero itself" over time in that the targetValue will
74// decay to zero and the currentValue will follow it to that zero.
75// The overall effect is for the returned correction value to go from large
76// values (the total difference between current and target minus friction)
77// to small and eventually zero values.
78// TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay.
79
80// For instance, if something is moving at speed X and the desired speed is Y,
81// CurrentValue is X and TargetValue is Y. As the motor is stepped, new
82// values of CurrentValue are returned that approach the TargetValue.
83// The feature of decaying TargetValue is so vehicles will eventually
84// come to a stop rather than run forever. This can be disabled by
85// setting TargetValueDecayTimescale to 'infinite'.
86// The change from CurrentValue to TargetValue is linear over TimeScale seconds.
87public class BSVMotor : BSMotor
88{
89 // public Vector3 FrameOfReference { get; set; }
90 // public Vector3 Offset { get; set; }
91
92 public virtual float TimeScale { get; set; }
93 public virtual float TargetValueDecayTimeScale { get; set; }
94 public virtual Vector3 FrictionTimescale { get; set; }
95 public virtual float Efficiency { get; set; }
96
97 public virtual float ErrorZeroThreshold { get; set; }
98
99 public virtual Vector3 TargetValue { get; protected set; }
100 public virtual Vector3 CurrentValue { get; protected set; }
101 public virtual Vector3 LastError { get; protected set; }
102
103 public virtual bool ErrorIsZero
104 { get {
105 return (LastError == Vector3.Zero || LastError.LengthSquared() <= ErrorZeroThreshold);
106 }
107 }
108
109 public BSVMotor(string useName)
110 : base(useName)
111 {
112 TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
113 Efficiency = 1f;
114 FrictionTimescale = BSMotor.InfiniteVector;
115 CurrentValue = TargetValue = Vector3.Zero;
116 ErrorZeroThreshold = 0.001f;
117 }
118 public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
119 : this(useName)
120 {
121 TimeScale = timeScale;
122 TargetValueDecayTimeScale = decayTimeScale;
123 FrictionTimescale = frictionTimeScale;
124 Efficiency = efficiency;
125 CurrentValue = TargetValue = Vector3.Zero;
126 }
127 public void SetCurrent(Vector3 current)
128 {
129 CurrentValue = current;
130 }
131 public void SetTarget(Vector3 target)
132 {
133 TargetValue = target;
134 }
135 public override void Zero()
136 {
137 base.Zero();
138 CurrentValue = TargetValue = Vector3.Zero;
139 }
140
141 // Compute the next step and return the new current value
142 public virtual Vector3 Step(float timeStep)
143 {
144 if (!Enabled) return TargetValue;
145
146 Vector3 origTarget = TargetValue; // DEBUG
147 Vector3 origCurrVal = CurrentValue; // DEBUG
148
149 Vector3 correction = Vector3.Zero;
150 Vector3 error = TargetValue - CurrentValue;
151 if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
152 {
153 correction = Step(timeStep, error);
154
155 CurrentValue += correction;
156
157 // The desired value reduces to zero which also reduces the difference with current.
158 // If the decay time is infinite, don't decay at all.
159 float decayFactor = 0f;
160 if (TargetValueDecayTimeScale != BSMotor.Infinite)
161 {
162 decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
163 TargetValue *= (1f - decayFactor);
164 }
165
166 // The amount we can correct the error is reduced by the friction
167 Vector3 frictionFactor = Vector3.Zero;
168 if (FrictionTimescale != BSMotor.InfiniteVector)
169 {
170 // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
171 // Individual friction components can be 'infinite' so compute each separately.
172 frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X);
173 frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y);
174 frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z);
175 frictionFactor *= timeStep;
176 CurrentValue *= (Vector3.One - frictionFactor);
177 }
178
179 MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
180 BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
181 timeStep, error, correction);
182 MDetailLog("{0}, BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
183 BSScene.DetailLogZero, UseName,
184 TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
185 TargetValue, CurrentValue);
186 }
187 else
188 {
189 // Difference between what we have and target is small. Motor is done.
190 CurrentValue = TargetValue;
191 MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
192 BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
193 }
194
195 return CurrentValue;
196 }
197 public virtual Vector3 Step(float timeStep, Vector3 error)
198 {
199 if (!Enabled) return Vector3.Zero;
200
201 LastError = error;
202 Vector3 returnCorrection = Vector3.Zero;
203 if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
204 {
205 // correction = error / secondsItShouldTakeToCorrect
206 Vector3 correctionAmount;
207 if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
208 correctionAmount = error * timeStep;
209 else
210 correctionAmount = error / TimeScale * timeStep;
211
212 returnCorrection = correctionAmount;
213 MDetailLog("{0}, BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
214 BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
215 }
216 return returnCorrection;
217 }
218
219 // The user sets all the parameters and calls this which outputs values until error is zero.
220 public override void GenerateTestOutput(float timeStep)
221 {
222 // maximum number of outputs to generate.
223 int maxOutput = 50;
224 MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
225 MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}",
226 BSScene.DetailLogZero, UseName,
227 TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency,
228 CurrentValue, TargetValue);
229
230 LastError = BSMotor.InfiniteVector;
231 while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
232 {
233 Vector3 lastStep = Step(timeStep);
234 MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}",
235 BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep);
236 }
237 MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName);
238
239
240 }
241
242 public override string ToString()
243 {
244 return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>",
245 UseName, CurrentValue, TargetValue, TargetValueDecayTimeScale, FrictionTimescale);
246 }
247}
248
249public class BSFMotor : BSMotor
250{
251 public float TimeScale { get; set; }
252 public float DecayTimeScale { get; set; }
253 public float Friction { get; set; }
254 public float Efficiency { get; set; }
255
256 public float Target { get; private set; }
257 public float CurrentValue { get; private set; }
258
259 public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency)
260 : base(useName)
261 {
262 }
263 public void SetCurrent(float target)
264 {
265 }
266 public void SetTarget(float target)
267 {
268 }
269 public virtual float Step(float timeStep)
270 {
271 return 0f;
272 }
273}
274
275// Proportional, Integral, Derivitive Motor
276// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors.
277public class BSPIDVMotor : BSVMotor
278{
279 // Larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10.
280 public Vector3 proportionFactor { get; set; }
281 public Vector3 integralFactor { get; set; }
282 public Vector3 derivFactor { get; set; }
283
284 // Arbritrary factor range.
285 // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct.
286 public float EfficiencyHigh = 0.4f;
287 public float EfficiencyLow = 4.0f;
288
289 // Running integration of the error
290 Vector3 RunningIntegration { get; set; }
291
292 public BSPIDVMotor(string useName)
293 : base(useName)
294 {
295 proportionFactor = new Vector3(1.00f, 1.00f, 1.00f);
296 integralFactor = new Vector3(1.00f, 1.00f, 1.00f);
297 derivFactor = new Vector3(1.00f, 1.00f, 1.00f);
298 RunningIntegration = Vector3.Zero;
299 LastError = Vector3.Zero;
300 }
301
302 public override void Zero()
303 {
304 base.Zero();
305 }
306
307 public override float Efficiency
308 {
309 get { return base.Efficiency; }
310 set
311 {
312 base.Efficiency = Util.Clamp(value, 0f, 1f);
313 // Compute factors based on efficiency.
314 // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot.
315 // If efficiency is low (0f), use a factor value that overcorrects.
316 // TODO: might want to vary contribution of different factor depending on efficiency.
317 float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
318 // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;
319 proportionFactor = new Vector3(factor, factor, factor);
320 integralFactor = new Vector3(factor, factor, factor);
321 derivFactor = new Vector3(factor, factor, factor);
322 }
323 }
324
325 // Ignore Current and Target Values and just advance the PID computation on this error.
326 public override Vector3 Step(float timeStep, Vector3 error)
327 {
328 if (!Enabled) return Vector3.Zero;
329
330 // Add up the error so we can integrate over the accumulated errors
331 RunningIntegration += error * timeStep;
332
333 // A simple derivitive is the rate of change from the last error.
334 Vector3 derivFactor = (error - LastError) * timeStep;
335 LastError = error;
336
337 // Correction = -(proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
338 Vector3 ret = -(
339 error * proportionFactor
340 + RunningIntegration * integralFactor
341 + derivFactor * derivFactor
342 );
343
344 return ret;
345 }
346}
347}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
deleted file mode 100644
index 5e93a03..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
+++ /dev/null
@@ -1,559 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30
31using OpenSim.Region.Physics.Manager;
32
33using OpenMetaverse;
34using Nini.Config;
35
36namespace OpenSim.Region.Physics.BulletSNPlugin
37{
38public static class BSParam
39{
40 // Level of Detail values kept as float because that's what the Meshmerizer wants
41 public static float MeshLOD { get; private set; }
42 public static float MeshMegaPrimLOD { get; private set; }
43 public static float MeshMegaPrimThreshold { get; private set; }
44 public static float SculptLOD { get; private set; }
45
46 public static float MinimumObjectMass { get; private set; }
47 public static float MaximumObjectMass { get; private set; }
48
49 public static float LinearDamping { get; private set; }
50 public static float AngularDamping { get; private set; }
51 public static float DeactivationTime { get; private set; }
52 public static float LinearSleepingThreshold { get; private set; }
53 public static float AngularSleepingThreshold { get; private set; }
54 public static float CcdMotionThreshold { get; private set; }
55 public static float CcdSweptSphereRadius { get; private set; }
56 public static float ContactProcessingThreshold { get; private set; }
57
58 public static bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed
59 public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
60 public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects
61
62 public static float TerrainImplementation { get; private set; }
63 public static float TerrainFriction { get; private set; }
64 public static float TerrainHitFraction { get; private set; }
65 public static float TerrainRestitution { get; private set; }
66 public static float TerrainCollisionMargin { get; private set; }
67
68 // Avatar parameters
69 public static float AvatarFriction { get; private set; }
70 public static float AvatarStandingFriction { get; private set; }
71 public static float AvatarDensity { get; private set; }
72 public static float AvatarRestitution { get; private set; }
73 public static float AvatarCapsuleWidth { get; private set; }
74 public static float AvatarCapsuleDepth { get; private set; }
75 public static float AvatarCapsuleHeight { get; private set; }
76 public static float AvatarContactProcessingThreshold { get; private set; }
77
78 public static float VehicleAngularDamping { get; private set; }
79
80 public static float LinksetImplementation { get; private set; }
81 public static float LinkConstraintUseFrameOffset { get; private set; }
82 public static float LinkConstraintEnableTransMotor { get; private set; }
83 public static float LinkConstraintTransMotorMaxVel { get; private set; }
84 public static float LinkConstraintTransMotorMaxForce { get; private set; }
85 public static float LinkConstraintERP { get; private set; }
86 public static float LinkConstraintCFM { get; private set; }
87 public static float LinkConstraintSolverIterations { get; private set; }
88
89 public static float PID_D { get; private set; } // derivative
90 public static float PID_P { get; private set; } // proportional
91
92 public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
93 public delegate float ParamGet(BSScene scene);
94 public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
95 public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
96
97 public struct ParameterDefn
98 {
99 public string name; // string name of the parameter
100 public string desc; // a short description of what the parameter means
101 public float defaultValue; // default value if not specified anywhere else
102 public ParamUser userParam; // get the value from the configuration file
103 public ParamGet getter; // return the current value stored for this parameter
104 public ParamSet setter; // set the current value for this parameter
105 public SetOnObject onObject; // set the value on an object in the physical domain
106 public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
107 {
108 name = n;
109 desc = d;
110 defaultValue = v;
111 userParam = u;
112 getter = g;
113 setter = s;
114 onObject = null;
115 }
116 public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
117 {
118 name = n;
119 desc = d;
120 defaultValue = v;
121 userParam = u;
122 getter = g;
123 setter = s;
124 onObject = o;
125 }
126 }
127
128 // List of all of the externally visible parameters.
129 // For each parameter, this table maps a text name to getter and setters.
130 // To add a new externally referencable/settable parameter, add the paramter storage
131 // location somewhere in the program and make an entry in this table with the
132 // getters and setters.
133 // It is easiest to find an existing definition and copy it.
134 // Parameter values are floats. Booleans are converted to a floating value.
135 //
136 // A ParameterDefn() takes the following parameters:
137 // -- the text name of the parameter. This is used for console input and ini file.
138 // -- a short text description of the parameter. This shows up in the console listing.
139 // -- a default value (float)
140 // -- a delegate for fetching the parameter from the ini file.
141 // Should handle fetching the right type from the ini file and converting it.
142 // -- a delegate for getting the value as a float
143 // -- a delegate for setting the value from a float
144 // -- an optional delegate to update the value in the world. Most often used to
145 // push the new value to an in-world object.
146 //
147 // The single letter parameters for the delegates are:
148 // s = BSScene
149 // o = BSPhysObject
150 // p = string parameter name
151 // l = localID of referenced object
152 // v = value (float)
153 // cf = parameter configuration class (for fetching values from ini file)
154 private static ParameterDefn[] ParameterDefinitions =
155 {
156 new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
157 ConfigurationParameters.numericTrue,
158 (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
159 (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); },
160 (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ),
161 new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
162 ConfigurationParameters.numericFalse,
163 (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
164 (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); },
165 (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ),
166 new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
167 ConfigurationParameters.numericTrue,
168 (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
169 (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); },
170 (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ),
171
172 new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
173 8f,
174 (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); },
175 (s) => { return MeshLOD; },
176 (s,p,l,v) => { MeshLOD = v; } ),
177 new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
178 16f,
179 (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
180 (s) => { return MeshMegaPrimLOD; },
181 (s,p,l,v) => { MeshMegaPrimLOD = v; } ),
182 new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
183 10f,
184 (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
185 (s) => { return MeshMegaPrimThreshold; },
186 (s,p,l,v) => { MeshMegaPrimThreshold = v; } ),
187 new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
188 32f,
189 (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); },
190 (s) => { return SculptLOD; },
191 (s,p,l,v) => { SculptLOD = v; } ),
192
193 new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
194 10f,
195 (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); },
196 (s) => { return (float)s.m_maxSubSteps; },
197 (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ),
198 new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
199 1f / 60f,
200 (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
201 (s) => { return (float)s.m_fixedTimeStep; },
202 (s,p,l,v) => { s.m_fixedTimeStep = v; } ),
203 new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
204 2048f,
205 (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
206 (s) => { return (float)s.m_maxCollisionsPerFrame; },
207 (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
208 new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
209 8000f,
210 (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
211 (s) => { return (float)s.m_maxUpdatesPerFrame; },
212 (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
213 new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
214 500f,
215 (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
216 (s) => { return (float)s.m_taintsToProcessPerStep; },
217 (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
218 new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
219 0.0001f,
220 (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
221 (s) => { return (float)MinimumObjectMass; },
222 (s,p,l,v) => { MinimumObjectMass = v; } ),
223 new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
224 10000.01f,
225 (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
226 (s) => { return (float)MaximumObjectMass; },
227 (s,p,l,v) => { MaximumObjectMass = v; } ),
228
229 new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
230 2200f,
231 (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); },
232 (s) => { return (float)PID_D; },
233 (s,p,l,v) => { PID_D = v; } ),
234 new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
235 900f,
236 (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); },
237 (s) => { return (float)PID_P; },
238 (s,p,l,v) => { PID_P = v; } ),
239
240 new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
241 0.2f,
242 (s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); },
243 (s) => { return s.UnmanagedParams[0].defaultFriction; },
244 (s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ),
245 new ParameterDefn("DefaultDensity", "Density for new objects" ,
246 10.000006836f, // Aluminum g/cm3
247 (s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); },
248 (s) => { return s.UnmanagedParams[0].defaultDensity; },
249 (s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ),
250 new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
251 0f,
252 (s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); },
253 (s) => { return s.UnmanagedParams[0].defaultRestitution; },
254 (s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ),
255 new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
256 0.04f,
257 (s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); },
258 (s) => { return s.UnmanagedParams[0].collisionMargin; },
259 (s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ),
260 new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
261 -9.80665f,
262 (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); },
263 (s) => { return s.UnmanagedParams[0].gravity; },
264 (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); },
265 (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
266
267
268 new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
269 0f,
270 (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); },
271 (s) => { return LinearDamping; },
272 (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); },
273 (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ),
274 new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
275 0f,
276 (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); },
277 (s) => { return AngularDamping; },
278 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); },
279 (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ),
280 new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
281 0.2f,
282 (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); },
283 (s) => { return DeactivationTime; },
284 (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); },
285 (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
286 new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
287 0.8f,
288 (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); },
289 (s) => { return LinearSleepingThreshold; },
290 (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); },
291 (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
292 new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
293 1.0f,
294 (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); },
295 (s) => { return AngularSleepingThreshold; },
296 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); },
297 (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
298 new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
299 0f, // set to zero to disable
300 (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); },
301 (s) => { return CcdMotionThreshold; },
302 (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); },
303 (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ),
304 new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
305 0f,
306 (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
307 (s) => { return CcdSweptSphereRadius; },
308 (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); },
309 (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ),
310 new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
311 0.1f,
312 (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); },
313 (s) => { return ContactProcessingThreshold; },
314 (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); },
315 (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
316
317 new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
318 (float)BSTerrainPhys.TerrainImplementation.Heightmap,
319 (s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); },
320 (s) => { return TerrainImplementation; },
321 (s,p,l,v) => { TerrainImplementation = v; } ),
322 new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
323 0.3f,
324 (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); },
325 (s) => { return TerrainFriction; },
326 (s,p,l,v) => { TerrainFriction = v; /* TODO: set on real terrain */} ),
327 new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
328 0.8f,
329 (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); },
330 (s) => { return TerrainHitFraction; },
331 (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ),
332 new ParameterDefn("TerrainRestitution", "Bouncyness" ,
333 0f,
334 (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); },
335 (s) => { return TerrainRestitution; },
336 (s,p,l,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ),
337 new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
338 0.04f,
339 (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); },
340 (s) => { return TerrainCollisionMargin; },
341 (s,p,l,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ),
342
343 new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
344 0.2f,
345 (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); },
346 (s) => { return AvatarFriction; },
347 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ),
348 new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
349 10.0f,
350 (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); },
351 (s) => { return AvatarStandingFriction; },
352 (s,p,l,v) => { AvatarStandingFriction = v; } ),
353 new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
354 3.5f,
355 (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); },
356 (s) => { return AvatarDensity; },
357 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ),
358 new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
359 0f,
360 (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); },
361 (s) => { return AvatarRestitution; },
362 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ),
363 new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
364 0.6f,
365 (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); },
366 (s) => { return AvatarCapsuleWidth; },
367 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ),
368 new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
369 0.45f,
370 (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); },
371 (s) => { return AvatarCapsuleDepth; },
372 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ),
373 new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
374 1.5f,
375 (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); },
376 (s) => { return AvatarCapsuleHeight; },
377 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ),
378 new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
379 0.1f,
380 (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); },
381 (s) => { return AvatarContactProcessingThreshold; },
382 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ),
383
384 new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
385 0.95f,
386 (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
387 (s) => { return VehicleAngularDamping; },
388 (s,p,l,v) => { VehicleAngularDamping = v; } ),
389
390 new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
391 0f,
392 (s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
393 (s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; },
394 (s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
395 new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
396 0f,
397 (s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
398 (s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; },
399 (s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
400 new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
401 ConfigurationParameters.numericFalse,
402 (s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
403 (s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; },
404 (s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ),
405 new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
406 ConfigurationParameters.numericFalse,
407 (s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
408 (s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; },
409 (s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ),
410 new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
411 ConfigurationParameters.numericTrue,
412 (s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
413 (s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; },
414 (s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ),
415 new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
416 ConfigurationParameters.numericTrue,
417 (s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
418 (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; },
419 (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ),
420 new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
421 ConfigurationParameters.numericFalse,
422 (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
423 (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; },
424 (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ),
425 new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
426 0f, // zero says use Bullet default
427 (s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); },
428 (s) => { return s.UnmanagedParams[0].numberOfSolverIterations; },
429 (s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
430
431 new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
432 (float)BSLinkset.LinksetImplementation.Compound,
433 (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); },
434 (s) => { return LinksetImplementation; },
435 (s,p,l,v) => { LinksetImplementation = v; } ),
436 new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
437 ConfigurationParameters.numericFalse,
438 (s,cf,p,v) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
439 (s) => { return LinkConstraintUseFrameOffset; },
440 (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ),
441 new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
442 ConfigurationParameters.numericTrue,
443 (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
444 (s) => { return LinkConstraintEnableTransMotor; },
445 (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ),
446 new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
447 5.0f,
448 (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
449 (s) => { return LinkConstraintTransMotorMaxVel; },
450 (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ),
451 new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
452 0.1f,
453 (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
454 (s) => { return LinkConstraintTransMotorMaxForce; },
455 (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ),
456 new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
457 0.1f,
458 (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); },
459 (s) => { return LinkConstraintCFM; },
460 (s,p,l,v) => { LinkConstraintCFM = v; } ),
461 new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
462 0.1f,
463 (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); },
464 (s) => { return LinkConstraintERP; },
465 (s,p,l,v) => { LinkConstraintERP = v; } ),
466 new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
467 40,
468 (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); },
469 (s) => { return LinkConstraintSolverIterations; },
470 (s,p,l,v) => { LinkConstraintSolverIterations = v; } ),
471
472 new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
473 0f,
474 (s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
475 (s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; },
476 (s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ),
477 };
478
479 // Convert a boolean to our numeric true and false values
480 public static float NumericBool(bool b)
481 {
482 return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
483 }
484
485 // Convert numeric true and false values to a boolean
486 public static bool BoolNumeric(float b)
487 {
488 return (b == ConfigurationParameters.numericTrue ? true : false);
489 }
490
491 // Search through the parameter definitions and return the matching
492 // ParameterDefn structure.
493 // Case does not matter as names are compared after converting to lower case.
494 // Returns 'false' if the parameter is not found.
495 internal static bool TryGetParameter(string paramName, out ParameterDefn defn)
496 {
497 bool ret = false;
498 ParameterDefn foundDefn = new ParameterDefn();
499 string pName = paramName.ToLower();
500
501 foreach (ParameterDefn parm in ParameterDefinitions)
502 {
503 if (pName == parm.name.ToLower())
504 {
505 foundDefn = parm;
506 ret = true;
507 break;
508 }
509 }
510 defn = foundDefn;
511 return ret;
512 }
513
514 // Pass through the settable parameters and set the default values
515 internal static void SetParameterDefaultValues(BSScene physicsScene)
516 {
517 foreach (ParameterDefn parm in ParameterDefinitions)
518 {
519 parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue);
520 }
521 }
522
523 // Get user set values out of the ini file.
524 internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg)
525 {
526 foreach (ParameterDefn parm in ParameterDefinitions)
527 {
528 parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue);
529 }
530 }
531
532 internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
533
534 // This creates an array in the correct format for returning the list of
535 // parameters. This is used by the 'list' option of the 'physics' command.
536 internal static void BuildParameterTable()
537 {
538 if (SettableParameters.Length < ParameterDefinitions.Length)
539 {
540 List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
541 for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
542 {
543 ParameterDefn pd = ParameterDefinitions[ii];
544 entries.Add(new PhysParameterEntry(pd.name, pd.desc));
545 }
546
547 // make the list in alphabetical order for estetic reasons
548 entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
549 {
550 return ppe1.name.CompareTo(ppe2.name);
551 });
552
553 SettableParameters = entries.ToArray();
554 }
555 }
556
557
558}
559}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs
deleted file mode 100644
index 689da7f..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs
+++ /dev/null
@@ -1,346 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30
31using OMV = OpenMetaverse;
32using OpenSim.Framework;
33using OpenSim.Region.Physics.Manager;
34
35namespace OpenSim.Region.Physics.BulletSNPlugin
36{
37/*
38 * Class to wrap all objects.
39 * The rest of BulletSim doesn't need to keep checking for avatars or prims
40 * unless the difference is significant.
41 *
42 * Variables in the physicsl objects are in three forms:
43 * VariableName: used by the simulator and performs taint operations, etc
44 * RawVariableName: direct reference to the BulletSim storage for the variable value
45 * ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
46 * The last two (and certainly the last one) should be referenced only in taint-time.
47 */
48
49/*
50 * As of 20121221, the following are the call sequences (going down) for different script physical functions:
51 * llApplyImpulse llApplyRotImpulse llSetTorque llSetForce
52 * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce
53 * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse
54 * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v
55 * BS.ApplyCentralForce BS.ApplyTorque
56 */
57
58public abstract class BSPhysObject : PhysicsActor
59{
60 protected BSPhysObject()
61 {
62 }
63 protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
64 {
65 PhysicsScene = parentScene;
66 LocalID = localID;
67 PhysObjectName = name;
68 TypeName = typeName;
69
70 Linkset = BSLinkset.Factory(PhysicsScene, this);
71 LastAssetBuildFailed = false;
72
73 // Default material type
74 Material = MaterialAttributes.Material.Wood;
75
76 CollisionCollection = new CollisionEventUpdate();
77 SubscribedEventsMs = 0;
78 CollidingStep = 0;
79 CollidingGroundStep = 0;
80 }
81
82 // Tell the object to clean up.
83 public virtual void Destroy()
84 {
85 UnRegisterAllPreStepActions();
86 }
87
88 public BSScene PhysicsScene { get; protected set; }
89 // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
90 public string PhysObjectName { get; protected set; }
91 public string TypeName { get; protected set; }
92
93 public BSLinkset Linkset { get; set; }
94 public BSLinksetInfo LinksetInfo { get; set; }
95
96 // Return the object mass without calculating it or having side effects
97 public abstract float RawMass { get; }
98 // Set the raw mass but also update physical mass properties (inertia, ...)
99 // 'inWorld' true if the object has already been added to the dynamic world.
100 public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
101
102 // The last value calculated for the prim's inertia
103 public OMV.Vector3 Inertia { get; set; }
104
105 // Reference to the physical body (btCollisionObject) of this object
106 public BulletBody PhysBody;
107 // Reference to the physical shape (btCollisionShape) of this object
108 public BulletShape PhysShape;
109
110 // 'true' if the mesh's underlying asset failed to build.
111 // This will keep us from looping after the first time the build failed.
112 public bool LastAssetBuildFailed { get; set; }
113
114 // The objects base shape information. Null if not a prim type shape.
115 public PrimitiveBaseShape BaseShape { get; protected set; }
116 // Some types of objects have preferred physical representations.
117 // Returns SHAPE_UNKNOWN if there is no preference.
118 public virtual BSPhysicsShapeType PreferredPhysicalShape
119 {
120 get { return BSPhysicsShapeType.SHAPE_UNKNOWN; }
121 }
122
123 // When the physical properties are updated, an EntityProperty holds the update values.
124 // Keep the current and last EntityProperties to enable computation of differences
125 // between the current update and the previous values.
126 public EntityProperties CurrentEntityProperties { get; set; }
127 public EntityProperties LastEntityProperties { get; set; }
128
129 public virtual OMV.Vector3 Scale { get; set; }
130 public abstract bool IsSolid { get; }
131 public abstract bool IsStatic { get; }
132
133 // Materialness
134 public MaterialAttributes.Material Material { get; private set; }
135 public override void SetMaterial(int material)
136 {
137 Material = (MaterialAttributes.Material)material;
138 }
139
140 // Stop all physical motion.
141 public abstract void ZeroMotion(bool inTaintTime);
142 public abstract void ZeroAngularMotion(bool inTaintTime);
143
144 // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
145 public virtual void StepVehicle(float timeStep) { }
146
147 // Update the physical location and motion of the object. Called with data from Bullet.
148 public abstract void UpdateProperties(EntityProperties entprop);
149
150 public abstract OMV.Vector3 RawPosition { get; set; }
151 public abstract OMV.Vector3 ForcePosition { get; set; }
152
153 public abstract OMV.Quaternion RawOrientation { get; set; }
154 public abstract OMV.Quaternion ForceOrientation { get; set; }
155
156 // The system is telling us the velocity it wants to move at.
157 // protected OMV.Vector3 m_targetVelocity; // use the definition in PhysicsActor
158 public override OMV.Vector3 TargetVelocity
159 {
160 get { return m_targetVelocity; }
161 set
162 {
163 m_targetVelocity = value;
164 Velocity = value;
165 }
166 }
167 public abstract OMV.Vector3 ForceVelocity { get; set; }
168
169 public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
170
171 public abstract float ForceBuoyancy { get; set; }
172
173 public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
174
175 #region Collisions
176
177 // Requested number of milliseconds between collision events. Zero means disabled.
178 protected int SubscribedEventsMs { get; set; }
179 // Given subscription, the time that a collision may be passed up
180 protected int NextCollisionOkTime { get; set; }
181 // The simulation step that last had a collision
182 protected long CollidingStep { get; set; }
183 // The simulation step that last had a collision with the ground
184 protected long CollidingGroundStep { get; set; }
185 // The collision flags we think are set in Bullet
186 protected CollisionFlags CurrentCollisionFlags { get; set; }
187
188 // The collisions that have been collected this tick
189 protected CollisionEventUpdate CollisionCollection;
190
191 // The simulation step is telling this object about a collision.
192 // Return 'true' if a collision was processed and should be sent up.
193 // Called at taint time from within the Step() function
194 public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
195 OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
196 {
197 bool ret = false;
198
199 // The following lines make IsColliding() and IsCollidingGround() work
200 CollidingStep = PhysicsScene.SimulationStep;
201 if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
202 {
203 CollidingGroundStep = PhysicsScene.SimulationStep;
204 }
205
206 // prims in the same linkset cannot collide with each other
207 if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
208 {
209 return ret;
210 }
211
212 // if someone has subscribed for collision events....
213 if (SubscribedEvents()) {
214 CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
215 DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
216 LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
217
218 ret = true;
219 }
220 return ret;
221 }
222
223 // Send the collected collisions into the simulator.
224 // Called at taint time from within the Step() function thus no locking problems
225 // with CollisionCollection and ObjectsWithNoMoreCollisions.
226 // Return 'true' if there were some actual collisions passed up
227 public virtual bool SendCollisions()
228 {
229 bool ret = true;
230 // If the 'no collision' call, force it to happen right now so quick collision_end
231 bool force = (CollisionCollection.Count == 0);
232
233 // throttle the collisions to the number of milliseconds specified in the subscription
234 if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
235 {
236 NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
237
238 // We are called if we previously had collisions. If there are no collisions
239 // this time, send up one last empty event so OpenSim can sense collision end.
240 if (CollisionCollection.Count == 0)
241 {
242 // If I have no collisions this time, remove me from the list of objects with collisions.
243 ret = false;
244 }
245
246 // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
247 base.SendCollisionUpdate(CollisionCollection);
248
249 // The CollisionCollection instance is passed around in the simulator.
250 // Make sure we don't have a handle to that one and that a new one is used for next time.
251 // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here,
252 // a race condition is created for the other users of this instance.
253 CollisionCollection = new CollisionEventUpdate();
254 }
255 return ret;
256 }
257
258 // Subscribe for collision events.
259 // Parameter is the millisecond rate the caller wishes collision events to occur.
260 public override void SubscribeEvents(int ms) {
261 // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
262 SubscribedEventsMs = ms;
263 if (ms > 0)
264 {
265 // make sure first collision happens
266 NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
267
268 PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
269 {
270 if (PhysBody.HasPhysicalBody)
271 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
272 });
273 }
274 else
275 {
276 // Subscribing for zero or less is the same as unsubscribing
277 UnSubscribeEvents();
278 }
279 }
280 public override void UnSubscribeEvents() {
281 // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
282 SubscribedEventsMs = 0;
283 PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
284 {
285 // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
286 if (PhysBody.HasPhysicalBody)
287 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
288 });
289 }
290 // Return 'true' if the simulator wants collision events
291 public override bool SubscribedEvents() {
292 return (SubscribedEventsMs > 0);
293 }
294
295 #endregion // Collisions
296
297 #region Per Simulation Step actions
298 // There are some actions that must be performed for a physical object before each simulation step.
299 // These actions are optional so, rather than scanning all the physical objects and asking them
300 // if they have anything to do, a physical object registers for an event call before the step is performed.
301 // This bookkeeping makes it easy to add, remove and clean up after all these registrations.
302 private Dictionary<string, BSScene.PreStepAction> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>();
303 protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
304 {
305 string identifier = op + "-" + id.ToString();
306 RegisteredActions[identifier] = actn;
307 PhysicsScene.BeforeStep += actn;
308 DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
309 }
310
311 // Unregister a pre step action. Safe to call if the action has not been registered.
312 protected void UnRegisterPreStepAction(string op, uint id)
313 {
314 string identifier = op + "-" + id.ToString();
315 bool removed = false;
316 if (RegisteredActions.ContainsKey(identifier))
317 {
318 PhysicsScene.BeforeStep -= RegisteredActions[identifier];
319 RegisteredActions.Remove(identifier);
320 removed = true;
321 }
322 DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
323 }
324
325 protected void UnRegisterAllPreStepActions()
326 {
327 foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
328 {
329 PhysicsScene.BeforeStep -= kvp.Value;
330 }
331 RegisteredActions.Clear();
332 DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
333 }
334
335
336 #endregion // Per Simulation Step actions
337
338 // High performance detailed logging routine used by the physical objects.
339 protected void DetailLog(string msg, params Object[] args)
340 {
341 if (PhysicsScene.PhysicsLogging.Enabled)
342 PhysicsScene.DetailLog(msg, args);
343 }
344
345}
346}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs
deleted file mode 100644
index 75963ee..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs
+++ /dev/null
@@ -1,81 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using OpenSim.Framework;
30using OpenSim.Region.Physics.Manager;
31using OpenMetaverse;
32
33namespace OpenSim.Region.Physics.BulletSNPlugin
34{
35 /// <summary>
36 /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim.
37 /// This module interfaces to an unmanaged C++ library which makes the
38 /// actual calls into the Bullet physics engine.
39 /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/.
40 /// The unmanaged library is compiled and linked statically with Bullet
41 /// to create BulletSim.dll and libBulletSim.so (for both 32 and 64 bit).
42 /// </summary>
43public class BSPlugin : IPhysicsPlugin
44{
45 //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
46
47 private BSScene _mScene;
48
49 public BSPlugin()
50 {
51 }
52
53 public bool Init()
54 {
55 return true;
56 }
57
58 public PhysicsScene GetScene(String sceneIdentifier)
59 {
60 if (_mScene == null)
61 {
62
63 // If not Windows, loading is performed by the
64 // Mono loader as specified in
65 // "bin/Physics/OpenSim.Region.Physics.BulletSNPlugin.dll.config".
66
67 _mScene = new BSScene(sceneIdentifier);
68 }
69 return (_mScene);
70 }
71
72 public string GetName()
73 {
74 return ("BulletSimN");
75 }
76
77 public void Dispose()
78 {
79 }
80}
81}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
deleted file mode 100644
index aadb5b2..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
+++ /dev/null
@@ -1,1494 +0,0 @@
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
28using System;
29using System.Reflection;
30using System.Collections.Generic;
31using System.Xml;
32using log4net;
33using OMV = OpenMetaverse;
34using OpenSim.Framework;
35using OpenSim.Region.Physics.Manager;
36using OpenSim.Region.Physics.ConvexDecompositionDotNet;
37
38namespace OpenSim.Region.Physics.BulletSNPlugin
39{
40
41 [Serializable]
42public sealed class BSPrim : BSPhysObject
43{
44 private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
45 private static readonly string LogHeader = "[BULLETS PRIM]";
46
47 // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
48 private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user
49
50 private bool _grabbed;
51 private bool _isSelected;
52 private bool _isVolumeDetect;
53 private OMV.Vector3 _position;
54 private float _mass; // the mass of this object
55 private float _density;
56 private OMV.Vector3 _force;
57 private OMV.Vector3 _velocity;
58 private OMV.Vector3 _torque;
59 private float _collisionScore;
60 private OMV.Vector3 _acceleration;
61 private OMV.Quaternion _orientation;
62 private int _physicsActorType;
63 private bool _isPhysical;
64 private bool _flying;
65 private float _friction;
66 private float _restitution;
67 private bool _setAlwaysRun;
68 private bool _throttleUpdates;
69 private bool _isColliding;
70 private bool _collidingGround;
71 private bool _collidingObj;
72 private bool _floatOnWater;
73 private OMV.Vector3 _rotationalVelocity;
74 private bool _kinematic;
75 private float _buoyancy;
76
77 private BSDynamics _vehicle;
78
79 private OMV.Vector3 _PIDTarget;
80 private bool _usePID;
81 private float _PIDTau;
82 private bool _useHoverPID;
83 private float _PIDHoverHeight;
84 private PIDHoverType _PIDHoverType;
85 private float _PIDHoverTao;
86
87 public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
88 OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
89 : base(parent_scene, localID, primName, "BSPrim")
90 {
91 // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
92 _physicsActorType = (int)ActorTypes.Prim;
93 _position = pos;
94 _size = size;
95 Scale = size; // prims are the size the user wants them to be (different for BSCharactes).
96 _orientation = rotation;
97 _buoyancy = 1f;
98 _velocity = OMV.Vector3.Zero;
99 _rotationalVelocity = OMV.Vector3.Zero;
100 BaseShape = pbs;
101 _isPhysical = pisPhysical;
102 _isVolumeDetect = false;
103
104 // Someday set default attributes based on the material but, for now, we don't know the prim material yet.
105 // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical);
106 _density = PhysicsScene.Params.defaultDensity;
107 _friction = PhysicsScene.Params.defaultFriction;
108 _restitution = PhysicsScene.Params.defaultRestitution;
109
110 _vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness
111
112 _mass = CalculateMass();
113
114 Linkset.Refresh(this);
115
116 DetailLog("{0},BSPrim.constructor,call", LocalID);
117 // do the actual object creation at taint time
118 PhysicsScene.TaintedObject("BSPrim.create", delegate()
119 {
120 CreateGeomAndObject(true);
121
122 CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr);
123 });
124 }
125
126 // called when this prim is being destroyed and we should free all the resources
127 public override void Destroy()
128 {
129 // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
130 base.Destroy();
131
132 // Undo any links between me and any other object
133 BSPhysObject parentBefore = Linkset.LinksetRoot;
134 int childrenBefore = Linkset.NumberOfChildren;
135
136 Linkset = Linkset.RemoveMeFromLinkset(this);
137
138 DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
139 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
140
141 // Undo any vehicle properties
142 this.VehicleType = (int)Vehicle.TYPE_NONE;
143
144 PhysicsScene.TaintedObject("BSPrim.destroy", delegate()
145 {
146 DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
147 // If there are physical body and shape, release my use of same.
148 PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
149 PhysBody.Clear();
150 PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
151 PhysShape.Clear();
152 });
153 }
154
155 // No one uses this property.
156 public override bool Stopped {
157 get { return false; }
158 }
159 public override OMV.Vector3 Size {
160 get { return _size; }
161 set {
162 // We presume the scale and size are the same. If scale must be changed for
163 // the physical shape, that is done when the geometry is built.
164 _size = value;
165 Scale = _size;
166 ForceBodyShapeRebuild(false);
167 }
168 }
169
170 public override PrimitiveBaseShape Shape {
171 set {
172 BaseShape = value;
173 ForceBodyShapeRebuild(false);
174 }
175 }
176 // Whatever the linkset wants is what I want.
177 public override BSPhysicsShapeType PreferredPhysicalShape
178 { get { return Linkset.PreferredPhysicalShape(this); } }
179
180 public override bool ForceBodyShapeRebuild(bool inTaintTime)
181 {
182 LastAssetBuildFailed = false;
183 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
184 {
185 _mass = CalculateMass(); // changing the shape changes the mass
186 CreateGeomAndObject(true);
187 });
188 return true;
189 }
190 public override bool Grabbed {
191 set { _grabbed = value;
192 }
193 }
194 public override bool Selected {
195 set
196 {
197 if (value != _isSelected)
198 {
199 _isSelected = value;
200 PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
201 {
202 DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
203 SetObjectDynamic(false);
204 });
205 }
206 }
207 }
208 public override void CrossingFailure() { return; }
209
210 // link me to the specified parent
211 public override void link(PhysicsActor obj) {
212 BSPrim parent = obj as BSPrim;
213 if (parent != null)
214 {
215 BSPhysObject parentBefore = Linkset.LinksetRoot;
216 int childrenBefore = Linkset.NumberOfChildren;
217
218 Linkset = parent.Linkset.AddMeToLinkset(this);
219
220 DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
221 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
222 }
223 return;
224 }
225
226 // delink me from my linkset
227 public override void delink() {
228 // TODO: decide if this parent checking needs to happen at taint time
229 // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
230
231 BSPhysObject parentBefore = Linkset.LinksetRoot;
232 int childrenBefore = Linkset.NumberOfChildren;
233
234 Linkset = Linkset.RemoveMeFromLinkset(this);
235
236 DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
237 LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
238 return;
239 }
240
241 // Set motion values to zero.
242 // Do it to the properties so the values get set in the physics engine.
243 // Push the setting of the values to the viewer.
244 // Called at taint time!
245 public override void ZeroMotion(bool inTaintTime)
246 {
247 _velocity = OMV.Vector3.Zero;
248 _acceleration = OMV.Vector3.Zero;
249 _rotationalVelocity = OMV.Vector3.Zero;
250
251 // Zero some other properties in the physics engine
252 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
253 {
254 if (PhysBody.HasPhysicalBody)
255 BulletSimAPI.ClearAllForces2(PhysBody.ptr);
256 });
257 }
258 public override void ZeroAngularMotion(bool inTaintTime)
259 {
260 _rotationalVelocity = OMV.Vector3.Zero;
261 // Zero some other properties in the physics engine
262 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
263 {
264 // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
265 if (PhysBody.HasPhysicalBody)
266 {
267 BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
268 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
269 }
270 });
271 }
272
273 public override void LockAngularMotion(OMV.Vector3 axis)
274 {
275 DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
276 return;
277 }
278
279 public override OMV.Vector3 RawPosition
280 {
281 get { return _position; }
282 set { _position = value; }
283 }
284 public override OMV.Vector3 Position {
285 get {
286 /* NOTE: this refetch is not necessary. The simulator knows about linkset children
287 * and does not fetch this position info for children. Thus this is commented out.
288 // child prims move around based on their parent. Need to get the latest location
289 if (!Linkset.IsRoot(this))
290 _position = Linkset.PositionGet(this);
291 */
292
293 // don't do the GetObjectPosition for root elements because this function is called a zillion times.
294 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
295 return _position;
296 }
297 set {
298 // If the position must be forced into the physics engine, use ForcePosition.
299 // All positions are given in world positions.
300 if (_position == value)
301 {
302 DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
303 return;
304 }
305 _position = value;
306 PositionSanityCheck(false);
307
308 // A linkset might need to know if a component information changed.
309 Linkset.UpdateProperties(this, false);
310
311 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
312 {
313 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
314 ForcePosition = _position;
315 });
316 }
317 }
318 public override OMV.Vector3 ForcePosition {
319 get {
320 _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
321 return _position;
322 }
323 set {
324 _position = value;
325 if (PhysBody.HasPhysicalBody)
326 {
327 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
328 ActivateIfPhysical(false);
329 }
330 }
331 }
332
333 // Check that the current position is sane and, if not, modify the position to make it so.
334 // Check for being below terrain and being out of bounds.
335 // Returns 'true' of the position was made sane by some action.
336 private bool PositionSanityCheck(bool inTaintTime)
337 {
338 bool ret = false;
339
340 if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
341 {
342 // The physical object is out of the known/simulated area.
343 // Upper levels of code will handle the transition to other areas so, for
344 // the time, we just ignore the position.
345 return ret;
346 }
347
348 float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
349 OMV.Vector3 upForce = OMV.Vector3.Zero;
350 if (RawPosition.Z < terrainHeight)
351 {
352 DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
353 float targetHeight = terrainHeight + (Size.Z / 2f);
354 // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec.
355 upForce.Z = (terrainHeight - RawPosition.Z) * 1f;
356 ret = true;
357 }
358
359 if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
360 {
361 float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
362 // TODO: a floating motor so object will bob in the water
363 if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
364 {
365 // Upforce proportional to the distance away from the water. Correct the error in 1 sec.
366 upForce.Z = (waterHeight - RawPosition.Z) * 1f;
367 ret = true;
368 }
369 }
370
371 // The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
372 // TODO: This should be intergrated with a geneal physics action mechanism.
373 // TODO: This should be moderated with PID'ness.
374 if (ret)
375 {
376 // Apply upforce and overcome gravity.
377 OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
378 DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
379 AddForce(correctionForce, false, inTaintTime);
380 }
381 return ret;
382 }
383
384 // Return the effective mass of the object.
385 // The definition of this call is to return the mass of the prim.
386 // If the simulator cares about the mass of the linkset, it will sum it itself.
387 public override float Mass
388 {
389 get
390 {
391 return _mass;
392 }
393 }
394
395 // used when we only want this prim's mass and not the linkset thing
396 public override float RawMass {
397 get { return _mass; }
398 }
399 // Set the physical mass to the passed mass.
400 // Note that this does not change _mass!
401 public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
402 {
403 if (PhysBody.HasPhysicalBody)
404 {
405 if (IsStatic)
406 {
407 Inertia = OMV.Vector3.Zero;
408 BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
409 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
410 }
411 else
412 {
413 if (inWorld)
414 {
415 // Changing interesting properties doesn't change proxy and collision cache
416 // information. The Bullet solution is to re-add the object to the world
417 // after parameters are changed.
418 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
419 }
420
421 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
422 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
423 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
424
425 // center of mass is at the zero of the object
426 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
427 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld);
428
429 if (inWorld)
430 {
431 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr,_position,_orientation);
432 }
433
434 // Must set gravity after it has been added to the world because, for unknown reasons,
435 // adding the object resets the object's gravity to world gravity
436 OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy);
437 BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
438
439 }
440 }
441 }
442
443 // Is this used?
444 public override OMV.Vector3 CenterOfMass
445 {
446 get { return Linkset.CenterOfMass; }
447 }
448
449 // Is this used?
450 public override OMV.Vector3 GeometricCenter
451 {
452 get { return Linkset.GeometricCenter; }
453 }
454
455 public override OMV.Vector3 Force {
456 get { return _force; }
457 set {
458 _force = value;
459 if (_force != OMV.Vector3.Zero)
460 {
461 // If the force is non-zero, it must be reapplied each tick because
462 // Bullet clears the forces applied last frame.
463 RegisterPreStepAction("BSPrim.setForce", LocalID,
464 delegate(float timeStep)
465 {
466 DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
467 if (PhysBody.HasPhysicalBody)
468 {
469 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force);
470 ActivateIfPhysical(false);
471 }
472 }
473 );
474 }
475 else
476 {
477 UnRegisterPreStepAction("BSPrim.setForce", LocalID);
478 }
479 }
480 }
481
482 public override int VehicleType {
483 get {
484 return (int)_vehicle.Type; // if we are a vehicle, return that type
485 }
486 set {
487 Vehicle type = (Vehicle)value;
488
489 PhysicsScene.TaintedObject("setVehicleType", delegate()
490 {
491 // Done at taint time so we're sure the physics engine is not using the variables
492 // Vehicle code changes the parameters for this vehicle type.
493 _vehicle.ProcessTypeChange(type);
494 ActivateIfPhysical(false);
495
496 // If an active vehicle, register the vehicle code to be called before each step
497 if (_vehicle.Type == Vehicle.TYPE_NONE)
498 UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
499 else
500 RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
501 });
502 }
503 }
504 public override void VehicleFloatParam(int param, float value)
505 {
506 PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
507 {
508 _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
509 ActivateIfPhysical(false);
510 });
511 }
512 public override void VehicleVectorParam(int param, OMV.Vector3 value)
513 {
514 PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
515 {
516 _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
517 ActivateIfPhysical(false);
518 });
519 }
520 public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
521 {
522 PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
523 {
524 _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
525 ActivateIfPhysical(false);
526 });
527 }
528 public override void VehicleFlags(int param, bool remove)
529 {
530 PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
531 {
532 _vehicle.ProcessVehicleFlags(param, remove);
533 });
534 }
535
536 // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
537 public override void SetVolumeDetect(int param) {
538 bool newValue = (param != 0);
539 if (_isVolumeDetect != newValue)
540 {
541 _isVolumeDetect = newValue;
542 PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
543 {
544 // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
545 SetObjectDynamic(true);
546 });
547 }
548 return;
549 }
550 public override OMV.Vector3 Velocity {
551 get { return _velocity; }
552 set {
553 _velocity = value;
554 PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
555 {
556 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
557 ForceVelocity = _velocity;
558 });
559 }
560 }
561 public override OMV.Vector3 ForceVelocity {
562 get { return _velocity; }
563 set {
564 PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
565
566 _velocity = value;
567 if (PhysBody.HasPhysicalBody)
568 {
569 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
570 ActivateIfPhysical(false);
571 }
572 }
573 }
574 public override OMV.Vector3 Torque {
575 get { return _torque; }
576 set {
577 _torque = value;
578 if (_torque != OMV.Vector3.Zero)
579 {
580 // If the torque is non-zero, it must be reapplied each tick because
581 // Bullet clears the forces applied last frame.
582 RegisterPreStepAction("BSPrim.setTorque", LocalID,
583 delegate(float timeStep)
584 {
585 if (PhysBody.HasPhysicalBody)
586 AddAngularForce(_torque, false, true);
587 }
588 );
589 }
590 else
591 {
592 UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
593 }
594 // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
595 }
596 }
597 public override float CollisionScore {
598 get { return _collisionScore; }
599 set { _collisionScore = value;
600 }
601 }
602 public override OMV.Vector3 Acceleration {
603 get { return _acceleration; }
604 set { _acceleration = value; }
605 }
606 public override OMV.Quaternion RawOrientation
607 {
608 get { return _orientation; }
609 set { _orientation = value; }
610 }
611 public override OMV.Quaternion Orientation {
612 get {
613 /* NOTE: this refetch is not necessary. The simulator knows about linkset children
614 * and does not fetch this position info for children. Thus this is commented out.
615 // Children move around because tied to parent. Get a fresh value.
616 if (!Linkset.IsRoot(this))
617 {
618 _orientation = Linkset.OrientationGet(this);
619 }
620 */
621 return _orientation;
622 }
623 set {
624 if (_orientation == value)
625 return;
626 _orientation = value;
627
628 // A linkset might need to know if a component information changed.
629 Linkset.UpdateProperties(this, false);
630
631 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
632 {
633 if (PhysBody.HasPhysicalBody)
634 {
635 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
636 // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
637 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
638 }
639 });
640 }
641 }
642 // Go directly to Bullet to get/set the value.
643 public override OMV.Quaternion ForceOrientation
644 {
645 get
646 {
647 _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
648 return _orientation;
649 }
650 set
651 {
652 _orientation = value;
653 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
654 }
655 }
656 public override int PhysicsActorType {
657 get { return _physicsActorType; }
658 set { _physicsActorType = value; }
659 }
660 public override bool IsPhysical {
661 get { return _isPhysical; }
662 set {
663 if (_isPhysical != value)
664 {
665 _isPhysical = value;
666 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
667 {
668 // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
669 SetObjectDynamic(true);
670 // whether phys-to-static or static-to-phys, the object is not moving.
671 ZeroMotion(true);
672 });
673 }
674 }
675 }
676
677 // An object is static (does not move) if selected or not physical
678 public override bool IsStatic
679 {
680 get { return _isSelected || !IsPhysical; }
681 }
682
683 // An object is solid if it's not phantom and if it's not doing VolumeDetect
684 public override bool IsSolid
685 {
686 get { return !IsPhantom && !_isVolumeDetect; }
687 }
688
689 // Make gravity work if the object is physical and not selected
690 // Called at taint-time!!
691 private void SetObjectDynamic(bool forceRebuild)
692 {
693 // Recreate the physical object if necessary
694 CreateGeomAndObject(forceRebuild);
695 }
696
697 // Convert the simulator's physical properties into settings on BulletSim objects.
698 // There are four flags we're interested in:
699 // IsStatic: Object does not move, otherwise the object has mass and moves
700 // isSolid: other objects bounce off of this object
701 // isVolumeDetect: other objects pass through but can generate collisions
702 // collisionEvents: whether this object returns collision events
703 private void UpdatePhysicalParameters()
704 {
705 // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
706
707 // Mangling all the physical properties requires the object not be in the physical world.
708 // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
709 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
710
711 // Set up the object physicalness (does gravity and collisions move this object)
712 MakeDynamic(IsStatic);
713
714 // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
715 _vehicle.Refresh();
716
717 // Arrange for collision events if the simulator wants them
718 EnableCollisions(SubscribedEvents());
719
720 // Make solid or not (do things bounce off or pass through this object).
721 MakeSolid(IsSolid);
722
723 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation);
724
725 // Rebuild its shape
726 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
727
728 // Collision filter can be set only when the object is in the world
729 PhysBody.ApplyCollisionMask();
730
731 // Recompute any linkset parameters.
732 // When going from non-physical to physical, this re-enables the constraints that
733 // had been automatically disabled when the mass was set to zero.
734 // For compound based linksets, this enables and disables interactions of the children.
735 Linkset.Refresh(this);
736
737 DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
738 LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
739 }
740
741 // "Making dynamic" means changing to and from static.
742 // When static, gravity does not effect the object and it is fixed in space.
743 // When dynamic, the object can fall and be pushed by others.
744 // This is independent of its 'solidness' which controls what passes through
745 // this object and what interacts with it.
746 private void MakeDynamic(bool makeStatic)
747 {
748 if (makeStatic)
749 {
750 // Become a Bullet 'static' object type
751 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
752 // Stop all movement
753 ZeroMotion(true);
754
755 // Set various physical properties so other object interact properly
756 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
757 BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
758 BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
759
760 // Mass is zero which disables a bunch of physics stuff in Bullet
761 UpdatePhysicalMassProperties(0f, false);
762 // Set collision detection parameters
763 if (BSParam.CcdMotionThreshold > 0f)
764 {
765 BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
766 BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
767 }
768
769 // The activation state is 'disabled' so Bullet will not try to act on it.
770 // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
771 // Start it out sleeping and physical actions could wake it up.
772 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
773
774 // This collides like a static object
775 PhysBody.collisionType = CollisionType.Static;
776
777 // There can be special things needed for implementing linksets
778 Linkset.MakeStatic(this);
779 }
780 else
781 {
782 // Not a Bullet static object
783 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
784
785 // Set various physical properties so other object interact properly
786 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
787 BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
788 BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
789
790 // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
791 // Since this can be called multiple times, only zero forces when becoming physical
792 // BulletSimAPI.ClearAllForces2(BSBody.ptr);
793
794 // For good measure, make sure the transform is set through to the motion state
795 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
796
797 // Center of mass is at the center of the object
798 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
799
800 // A dynamic object has mass
801 UpdatePhysicalMassProperties(RawMass, false);
802
803 // Set collision detection parameters
804 if (BSParam.CcdMotionThreshold > 0f)
805 {
806 BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
807 BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
808 }
809
810 // Various values for simulation limits
811 BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping);
812 BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime);
813 BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
814 BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
815
816 // This collides like an object.
817 PhysBody.collisionType = CollisionType.Dynamic;
818
819 // Force activation of the object so Bullet will act on it.
820 // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
821 BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
822
823 // There might be special things needed for implementing linksets.
824 Linkset.MakeDynamic(this);
825 }
826 }
827
828 // "Making solid" means that other object will not pass through this object.
829 // To make transparent, we create a Bullet ghost object.
830 // Note: This expects to be called from the UpdatePhysicalParameters() routine as
831 // the functions after this one set up the state of a possibly newly created collision body.
832 private void MakeSolid(bool makeSolid)
833 {
834 CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr);
835 if (makeSolid)
836 {
837 // Verify the previous code created the correct shape for this type of thing.
838 if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
839 {
840 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
841 }
842 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
843 }
844 else
845 {
846 if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
847 {
848 m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
849 }
850 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
851
852 // Change collision info from a static object to a ghosty collision object
853 PhysBody.collisionType = CollisionType.VolumeDetect;
854 }
855 }
856
857 // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
858 // they need waking up when parameters are changed.
859 // Called in taint-time!!
860 private void ActivateIfPhysical(bool forceIt)
861 {
862 if (IsPhysical && PhysBody.HasPhysicalBody)
863 BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
864 }
865
866 // Turn on or off the flag controlling whether collision events are returned to the simulator.
867 private void EnableCollisions(bool wantsCollisionEvents)
868 {
869 if (wantsCollisionEvents)
870 {
871 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
872 }
873 else
874 {
875 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
876 }
877 }
878
879 // prims don't fly
880 public override bool Flying {
881 get { return _flying; }
882 set {
883 _flying = value;
884 }
885 }
886 public override bool SetAlwaysRun {
887 get { return _setAlwaysRun; }
888 set { _setAlwaysRun = value; }
889 }
890 public override bool ThrottleUpdates {
891 get { return _throttleUpdates; }
892 set { _throttleUpdates = value; }
893 }
894 public override bool IsColliding {
895 get { return (CollidingStep == PhysicsScene.SimulationStep); }
896 set { _isColliding = value; }
897 }
898 public override bool CollidingGround {
899 get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
900 set { _collidingGround = value; }
901 }
902 public override bool CollidingObj {
903 get { return _collidingObj; }
904 set { _collidingObj = value; }
905 }
906 public bool IsPhantom {
907 get {
908 // SceneObjectPart removes phantom objects from the physics scene
909 // so, although we could implement touching and such, we never
910 // are invoked as a phantom object
911 return false;
912 }
913 }
914 public override bool FloatOnWater {
915 set {
916 _floatOnWater = value;
917 PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
918 {
919 if (_floatOnWater)
920 CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
921 else
922 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
923 });
924 }
925 }
926 public override OMV.Vector3 RotationalVelocity {
927 get {
928 return _rotationalVelocity;
929 }
930 set {
931 _rotationalVelocity = value;
932 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
933 PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
934 {
935 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
936 ForceRotationalVelocity = _rotationalVelocity;
937 });
938 }
939 }
940 public override OMV.Vector3 ForceRotationalVelocity {
941 get {
942 return _rotationalVelocity;
943 }
944 set {
945 _rotationalVelocity = value;
946 if (PhysBody.HasPhysicalBody)
947 {
948 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
949 ActivateIfPhysical(false);
950 }
951 }
952 }
953 public override bool Kinematic {
954 get { return _kinematic; }
955 set { _kinematic = value;
956 // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
957 }
958 }
959 public override float Buoyancy {
960 get { return _buoyancy; }
961 set {
962 _buoyancy = value;
963 PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
964 {
965 ForceBuoyancy = _buoyancy;
966 });
967 }
968 }
969 public override float ForceBuoyancy {
970 get { return _buoyancy; }
971 set {
972 _buoyancy = value;
973 // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
974 // Force the recalculation of the various inertia,etc variables in the object
975 UpdatePhysicalMassProperties(_mass, true);
976 ActivateIfPhysical(false);
977 }
978 }
979
980 // Used for MoveTo
981 public override OMV.Vector3 PIDTarget {
982 set { _PIDTarget = value; }
983 }
984 public override bool PIDActive {
985 set { _usePID = value; }
986 }
987 public override float PIDTau {
988 set { _PIDTau = value; }
989 }
990
991 // Used for llSetHoverHeight and maybe vehicle height
992 // Hover Height will override MoveTo target's Z
993 public override bool PIDHoverActive {
994 set { _useHoverPID = value; }
995 }
996 public override float PIDHoverHeight {
997 set { _PIDHoverHeight = value; }
998 }
999 public override PIDHoverType PIDHoverType {
1000 set { _PIDHoverType = value; }
1001 }
1002 public override float PIDHoverTau {
1003 set { _PIDHoverTao = value; }
1004 }
1005
1006 // For RotLookAt
1007 public override OMV.Quaternion APIDTarget { set { return; } }
1008 public override bool APIDActive { set { return; } }
1009 public override float APIDStrength { set { return; } }
1010 public override float APIDDamping { set { return; } }
1011
1012 public override void AddForce(OMV.Vector3 force, bool pushforce) {
1013 // Since this force is being applied in only one step, make this a force per second.
1014 OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
1015 AddForce(addForce, pushforce, false);
1016 }
1017 // Applying a force just adds this to the total force on the object.
1018 // This added force will only last the next simulation tick.
1019 public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
1020 // for an object, doesn't matter if force is a pushforce or not
1021 if (force.IsFinite())
1022 {
1023 float magnitude = force.Length();
1024 if (magnitude > 20000f)
1025 {
1026 // Force has a limit
1027 force = force / magnitude * 20000f;
1028 }
1029
1030 OMV.Vector3 addForce = force;
1031 DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
1032
1033 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
1034 {
1035 // Bullet adds this central force to the total force for this tick
1036 DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
1037 if (PhysBody.HasPhysicalBody)
1038 {
1039 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
1040 ActivateIfPhysical(false);
1041 }
1042 });
1043 }
1044 else
1045 {
1046 m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
1047 return;
1048 }
1049 }
1050
1051 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
1052 AddAngularForce(force, pushforce, false);
1053 }
1054 public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
1055 {
1056 if (force.IsFinite())
1057 {
1058 OMV.Vector3 angForce = force;
1059 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
1060 {
1061 if (PhysBody.HasPhysicalBody)
1062 {
1063 BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce);
1064 ActivateIfPhysical(false);
1065 }
1066 });
1067 }
1068 else
1069 {
1070 m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
1071 return;
1072 }
1073 }
1074
1075 // A torque impulse.
1076 // ApplyTorqueImpulse adds torque directly to the angularVelocity.
1077 // AddAngularForce accumulates the force and applied it to the angular velocity all at once.
1078 // Computed as: angularVelocity += impulse * inertia;
1079 public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
1080 {
1081 OMV.Vector3 applyImpulse = impulse;
1082 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
1083 {
1084 if (PhysBody.HasPhysicalBody)
1085 {
1086 BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
1087 ActivateIfPhysical(false);
1088 }
1089 });
1090 }
1091
1092 public override void SetMomentum(OMV.Vector3 momentum) {
1093 // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
1094 }
1095 #region Mass Calculation
1096
1097 private float CalculateMass()
1098 {
1099 float volume = _size.X * _size.Y * _size.Z; // default
1100 float tmp;
1101
1102 float returnMass = 0;
1103 float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
1104 float hollowVolume = hollowAmount * hollowAmount;
1105
1106 switch (BaseShape.ProfileShape)
1107 {
1108 case ProfileShape.Square:
1109 // default box
1110
1111 if (BaseShape.PathCurve == (byte)Extrusion.Straight)
1112 {
1113 if (hollowAmount > 0.0)
1114 {
1115 switch (BaseShape.HollowShape)
1116 {
1117 case HollowShape.Square:
1118 case HollowShape.Same:
1119 break;
1120
1121 case HollowShape.Circle:
1122
1123 hollowVolume *= 0.78539816339f;
1124 break;
1125
1126 case HollowShape.Triangle:
1127
1128 hollowVolume *= (0.5f * .5f);
1129 break;
1130
1131 default:
1132 hollowVolume = 0;
1133 break;
1134 }
1135 volume *= (1.0f - hollowVolume);
1136 }
1137 }
1138
1139 else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
1140 {
1141 //a tube
1142
1143 volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX);
1144 tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY);
1145 volume -= volume*tmp*tmp;
1146
1147 if (hollowAmount > 0.0)
1148 {
1149 hollowVolume *= hollowAmount;
1150
1151 switch (BaseShape.HollowShape)
1152 {
1153 case HollowShape.Square:
1154 case HollowShape.Same:
1155 break;
1156
1157 case HollowShape.Circle:
1158 hollowVolume *= 0.78539816339f;;
1159 break;
1160
1161 case HollowShape.Triangle:
1162 hollowVolume *= 0.5f * 0.5f;
1163 break;
1164 default:
1165 hollowVolume = 0;
1166 break;
1167 }
1168 volume *= (1.0f - hollowVolume);
1169 }
1170 }
1171
1172 break;
1173
1174 case ProfileShape.Circle:
1175
1176 if (BaseShape.PathCurve == (byte)Extrusion.Straight)
1177 {
1178 volume *= 0.78539816339f; // elipse base
1179
1180 if (hollowAmount > 0.0)
1181 {
1182 switch (BaseShape.HollowShape)
1183 {
1184 case HollowShape.Same:
1185 case HollowShape.Circle:
1186 break;
1187
1188 case HollowShape.Square:
1189 hollowVolume *= 0.5f * 2.5984480504799f;
1190 break;
1191
1192 case HollowShape.Triangle:
1193 hollowVolume *= .5f * 1.27323954473516f;
1194 break;
1195
1196 default:
1197 hollowVolume = 0;
1198 break;
1199 }
1200 volume *= (1.0f - hollowVolume);
1201 }
1202 }
1203
1204 else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
1205 {
1206 volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX);
1207 tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
1208 volume *= (1.0f - tmp * tmp);
1209
1210 if (hollowAmount > 0.0)
1211 {
1212
1213 // calculate the hollow volume by it's shape compared to the prim shape
1214 hollowVolume *= hollowAmount;
1215
1216 switch (BaseShape.HollowShape)
1217 {
1218 case HollowShape.Same:
1219 case HollowShape.Circle:
1220 break;
1221
1222 case HollowShape.Square:
1223 hollowVolume *= 0.5f * 2.5984480504799f;
1224 break;
1225
1226 case HollowShape.Triangle:
1227 hollowVolume *= .5f * 1.27323954473516f;
1228 break;
1229
1230 default:
1231 hollowVolume = 0;
1232 break;
1233 }
1234 volume *= (1.0f - hollowVolume);
1235 }
1236 }
1237 break;
1238
1239 case ProfileShape.HalfCircle:
1240 if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
1241 {
1242 volume *= 0.52359877559829887307710723054658f;
1243 }
1244 break;
1245
1246 case ProfileShape.EquilateralTriangle:
1247
1248 if (BaseShape.PathCurve == (byte)Extrusion.Straight)
1249 {
1250 volume *= 0.32475953f;
1251
1252 if (hollowAmount > 0.0)
1253 {
1254
1255 // calculate the hollow volume by it's shape compared to the prim shape
1256 switch (BaseShape.HollowShape)
1257 {
1258 case HollowShape.Same:
1259 case HollowShape.Triangle:
1260 hollowVolume *= .25f;
1261 break;
1262
1263 case HollowShape.Square:
1264 hollowVolume *= 0.499849f * 3.07920140172638f;
1265 break;
1266
1267 case HollowShape.Circle:
1268 // Hollow shape is a perfect cyllinder in respect to the cube's scale
1269 // Cyllinder hollow volume calculation
1270
1271 hollowVolume *= 0.1963495f * 3.07920140172638f;
1272 break;
1273
1274 default:
1275 hollowVolume = 0;
1276 break;
1277 }
1278 volume *= (1.0f - hollowVolume);
1279 }
1280 }
1281 else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
1282 {
1283 volume *= 0.32475953f;
1284 volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
1285 tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
1286 volume *= (1.0f - tmp * tmp);
1287
1288 if (hollowAmount > 0.0)
1289 {
1290
1291 hollowVolume *= hollowAmount;
1292
1293 switch (BaseShape.HollowShape)
1294 {
1295 case HollowShape.Same:
1296 case HollowShape.Triangle:
1297 hollowVolume *= .25f;
1298 break;
1299
1300 case HollowShape.Square:
1301 hollowVolume *= 0.499849f * 3.07920140172638f;
1302 break;
1303
1304 case HollowShape.Circle:
1305
1306 hollowVolume *= 0.1963495f * 3.07920140172638f;
1307 break;
1308
1309 default:
1310 hollowVolume = 0;
1311 break;
1312 }
1313 volume *= (1.0f - hollowVolume);
1314 }
1315 }
1316 break;
1317
1318 default:
1319 break;
1320 }
1321
1322
1323
1324 float taperX1;
1325 float taperY1;
1326 float taperX;
1327 float taperY;
1328 float pathBegin;
1329 float pathEnd;
1330 float profileBegin;
1331 float profileEnd;
1332
1333 if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
1334 {
1335 taperX1 = BaseShape.PathScaleX * 0.01f;
1336 if (taperX1 > 1.0f)
1337 taperX1 = 2.0f - taperX1;
1338 taperX = 1.0f - taperX1;
1339
1340 taperY1 = BaseShape.PathScaleY * 0.01f;
1341 if (taperY1 > 1.0f)
1342 taperY1 = 2.0f - taperY1;
1343 taperY = 1.0f - taperY1;
1344 }
1345 else
1346 {
1347 taperX = BaseShape.PathTaperX * 0.01f;
1348 if (taperX < 0.0f)
1349 taperX = -taperX;
1350 taperX1 = 1.0f - taperX;
1351
1352 taperY = BaseShape.PathTaperY * 0.01f;
1353 if (taperY < 0.0f)
1354 taperY = -taperY;
1355 taperY1 = 1.0f - taperY;
1356
1357 }
1358
1359
1360 volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
1361
1362 pathBegin = (float)BaseShape.PathBegin * 2.0e-5f;
1363 pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f;
1364 volume *= (pathEnd - pathBegin);
1365
1366 // this is crude aproximation
1367 profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
1368 profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
1369 volume *= (profileEnd - profileBegin);
1370
1371 returnMass = _density * volume;
1372
1373 /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
1374 if (IsRootOfLinkset)
1375 {
1376 foreach (BSPrim prim in _childrenPrims)
1377 {
1378 returnMass += prim.CalculateMass();
1379 }
1380 }
1381 */
1382
1383 returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
1384
1385 return returnMass;
1386 }// end CalculateMass
1387 #endregion Mass Calculation
1388
1389 // Rebuild the geometry and object.
1390 // This is called when the shape changes so we need to recreate the mesh/hull.
1391 // Called at taint-time!!!
1392 public void CreateGeomAndObject(bool forceRebuild)
1393 {
1394 // If this prim is part of a linkset, we must remove and restore the physical
1395 // links if the body is rebuilt.
1396 bool needToRestoreLinkset = false;
1397 bool needToRestoreVehicle = false;
1398
1399 // Create the correct physical representation for this type of object.
1400 // Updates PhysBody and PhysShape with the new information.
1401 // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
1402 PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
1403 {
1404 // Called if the current prim body is about to be destroyed.
1405 // Remove all the physical dependencies on the old body.
1406 // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
1407 needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
1408 needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this);
1409 });
1410
1411 if (needToRestoreLinkset)
1412 {
1413 // If physical body dependencies were removed, restore them
1414 Linkset.RestoreBodyDependencies(this);
1415 }
1416 if (needToRestoreVehicle)
1417 {
1418 // If physical body dependencies were removed, restore them
1419 _vehicle.RestoreBodyDependencies(this);
1420 }
1421
1422 // Make sure the properties are set on the new object
1423 UpdatePhysicalParameters();
1424 return;
1425 }
1426
1427 // The physics engine says that properties have updated. Update same and inform
1428 // the world that things have changed.
1429 // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
1430 enum UpdatedProperties {
1431 Position = 1 << 0,
1432 Rotation = 1 << 1,
1433 Velocity = 1 << 2,
1434 Acceleration = 1 << 3,
1435 RotationalVel = 1 << 4
1436 }
1437
1438 const float ROTATION_TOLERANCE = 0.01f;
1439 const float VELOCITY_TOLERANCE = 0.001f;
1440 const float POSITION_TOLERANCE = 0.05f;
1441 const float ACCELERATION_TOLERANCE = 0.01f;
1442 const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
1443
1444 public override void UpdateProperties(EntityProperties entprop)
1445 {
1446 // Updates only for individual prims and for the root object of a linkset.
1447 if (Linkset.IsRoot(this))
1448 {
1449 // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
1450 // TODO: handle physics introduced by Bullet with computed vehicle physics.
1451 if (_vehicle.IsActive)
1452 {
1453 entprop.RotationalVelocity = OMV.Vector3.Zero;
1454 }
1455
1456 // Assign directly to the local variables so the normal set action does not happen
1457 _position = entprop.Position;
1458 _orientation = entprop.Rotation;
1459 _velocity = entprop.Velocity;
1460 _acceleration = entprop.Acceleration;
1461 _rotationalVelocity = entprop.RotationalVelocity;
1462
1463 // The sanity check can change the velocity and/or position.
1464 if (IsPhysical && PositionSanityCheck(true))
1465 {
1466 entprop.Position = _position;
1467 entprop.Velocity = _velocity;
1468 }
1469
1470 OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
1471 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
1472 LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
1473
1474 // remember the current and last set values
1475 LastEntityProperties = CurrentEntityProperties;
1476 CurrentEntityProperties = entprop;
1477
1478 base.RequestPhysicsterseUpdate();
1479 }
1480 /*
1481 else
1482 {
1483 // For debugging, report the movement of children
1484 DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
1485 LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
1486 entprop.Acceleration, entprop.RotationalVelocity);
1487 }
1488 */
1489
1490 // The linkset implimentation might want to know about this.
1491 Linkset.UpdateProperties(this, true);
1492 }
1493}
1494}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
deleted file mode 100644
index 1a7c34b..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
+++ /dev/null
@@ -1,957 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Runtime.InteropServices;
30using System.Text;
31using System.Threading;
32using OpenSim.Framework;
33using OpenSim.Region.Framework;
34using OpenSim.Region.CoreModules;
35using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging;
36using OpenSim.Region.Physics.Manager;
37using Nini.Config;
38using log4net;
39using OpenMetaverse;
40
41// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
42// Based on material, set density and friction
43// More efficient memory usage when passing hull information from BSPrim to BulletSim
44// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
45// Implement LockAngularMotion
46// Add PID movement operations. What does ScenePresence.MoveToTarget do?
47// Check terrain size. 128 or 127?
48// Raycast
49//
50namespace OpenSim.Region.Physics.BulletSNPlugin
51{
52public sealed class BSScene : PhysicsScene, IPhysicsParameters
53{
54 private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
55 private static readonly string LogHeader = "[BULLETS SCENE]";
56
57 // The name of the region we're working for.
58 public string RegionName { get; private set; }
59
60 public string BulletSimVersion = "?";
61
62 public Dictionary<uint, BSPhysObject> PhysObjects;
63 public BSShapeCollection Shapes;
64
65 // Keeping track of the objects with collisions so we can report begin and end of a collision
66 public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
67 public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
68 // Keep track of all the avatars so we can send them a collision event
69 // every tick so OpenSim will update its animation.
70 private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
71
72 // let my minuions use my logger
73 public ILog Logger { get { return m_log; } }
74
75 public IMesher mesher;
76 public uint WorldID { get; private set; }
77 public BulletWorld World { get; private set; }
78
79 // All the constraints that have been allocated in this instance.
80 public BSConstraintCollection Constraints { get; private set; }
81
82 // Simulation parameters
83 internal int m_maxSubSteps;
84 internal float m_fixedTimeStep;
85 internal long m_simulationStep = 0;
86 public long SimulationStep { get { return m_simulationStep; } }
87 internal int m_taintsToProcessPerStep;
88 internal float LastTimeStep { get; private set; }
89
90 // Physical objects can register for prestep or poststep events
91 public delegate void PreStepAction(float timeStep);
92 public delegate void PostStepAction(float timeStep);
93 public event PreStepAction BeforeStep;
94 public event PreStepAction AfterStep;
95
96 // A value of the time now so all the collision and update routines do not have to get their own
97 // Set to 'now' just before all the prims and actors are called for collisions and updates
98 public int SimulationNowTime { get; private set; }
99
100 // True if initialized and ready to do simulation steps
101 private bool m_initialized = false;
102
103 // Flag which is true when processing taints.
104 // Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
105 public bool InTaintTime { get; private set; }
106
107 // Pinned memory used to pass step information between managed and unmanaged
108 internal int m_maxCollisionsPerFrame;
109 private List<BulletXNA.CollisionDesc> m_collisionArray;
110 //private GCHandle m_collisionArrayPinnedHandle;
111
112 internal int m_maxUpdatesPerFrame;
113 private List<BulletXNA.EntityProperties> m_updateArray;
114 //private GCHandle m_updateArrayPinnedHandle;
115
116
117 public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
118 public const uint GROUNDPLANE_ID = 1;
119 public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here
120
121 public float SimpleWaterLevel { get; set; }
122 public BSTerrainManager TerrainManager { get; private set; }
123
124 public ConfigurationParameters Params
125 {
126 get { return UnmanagedParams[0]; }
127 }
128 public Vector3 DefaultGravity
129 {
130 get { return new Vector3(0f, 0f, Params.gravity); }
131 }
132 // Just the Z value of the gravity
133 public float DefaultGravityZ
134 {
135 get { return Params.gravity; }
136 }
137
138 // When functions in the unmanaged code must be called, it is only
139 // done at a known time just before the simulation step. The taint
140 // system saves all these function calls and executes them in
141 // order before the simulation.
142 public delegate void TaintCallback();
143 private struct TaintCallbackEntry
144 {
145 public String ident;
146 public TaintCallback callback;
147 public TaintCallbackEntry(string i, TaintCallback c)
148 {
149 ident = i;
150 callback = c;
151 }
152 }
153 private Object _taintLock = new Object(); // lock for using the next object
154 private List<TaintCallbackEntry> _taintOperations;
155 private Dictionary<string, TaintCallbackEntry> _postTaintOperations;
156 private List<TaintCallbackEntry> _postStepOperations;
157
158 // A pointer to an instance if this structure is passed to the C++ code
159 // Used to pass basic configuration values to the unmanaged code.
160 internal ConfigurationParameters[] UnmanagedParams;
161 //GCHandle m_paramsHandle;
162
163 // Handle to the callback used by the unmanaged code to call into the managed code.
164 // Used for debug logging.
165 // Need to store the handle in a persistant variable so it won't be freed.
166 private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
167
168 // Sometimes you just have to log everything.
169 public Logging.LogWriter PhysicsLogging;
170 private bool m_physicsLoggingEnabled;
171 private string m_physicsLoggingDir;
172 private string m_physicsLoggingPrefix;
173 private int m_physicsLoggingFileMinutes;
174 private bool m_physicsLoggingDoFlush;
175 // 'true' of the vehicle code is to log lots of details
176 public bool VehicleLoggingEnabled { get; private set; }
177 public bool VehiclePhysicalLoggingEnabled { get; private set; }
178
179 #region Construction and Initialization
180 public BSScene(string identifier)
181 {
182 m_initialized = false;
183 // we are passed the name of the region we're working for.
184 RegionName = identifier;
185 }
186
187 public override void Initialise(IMesher meshmerizer, IConfigSource config)
188 {
189 mesher = meshmerizer;
190 _taintOperations = new List<TaintCallbackEntry>();
191 _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
192 _postStepOperations = new List<TaintCallbackEntry>();
193 PhysObjects = new Dictionary<uint, BSPhysObject>();
194 Shapes = new BSShapeCollection(this);
195
196 // Allocate pinned memory to pass parameters.
197 UnmanagedParams = new ConfigurationParameters[1];
198 //m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned);
199
200 // Set default values for physics parameters plus any overrides from the ini file
201 GetInitialParameterValues(config);
202
203 // allocate more pinned memory close to the above in an attempt to get the memory all together
204 m_collisionArray = new List<BulletXNA.CollisionDesc>();
205 //m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
206 m_updateArray = new List<BulletXNA.EntityProperties>();
207 //m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
208
209 // Enable very detailed logging.
210 // By creating an empty logger when not logging, the log message invocation code
211 // can be left in and every call doesn't have to check for null.
212 if (m_physicsLoggingEnabled)
213 {
214 PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
215 PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
216 }
217 else
218 {
219 PhysicsLogging = new Logging.LogWriter();
220 }
221
222 // If Debug logging level, enable logging from the unmanaged code
223 m_DebugLogCallbackHandle = null;
224 if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
225 {
226 m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
227 if (PhysicsLogging.Enabled)
228 // The handle is saved in a variable to make sure it doesn't get freed after this call
229 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
230 else
231 m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
232 }
233
234 // Get the version of the DLL
235 // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
236 // BulletSimVersion = BulletSimAPI.GetVersion();
237 // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
238
239 // The bounding box for the simulated world. The origin is 0,0,0 unless we're
240 // a child in a mega-region.
241 // Bullet actually doesn't care about the extents of the simulated
242 // area. It tracks active objects no matter where they are.
243 Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
244
245 // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
246
247 World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams,
248 m_maxCollisionsPerFrame, ref m_collisionArray,
249 m_maxUpdatesPerFrame,ref m_updateArray,
250 m_DebugLogCallbackHandle));
251
252 Constraints = new BSConstraintCollection(World);
253
254 TerrainManager = new BSTerrainManager(this);
255 TerrainManager.CreateInitialGroundPlaneAndTerrain();
256
257 m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
258
259 InTaintTime = false;
260 m_initialized = true;
261 }
262
263 // All default parameter values are set here. There should be no values set in the
264 // variable definitions.
265 private void GetInitialParameterValues(IConfigSource config)
266 {
267 ConfigurationParameters parms = new ConfigurationParameters();
268 UnmanagedParams[0] = parms;
269
270 BSParam.SetParameterDefaultValues(this);
271
272 if (config != null)
273 {
274 // If there are specifications in the ini file, use those values
275 IConfig pConfig = config.Configs["BulletSim"];
276 if (pConfig != null)
277 {
278 BSParam.SetParameterConfigurationValues(this, pConfig);
279
280 // Very detailed logging for physics debugging
281 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
282 m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
283 m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
284 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
285 m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
286 // Very detailed logging for vehicle debugging
287 VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
288 VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
289
290 // Do any replacements in the parameters
291 m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
292 }
293
294 // The material characteristics.
295 BSMaterials.InitializeFromDefaults(Params);
296 if (pConfig != null)
297 {
298 // Let the user add new and interesting material property values.
299 BSMaterials.InitializefromParameters(pConfig);
300 }
301 }
302 }
303
304 // A helper function that handles a true/false parameter and returns the proper float number encoding
305 float ParamBoolean(IConfig config, string parmName, float deflt)
306 {
307 float ret = deflt;
308 if (config.Contains(parmName))
309 {
310 ret = ConfigurationParameters.numericFalse;
311 if (config.GetBoolean(parmName, false))
312 {
313 ret = ConfigurationParameters.numericTrue;
314 }
315 }
316 return ret;
317 }
318
319 // Called directly from unmanaged code so don't do much
320 private void BulletLogger(string msg)
321 {
322 m_log.Debug("[BULLETS UNMANAGED]:" + msg);
323 }
324
325 // Called directly from unmanaged code so don't do much
326 private void BulletLoggerPhysLog(string msg)
327 {
328 DetailLog("[BULLETS UNMANAGED]:" + msg);
329 }
330
331 public override void Dispose()
332 {
333 // m_log.DebugFormat("{0}: Dispose()", LogHeader);
334
335 // make sure no stepping happens while we're deleting stuff
336 m_initialized = false;
337
338 foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
339 {
340 kvp.Value.Destroy();
341 }
342 PhysObjects.Clear();
343
344 // Now that the prims are all cleaned up, there should be no constraints left
345 if (Constraints != null)
346 {
347 Constraints.Dispose();
348 Constraints = null;
349 }
350
351 if (Shapes != null)
352 {
353 Shapes.Dispose();
354 Shapes = null;
355 }
356
357 if (TerrainManager != null)
358 {
359 TerrainManager.ReleaseGroundPlaneAndTerrain();
360 TerrainManager.Dispose();
361 TerrainManager = null;
362 }
363
364 // Anything left in the unmanaged code should be cleaned out
365 BulletSimAPI.Shutdown2(World.ptr);
366
367 // Not logging any more
368 PhysicsLogging.Close();
369 }
370 #endregion // Construction and Initialization
371
372 #region Prim and Avatar addition and removal
373
374 public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
375 {
376 m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
377 return null;
378 }
379
380 public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
381 {
382 // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
383
384 if (!m_initialized) return null;
385
386 BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
387 lock (PhysObjects) PhysObjects.Add(localID, actor);
388
389 // TODO: Remove kludge someday.
390 // We must generate a collision for avatars whether they collide or not.
391 // This is required by OpenSim to update avatar animations, etc.
392 lock (m_avatars) m_avatars.Add(actor);
393
394 return actor;
395 }
396
397 public override void RemoveAvatar(PhysicsActor actor)
398 {
399 // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
400
401 if (!m_initialized) return;
402
403 BSCharacter bsactor = actor as BSCharacter;
404 if (bsactor != null)
405 {
406 try
407 {
408 lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
409 // Remove kludge someday
410 lock (m_avatars) m_avatars.Remove(bsactor);
411 }
412 catch (Exception e)
413 {
414 m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
415 }
416 bsactor.Destroy();
417 // bsactor.dispose();
418 }
419 }
420
421 public override void RemovePrim(PhysicsActor prim)
422 {
423 if (!m_initialized) return;
424
425 BSPrim bsprim = prim as BSPrim;
426 if (bsprim != null)
427 {
428 DetailLog("{0},RemovePrim,call", bsprim.LocalID);
429 // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
430 try
431 {
432 lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID);
433 }
434 catch (Exception e)
435 {
436 m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
437 }
438 bsprim.Destroy();
439 // bsprim.dispose();
440 }
441 else
442 {
443 m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader);
444 }
445 }
446
447 public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
448 Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
449 {
450 // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
451
452 if (!m_initialized) return null;
453
454 DetailLog("{0},AddPrimShape,call", localID);
455
456 BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
457 lock (PhysObjects) PhysObjects.Add(localID, prim);
458 return prim;
459 }
460
461 // This is a call from the simulator saying that some physical property has been updated.
462 // The BulletSim driver senses the changing of relevant properties so this taint
463 // information call is not needed.
464 public override void AddPhysicsActorTaint(PhysicsActor prim) { }
465
466 #endregion // Prim and Avatar addition and removal
467
468 #region Simulation
469 // Simulate one timestep
470 public override float Simulate(float timeStep)
471 {
472 // prevent simulation until we've been initialized
473 if (!m_initialized) return 5.0f;
474
475 LastTimeStep = timeStep;
476
477 int updatedEntityCount = 0;
478 //Object updatedEntitiesPtr;
479 int collidersCount = 0;
480 //Object collidersPtr;
481
482 int beforeTime = 0;
483 int simTime = 0;
484
485 // update the prim states while we know the physics engine is not busy
486 int numTaints = _taintOperations.Count;
487
488 InTaintTime = true; // Only used for debugging so locking is not necessary.
489
490 ProcessTaints();
491
492 // Some of the physical objects requre individual, pre-step calls
493 TriggerPreStepEvent(timeStep);
494
495 // the prestep actions might have added taints
496 ProcessTaints();
497
498 InTaintTime = false; // Only used for debugging so locking is not necessary.
499
500 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
501 // Only enable this in a limited test world with few objects.
502 // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG
503
504 // step the physical world one interval
505 m_simulationStep++;
506 int numSubSteps = 0;
507
508 try
509 {
510 if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
511
512 numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
513 out updatedEntityCount, out m_updateArray, out collidersCount, out m_collisionArray);
514
515 if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
516 DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
517 DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
518 updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
519 }
520 catch (Exception e)
521 {
522 m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
523 LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
524 DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
525 DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
526 updatedEntityCount = 0;
527 collidersCount = 0;
528 }
529
530 // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in.
531
532 // Get a value for 'now' so all the collision and update routines don't have to get their own.
533 SimulationNowTime = Util.EnvironmentTickCount();
534
535 // If there were collisions, process them by sending the event to the prim.
536 // Collisions must be processed before updates.
537 if (collidersCount > 0)
538 {
539 for (int ii = 0; ii < collidersCount; ii++)
540 {
541 uint cA = m_collisionArray[ii].aID;
542 uint cB = m_collisionArray[ii].bID;
543 Vector3 point = new Vector3(m_collisionArray[ii].point.X, m_collisionArray[ii].point.Y,
544 m_collisionArray[ii].point.Z);
545 Vector3 normal = new Vector3(m_collisionArray[ii].normal.X, m_collisionArray[ii].normal.Y,
546 m_collisionArray[ii].normal.Z);
547 SendCollision(cA, cB, point, normal, 0.01f);
548 SendCollision(cB, cA, point, -normal, 0.01f);
549 }
550 }
551
552 // The above SendCollision's batch up the collisions on the objects.
553 // Now push the collisions into the simulator.
554 if (ObjectsWithCollisions.Count > 0)
555 {
556 foreach (BSPhysObject bsp in ObjectsWithCollisions)
557 if (!bsp.SendCollisions())
558 {
559 // If the object is done colliding, see that it's removed from the colliding list
560 ObjectsWithNoMoreCollisions.Add(bsp);
561 }
562 }
563
564 // This is a kludge to get avatar movement updates.
565 // The simulator expects collisions for avatars even if there are have been no collisions.
566 // The event updates avatar animations and stuff.
567 // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
568 foreach (BSPhysObject bsp in m_avatars)
569 if (!ObjectsWithCollisions.Contains(bsp)) // don't call avatars twice
570 bsp.SendCollisions();
571
572 // Objects that are done colliding are removed from the ObjectsWithCollisions list.
573 // Not done above because it is inside an iteration of ObjectWithCollisions.
574 // This complex collision processing is required to create an empty collision
575 // event call after all collisions have happened on an object. This enables
576 // the simulator to generate the 'collision end' event.
577 if (ObjectsWithNoMoreCollisions.Count > 0)
578 {
579 foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
580 ObjectsWithCollisions.Remove(po);
581 ObjectsWithNoMoreCollisions.Clear();
582 }
583 // Done with collisions.
584
585 // If any of the objects had updated properties, tell the object it has been changed by the physics engine
586 if (updatedEntityCount > 0)
587 {
588 for (int ii = 0; ii < updatedEntityCount; ii++)
589 {
590
591 BulletXNA.EntityProperties entprop = m_updateArray[ii];
592 BSPhysObject pobj;
593 if (PhysObjects.TryGetValue(entprop.ID, out pobj))
594 {
595 EntityProperties prop = new EntityProperties()
596 {
597 Acceleration = new Vector3(entprop.Acceleration.X, entprop.Acceleration.Y, entprop.Acceleration.Z),
598 ID = entprop.ID,
599 Position = new Vector3(entprop.Position.X,entprop.Position.Y,entprop.Position.Z),
600 Rotation = new Quaternion(entprop.Rotation.X,entprop.Rotation.Y,entprop.Rotation.Z,entprop.Rotation.W),
601 RotationalVelocity = new Vector3(entprop.AngularVelocity.X,entprop.AngularVelocity.Y,entprop.AngularVelocity.Z),
602 Velocity = new Vector3(entprop.Velocity.X,entprop.Velocity.Y,entprop.Velocity.Z)
603 };
604 //m_log.Debug(pobj.Name + ":" + prop.ToString() + "\n");
605 pobj.UpdateProperties(prop);
606 }
607 }
608 }
609
610 TriggerPostStepEvent(timeStep);
611
612 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
613 // Only enable this in a limited test world with few objects.
614 // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG
615
616 // The physics engine returns the number of milliseconds it simulated this call.
617 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
618 // Multiply by 55 to give a nominal frame rate of 55.
619 return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f;
620 }
621
622 // Something has collided
623 private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration)
624 {
625 if (localID <= TerrainManager.HighestTerrainID)
626 {
627 return; // don't send collisions to the terrain
628 }
629
630 BSPhysObject collider;
631 if (!PhysObjects.TryGetValue(localID, out collider))
632 {
633 // If the object that is colliding cannot be found, just ignore the collision.
634 DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith);
635 return;
636 }
637
638 // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called.
639 BSPhysObject collidee = null;
640 PhysObjects.TryGetValue(collidingWith, out collidee);
641
642 // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
643
644 if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
645 {
646 // If a collision was posted, remember to send it to the simulator
647 ObjectsWithCollisions.Add(collider);
648 }
649
650 return;
651 }
652
653 #endregion // Simulation
654
655 public override void GetResults() { }
656
657 #region Terrain
658
659 public override void SetTerrain(float[] heightMap) {
660 TerrainManager.SetTerrain(heightMap);
661 }
662
663 public override void SetWaterLevel(float baseheight)
664 {
665 SimpleWaterLevel = baseheight;
666 }
667
668 public override void DeleteTerrain()
669 {
670 // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
671 }
672
673 // Although no one seems to check this, I do support combining.
674 public override bool SupportsCombining()
675 {
676 return TerrainManager.SupportsCombining();
677 }
678 // This call says I am a child to region zero in a mega-region. 'pScene' is that
679 // of region zero, 'offset' is my offset from regions zero's origin, and
680 // 'extents' is the largest XY that is handled in my region.
681 public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
682 {
683 TerrainManager.Combine(pScene, offset, extents);
684 }
685
686 // Unhook all the combining that I know about.
687 public override void UnCombine(PhysicsScene pScene)
688 {
689 TerrainManager.UnCombine(pScene);
690 }
691
692 #endregion // Terrain
693
694 public override Dictionary<uint, float> GetTopColliders()
695 {
696 return new Dictionary<uint, float>();
697 }
698
699 public override bool IsThreaded { get { return false; } }
700
701 #region Taints
702 // The simulation execution order is:
703 // Simulate()
704 // DoOneTimeTaints
705 // TriggerPreStepEvent
706 // DoOneTimeTaints
707 // Step()
708 // ProcessAndForwardCollisions
709 // ProcessAndForwardPropertyUpdates
710 // TriggerPostStepEvent
711
712 // Calls to the PhysicsActors can't directly call into the physics engine
713 // because it might be busy. We delay changes to a known time.
714 // We rely on C#'s closure to save and restore the context for the delegate.
715 public void TaintedObject(String ident, TaintCallback callback)
716 {
717 if (!m_initialized) return;
718
719 lock (_taintLock)
720 {
721 _taintOperations.Add(new TaintCallbackEntry(ident, callback));
722 }
723
724 return;
725 }
726
727 // Sometimes a potentially tainted operation can be used in and out of taint time.
728 // This routine executes the command immediately if in taint-time otherwise it is queued.
729 public void TaintedObject(bool inTaintTime, string ident, TaintCallback callback)
730 {
731 if (inTaintTime)
732 callback();
733 else
734 TaintedObject(ident, callback);
735 }
736
737 private void TriggerPreStepEvent(float timeStep)
738 {
739 PreStepAction actions = BeforeStep;
740 if (actions != null)
741 actions(timeStep);
742
743 }
744
745 private void TriggerPostStepEvent(float timeStep)
746 {
747 PreStepAction actions = AfterStep;
748 if (actions != null)
749 actions(timeStep);
750
751 }
752
753 // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
754 // a callback into itself to do the actual property change. That callback is called
755 // here just before the physics engine is called to step the simulation.
756 public void ProcessTaints()
757 {
758 ProcessRegularTaints();
759 ProcessPostTaintTaints();
760 }
761
762 private void ProcessRegularTaints()
763 {
764 if (_taintOperations.Count > 0) // save allocating new list if there is nothing to process
765 {
766 // swizzle a new list into the list location so we can process what's there
767 List<TaintCallbackEntry> oldList;
768 lock (_taintLock)
769 {
770 oldList = _taintOperations;
771 _taintOperations = new List<TaintCallbackEntry>();
772 }
773
774 foreach (TaintCallbackEntry tcbe in oldList)
775 {
776 try
777 {
778 DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
779 tcbe.callback();
780 }
781 catch (Exception e)
782 {
783 m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
784 }
785 }
786 oldList.Clear();
787 }
788 }
789
790 // Schedule an update to happen after all the regular taints are processed.
791 // Note that new requests for the same operation ("ident") for the same object ("ID")
792 // will replace any previous operation by the same object.
793 public void PostTaintObject(String ident, uint ID, TaintCallback callback)
794 {
795 string uniqueIdent = ident + "-" + ID.ToString();
796 lock (_taintLock)
797 {
798 _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback);
799 }
800
801 return;
802 }
803
804 // Taints that happen after the normal taint processing but before the simulation step.
805 private void ProcessPostTaintTaints()
806 {
807 if (_postTaintOperations.Count > 0)
808 {
809 Dictionary<string, TaintCallbackEntry> oldList;
810 lock (_taintLock)
811 {
812 oldList = _postTaintOperations;
813 _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
814 }
815
816 foreach (KeyValuePair<string,TaintCallbackEntry> kvp in oldList)
817 {
818 try
819 {
820 DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
821 kvp.Value.callback();
822 }
823 catch (Exception e)
824 {
825 m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e);
826 }
827 }
828 oldList.Clear();
829 }
830 }
831
832 // Only used for debugging. Does not change state of anything so locking is not necessary.
833 public bool AssertInTaintTime(string whereFrom)
834 {
835 if (!InTaintTime)
836 {
837 DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
838 m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
839 Util.PrintCallStack(DetailLog);
840 }
841 return InTaintTime;
842 }
843
844 #endregion // Taints
845
846 #region INI and command line parameter processing
847
848 #region IPhysicsParameters
849 // Get the list of parameters this physics engine supports
850 public PhysParameterEntry[] GetParameterList()
851 {
852 BSParam.BuildParameterTable();
853 return BSParam.SettableParameters;
854 }
855
856 // Set parameter on a specific or all instances.
857 // Return 'false' if not able to set the parameter.
858 // Setting the value in the m_params block will change the value the physics engine
859 // will use the next time since it's pinned and shared memory.
860 // Some of the values require calling into the physics engine to get the new
861 // value activated ('terrainFriction' for instance).
862 public bool SetPhysicsParameter(string parm, float val, uint localID)
863 {
864 bool ret = false;
865 BSParam.ParameterDefn theParam;
866 if (BSParam.TryGetParameter(parm, out theParam))
867 {
868 theParam.setter(this, parm, localID, val);
869 ret = true;
870 }
871 return ret;
872 }
873
874 // update all the localIDs specified
875 // If the local ID is APPLY_TO_NONE, just change the default value
876 // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
877 // If the localID is a specific object, apply the parameter change to only that object
878 internal delegate void AssignVal(float x);
879 internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val)
880 {
881 List<uint> objectIDs = new List<uint>();
882 switch (localID)
883 {
884 case PhysParameterEntry.APPLY_TO_NONE:
885 setDefault(val); // setting only the default value
886 // This will cause a call into the physical world if some operation is specified (SetOnObject).
887 objectIDs.Add(TERRAIN_ID);
888 TaintedUpdateParameter(parm, objectIDs, val);
889 break;
890 case PhysParameterEntry.APPLY_TO_ALL:
891 setDefault(val); // setting ALL also sets the default value
892 lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
893 TaintedUpdateParameter(parm, objectIDs, val);
894 break;
895 default:
896 // setting only one localID
897 objectIDs.Add(localID);
898 TaintedUpdateParameter(parm, objectIDs, val);
899 break;
900 }
901 }
902
903 // schedule the actual updating of the paramter to when the phys engine is not busy
904 private void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
905 {
906 float xval = val;
907 List<uint> xlIDs = lIDs;
908 string xparm = parm;
909 TaintedObject("BSScene.UpdateParameterSet", delegate() {
910 BSParam.ParameterDefn thisParam;
911 if (BSParam.TryGetParameter(xparm, out thisParam))
912 {
913 if (thisParam.onObject != null)
914 {
915 foreach (uint lID in xlIDs)
916 {
917 BSPhysObject theObject = null;
918 PhysObjects.TryGetValue(lID, out theObject);
919 thisParam.onObject(this, theObject, xval);
920 }
921 }
922 }
923 });
924 }
925
926 // Get parameter.
927 // Return 'false' if not able to get the parameter.
928 public bool GetPhysicsParameter(string parm, out float value)
929 {
930 float val = 0f;
931 bool ret = false;
932 BSParam.ParameterDefn theParam;
933 if (BSParam.TryGetParameter(parm, out theParam))
934 {
935 val = theParam.getter(this);
936 ret = true;
937 }
938 value = val;
939 return ret;
940 }
941
942 #endregion IPhysicsParameters
943
944 #endregion Runtime settable parameters
945
946 // Invoke the detailed logger and output something if it's enabled.
947 public void DetailLog(string msg, params Object[] args)
948 {
949 PhysicsLogging.Write(msg, args);
950 // Add the Flush() if debugging crashes. Gets all the messages written out.
951 if (m_physicsLoggingDoFlush) PhysicsLogging.Flush();
952 }
953 // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
954 public const string DetailLogZero = "0000000000";
955
956}
957}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs
deleted file mode 100644
index 47fb768..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs
+++ /dev/null
@@ -1,1015 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30using OMV = OpenMetaverse;
31using OpenSim.Framework;
32using OpenSim.Region.Physics.Manager;
33using OpenSim.Region.Physics.ConvexDecompositionDotNet;
34
35namespace OpenSim.Region.Physics.BulletSNPlugin
36{
37public sealed class BSShapeCollection : IDisposable
38{
39 private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
40
41 private 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 Object ptr;
49 public int referenceCount;
50 public DateTime lastReferenced;
51 public UInt64 shapeKey;
52 }
53
54 // Description of a hull.
55 // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
56 private struct HullDesc
57 {
58 public Object ptr;
59 public int referenceCount;
60 public DateTime lastReferenced;
61 public UInt64 shapeKey;
62 }
63
64 // The sharable set of meshes and hulls. Indexed by their shape hash.
65 private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
66 private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>();
67
68 private bool DDetail = false;
69
70 public BSShapeCollection(BSScene physScene)
71 {
72 PhysicsScene = physScene;
73 // Set the next to 'true' for very detailed shape update detailed logging (detailed details?)
74 // While detailed debugging is still active, this is better than commenting out all the
75 // DetailLog statements. When debugging slows down, this and the protected logging
76 // statements can be commented/removed.
77 DDetail = true;
78 }
79
80 public void Dispose()
81 {
82 // TODO!!!!!!!!!
83 }
84
85 // Callbacks called just before either the body or shape is destroyed.
86 // Mostly used for changing bodies out from under Linksets.
87 // Useful for other cases where parameters need saving.
88 // Passing 'null' says no callback.
89 public delegate void ShapeDestructionCallback(BulletShape shape);
90 public delegate void BodyDestructionCallback(BulletBody body);
91
92 // Called to update/change the body and shape for an object.
93 // First checks the shape and updates that if necessary then makes
94 // sure the body is of the right type.
95 // Return 'true' if either the body or the shape changed.
96 // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before
97 // the current shape or body is destroyed. This allows the caller to remove any
98 // higher level dependencies on the shape or body. Mostly used for LinkSets to
99 // remove the physical constraints before the body is destroyed.
100 // Called at taint-time!!
101 public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim,
102 ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
103 {
104 PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
105
106 bool ret = false;
107
108 // This lock could probably be pushed down lower but building shouldn't take long
109 lock (m_collectionActivityLock)
110 {
111 // Do we have the correct geometry for this type of object?
112 // Updates prim.BSShape with information/pointers to shape.
113 // Returns 'true' of BSShape is changed to a new shape.
114 bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback);
115 // If we had to select a new shape geometry for the object,
116 // rebuild the body around it.
117 // Updates prim.BSBody with information/pointers to requested body
118 // Returns 'true' if BSBody was changed.
119 bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
120 prim.PhysShape, bodyCallback);
121 ret = newGeom || newBody;
122 }
123 DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
124 prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape);
125
126 return ret;
127 }
128
129 public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim)
130 {
131 return GetBodyAndShape(forceRebuild, sim, prim, null, null);
132 }
133
134 // Track another user of a body.
135 // We presume the caller has allocated the body.
136 // Bodies only have one user so the body is just put into the world if not already there.
137 public void ReferenceBody(BulletBody body, bool inTaintTime)
138 {
139 lock (m_collectionActivityLock)
140 {
141 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
142 PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
143 {
144 if (!BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr))
145 {
146 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
147 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
148 }
149 });
150 }
151 }
152
153 // Release the usage of a body.
154 // Called when releasing use of a BSBody. BSShape is handled separately.
155 public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
156 {
157 if (!body.HasPhysicalBody)
158 return;
159
160 lock (m_collectionActivityLock)
161 {
162 PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate()
163 {
164 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
165 body.ID, body, inTaintTime);
166 // If the caller needs to know the old body is going away, pass the event up.
167 if (bodyCallback != null) bodyCallback(body);
168
169 if (BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr))
170 {
171 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
172 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
173 }
174
175 // Zero any reference to the shape so it is not freed when the body is deleted.
176 BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, null);
177 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
178 });
179 }
180 }
181
182 // Track the datastructures and use count for a shape.
183 // When creating a hull, this is called first to reference the mesh
184 // and then again to reference the hull.
185 // Meshes and hulls for the same shape have the same hash key.
186 // NOTE that native shapes are not added to the mesh list or removed.
187 // Returns 'true' if this is the initial reference to the shape. Otherwise reused.
188 public bool ReferenceShape(BulletShape shape)
189 {
190 bool ret = false;
191 switch (shape.type)
192 {
193 case BSPhysicsShapeType.SHAPE_MESH:
194 MeshDesc meshDesc;
195 if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
196 {
197 // There is an existing instance of this mesh.
198 meshDesc.referenceCount++;
199 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
200 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
201 }
202 else
203 {
204 // This is a new reference to a mesh
205 meshDesc.ptr = shape.ptr;
206 meshDesc.shapeKey = shape.shapeKey;
207 // We keep a reference to the underlying IMesh data so a hull can be built
208 meshDesc.referenceCount = 1;
209 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
210 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
211 ret = true;
212 }
213 meshDesc.lastReferenced = System.DateTime.Now;
214 Meshes[shape.shapeKey] = meshDesc;
215 break;
216 case BSPhysicsShapeType.SHAPE_HULL:
217 HullDesc hullDesc;
218 if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
219 {
220 // There is an existing instance of this hull.
221 hullDesc.referenceCount++;
222 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
223 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
224 }
225 else
226 {
227 // This is a new reference to a hull
228 hullDesc.ptr = shape.ptr;
229 hullDesc.shapeKey = shape.shapeKey;
230 hullDesc.referenceCount = 1;
231 if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
232 BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
233 ret = true;
234
235 }
236 hullDesc.lastReferenced = System.DateTime.Now;
237 Hulls[shape.shapeKey] = hullDesc;
238 break;
239 case BSPhysicsShapeType.SHAPE_UNKNOWN:
240 break;
241 default:
242 // Native shapes are not tracked and they don't go into any list
243 break;
244 }
245 return ret;
246 }
247
248 // Release the usage of a shape.
249 public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
250 {
251 if (!shape.HasPhysicalShape)
252 return;
253
254 PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate()
255 {
256 if (shape.HasPhysicalShape)
257 {
258 if (shape.isNativeShape)
259 {
260 // Native shapes are not tracked and are released immediately
261 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
262 BSScene.DetailLogZero, shape.ptr.ToString(), inTaintTime);
263 if (shapeCallback != null) shapeCallback(shape);
264 BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
265 }
266 else
267 {
268 switch (shape.type)
269 {
270 case BSPhysicsShapeType.SHAPE_HULL:
271 DereferenceHull(shape, shapeCallback);
272 break;
273 case BSPhysicsShapeType.SHAPE_MESH:
274 DereferenceMesh(shape, shapeCallback);
275 break;
276 case BSPhysicsShapeType.SHAPE_COMPOUND:
277 DereferenceCompound(shape, shapeCallback);
278 break;
279 case BSPhysicsShapeType.SHAPE_UNKNOWN:
280 break;
281 default:
282 break;
283 }
284 }
285 }
286 });
287 }
288
289 // Count down the reference count for a mesh shape
290 // Called at taint-time.
291 private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback)
292 {
293 MeshDesc meshDesc;
294 if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
295 {
296 meshDesc.referenceCount--;
297 // TODO: release the Bullet storage
298 if (shapeCallback != null) shapeCallback(shape);
299 meshDesc.lastReferenced = System.DateTime.Now;
300 Meshes[shape.shapeKey] = meshDesc;
301 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}",
302 BSScene.DetailLogZero, shape, meshDesc.referenceCount);
303
304 }
305 }
306
307 // Count down the reference count for a hull shape
308 // Called at taint-time.
309 private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback)
310 {
311 HullDesc hullDesc;
312 if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
313 {
314 hullDesc.referenceCount--;
315 // TODO: release the Bullet storage (aging old entries?)
316
317 // Tell upper layers that, if they have dependencies on this shape, this link is going away
318 if (shapeCallback != null) shapeCallback(shape);
319
320 hullDesc.lastReferenced = System.DateTime.Now;
321 Hulls[shape.shapeKey] = hullDesc;
322 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}",
323 BSScene.DetailLogZero, shape, hullDesc.referenceCount);
324 }
325 }
326
327 // Remove a reference to a compound shape.
328 // Taking a compound shape apart is a little tricky because if you just delete the
329 // physical shape, it will free all the underlying children. We can't do that because
330 // they could be shared. So, this removes each of the children from the compound and
331 // dereferences them separately before destroying the compound collision object itself.
332 // Called at taint-time.
333 private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback)
334 {
335 if (!BulletSimAPI.IsCompound2(shape.ptr))
336 {
337 // Failed the sanity check!!
338 PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}",
339 LogHeader, shape.type, shape.ptr.ToString());
340 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
341 BSScene.DetailLogZero, shape.type, shape.ptr.ToString());
342 return;
343 }
344
345 int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr);
346 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
347
348 for (int ii = numChildren - 1; ii >= 0; ii--)
349 {
350 Object childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii);
351 DereferenceAnonCollisionShape(childShape);
352 }
353 BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
354 }
355
356 // Sometimes we have a pointer to a collision shape but don't know what type it is.
357 // Figure out type and call the correct dereference routine.
358 // Called at taint-time.
359 private void DereferenceAnonCollisionShape(Object cShape)
360 {
361 MeshDesc meshDesc;
362 HullDesc hullDesc;
363
364 BulletShape shapeInfo = new BulletShape(cShape);
365 if (TryGetMeshByPtr(cShape, out meshDesc))
366 {
367 shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH;
368 shapeInfo.shapeKey = meshDesc.shapeKey;
369 }
370 else
371 {
372 if (TryGetHullByPtr(cShape, out hullDesc))
373 {
374 shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL;
375 shapeInfo.shapeKey = hullDesc.shapeKey;
376 }
377 else
378 {
379 if (BulletSimAPI.IsCompound2(cShape))
380 {
381 shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND;
382 }
383 else
384 {
385 if (BulletSimAPI.IsNativeShape2(cShape))
386 {
387 shapeInfo.isNativeShape = true;
388 shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
389 }
390 }
391 }
392 }
393
394 if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
395
396 if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN)
397 {
398 DereferenceShape(shapeInfo, true, null);
399 }
400 else
401 {
402 PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}",
403 LogHeader, PhysicsScene.RegionName, cShape.ToString());
404 }
405 }
406
407 // Create the geometry information in Bullet for later use.
408 // The objects needs a hull if it's physical otherwise a mesh is enough.
409 // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
410 // shared geometries will be used. If the parameters of the existing shape are the same
411 // as this request, the shape is not rebuilt.
412 // Info in prim.BSShape is updated to the new shape.
413 // Returns 'true' if the geometry was rebuilt.
414 // Called at taint-time!
415 private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
416 {
417 bool ret = false;
418 bool haveShape = false;
419
420 if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
421 {
422 // an avatar capsule is close to a native shape (it is not shared)
423 GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE,
424 FixedShapeKey.KEY_CAPSULE, shapeCallback);
425 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
426 ret = true;
427 haveShape = true;
428 }
429
430 // Compound shapes are handled special as they are rebuilt from scratch.
431 // This isn't too great a hardship since most of the child shapes will have already been created.
432 if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
433 {
434 ret = GetReferenceToCompoundShape(prim, shapeCallback);
435 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
436 haveShape = true;
437 }
438
439 if (!haveShape)
440 {
441 ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback);
442 }
443
444 return ret;
445 }
446
447 // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'.
448 public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
449 {
450 bool ret = false;
451 bool haveShape = false;
452 bool nativeShapePossible = true;
453 PrimitiveBaseShape pbs = prim.BaseShape;
454
455 // If the prim attributes are simple, this could be a simple Bullet native shape
456 if (!haveShape
457 && pbs != null
458 && nativeShapePossible
459 && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim)
460 || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
461 && pbs.ProfileHollow == 0
462 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
463 && pbs.PathBegin == 0 && pbs.PathEnd == 0
464 && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
465 && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
466 && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
467 {
468 // Get the scale of any existing shape so we can see if the new shape is same native type and same size.
469 OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero;
470 if (prim.PhysShape.HasPhysicalShape)
471 scaleOfExistingShape = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr);
472
473 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
474 prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type);
475
476 // It doesn't look like Bullet scales spheres so make sure the scales are all equal
477 if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
478 && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
479 {
480 haveShape = true;
481 if (forceRebuild
482 || prim.Scale != scaleOfExistingShape
483 || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE
484 )
485 {
486 ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE,
487 FixedShapeKey.KEY_SPHERE, shapeCallback);
488 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
489 prim.LocalID, forceRebuild, prim.PhysShape);
490 }
491 }
492 if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
493 {
494 haveShape = true;
495 if (forceRebuild
496 || prim.Scale != scaleOfExistingShape
497 || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX
498 )
499 {
500 ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX,
501 FixedShapeKey.KEY_BOX, shapeCallback);
502 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
503 prim.LocalID, forceRebuild, prim.PhysShape);
504 }
505 }
506 }
507
508 // If a simple shape is not happening, create a mesh and possibly a hull.
509 if (!haveShape && pbs != null)
510 {
511 ret = CreateGeomMeshOrHull(prim, shapeCallback);
512 }
513
514 return ret;
515 }
516
517 public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
518 {
519
520 bool ret = false;
521 // Note that if it's a native shape, the check for physical/non-physical is not
522 // made. Native shapes work in either case.
523 if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects)
524 {
525 // Update prim.BSShape to reference a hull of this shape.
526 ret = GetReferenceToHull(prim,shapeCallback);
527 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
528 prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
529 }
530 else
531 {
532 ret = GetReferenceToMesh(prim, shapeCallback);
533 if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
534 prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
535 }
536 return ret;
537 }
538
539 // Creates a native shape and assignes it to prim.BSShape.
540 // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
541 private bool GetReferenceToNativeShape(BSPhysObject prim,
542 BSPhysicsShapeType shapeType, FixedShapeKey shapeKey,
543 ShapeDestructionCallback shapeCallback)
544 {
545 // release any previous shape
546 DereferenceShape(prim.PhysShape, true, shapeCallback);
547
548 BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
549
550 // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
551 if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
552 prim.LocalID, newShape, prim.Scale);
553
554 // native shapes are scaled by Bullet
555 prim.PhysShape = newShape;
556 return true;
557 }
558
559 private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType,
560 FixedShapeKey shapeKey)
561 {
562 BulletShape newShape;
563 // Need to make sure the passed shape information is for the native type.
564 ShapeData nativeShapeData = new ShapeData();
565 nativeShapeData.Type = shapeType;
566 nativeShapeData.ID = prim.LocalID;
567 nativeShapeData.Scale = prim.Scale;
568 nativeShapeData.Size = prim.Scale; // unneeded, I think.
569 nativeShapeData.MeshKey = (ulong)shapeKey;
570 nativeShapeData.HullKey = (ulong)shapeKey;
571
572 if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
573 {
574 // The proper scale has been calculated in the prim.
575 newShape = new BulletShape(
576 BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
577 , shapeType);
578 if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
579 }
580 else
581 {
582 // Native shapes are scaled in Bullet so set the scaling to the size
583 newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
584 }
585 if (!newShape.HasPhysicalShape)
586 {
587 PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
588 LogHeader, prim.LocalID, shapeType);
589 }
590 newShape.shapeKey = (System.UInt64)shapeKey;
591 newShape.isNativeShape = true;
592
593 return newShape;
594 }
595
596 // Builds a mesh shape in the physical world and updates prim.BSShape.
597 // Dereferences previous shape in BSShape and adds a reference for this new shape.
598 // Returns 'true' of a mesh was actually built. Otherwise .
599 // Called at taint-time!
600 private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
601 {
602 BulletShape newShape = new BulletShape();
603
604 float lod;
605 System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
606
607 // if this new shape is the same as last time, don't recreate the mesh
608 if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH)
609 return false;
610
611 if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}",
612 prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
613
614 // Since we're recreating new, get rid of the reference to the previous shape
615 DereferenceShape(prim.PhysShape, true, shapeCallback);
616
617 newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod);
618 // Take evasive action if the mesh was not constructed.
619 newShape = VerifyMeshCreated(newShape, prim);
620
621 ReferenceShape(newShape);
622
623 prim.PhysShape = newShape;
624
625 return true; // 'true' means a new shape has been added to this prim
626 }
627
628 private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
629 {
630 IMesh meshData = null;
631 Object meshPtr = null;
632 MeshDesc meshDesc;
633 if (Meshes.TryGetValue(newMeshKey, out meshDesc))
634 {
635 // If the mesh has already been built just use it.
636 meshPtr = meshDesc.ptr;
637 }
638 else
639 {
640 meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false);
641
642 if (meshData != null)
643 {
644 int[] indices = meshData.getIndexListAsInt();
645 List<OMV.Vector3> vertices = meshData.getVertexList();
646
647 float[] verticesAsFloats = new float[vertices.Count * 3];
648 int vi = 0;
649 foreach (OMV.Vector3 vv in vertices)
650 {
651 verticesAsFloats[vi++] = vv.X;
652 verticesAsFloats[vi++] = vv.Y;
653 verticesAsFloats[vi++] = vv.Z;
654 }
655
656 // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
657 // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
658
659 meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
660 indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
661 }
662 }
663 BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH);
664 newShape.shapeKey = newMeshKey;
665
666 return newShape;
667 }
668
669 // See that hull shape exists in the physical world and update prim.BSShape.
670 // We could be creating the hull because scale changed or whatever.
671 private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
672 {
673 BulletShape newShape;
674
675 float lod;
676 System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
677
678 // if the hull hasn't changed, don't rebuild it
679 if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL)
680 return false;
681
682 if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}",
683 prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
684
685 // Remove usage of the previous shape.
686 DereferenceShape(prim.PhysShape, true, shapeCallback);
687
688 newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
689 newShape = VerifyMeshCreated(newShape, prim);
690
691 ReferenceShape(newShape);
692
693 prim.PhysShape = newShape;
694 return true; // 'true' means a new shape has been added to this prim
695 }
696
697 List<ConvexResult> m_hulls;
698 private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
699 {
700
701 Object hullPtr = null;
702 HullDesc hullDesc;
703 if (Hulls.TryGetValue(newHullKey, out hullDesc))
704 {
705 // If the hull shape already is created, just use it.
706 hullPtr = hullDesc.ptr;
707 }
708 else
709 {
710 // Build a new hull in the physical world
711 // Pass true for physicalness as this creates some sort of bounding box which we don't need
712 IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false);
713 if (meshData != null)
714 {
715
716 int[] indices = meshData.getIndexListAsInt();
717 List<OMV.Vector3> vertices = meshData.getVertexList();
718
719 //format conversion from IMesh format to DecompDesc format
720 List<int> convIndices = new List<int>();
721 List<float3> convVertices = new List<float3>();
722 for (int ii = 0; ii < indices.GetLength(0); ii++)
723 {
724 convIndices.Add(indices[ii]);
725 }
726 foreach (OMV.Vector3 vv in vertices)
727 {
728 convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
729 }
730
731 // setup and do convex hull conversion
732 m_hulls = new List<ConvexResult>();
733 DecompDesc dcomp = new DecompDesc();
734 dcomp.mIndices = convIndices;
735 dcomp.mVertices = convVertices;
736 ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
737 // create the hull into the _hulls variable
738 convexBuilder.process(dcomp);
739
740 // Convert the vertices and indices for passing to unmanaged.
741 // The hull information is passed as a large floating point array.
742 // The format is:
743 // convHulls[0] = number of hulls
744 // convHulls[1] = number of vertices in first hull
745 // convHulls[2] = hull centroid X coordinate
746 // convHulls[3] = hull centroid Y coordinate
747 // convHulls[4] = hull centroid Z coordinate
748 // convHulls[5] = first hull vertex X
749 // convHulls[6] = first hull vertex Y
750 // convHulls[7] = first hull vertex Z
751 // convHulls[8] = second hull vertex X
752 // ...
753 // convHulls[n] = number of vertices in second hull
754 // convHulls[n+1] = second hull centroid X coordinate
755 // ...
756 //
757 // TODO: is is very inefficient. Someday change the convex hull generator to return
758 // data structures that do not need to be converted in order to pass to Bullet.
759 // And maybe put the values directly into pinned memory rather than marshaling.
760 int hullCount = m_hulls.Count;
761 int totalVertices = 1; // include one for the count of the hulls
762 foreach (ConvexResult cr in m_hulls)
763 {
764 totalVertices += 4; // add four for the vertex count and centroid
765 totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
766 }
767 float[] convHulls = new float[totalVertices];
768
769 convHulls[0] = (float)hullCount;
770 int jj = 1;
771 foreach (ConvexResult cr in m_hulls)
772 {
773 // copy vertices for index access
774 float3[] verts = new float3[cr.HullVertices.Count];
775 int kk = 0;
776 foreach (float3 ff in cr.HullVertices)
777 {
778 verts[kk++] = ff;
779 }
780
781 // add to the array one hull's worth of data
782 convHulls[jj++] = cr.HullIndices.Count;
783 convHulls[jj++] = 0f; // centroid x,y,z
784 convHulls[jj++] = 0f;
785 convHulls[jj++] = 0f;
786 foreach (int ind in cr.HullIndices)
787 {
788 convHulls[jj++] = verts[ind].x;
789 convHulls[jj++] = verts[ind].y;
790 convHulls[jj++] = verts[ind].z;
791 }
792 }
793 // create the hull data structure in Bullet
794 hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
795 }
796 }
797
798 BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL);
799 newShape.shapeKey = newHullKey;
800
801 return newShape;
802 }
803
804 // Callback from convex hull creater with a newly created hull.
805 // Just add it to our collection of hulls for this shape.
806 private void HullReturn(ConvexResult result)
807 {
808 m_hulls.Add(result);
809 return;
810 }
811
812 // Compound shapes are always built from scratch.
813 // This shouldn't be to bad since most of the parts will be meshes that had been built previously.
814 private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
815 {
816 // Remove reference to the old shape
817 // Don't need to do this as the shape is freed when the new root shape is created below.
818 // DereferenceShape(prim.PhysShape, true, shapeCallback);
819
820 BulletShape cShape = new BulletShape(
821 BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND);
822
823 // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
824 CreateGeomMeshOrHull(prim, shapeCallback);
825 BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity);
826 if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
827 prim.LocalID, cShape, prim.PhysShape);
828
829 prim.PhysShape = cShape;
830
831 return true;
832 }
833
834 // Create a hash of all the shape parameters to be used as a key
835 // for this particular shape.
836 private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
837 {
838 // level of detail based on size and type of the object
839 float lod = BSParam.MeshLOD;
840 if (pbs.SculptEntry)
841 lod = BSParam.SculptLOD;
842
843 // Mega prims usually get more detail because one can interact with shape approximations at this size.
844 float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
845 if (maxAxis > BSParam.MeshMegaPrimThreshold)
846 lod = BSParam.MeshMegaPrimLOD;
847
848 retLod = lod;
849 return pbs.GetMeshKey(size, lod);
850 }
851 // For those who don't want the LOD
852 private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs)
853 {
854 float lod;
855 return ComputeShapeKey(size, pbs, out lod);
856 }
857
858 // The creation of a mesh or hull can fail if an underlying asset is not available.
859 // There are two cases: 1) the asset is not in the cache and it needs to be fetched;
860 // and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
861 // The first case causes the asset to be fetched. The second case requires
862 // us to not loop forever.
863 // Called after creating a physical mesh or hull. If the physical shape was created,
864 // just return.
865 private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim)
866 {
867 // If the shape was successfully created, nothing more to do
868 if (newShape.HasPhysicalShape)
869 return newShape;
870
871 // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
872 if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero)
873 {
874 prim.LastAssetBuildFailed = true;
875 BSPhysObject xprim = prim;
876 DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}",
877 LogHeader, prim.LocalID, prim.LastAssetBuildFailed);
878 Util.FireAndForget(delegate
879 {
880 RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
881 if (assetProvider != null)
882 {
883 BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
884 assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
885 {
886 if (!yprim.BaseShape.SculptEntry)
887 return;
888 if (yprim.BaseShape.SculptTexture.ToString() != asset.ID)
889 return;
890
891 yprim.BaseShape.SculptData = asset.Data;
892 // This will cause the prim to see that the filler shape is not the right
893 // one and try again to build the object.
894 // No race condition with the normal shape setting since the rebuild is at taint time.
895 yprim.ForceBodyShapeRebuild(false);
896
897 });
898 }
899 });
900 }
901 else
902 {
903 if (prim.LastAssetBuildFailed)
904 {
905 PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}",
906 LogHeader, prim.LocalID, prim.BaseShape.SculptTexture);
907 }
908 }
909
910 // While we figure out the real problem, stick a simple native shape on the object.
911 BulletShape fillinShape =
912 BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
913
914 return fillinShape;
915 }
916
917 // Create a body object in Bullet.
918 // Updates prim.BSBody with the information about the new body if one is created.
919 // Returns 'true' if an object was actually created.
920 // Called at taint-time.
921 private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape,
922 BodyDestructionCallback bodyCallback)
923 {
924 bool ret = false;
925
926 // the mesh, hull or native shape must have already been created in Bullet
927 bool mustRebuild = !prim.PhysBody.HasPhysicalBody;
928
929 // If there is an existing body, verify it's of an acceptable type.
930 // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
931 if (!mustRebuild)
932 {
933 CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr);
934 if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
935 || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
936 {
937 // If the collisionObject is not the correct type for solidness, rebuild what's there
938 mustRebuild = true;
939 }
940 }
941
942 if (mustRebuild || forceRebuild)
943 {
944 // Free any old body
945 DereferenceBody(prim.PhysBody, true, bodyCallback);
946
947 BulletBody aBody;
948 Object bodyPtr = null;
949 if (prim.IsSolid)
950 {
951 bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
952 prim.LocalID, prim.RawPosition, prim.RawOrientation);
953 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString());
954 }
955 else
956 {
957 bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
958 prim.LocalID, prim.RawPosition, prim.RawOrientation);
959 if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString());
960 }
961 aBody = new BulletBody(prim.LocalID, bodyPtr);
962
963 ReferenceBody(aBody, true);
964
965 prim.PhysBody = aBody;
966
967 ret = true;
968 }
969
970 return ret;
971 }
972
973 private bool TryGetMeshByPtr(Object addr, out MeshDesc outDesc)
974 {
975 bool ret = false;
976 MeshDesc foundDesc = new MeshDesc();
977 foreach (MeshDesc md in Meshes.Values)
978 {
979 if (md.ptr == addr)
980 {
981 foundDesc = md;
982 ret = true;
983 break;
984 }
985
986 }
987 outDesc = foundDesc;
988 return ret;
989 }
990
991 private bool TryGetHullByPtr(Object addr, out HullDesc outDesc)
992 {
993 bool ret = false;
994 HullDesc foundDesc = new HullDesc();
995 foreach (HullDesc hd in Hulls.Values)
996 {
997 if (hd.ptr == addr)
998 {
999 foundDesc = hd;
1000 ret = true;
1001 break;
1002 }
1003
1004 }
1005 outDesc = foundDesc;
1006 return ret;
1007 }
1008
1009 private void DetailLog(string msg, params Object[] args)
1010 {
1011 if (PhysicsScene.PhysicsLogging.Enabled)
1012 PhysicsScene.DetailLog(msg, args);
1013 }
1014}
1015}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs
deleted file mode 100644
index 8ff0275..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs
+++ /dev/null
@@ -1,208 +0,0 @@
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
28using System;
29using System.Collections.Generic;
30using System.Linq;
31using System.Text;
32
33namespace OpenSim.Region.Physics.BulletSNPlugin
34{
35public abstract class BSShape
36{
37 public Object ptr { get; set; }
38 public BSPhysicsShapeType type { get; set; }
39 public System.UInt64 key { get; set; }
40 public int referenceCount { get; set; }
41 public DateTime lastReferenced { get; set; }
42
43 public BSShape()
44 {
45 ptr = null;
46 type = BSPhysicsShapeType.SHAPE_UNKNOWN;
47 key = 0;
48 referenceCount = 0;
49 lastReferenced = DateTime.Now;
50 }
51
52 // Get a reference to a physical shape. Create if it doesn't exist
53 public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
54 {
55 BSShape ret = null;
56
57 if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
58 {
59 // an avatar capsule is close to a native shape (it is not shared)
60 ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE,
61 FixedShapeKey.KEY_CAPSULE);
62 physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
63 }
64
65 // Compound shapes are handled special as they are rebuilt from scratch.
66 // This isn't too great a hardship since most of the child shapes will already been created.
67 if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
68 {
69 // Getting a reference to a compound shape gets you the compound shape with the root prim shape added
70 ret = BSShapeCompound.GetReference(prim);
71 physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
72 }
73
74 if (ret == null)
75 ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
76
77 return ret;
78 }
79 public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
80 {
81 return null;
82 }
83 public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
84 {
85 return null;
86 }
87
88 // Release the use of a physical shape.
89 public abstract void Dereference(BSScene physicsScene);
90
91 // All shapes have a static call to get a reference to the physical shape
92 // protected abstract static BSShape GetReference();
93
94 public override string ToString()
95 {
96 StringBuilder buff = new StringBuilder();
97 buff.Append("<p=");
98 buff.Append(ptr.ToString());
99 buff.Append(",s=");
100 buff.Append(type.ToString());
101 buff.Append(",k=");
102 buff.Append(key.ToString("X"));
103 buff.Append(",c=");
104 buff.Append(referenceCount.ToString());
105 buff.Append(">");
106 return buff.ToString();
107 }
108}
109
110public class BSShapeNull : BSShape
111{
112 public BSShapeNull() : base()
113 {
114 }
115 public static BSShape GetReference() { return new BSShapeNull(); }
116 public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
117}
118
119public class BSShapeNative : BSShape
120{
121 private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
122 public BSShapeNative() : base()
123 {
124 }
125 public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
126 BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
127 {
128 // Native shapes are not shared and are always built anew.
129 return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
130 }
131
132 private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
133 BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
134 {
135 ShapeData nativeShapeData = new ShapeData();
136 nativeShapeData.Type = shapeType;
137 nativeShapeData.ID = prim.LocalID;
138 nativeShapeData.Scale = prim.Scale;
139 nativeShapeData.Size = prim.Scale;
140 nativeShapeData.MeshKey = (ulong)shapeKey;
141 nativeShapeData.HullKey = (ulong)shapeKey;
142
143
144 if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
145 {
146 ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
147 physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
148 }
149 else
150 {
151 ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData);
152 }
153 if (ptr == null)
154 {
155 physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
156 LogHeader, prim.LocalID, shapeType);
157 }
158 type = shapeType;
159 key = (UInt64)shapeKey;
160 }
161 // Make this reference to the physical shape go away since native shapes are not shared.
162 public override void Dereference(BSScene physicsScene)
163 {
164 // Native shapes are not tracked and are released immediately
165 physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
166 BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr);
167 ptr = null;
168 // Garbage collection will free up this instance.
169 }
170}
171
172public class BSShapeMesh : BSShape
173{
174 private static string LogHeader = "[BULLETSIM SHAPE MESH]";
175 private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
176
177 public BSShapeMesh() : base()
178 {
179 }
180 public static BSShape GetReference() { return new BSShapeNull(); }
181 public override void Dereference(BSScene physicsScene) { }
182}
183
184public class BSShapeHull : BSShape
185{
186 private static string LogHeader = "[BULLETSIM SHAPE HULL]";
187 private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
188
189 public BSShapeHull() : base()
190 {
191 }
192 public static BSShape GetReference() { return new BSShapeNull(); }
193 public override void Dereference(BSScene physicsScene) { }
194}
195
196public class BSShapeCompound : BSShape
197{
198 private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
199 public BSShapeCompound() : base()
200 {
201 }
202 public static BSShape GetReference(BSPhysObject prim)
203 {
204 return new BSShapeNull();
205 }
206 public override void Dereference(BSScene physicsScene) { }
207}
208}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs
deleted file mode 100644
index ba17059..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs
+++ /dev/null
@@ -1,175 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30
31using OpenSim.Framework;
32using OpenSim.Region.Framework;
33using OpenSim.Region.CoreModules;
34using OpenSim.Region.Physics.Manager;
35
36using Nini.Config;
37using log4net;
38
39using OpenMetaverse;
40
41namespace OpenSim.Region.Physics.BulletSNPlugin
42{
43public sealed class BSTerrainHeightmap : BSTerrainPhys
44{
45 static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
46
47 BulletHeightMapInfo m_mapInfo = null;
48
49 // Constructor to build a default, flat heightmap terrain.
50 public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
51 : base(physicsScene, regionBase, id)
52 {
53 Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE);
54 Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION);
55 int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
56 float[] initialMap = new float[totalHeights];
57 for (int ii = 0; ii < totalHeights; ii++)
58 {
59 initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
60 }
61 m_mapInfo = new BulletHeightMapInfo(id, initialMap, null);
62 m_mapInfo.minCoords = minTerrainCoords;
63 m_mapInfo.maxCoords = maxTerrainCoords;
64 m_mapInfo.terrainRegionBase = TerrainBase;
65 // Don't have to free any previous since we just got here.
66 BuildHeightmapTerrain();
67 }
68
69 // This minCoords and maxCoords passed in give the size of the terrain (min and max Z
70 // are the high and low points of the heightmap).
71 public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
72 Vector3 minCoords, Vector3 maxCoords)
73 : base(physicsScene, regionBase, id)
74 {
75 m_mapInfo = new BulletHeightMapInfo(id, initialMap, null);
76 m_mapInfo.minCoords = minCoords;
77 m_mapInfo.maxCoords = maxCoords;
78 m_mapInfo.minZ = minCoords.Z;
79 m_mapInfo.maxZ = maxCoords.Z;
80 m_mapInfo.terrainRegionBase = TerrainBase;
81
82 // Don't have to free any previous since we just got here.
83 BuildHeightmapTerrain();
84 }
85
86 public override void Dispose()
87 {
88 ReleaseHeightMapTerrain();
89 }
90
91 // Using the information in m_mapInfo, create the physical representation of the heightmap.
92 private void BuildHeightmapTerrain()
93 {
94 m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
95 m_mapInfo.minCoords, m_mapInfo.maxCoords,
96 m_mapInfo.heightMap, BSParam.TerrainCollisionMargin);
97
98 // Create the terrain shape from the mapInfo
99 m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
100 BSPhysicsShapeType.SHAPE_TERRAIN);
101
102 // The terrain object initial position is at the center of the object
103 Vector3 centerPos;
104 centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
105 centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
106 centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f - 0.5f);
107
108 m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
109 BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
110 m_mapInfo.ID, centerPos, Quaternion.Identity));
111
112 // Set current terrain attributes
113 BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction);
114 BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction);
115 BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution);
116 BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
117
118 // Return the new terrain to the world of physical objects
119 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr, centerPos, Quaternion.Identity);
120
121 // redo its bounding box now that it is in the world
122 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
123
124 m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
125 m_mapInfo.terrainBody.ApplyCollisionMask();
126
127 // Make it so the terrain will not move or be considered for movement.
128 BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
129
130 return;
131 }
132
133 // If there is information in m_mapInfo pointing to physical structures, release same.
134 private void ReleaseHeightMapTerrain()
135 {
136 if (m_mapInfo != null)
137 {
138 if (m_mapInfo.terrainBody.HasPhysicalBody)
139 {
140 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
141 // Frees both the body and the shape.
142 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
143 BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
144 }
145 }
146 m_mapInfo = null;
147 }
148
149 // The passed position is relative to the base of the region.
150 public override float GetTerrainHeightAtXYZ(Vector3 pos)
151 {
152 float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
153
154 int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X;
155 try
156 {
157 ret = m_mapInfo.heightMap[mapIndex];
158 }
159 catch
160 {
161 // Sometimes they give us wonky values of X and Y. Give a warning and return something.
162 PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
163 LogHeader, m_mapInfo.terrainRegionBase, pos);
164 ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
165 }
166 return ret;
167 }
168
169 // The passed position is relative to the base of the region.
170 public override float GetWaterLevelAtXYZ(Vector3 pos)
171 {
172 return PhysicsScene.SimpleWaterLevel;
173 }
174}
175}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs
deleted file mode 100644
index 66d62f0..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs
+++ /dev/null
@@ -1,461 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30
31using OpenSim.Framework;
32using OpenSim.Region.Framework;
33using OpenSim.Region.CoreModules;
34using OpenSim.Region.Physics.Manager;
35
36using Nini.Config;
37using log4net;
38
39using OpenMetaverse;
40
41namespace OpenSim.Region.Physics.BulletSNPlugin
42{
43
44// The physical implementation of the terrain is wrapped in this class.
45public abstract class BSTerrainPhys : IDisposable
46{
47 public enum TerrainImplementation
48 {
49 Heightmap = 0,
50 Mesh = 1
51 }
52
53 public BSScene PhysicsScene { get; private set; }
54 // Base of the region in world coordinates. Coordinates inside the region are relative to this.
55 public Vector3 TerrainBase { get; private set; }
56 public uint ID { get; private set; }
57
58 public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id)
59 {
60 PhysicsScene = physicsScene;
61 TerrainBase = regionBase;
62 ID = id;
63 }
64 public abstract void Dispose();
65 public abstract float GetTerrainHeightAtXYZ(Vector3 pos);
66 public abstract float GetWaterLevelAtXYZ(Vector3 pos);
67}
68
69// ==========================================================================================
70public sealed class BSTerrainManager : IDisposable
71{
72 static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
73
74 // These height values are fractional so the odd values will be
75 // noticable when debugging.
76 public const float HEIGHT_INITIALIZATION = 24.987f;
77 public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
78 public const float HEIGHT_GETHEIGHT_RET = 24.765f;
79 public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f;
80
81 // If the min and max height are equal, we reduce the min by this
82 // amount to make sure that a bounding box is built for the terrain.
83 public const float HEIGHT_EQUAL_FUDGE = 0.2f;
84
85 // Until the whole simulator is changed to pass us the region size, we rely on constants.
86 public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
87
88 // The scene that I am part of
89 private BSScene PhysicsScene { get; set; }
90
91 // The ground plane created to keep thing from falling to infinity.
92 private BulletBody m_groundPlane;
93
94 // If doing mega-regions, if we're region zero we will be managing multiple
95 // region terrains since region zero does the physics for the whole mega-region.
96 private Dictionary<Vector3, BSTerrainPhys> m_terrains;
97
98 // Flags used to know when to recalculate the height.
99 private bool m_terrainModified = false;
100
101 // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
102 // This is incremented before assigning to new region so it is the last ID allocated.
103 private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1;
104 public uint HighestTerrainID { get {return m_terrainCount; } }
105
106 // If doing mega-regions, this holds our offset from region zero of
107 // the mega-regions. "parentScene" points to the PhysicsScene of region zero.
108 private Vector3 m_worldOffset;
109 // If the parent region (region 0), this is the extent of the combined regions
110 // relative to the origin of region zero
111 private Vector3 m_worldMax;
112 private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
113
114 public BSTerrainManager(BSScene physicsScene)
115 {
116 PhysicsScene = physicsScene;
117 m_terrains = new Dictionary<Vector3,BSTerrainPhys>();
118
119 // Assume one region of default size
120 m_worldOffset = Vector3.Zero;
121 m_worldMax = new Vector3(DefaultRegionSize);
122 MegaRegionParentPhysicsScene = null;
123 }
124
125 public void Dispose()
126 {
127 ReleaseGroundPlaneAndTerrain();
128 }
129
130 // Create the initial instance of terrain and the underlying ground plane.
131 // This is called from the initialization routine so we presume it is
132 // safe to call Bullet in real time. We hope no one is moving prims around yet.
133 public void CreateInitialGroundPlaneAndTerrain()
134 {
135 // The ground plane is here to catch things that are trying to drop to negative infinity
136 BulletShape groundPlaneShape = new BulletShape(
137 BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f,
138 BSParam.TerrainCollisionMargin),
139 BSPhysicsShapeType.SHAPE_GROUNDPLANE);
140 m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
141 BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
142 Vector3.Zero, Quaternion.Identity));
143 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr, Vector3.Zero, Quaternion.Identity);
144 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
145 // Ground plane does not move
146 BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
147 // Everything collides with the ground plane.
148 m_groundPlane.collisionType = CollisionType.Groundplane;
149 m_groundPlane.ApplyCollisionMask();
150
151 // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
152 BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
153 m_terrains.Add(Vector3.Zero, initialTerrain);
154 }
155
156 // Release all the terrain structures we might have allocated
157 public void ReleaseGroundPlaneAndTerrain()
158 {
159 if (m_groundPlane.HasPhysicalBody)
160 {
161 if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
162 {
163 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
164 }
165 m_groundPlane.Clear();
166 }
167
168 ReleaseTerrain();
169 }
170
171 // Release all the terrain we have allocated
172 public void ReleaseTerrain()
173 {
174 lock (m_terrains)
175 {
176 foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
177 {
178 kvp.Value.Dispose();
179 }
180 m_terrains.Clear();
181 }
182 }
183
184 // The simulator wants to set a new heightmap for the terrain.
185 public void SetTerrain(float[] heightMap) {
186 float[] localHeightMap = heightMap;
187 // If there are multiple requests for changes to the same terrain between ticks,
188 // only do that last one.
189 PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate()
190 {
191 if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
192 {
193 // If a child of a mega-region, we shouldn't have any terrain allocated for us
194 ReleaseGroundPlaneAndTerrain();
195 // If doing the mega-prim stuff and we are the child of the zero region,
196 // the terrain is added to our parent
197 if (MegaRegionParentPhysicsScene is BSScene)
198 {
199 DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
200 BSScene.DetailLogZero, m_worldOffset, m_worldMax);
201 ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain(
202 BSScene.CHILDTERRAIN_ID, localHeightMap,
203 m_worldOffset, m_worldOffset + DefaultRegionSize, true);
204 }
205 }
206 else
207 {
208 // If not doing the mega-prim thing, just change the terrain
209 DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
210
211 UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap,
212 m_worldOffset, m_worldOffset + DefaultRegionSize, true);
213 }
214 });
215 }
216
217 // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain
218 // based on the passed information. The 'id' should be either the terrain id or
219 // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
220 // The latter feature is for creating child terrains for mega-regions.
221 // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
222 // terrain shape is created and added to the body.
223 // This call is most often used to update the heightMap and parameters of the terrain.
224 // (The above does suggest that some simplification/refactoring is in order.)
225 // Called during taint-time.
226 private void UpdateTerrain(uint id, float[] heightMap,
227 Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
228 {
229 DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
230 BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
231
232 // Find high and low points of passed heightmap.
233 // The min and max passed in is usually the area objects can be in (maximum
234 // object height, for instance). The terrain wants the bounding box for the
235 // terrain so replace passed min and max Z with the actual terrain min/max Z.
236 float minZ = float.MaxValue;
237 float maxZ = float.MinValue;
238 foreach (float height in heightMap)
239 {
240 if (height < minZ) minZ = height;
241 if (height > maxZ) maxZ = height;
242 }
243 if (minZ == maxZ)
244 {
245 // If min and max are the same, reduce min a little bit so a good bounding box is created.
246 minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE;
247 }
248 minCoords.Z = minZ;
249 maxCoords.Z = maxZ;
250
251 Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);
252
253 lock (m_terrains)
254 {
255 BSTerrainPhys terrainPhys;
256 if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
257 {
258 // There is already a terrain in this spot. Free the old and build the new.
259 DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
260 BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
261
262 // Remove old terrain from the collection
263 m_terrains.Remove(terrainRegionBase);
264 // Release any physical memory it may be using.
265 terrainPhys.Dispose();
266
267 if (MegaRegionParentPhysicsScene == null)
268 {
269 BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
270 m_terrains.Add(terrainRegionBase, newTerrainPhys);
271
272 m_terrainModified = true;
273 }
274 else
275 {
276 // It's possible that Combine() was called after this code was queued.
277 // If we are a child of combined regions, we don't create any terrain for us.
278 DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
279
280 // Get rid of any terrain that may have been allocated for us.
281 ReleaseGroundPlaneAndTerrain();
282
283 // I hate doing this, but just bail
284 return;
285 }
286 }
287 else
288 {
289 // We don't know about this terrain so either we are creating a new terrain or
290 // our mega-prim child is giving us a new terrain to add to the phys world
291
292 // if this is a child terrain, calculate a unique terrain id
293 uint newTerrainID = id;
294 if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
295 newTerrainID = ++m_terrainCount;
296
297 DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
298 BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
299 BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
300 m_terrains.Add(terrainRegionBase, newTerrainPhys);
301
302 m_terrainModified = true;
303 }
304 }
305 }
306
307 // TODO: redo terrain implementation selection to allow other base types than heightMap.
308 private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
309 {
310 PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}",
311 LogHeader, PhysicsScene.RegionName, terrainRegionBase,
312 (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
313 BSTerrainPhys newTerrainPhys = null;
314 switch ((int)BSParam.TerrainImplementation)
315 {
316 case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
317 newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id,
318 heightMap, minCoords, maxCoords);
319 break;
320 case (int)BSTerrainPhys.TerrainImplementation.Mesh:
321 newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id,
322 heightMap, minCoords, maxCoords);
323 break;
324 default:
325 PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
326 LogHeader,
327 (int)BSParam.TerrainImplementation,
328 BSParam.TerrainImplementation,
329 PhysicsScene.RegionName, terrainRegionBase);
330 break;
331 }
332 return newTerrainPhys;
333 }
334
335 // Return 'true' of this position is somewhere in known physical terrain space
336 public bool IsWithinKnownTerrain(Vector3 pos)
337 {
338 Vector3 terrainBaseXYZ;
339 BSTerrainPhys physTerrain;
340 return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ);
341 }
342
343 // Given an X and Y, find the height of the terrain.
344 // Since we could be handling multiple terrains for a mega-region,
345 // the base of the region is calcuated assuming all regions are
346 // the same size and that is the default.
347 // Once the heightMapInfo is found, we have all the information to
348 // compute the offset into the array.
349 private float lastHeightTX = 999999f;
350 private float lastHeightTY = 999999f;
351 private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
352 public float GetTerrainHeightAtXYZ(Vector3 pos)
353 {
354 float tX = pos.X;
355 float tY = pos.Y;
356 // You'd be surprized at the number of times this routine is called
357 // with the same parameters as last time.
358 if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY))
359 return lastHeight;
360 m_terrainModified = false;
361
362 lastHeightTX = tX;
363 lastHeightTY = tY;
364 float ret = HEIGHT_GETHEIGHT_RET;
365
366 Vector3 terrainBaseXYZ;
367 BSTerrainPhys physTerrain;
368 if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
369 {
370 ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ);
371 }
372 else
373 {
374 PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
375 LogHeader, PhysicsScene.RegionName, tX, tY);
376 DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
377 BSScene.DetailLogZero, pos, terrainBaseXYZ);
378 }
379
380 lastHeight = ret;
381 return ret;
382 }
383
384 public float GetWaterLevelAtXYZ(Vector3 pos)
385 {
386 float ret = WATER_HEIGHT_GETHEIGHT_RET;
387
388 Vector3 terrainBaseXYZ;
389 BSTerrainPhys physTerrain;
390 if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
391 {
392 ret = physTerrain.GetWaterLevelAtXYZ(pos);
393 }
394 else
395 {
396 PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
397 LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret);
398 }
399 return ret;
400 }
401
402 // Given an address, return 'true' of there is a description of that terrain and output
403 // the descriptor class and the 'base' fo the addresses therein.
404 private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase)
405 {
406 int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
407 int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
408 Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
409
410 BSTerrainPhys physTerrain = null;
411 lock (m_terrains)
412 {
413 m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain);
414 }
415 outTerrainBase = terrainBaseXYZ;
416 outPhysTerrain = physTerrain;
417 return (physTerrain != null);
418 }
419
420 // Although no one seems to check this, I do support combining.
421 public bool SupportsCombining()
422 {
423 return true;
424 }
425
426 // This routine is called two ways:
427 // One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum
428 // extent of the combined regions. This is to inform the parent of the size
429 // of the combined regions.
430 // and one with 'offset' as the offset of the child region to the base region,
431 // 'pScene' pointing to the parent and 'extents' of zero. This informs the
432 // child of its relative base and new parent.
433 public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
434 {
435 m_worldOffset = offset;
436 m_worldMax = extents;
437 MegaRegionParentPhysicsScene = pScene;
438 if (pScene != null)
439 {
440 // We are a child.
441 // We want m_worldMax to be the highest coordinate of our piece of terrain.
442 m_worldMax = offset + DefaultRegionSize;
443 }
444 DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}",
445 BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax);
446 }
447
448 // Unhook all the combining that I know about.
449 public void UnCombine(PhysicsScene pScene)
450 {
451 // Just like ODE, we don't do anything yet.
452 DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
453 }
454
455
456 private void DetailLog(string msg, params Object[] args)
457 {
458 PhysicsScene.PhysicsLogging.Write(msg, args);
459 }
460}
461}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs
deleted file mode 100644
index 6083dd4..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs
+++ /dev/null
@@ -1,267 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30
31using OpenSim.Framework;
32using OpenSim.Region.Framework;
33using OpenSim.Region.CoreModules;
34using OpenSim.Region.Physics.Manager;
35
36using Nini.Config;
37using log4net;
38
39using OpenMetaverse;
40
41namespace OpenSim.Region.Physics.BulletSNPlugin
42{
43public sealed class BSTerrainMesh : BSTerrainPhys
44{
45 static string LogHeader = "[BULLETSIM TERRAIN MESH]";
46
47 private float[] m_savedHeightMap;
48 int m_sizeX;
49 int m_sizeY;
50
51 BulletShape m_terrainShape;
52 BulletBody m_terrainBody;
53
54 public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
55 : base(physicsScene, regionBase, id)
56 {
57 }
58
59 public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */)
60 : base(physicsScene, regionBase, id)
61 {
62 }
63
64 // Create terrain mesh from a heightmap.
65 public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
66 Vector3 minCoords, Vector3 maxCoords)
67 : base(physicsScene, regionBase, id)
68 {
69 int indicesCount;
70 int[] indices;
71 int verticesCount;
72 float[] vertices;
73
74 m_savedHeightMap = initialMap;
75
76 m_sizeX = (int)(maxCoords.X - minCoords.X);
77 m_sizeY = (int)(maxCoords.Y - minCoords.Y);
78
79 if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap,
80 m_sizeX, m_sizeY,
81 (float)m_sizeX, (float)m_sizeY,
82 Vector3.Zero, 1.0f,
83 out indicesCount, out indices, out verticesCount, out vertices))
84 {
85 // DISASTER!!
86 PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID);
87 PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase);
88 // Something is very messed up and a crash is in our future.
89 return;
90 }
91 PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}",
92 ID, indicesCount, indices.Length, verticesCount, vertices.Length);
93
94 m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
95 indicesCount, indices, verticesCount, vertices),
96 BSPhysicsShapeType.SHAPE_MESH);
97 if (!m_terrainShape.HasPhysicalShape)
98 {
99 // DISASTER!!
100 PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
101 physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
102 // Something is very messed up and a crash is in our future.
103 return;
104 }
105
106 Vector3 pos = regionBase;
107 Quaternion rot = Quaternion.Identity;
108
109 m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot));
110 if (!m_terrainBody.HasPhysicalBody)
111 {
112 // DISASTER!!
113 physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
114 // Something is very messed up and a crash is in our future.
115 return;
116 }
117
118 // Set current terrain attributes
119 BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction);
120 BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction);
121 BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution);
122 BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
123
124 // Static objects are not very massive.
125 BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
126
127 // Put the new terrain to the world of physical objects
128 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr, pos, rot);
129
130 // Redo its bounding box now that it is in the world
131 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
132
133 m_terrainBody.collisionType = CollisionType.Terrain;
134 m_terrainBody.ApplyCollisionMask();
135
136 // Make it so the terrain will not move or be considered for movement.
137 BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
138 }
139
140 public override void Dispose()
141 {
142 if (m_terrainBody.HasPhysicalBody)
143 {
144 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
145 // Frees both the body and the shape.
146 BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr);
147 }
148 }
149
150 public override float GetTerrainHeightAtXYZ(Vector3 pos)
151 {
152 // For the moment use the saved heightmap to get the terrain height.
153 // TODO: raycast downward to find the true terrain below the position.
154 float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
155
156 int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X;
157 try
158 {
159 ret = m_savedHeightMap[mapIndex];
160 }
161 catch
162 {
163 // Sometimes they give us wonky values of X and Y. Give a warning and return something.
164 PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
165 LogHeader, TerrainBase, pos);
166 ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
167 }
168 return ret;
169 }
170
171 // The passed position is relative to the base of the region.
172 public override float GetWaterLevelAtXYZ(Vector3 pos)
173 {
174 return PhysicsScene.SimpleWaterLevel;
175 }
176
177 // Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
178 // Return 'true' if successfully created.
179 public static bool ConvertHeightmapToMesh(
180 BSScene physicsScene,
181 float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap
182 float extentX, float extentY, // zero based range for output vertices
183 Vector3 extentBase, // base to be added to all vertices
184 float magnification, // number of vertices to create between heightMap coords
185 out int indicesCountO, out int[] indicesO,
186 out int verticesCountO, out float[] verticesO)
187 {
188 bool ret = false;
189
190 int indicesCount = 0;
191 int verticesCount = 0;
192 int[] indices = new int[0];
193 float[] vertices = new float[0];
194
195 // Simple mesh creation which assumes magnification == 1.
196 // TODO: do a more general solution that scales, adds new vertices and smoothes the result.
197
198 // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop
199 // from zero to <= sizeX). The triangle indices are then generated as two triangles
200 // per heightmap point. There are sizeX by sizeY of these squares. The extra row and
201 // column of vertices are used to complete the triangles of the last row and column
202 // of the heightmap.
203 try
204 {
205 // One vertice per heightmap value plus the vertices off the top and bottom edge.
206 int totalVertices = (sizeX + 1) * (sizeY + 1);
207 vertices = new float[totalVertices * 3];
208 int totalIndices = sizeX * sizeY * 6;
209 indices = new int[totalIndices];
210
211 float magX = (float)sizeX / extentX;
212 float magY = (float)sizeY / extentY;
213 physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}",
214 BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY);
215 float minHeight = float.MaxValue;
216 // Note that sizeX+1 vertices are created since there is land between this and the next region.
217 for (int yy = 0; yy <= sizeY; yy++)
218 {
219 for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we go around sizeX + 1 times
220 {
221 int offset = yy * sizeX + xx;
222 // Extend the height with the height from the last row or column
223 if (yy == sizeY) offset -= sizeX;
224 if (xx == sizeX) offset -= 1;
225 float height = heightMap[offset];
226 minHeight = Math.Min(minHeight, height);
227 vertices[verticesCount + 0] = (float)xx * magX + extentBase.X;
228 vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y;
229 vertices[verticesCount + 2] = height + extentBase.Z;
230 verticesCount += 3;
231 }
232 }
233 verticesCount = verticesCount / 3;
234
235 for (int yy = 0; yy < sizeY; yy++)
236 {
237 for (int xx = 0; xx < sizeX; xx++)
238 {
239 int offset = yy * (sizeX + 1) + xx;
240 // Each vertices is presumed to be the upper left corner of a box of two triangles
241 indices[indicesCount + 0] = offset;
242 indices[indicesCount + 1] = offset + 1;
243 indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column
244 indices[indicesCount + 3] = offset + 1;
245 indices[indicesCount + 4] = offset + sizeX + 2;
246 indices[indicesCount + 5] = offset + sizeX + 1;
247 indicesCount += 6;
248 }
249 }
250
251 ret = true;
252 }
253 catch (Exception e)
254 {
255 physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}",
256 LogHeader, physicsScene.RegionName, extentBase, e);
257 }
258
259 indicesCountO = indicesCount;
260 indicesO = indices;
261 verticesCountO = verticesCount;
262 verticesO = vertices;
263
264 return ret;
265 }
266}
267}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
deleted file mode 100644
index 93643c9..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
+++ /dev/null
@@ -1,1603 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.IO;
30using System.Runtime.InteropServices;
31using System.Security;
32using System.Text;
33using BulletXNA;
34using OpenMetaverse;
35using BulletXNA.LinearMath;
36using BulletXNA.BulletCollision;
37using BulletXNA.BulletDynamics;
38using BulletXNA.BulletCollision.CollisionDispatch;
39using OpenSim.Framework;
40
41namespace OpenSim.Region.Physics.BulletSNPlugin {
42
43// Classes to allow some type checking for the API
44// These hold pointers to allocated objects in the unmanaged space.
45
46
47
48 // Constraint type values as defined by Bullet
49public enum ConstraintType : int
50{
51 POINT2POINT_CONSTRAINT_TYPE = 3,
52 HINGE_CONSTRAINT_TYPE,
53 CONETWIST_CONSTRAINT_TYPE,
54 D6_CONSTRAINT_TYPE,
55 SLIDER_CONSTRAINT_TYPE,
56 CONTACT_CONSTRAINT_TYPE,
57 D6_SPRING_CONSTRAINT_TYPE,
58 MAX_CONSTRAINT_TYPE
59}
60
61// ===============================================================================
62[StructLayout(LayoutKind.Sequential)]
63public struct ConvexHull
64{
65 Vector3 Offset;
66 int VertexCount;
67 Vector3[] Vertices;
68}
69public enum BSPhysicsShapeType
70{
71 SHAPE_UNKNOWN = 0,
72 SHAPE_CAPSULE = 1,
73 SHAPE_BOX = 2,
74 SHAPE_CONE = 3,
75 SHAPE_CYLINDER = 4,
76 SHAPE_SPHERE = 5,
77 SHAPE_MESH = 6,
78 SHAPE_HULL = 7,
79 // following defined by BulletSim
80 SHAPE_GROUNDPLANE = 20,
81 SHAPE_TERRAIN = 21,
82 SHAPE_COMPOUND = 22,
83 SHAPE_HEIGHTMAP = 23,
84};
85
86// The native shapes have predefined shape hash keys
87public enum FixedShapeKey : ulong
88{
89 KEY_NONE = 0,
90 KEY_BOX = 1,
91 KEY_SPHERE = 2,
92 KEY_CONE = 3,
93 KEY_CYLINDER = 4,
94 KEY_CAPSULE = 5,
95}
96
97[StructLayout(LayoutKind.Sequential)]
98public struct ShapeData
99{
100 public uint ID;
101 public BSPhysicsShapeType Type;
102 public Vector3 Position;
103 public Quaternion Rotation;
104 public Vector3 Velocity;
105 public Vector3 Scale;
106 public float Mass;
107 public float Buoyancy;
108 public System.UInt64 HullKey;
109 public System.UInt64 MeshKey;
110 public float Friction;
111 public float Restitution;
112 public float Collidable; // true of things bump into this
113 public float Static; // true if a static object. Otherwise gravity, etc.
114 public float Solid; // true if object cannot be passed through
115 public Vector3 Size;
116
117 // note that bools are passed as floats since bool size changes by language and architecture
118 public const float numericTrue = 1f;
119 public const float numericFalse = 0f;
120}
121[StructLayout(LayoutKind.Sequential)]
122public struct SweepHit
123{
124 public uint ID;
125 public float Fraction;
126 public Vector3 Normal;
127 public Vector3 Point;
128}
129[StructLayout(LayoutKind.Sequential)]
130public struct RaycastHit
131{
132 public uint ID;
133 public float Fraction;
134 public Vector3 Normal;
135}
136[StructLayout(LayoutKind.Sequential)]
137public struct CollisionDesc
138{
139 public uint aID;
140 public uint bID;
141 public Vector3 point;
142 public Vector3 normal;
143}
144[StructLayout(LayoutKind.Sequential)]
145public struct EntityProperties
146{
147 public uint ID;
148 public Vector3 Position;
149 public Quaternion Rotation;
150 public Vector3 Velocity;
151 public Vector3 Acceleration;
152 public Vector3 RotationalVelocity;
153 public override string ToString()
154 {
155 return string.Format("ID:{0}, Pos:<{1:F},{2:F},{3:F}>, Rot:<{4:F},{5:F},{6:F},{7:F}>, LVel:<{8:F},{9:F},{10:F}>, AVel:<{11:F},{12:F},{13:F}>",
156 ID.ToString(),
157 Position.X,Position.Y,Position.Z,
158 Rotation.X,Rotation.Y,Rotation.Z,Rotation.W,
159 Velocity.X,Velocity.Y,Velocity.Z,
160 RotationalVelocity.X,RotationalVelocity.Y,RotationalVelocity.Z
161 );
162 }
163}
164
165// Format of this structure must match the definition in the C++ code
166// NOTE: adding the X causes compile breaks if used. These are unused symbols
167// that can be removed from both here and the unmanaged definition of this structure.
168[StructLayout(LayoutKind.Sequential)]
169public struct ConfigurationParameters
170{
171 public float defaultFriction;
172 public float defaultDensity;
173 public float defaultRestitution;
174 public float collisionMargin;
175 public float gravity;
176
177 public float XlinearDamping;
178 public float XangularDamping;
179 public float XdeactivationTime;
180 public float XlinearSleepingThreshold;
181 public float XangularSleepingThreshold;
182 public float XccdMotionThreshold;
183 public float XccdSweptSphereRadius;
184 public float XcontactProcessingThreshold;
185
186 public float XterrainImplementation;
187 public float XterrainFriction;
188 public float XterrainHitFraction;
189 public float XterrainRestitution;
190 public float XterrainCollisionMargin;
191
192 public float XavatarFriction;
193 public float XavatarStandingFriction;
194 public float XavatarDensity;
195 public float XavatarRestitution;
196 public float XavatarCapsuleWidth;
197 public float XavatarCapsuleDepth;
198 public float XavatarCapsuleHeight;
199 public float XavatarContactProcessingThreshold;
200
201 public float XvehicleAngularDamping;
202
203 public float maxPersistantManifoldPoolSize;
204 public float maxCollisionAlgorithmPoolSize;
205 public float shouldDisableContactPoolDynamicAllocation;
206 public float shouldForceUpdateAllAabbs;
207 public float shouldRandomizeSolverOrder;
208 public float shouldSplitSimulationIslands;
209 public float shouldEnableFrictionCaching;
210 public float numberOfSolverIterations;
211
212 public float XlinksetImplementation;
213 public float XlinkConstraintUseFrameOffset;
214 public float XlinkConstraintEnableTransMotor;
215 public float XlinkConstraintTransMotorMaxVel;
216 public float XlinkConstraintTransMotorMaxForce;
217 public float XlinkConstraintERP;
218 public float XlinkConstraintCFM;
219 public float XlinkConstraintSolverIterations;
220
221 public float physicsLoggingFrames;
222
223 public const float numericTrue = 1f;
224 public const float numericFalse = 0f;
225}
226
227
228// The states a bullet collision object can have
229
230public enum ActivationState : uint
231{
232 UNDEFINED = 0,
233 ACTIVE_TAG = 1,
234 ISLAND_SLEEPING = 2,
235 WANTS_DEACTIVATION = 3,
236 DISABLE_DEACTIVATION = 4,
237 DISABLE_SIMULATION = 5,
238}
239
240public enum CollisionObjectTypes : int
241{
242 CO_COLLISION_OBJECT = 1 << 0,
243 CO_RIGID_BODY = 1 << 1,
244 CO_GHOST_OBJECT = 1 << 2,
245 CO_SOFT_BODY = 1 << 3,
246 CO_HF_FLUID = 1 << 4,
247 CO_USER_TYPE = 1 << 5,
248}
249
250// Values used by Bullet and BulletSim to control object properties.
251// Bullet's "CollisionFlags" has more to do with operations on the
252// object (if collisions happen, if gravity effects it, ...).
253 [Flags]
254public enum CollisionFlags : uint
255{
256 CF_STATIC_OBJECT = 1 << 0,
257 CF_KINEMATIC_OBJECT = 1 << 1,
258 CF_NO_CONTACT_RESPONSE = 1 << 2,
259 CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3,
260 CF_CHARACTER_OBJECT = 1 << 4,
261 CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
262 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
263 // Following used by BulletSim to control collisions and updates
264 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
265 BS_FLOATS_ON_WATER = 1 << 11,
266 BS_VEHICLE_COLLISIONS = 1 << 12,
267 BS_NONE = 0,
268 BS_ALL = 0xFFFFFFFF,
269
270 // These are the collision flags switched depending on physical state.
271 // The other flags are used for other things and should not be fooled with.
272 BS_ACTIVE = CF_STATIC_OBJECT
273 | CF_KINEMATIC_OBJECT
274 | CF_NO_CONTACT_RESPONSE
275};
276
277// Values for collisions groups and masks
278public enum CollisionFilterGroups : uint
279{
280 // Don't use the bit definitions!! Define the use in a
281 // filter/mask definition below. This way collision interactions
282 // are more easily debugged.
283 BNoneGroup = 0,
284 BDefaultGroup = 1 << 0,
285 BStaticGroup = 1 << 1,
286 BKinematicGroup = 1 << 2,
287 BDebrisGroup = 1 << 3,
288 BSensorTrigger = 1 << 4,
289 BCharacterGroup = 1 << 5,
290 BAllGroup = 0xFFFFFFFF,
291 // Filter groups defined by BulletSim
292 BGroundPlaneGroup = 1 << 10,
293 BTerrainGroup = 1 << 11,
294 BRaycastGroup = 1 << 12,
295 BSolidGroup = 1 << 13,
296 // BLinksetGroup = xx // a linkset proper is either static or dynamic
297 BLinksetChildGroup = 1 << 14,
298 // The collsion filters and masked are defined in one place -- don't want them scattered
299 AvatarGroup = BCharacterGroup,
300 AvatarMask = BAllGroup,
301 ObjectGroup = BSolidGroup,
302 ObjectMask = BAllGroup,
303 StaticObjectGroup = BStaticGroup,
304 StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
305 LinksetGroup = BLinksetChildGroup,
306 LinksetMask = BAllGroup & ~BLinksetChildGroup, // linkset objects don't collide with each other
307 VolumeDetectGroup = BSensorTrigger,
308 VolumeDetectMask = ~BSensorTrigger,
309 TerrainGroup = BTerrainGroup,
310 TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
311 GroundPlaneGroup = BGroundPlaneGroup,
312 GroundPlaneMask = BAllGroup
313
314};
315
316// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
317// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
318public enum ConstraintParams : int
319{
320 BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730
321 BT_CONSTRAINT_STOP_ERP,
322 BT_CONSTRAINT_CFM,
323 BT_CONSTRAINT_STOP_CFM,
324};
325public enum ConstraintParamAxis : int
326{
327 AXIS_LINEAR_X = 0,
328 AXIS_LINEAR_Y,
329 AXIS_LINEAR_Z,
330 AXIS_ANGULAR_X,
331 AXIS_ANGULAR_Y,
332 AXIS_ANGULAR_Z,
333 AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls
334 AXIS_ANGULAR_ALL,
335 AXIS_ALL
336};
337
338// ===============================================================================
339static class BulletSimAPI {
340 private static int m_collisionsThisFrame;
341 public delegate void DebugLogCallback(string msg);
342 /// <summary>
343 ///
344 /// </summary>
345 /// <param name="p"></param>
346 /// <param name="p_2"></param>
347 internal static bool RemoveObjectFromWorld2(object pWorld, object pBody)
348 {
349 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
350 RigidBody body = pBody as RigidBody;
351 world.RemoveRigidBody(body);
352 return true;
353 }
354
355 internal static void SetRestitution2(object pBody, float pRestitution)
356 {
357 RigidBody body = pBody as RigidBody;
358 body.SetRestitution(pRestitution);
359 }
360
361 internal static void SetMargin2(object pShape, float pMargin)
362 {
363 CollisionShape shape = pShape as CollisionShape;
364 shape.SetMargin(pMargin);
365 }
366
367 internal static void SetLocalScaling2(object pShape, Vector3 pScale)
368 {
369 CollisionShape shape = pShape as CollisionShape;
370 IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
371 shape.SetLocalScaling(ref vec);
372
373 }
374
375 internal static void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold)
376 {
377 RigidBody body = pBody as RigidBody;
378 body.SetContactProcessingThreshold(contactprocessingthreshold);
379 }
380
381 internal static void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold)
382 {
383 RigidBody body = pBody as RigidBody;
384 body.SetCcdMotionThreshold(pccdMotionThreashold);
385 }
386
387 internal static void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius)
388 {
389 RigidBody body = pBody as RigidBody;
390 body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
391 }
392
393 internal static void SetAngularFactorV2(object pBody, Vector3 pAngularFactor)
394 {
395 RigidBody body = pBody as RigidBody;
396 body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
397 }
398
399 internal static CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
400 {
401 CollisionObject body = pBody as CollisionObject;
402 CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
403 existingcollisionFlags |= pcollisionFlags;
404 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
405 return (CollisionFlags) (uint) existingcollisionFlags;
406 }
407
408 internal static void AddObjectToWorld2(object pWorld, object pBody)
409 {
410 RigidBody body = pBody as RigidBody;
411 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
412 //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
413
414 world.AddRigidBody(body);
415
416 //if (body.GetBroadphaseHandle() != null)
417 // world.UpdateSingleAabb(body);
418 }
419
420 internal static void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation)
421 {
422 RigidBody body = pBody as RigidBody;
423 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
424 //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
425
426 world.AddRigidBody(body);
427 IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
428 IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
429 _orientation.W);
430 IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
431 mat._origin = vposition;
432 body.SetWorldTransform(mat);
433 //if (body.GetBroadphaseHandle() != null)
434 // world.UpdateSingleAabb(body);
435 }
436
437 internal static void ForceActivationState2(object pBody, ActivationState pActivationState)
438 {
439 CollisionObject body = pBody as CollisionObject;
440 body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
441 }
442
443 internal static void UpdateSingleAabb2(object pWorld, object pBody)
444 {
445 CollisionObject body = pBody as CollisionObject;
446 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
447 world.UpdateSingleAabb(body);
448 }
449
450 internal static bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask)
451 {
452 RigidBody body = pBody as RigidBody;
453 body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
454 body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
455 if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0)
456 return false;
457 return true;
458 }
459
460 internal static void ClearAllForces2(object pBody)
461 {
462 CollisionObject body = pBody as CollisionObject;
463 IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
464 body.SetInterpolationLinearVelocity(ref zeroVector);
465 body.SetInterpolationAngularVelocity(ref zeroVector);
466 IndexedMatrix bodytransform = body.GetWorldTransform();
467
468 body.SetInterpolationWorldTransform(ref bodytransform);
469
470 if (body is RigidBody)
471 {
472 RigidBody rigidbody = body as RigidBody;
473 rigidbody.SetLinearVelocity(zeroVector);
474 rigidbody.SetAngularVelocity(zeroVector);
475 rigidbody.ClearForces();
476 }
477 }
478
479 internal static void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3)
480 {
481 RigidBody body = pBody as RigidBody;
482 IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
483 body.SetInterpolationAngularVelocity(ref vec);
484 }
485
486 internal static void SetAngularVelocity2(object pBody, Vector3 pVector3)
487 {
488 RigidBody body = pBody as RigidBody;
489 IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
490 body.SetAngularVelocity(ref vec);
491 }
492
493 internal static void ClearForces2(object pBody)
494 {
495 RigidBody body = pBody as RigidBody;
496 body.ClearForces();
497 }
498
499 internal static void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation)
500 {
501 RigidBody body = pBody as RigidBody;
502 IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
503 IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
504 _orientation.W);
505 IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
506 mat._origin = vposition;
507 body.SetWorldTransform(mat);
508
509 }
510
511 internal static Vector3 GetPosition2(object pBody)
512 {
513 RigidBody body = pBody as RigidBody;
514 IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
515 return new Vector3(pos.X, pos.Y, pos.Z);
516 }
517
518 internal static Vector3 CalculateLocalInertia2(object pShape, float pphysMass)
519 {
520 CollisionShape shape = pShape as CollisionShape;
521 IndexedVector3 inertia = IndexedVector3.Zero;
522 shape.CalculateLocalInertia(pphysMass, out inertia);
523 return new Vector3(inertia.X, inertia.Y, inertia.Z);
524 }
525
526 internal static void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia)
527 {
528 RigidBody body = pBody as RigidBody;
529 IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
530 body.SetMassProps(pphysMass, inertia);
531 }
532
533
534 internal static void SetObjectForce2(object pBody, Vector3 _force)
535 {
536 RigidBody body = pBody as RigidBody;
537 IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
538 body.SetTotalForce(ref force);
539 }
540
541 internal static void SetFriction2(object pBody, float _currentFriction)
542 {
543 RigidBody body = pBody as RigidBody;
544 body.SetFriction(_currentFriction);
545 }
546
547 internal static void SetLinearVelocity2(object pBody, Vector3 _velocity)
548 {
549 RigidBody body = pBody as RigidBody;
550 IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
551 body.SetLinearVelocity(velocity);
552 }
553
554 internal static void Activate2(object pBody, bool pforceactivation)
555 {
556 RigidBody body = pBody as RigidBody;
557 body.Activate(pforceactivation);
558
559 }
560
561 internal static Quaternion GetOrientation2(object pBody)
562 {
563 RigidBody body = pBody as RigidBody;
564 IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation();
565 return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
566 }
567
568 internal static CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
569 {
570 RigidBody body = pBody as RigidBody;
571 CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
572 existingcollisionFlags &= ~pcollisionFlags;
573 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
574 return (CollisionFlags)(uint)existingcollisionFlags;
575 }
576
577 internal static void SetGravity2(object pBody, Vector3 pGravity)
578 {
579 RigidBody body = pBody as RigidBody;
580 IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
581 body.SetGravity(gravity);
582 }
583
584 internal static bool DestroyConstraint2(object pBody, object pConstraint)
585 {
586 RigidBody body = pBody as RigidBody;
587 TypedConstraint constraint = pConstraint as TypedConstraint;
588 body.RemoveConstraintRef(constraint);
589 return true;
590 }
591
592 internal static bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high)
593 {
594 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
595 IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
596 IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
597 constraint.SetLinearLowerLimit(lowlimit);
598 constraint.SetLinearUpperLimit(highlimit);
599 return true;
600 }
601
602 internal static bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high)
603 {
604 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
605 IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
606 IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
607 constraint.SetAngularLowerLimit(lowlimit);
608 constraint.SetAngularUpperLimit(highlimit);
609 return true;
610 }
611
612 internal static void SetConstraintNumSolverIterations2(object pConstraint, float cnt)
613 {
614 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
615 constraint.SetOverrideNumSolverIterations((int)cnt);
616 }
617
618 internal static void CalculateTransforms2(object pConstraint)
619 {
620 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
621 constraint.CalculateTransforms();
622 }
623
624 internal static void SetConstraintEnable2(object pConstraint, float p_2)
625 {
626 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
627 constraint.SetEnabled((p_2 == 0) ? false : true);
628 }
629
630
631 //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
632 internal static object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
633
634 {
635 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
636 RigidBody body1 = pBody1 as RigidBody;
637 RigidBody body2 = pBody2 as RigidBody;
638 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
639 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
640 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
641 frame1._origin = frame1v;
642
643 IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
644 IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
645 IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
646 frame2._origin = frame1v;
647
648 Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
649 puseLinearReferenceFrameA);
650 consttr.CalculateTransforms();
651 world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
652
653 return consttr;
654 }
655
656
657 /// <summary>
658 ///
659 /// </summary>
660 /// <param name="pWorld"></param>
661 /// <param name="pBody1"></param>
662 /// <param name="pBody2"></param>
663 /// <param name="pjoinPoint"></param>
664 /// <param name="puseLinearReferenceFrameA"></param>
665 /// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
666 /// <returns></returns>
667 internal static object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
668 {
669 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
670 RigidBody body1 = pBody1 as RigidBody;
671 RigidBody body2 = pBody2 as RigidBody;
672 IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
673 IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
674
675 IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
676 IndexedMatrix mat = IndexedMatrix.Identity;
677 mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
678 frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
679 frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
680
681 Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
682 consttr.CalculateTransforms();
683 world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
684
685 return consttr;
686 }
687 //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
688 internal static void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
689 {
690 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
691 IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
692 IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
693 IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
694 frame1._origin = frame1v;
695
696 IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
697 IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
698 IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
699 frame2._origin = frame1v;
700 constraint.SetFrames(ref frame1, ref frame2);
701 }
702
703
704
705
706 internal static bool IsInWorld2(object pWorld, object pShapeObj)
707 {
708 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
709 CollisionObject shape = pShapeObj as CollisionObject;
710 return world.IsInWorld(shape);
711 }
712
713 internal static void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity)
714 {
715 RigidBody body = pBody as RigidBody;
716 IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
717 body.SetInterpolationLinearVelocity(ref velocity);
718 }
719
720 internal static bool UseFrameOffset2(object pConstraint, float onOff)
721 {
722 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
723 constraint.SetUseFrameOffset((onOff == 0) ? false : true);
724 return true;
725 }
726 //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
727 internal static bool SetBreakingImpulseThreshold2(object pConstraint, float threshold)
728 {
729 Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
730 constraint.SetBreakingImpulseThreshold(threshold);
731 return true;
732 }
733 //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
734 internal static void SetAngularDamping2(object pBody, float angularDamping)
735 {
736 RigidBody body = pBody as RigidBody;
737 float lineardamping = body.GetLinearDamping();
738 body.SetDamping(lineardamping, angularDamping);
739
740 }
741
742 internal static void UpdateInertiaTensor2(object pBody)
743 {
744 RigidBody body = pBody as RigidBody;
745 body.UpdateInertiaTensor();
746 }
747
748 internal static void RecalculateCompoundShapeLocalAabb2( object pCompoundShape)
749 {
750
751 CompoundShape shape = pCompoundShape as CompoundShape;
752 shape.RecalculateLocalAabb();
753 }
754
755 //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr)
756 internal static CollisionFlags GetCollisionFlags2(object pBody)
757 {
758 RigidBody body = pBody as RigidBody;
759 uint flags = (uint)body.GetCollisionFlags();
760 return (CollisionFlags) flags;
761 }
762
763 internal static void SetDamping2(object pBody, float pLinear, float pAngular)
764 {
765 RigidBody body = pBody as RigidBody;
766 body.SetDamping(pLinear, pAngular);
767 }
768 //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
769 internal static void SetDeactivationTime2(object pBody, float pDeactivationTime)
770 {
771 RigidBody body = pBody as RigidBody;
772 body.SetDeactivationTime(pDeactivationTime);
773 }
774 //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
775 internal static void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
776 {
777 RigidBody body = pBody as RigidBody;
778 body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
779 }
780
781 internal static CollisionObjectTypes GetBodyType2(object pBody)
782 {
783 RigidBody body = pBody as RigidBody;
784 return (CollisionObjectTypes)(int) body.GetInternalType();
785 }
786
787 //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
788 internal static void ApplyCentralForce2(object pBody, Vector3 pfSum)
789 {
790 RigidBody body = pBody as RigidBody;
791 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
792 body.ApplyCentralForce(ref fSum);
793 }
794 internal static void ApplyCentralImpulse2(object pBody, Vector3 pfSum)
795 {
796 RigidBody body = pBody as RigidBody;
797 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
798 body.ApplyCentralImpulse(ref fSum);
799 }
800 internal static void ApplyTorque2(object pBody, Vector3 pfSum)
801 {
802 RigidBody body = pBody as RigidBody;
803 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
804 body.ApplyTorque(ref fSum);
805 }
806 internal static void ApplyTorqueImpulse2(object pBody, Vector3 pfSum)
807 {
808 RigidBody body = pBody as RigidBody;
809 IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
810 body.ApplyTorqueImpulse(ref fSum);
811 }
812
813 internal static void DumpRigidBody2(object p, object p_2)
814 {
815 //TODO:
816 }
817
818 internal static void DumpCollisionShape2(object p, object p_2)
819 {
820 //TODO:
821 }
822
823 internal static void DestroyObject2(object p, object p_2)
824 {
825 //TODO:
826 }
827
828 internal static void Shutdown2(object pWorld)
829 {
830 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
831 world.Cleanup();
832 }
833
834 internal static void DeleteCollisionShape2(object p, object p_2)
835 {
836 //TODO:
837 }
838 //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
839
840 internal static object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
841 {
842 CollisionWorld world = pWorld as CollisionWorld;
843 IndexedMatrix mat =
844 IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
845 pRawOrientation.Z, pRawOrientation.W));
846 mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
847 CollisionShape shape = pShape as CollisionShape;
848 //UpdateSingleAabb2(world, shape);
849 // TODO: Feed Update array into null
850 RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero);
851
852 body.SetUserPointer(pLocalID);
853 return body;
854 }
855
856
857 internal static object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
858 {
859
860 IndexedMatrix mat =
861 IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
862 pRawOrientation.Z, pRawOrientation.W));
863 mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
864
865 CollisionShape shape = pShape as CollisionShape;
866
867 // TODO: Feed Update array into null
868 RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
869 body.SetWorldTransform(mat);
870 body.SetUserPointer(pLocalID);
871 return body;
872 }
873 //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
874 internal static void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags)
875 {
876 RigidBody body = pBody as RigidBody;
877 body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
878 }
879 //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
880 internal static void SetHitFraction2(object pBody, float pHitFraction)
881 {
882 RigidBody body = pBody as RigidBody;
883 body.SetHitFraction(pHitFraction);
884 }
885 //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
886 internal static object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale)
887 {
888 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
889 IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
890 CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
891 capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
892 capsuleShapeZ.SetLocalScaling(ref scale);
893
894 return capsuleShapeZ;
895 }
896
897 public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray, int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, object mDebugLogCallbackHandle)
898 {
899 CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
900
901 p.angularDamping = o[0].XangularDamping;
902 p.defaultFriction = o[0].defaultFriction;
903 p.defaultFriction = o[0].defaultFriction;
904 p.defaultDensity = o[0].defaultDensity;
905 p.defaultRestitution = o[0].defaultRestitution;
906 p.collisionMargin = o[0].collisionMargin;
907 p.gravity = o[0].gravity;
908
909 p.linearDamping = o[0].XlinearDamping;
910 p.angularDamping = o[0].XangularDamping;
911 p.deactivationTime = o[0].XdeactivationTime;
912 p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
913 p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
914 p.ccdMotionThreshold = o[0].XccdMotionThreshold;
915 p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
916 p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
917
918 p.terrainImplementation = o[0].XterrainImplementation;
919 p.terrainFriction = o[0].XterrainFriction;
920
921 p.terrainHitFraction = o[0].XterrainHitFraction;
922 p.terrainRestitution = o[0].XterrainRestitution;
923 p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
924
925 p.avatarFriction = o[0].XavatarFriction;
926 p.avatarStandingFriction = o[0].XavatarStandingFriction;
927 p.avatarDensity = o[0].XavatarDensity;
928 p.avatarRestitution = o[0].XavatarRestitution;
929 p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
930 p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
931 p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
932 p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
933
934 p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
935
936 p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
937 p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
938 p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
939 p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
940 p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
941 p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
942 p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
943 p.numberOfSolverIterations = o[0].numberOfSolverIterations;
944
945 p.linksetImplementation = o[0].XlinksetImplementation;
946 p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
947 p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
948 p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
949 p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
950 p.linkConstraintERP = o[0].XlinkConstraintERP;
951 p.linkConstraintCFM = o[0].XlinkConstraintCFM;
952 p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
953 p.physicsLoggingFrames = o[0].physicsLoggingFrames;
954 DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
955
956 DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
957 CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
958
959
960 if (p.maxPersistantManifoldPoolSize > 0)
961 cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
962 if (p.shouldDisableContactPoolDynamicAllocation !=0)
963 m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
964 //if (p.maxCollisionAlgorithmPoolSize >0 )
965
966 DbvtBroadphase m_broadphase = new DbvtBroadphase();
967 //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
968 //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
969
970 //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
971 m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
972
973 SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
974
975 DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
976 world.UpdatedObjects = updateArray;
977 world.UpdatedCollisions = collisionArray;
978 world.WorldSettings.Params = p;
979 world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
980 world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
981 if (p.shouldRandomizeSolverOrder != 0)
982 world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
983
984 world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
985 //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
986
987 if (p.shouldEnableFrictionCaching != 0)
988 world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
989
990 if (p.numberOfSolverIterations > 0)
991 world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
992
993
994 world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
995 world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
996 world.GetSolverInfo().m_globalCfm = 0.0f;
997 world.GetSolverInfo().m_tau = 0.6f;
998 world.GetSolverInfo().m_friction = 0.3f;
999 world.GetSolverInfo().m_maxErrorReduction = 20f;
1000 world.GetSolverInfo().m_numIterations = 10;
1001 world.GetSolverInfo().m_erp = 0.2f;
1002 world.GetSolverInfo().m_erp2 = 0.1f;
1003 world.GetSolverInfo().m_sor = 1.0f;
1004 world.GetSolverInfo().m_splitImpulse = false;
1005 world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
1006 world.GetSolverInfo().m_linearSlop = 0.0f;
1007 world.GetSolverInfo().m_warmstartingFactor = 0.85f;
1008 world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
1009 world.SetForceUpdateAllAabbs(true);
1010
1011
1012 world.SetGravity(new IndexedVector3(0,0,p.gravity));
1013
1014 return world;
1015 }
1016 //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
1017 internal static bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
1018 {
1019 Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
1020 if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
1021 {
1022 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
1023 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
1024 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
1025 }
1026 if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
1027 {
1028 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
1029 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
1030 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
1031 }
1032 if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
1033 {
1034 constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
1035 }
1036 return true;
1037 }
1038
1039 internal static bool PushUpdate2(object pCollisionObject)
1040 {
1041 bool ret = false;
1042 RigidBody rb = pCollisionObject as RigidBody;
1043 if (rb != null)
1044 {
1045 SimMotionState sms = rb.GetMotionState() as SimMotionState;
1046 if (sms != null)
1047 {
1048 IndexedMatrix wt = IndexedMatrix.Identity;
1049 sms.GetWorldTransform(out wt);
1050 sms.SetWorldTransform(ref wt, true);
1051 ret = true;
1052 }
1053 }
1054 return ret;
1055
1056 }
1057
1058 internal static bool IsCompound2(object pShape)
1059 {
1060 CollisionShape shape = pShape as CollisionShape;
1061 return shape.IsCompound();
1062 }
1063 internal static bool IsPloyhedral2(object pShape)
1064 {
1065 CollisionShape shape = pShape as CollisionShape;
1066 return shape.IsPolyhedral();
1067 }
1068 internal static bool IsConvex2d2(object pShape)
1069 {
1070 CollisionShape shape = pShape as CollisionShape;
1071 return shape.IsConvex2d();
1072 }
1073 internal static bool IsConvex2(object pShape)
1074 {
1075 CollisionShape shape = pShape as CollisionShape;
1076 return shape.IsConvex();
1077 }
1078 internal static bool IsNonMoving2(object pShape)
1079 {
1080 CollisionShape shape = pShape as CollisionShape;
1081 return shape.IsNonMoving();
1082 }
1083 internal static bool IsConcave2(object pShape)
1084 {
1085 CollisionShape shape = pShape as CollisionShape;
1086 return shape.IsConcave();
1087 }
1088 internal static bool IsInfinite2(object pShape)
1089 {
1090 CollisionShape shape = pShape as CollisionShape;
1091 return shape.IsInfinite();
1092 }
1093 internal static bool IsNativeShape2(object pShape)
1094 {
1095 CollisionShape shape = pShape as CollisionShape;
1096 bool ret;
1097 switch (shape.GetShapeType())
1098 {
1099 case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
1100 case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
1101 case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
1102 case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
1103 ret = true;
1104 break;
1105 default:
1106 ret = false;
1107 break;
1108 }
1109 return ret;
1110 }
1111 //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
1112 internal static object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
1113 {
1114 IndexedMatrix bodyTransform = new IndexedMatrix();
1115 bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
1116 bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
1117 GhostObject gObj = new PairCachingGhostObject();
1118 gObj.SetWorldTransform(bodyTransform);
1119 CollisionShape shape = pShape as CollisionShape;
1120 gObj.SetCollisionShape(shape);
1121 gObj.SetUserPointer(pLocalID);
1122 // TODO: Add to Special CollisionObjects!
1123 return gObj;
1124 }
1125
1126 public static void SetCollisionShape2(object pWorld, object pObj, object pShape)
1127 {
1128 var world = pWorld as DiscreteDynamicsWorld;
1129 var obj = pObj as CollisionObject;
1130 var shape = pShape as CollisionShape;
1131 obj.SetCollisionShape(shape);
1132
1133 }
1134 //(PhysicsScene.World.ptr, nativeShapeData)
1135 internal static object BuildNativeShape2(object pWorld, ShapeData pShapeData)
1136 {
1137 var world = pWorld as DiscreteDynamicsWorld;
1138 CollisionShape shape = null;
1139 switch (pShapeData.Type)
1140 {
1141 case BSPhysicsShapeType.SHAPE_BOX:
1142 shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
1143 break;
1144 case BSPhysicsShapeType.SHAPE_CONE:
1145 shape = new ConeShapeZ(0.5f, 1.0f);
1146 break;
1147 case BSPhysicsShapeType.SHAPE_CYLINDER:
1148 shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
1149 break;
1150 case BSPhysicsShapeType.SHAPE_SPHERE:
1151 shape = new SphereShape(0.5f);
1152 break;
1153
1154 }
1155 if (shape != null)
1156 {
1157 IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
1158 shape.SetMargin(world.WorldSettings.Params.collisionMargin);
1159 shape.SetLocalScaling(ref scaling);
1160
1161 }
1162 return shape;
1163 }
1164 //PhysicsScene.World.ptr, false
1165 internal static object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree)
1166 {
1167 return new CompoundShape(enableDynamicAabbTree);
1168 }
1169
1170 internal static int GetNumberOfCompoundChildren2(object pCompoundShape)
1171 {
1172 var compoundshape = pCompoundShape as CompoundShape;
1173 return compoundshape.GetNumChildShapes();
1174 }
1175 //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
1176 internal static void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot)
1177 {
1178 IndexedMatrix relativeTransform = new IndexedMatrix();
1179 var compoundshape = pCShape as CompoundShape;
1180 var addshape = paddShape as CollisionShape;
1181
1182 relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
1183 relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
1184 compoundshape.AddChildShape(ref relativeTransform, addshape);
1185
1186 }
1187
1188 internal static object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii)
1189 {
1190 var compoundshape = pCShape as CompoundShape;
1191 CollisionShape ret = null;
1192 ret = compoundshape.GetChildShape(pii);
1193 compoundshape.RemoveChildShapeByIndex(pii);
1194 return ret;
1195 }
1196
1197 internal static object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin)
1198 {
1199 StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
1200 m_planeshape.SetMargin(pcollisionMargin);
1201 m_planeshape.SetUserPointer(pLocalId);
1202 return m_planeshape;
1203 }
1204
1205 internal static object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
1206 {
1207 HingeConstraint constrain = null;
1208 var rb1 = pBody1 as RigidBody;
1209 var rb2 = ppBody2 as RigidBody;
1210 if (rb1 != null && rb2 != null)
1211 {
1212 IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
1213 IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
1214 IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
1215 IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
1216 var world = pWorld as DiscreteDynamicsWorld;
1217 world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
1218 }
1219 return constrain;
1220 }
1221
1222 internal static bool ReleaseHeightMapInfo2(object pMapInfo)
1223 {
1224 if (pMapInfo != null)
1225 {
1226 BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
1227 if (mapinfo.heightMap != null)
1228 mapinfo.heightMap = null;
1229
1230
1231 }
1232 return true;
1233 }
1234
1235 internal static object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls)
1236 {
1237 CompoundShape compoundshape = new CompoundShape(false);
1238 var world = pWorld as DiscreteDynamicsWorld;
1239
1240
1241 compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
1242 int ii = 1;
1243
1244 for (int i = 0; i < pHullCount; i++)
1245 {
1246 int vertexCount = (int) pConvHulls[ii];
1247
1248 IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
1249 IndexedMatrix childTrans = IndexedMatrix.Identity;
1250 childTrans._origin = centroid;
1251
1252 List<IndexedVector3> virts = new List<IndexedVector3>();
1253 int ender = ((ii + 4) + (vertexCount*3));
1254 for (int iii = ii + 4; iii < ender; iii+=3)
1255 {
1256
1257 virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
1258 }
1259 ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
1260 convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
1261 compoundshape.AddChildShape(ref childTrans, convexShape);
1262 ii += (vertexCount*3 + 4);
1263 }
1264
1265
1266 return compoundshape;
1267 }
1268
1269 internal static object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
1270 {
1271 //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
1272
1273 for (int iter = 0; iter < pVerticesCount; iter++)
1274 {
1275 if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
1276 if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
1277 }
1278
1279 ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
1280 ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
1281 DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
1282 var world = pWorld as DiscreteDynamicsWorld;
1283 IndexedMesh mesh = new IndexedMesh();
1284 mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
1285 mesh.m_numTriangles = pIndicesCount/3;
1286 mesh.m_numVertices = pVerticesCount;
1287 mesh.m_triangleIndexBase = indicesarr;
1288 mesh.m_vertexBase = vertices;
1289 mesh.m_vertexStride = 3;
1290 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
1291 mesh.m_triangleIndexStride = 3;
1292
1293 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
1294 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
1295 BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
1296 meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
1297 // world.UpdateSingleAabb(meshShape);
1298 return meshShape;
1299
1300 }
1301 public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
1302 {
1303
1304 String fileName = "objTest3.raw";
1305 String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
1306 StreamWriter sw = new StreamWriter(completePath);
1307 IndexedMesh mesh = new IndexedMesh();
1308
1309 mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
1310 mesh.m_numTriangles = pIndicesCount / 3;
1311 mesh.m_numVertices = pVerticesCount;
1312 mesh.m_triangleIndexBase = indices;
1313 mesh.m_vertexBase = vertices;
1314 mesh.m_vertexStride = 3;
1315 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
1316 mesh.m_triangleIndexStride = 3;
1317
1318 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
1319 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
1320
1321
1322
1323 for (int i = 0; i < pVerticesCount; i++)
1324 {
1325
1326 string s = vertices[indices[i * 3]].ToString("0.0000");
1327 s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
1328 s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
1329
1330 sw.Write(s + "\n");
1331 }
1332
1333 sw.Close();
1334 }
1335 public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
1336 {
1337
1338 String fileName = "objTest6.raw";
1339 String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
1340 StreamWriter sw = new StreamWriter(completePath);
1341 IndexedMesh mesh = new IndexedMesh();
1342
1343 mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
1344 mesh.m_numTriangles = pIndicesCount / 3;
1345 mesh.m_numVertices = pVerticesCount;
1346 mesh.m_triangleIndexBase = indices;
1347 mesh.m_vertexBase = vertices;
1348 mesh.m_vertexStride = 3;
1349 mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
1350 mesh.m_triangleIndexStride = 3;
1351
1352 TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
1353 tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
1354
1355
1356 sw.WriteLine("Indices");
1357 sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
1358 for (int iter = 0; iter < indices.Length; iter++)
1359 {
1360 sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
1361 }
1362 sw.WriteLine("VerticesFloats");
1363 sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
1364 for (int iter = 0; iter < vertices.Length; iter++)
1365 {
1366 sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
1367 }
1368
1369 // for (int i = 0; i < pVerticesCount; i++)
1370 // {
1371 //
1372 // string s = vertices[indices[i * 3]].ToString("0.0000");
1373 // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
1374 // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
1375 //
1376 // sw.Write(s + "\n");
1377 //}
1378
1379 sw.Close();
1380 }
1381 //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin
1382 internal static object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin)
1383 {
1384 BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null);
1385 mapInfo.heightMap = null;
1386 mapInfo.minCoords = pminCoords;
1387 mapInfo.maxCoords = pmaxCoords;
1388 mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X);
1389 mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y);
1390 mapInfo.ID = pId;
1391 mapInfo.minZ = pminCoords.Z;
1392 mapInfo.maxZ = pmaxCoords.Z;
1393 mapInfo.collisionMargin = pCollisionMargin;
1394 if (mapInfo.minZ == mapInfo.maxZ)
1395 mapInfo.minZ -= 0.2f;
1396 mapInfo.heightMap = pheightMap;
1397
1398 return mapInfo;
1399
1400 }
1401
1402 internal static object CreateTerrainShape2(object pMapInfo)
1403 {
1404 BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
1405 const int upAxis = 2;
1406 const float scaleFactor = 1.0f;
1407 HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY,
1408 mapinfo.heightMap, scaleFactor,
1409 mapinfo.minZ, mapinfo.maxZ, upAxis,
1410 false);
1411 terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f);
1412 terrainShape.SetUseDiamondSubdivision(true);
1413 terrainShape.SetUserPointer(mapinfo.ID);
1414 return terrainShape;
1415 }
1416
1417 internal static bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
1418 {
1419 TypedConstraint tconstrain = pConstraint as TypedConstraint;
1420 bool onOff = ponOff != 0;
1421 bool ret = false;
1422
1423 switch (tconstrain.GetConstraintType())
1424 {
1425 case TypedConstraintType.D6_CONSTRAINT_TYPE:
1426 Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
1427 constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
1428 constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
1429 constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
1430 ret = true;
1431 break;
1432 }
1433
1434
1435 return ret;
1436
1437 }
1438
1439 internal static int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc>colliders)
1440 {
1441 int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
1442 out collidersCount, out colliders);
1443 return epic;
1444 }
1445
1446 private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc> colliders)
1447 {
1448 int numSimSteps = 0;
1449
1450
1451 //if (updatedEntities is null)
1452 // updatedEntities = new List<BulletXNA.EntityProperties>();
1453
1454 //if (colliders is null)
1455 // colliders = new List<BulletXNA.CollisionDesc>();
1456
1457
1458 if (pWorld is DiscreteDynamicsWorld)
1459 {
1460 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
1461
1462 numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
1463 int updates = 0;
1464
1465 updatedEntityCount = world.UpdatedObjects.Count;
1466 updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects);
1467 updatedEntityCount = updatedEntities.Count;
1468 world.UpdatedObjects.Clear();
1469
1470
1471 collidersCount = world.UpdatedCollisions.Count;
1472 colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
1473
1474 world.UpdatedCollisions.Clear();
1475 m_collisionsThisFrame = 0;
1476 int numManifolds = world.GetDispatcher().GetNumManifolds();
1477 for (int j = 0; j < numManifolds; j++)
1478 {
1479 PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
1480 int numContacts = contactManifold.GetNumContacts();
1481 if (numContacts == 0)
1482 continue;
1483
1484 CollisionObject objA = contactManifold.GetBody0() as CollisionObject;
1485 CollisionObject objB = contactManifold.GetBody1() as CollisionObject;
1486
1487 ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0);
1488 IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
1489 IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
1490
1491 RecordCollision(world, objA, objB, contactPoint, contactNormal);
1492 m_collisionsThisFrame ++;
1493 if (m_collisionsThisFrame >= 9999999)
1494 break;
1495
1496
1497 }
1498
1499
1500 }
1501 else
1502 {
1503 //if (updatedEntities is null)
1504 updatedEntities = new List<BulletXNA.EntityProperties>();
1505 updatedEntityCount = 0;
1506 //if (colliders is null)
1507 colliders = new List<BulletXNA.CollisionDesc>();
1508 collidersCount = 0;
1509 }
1510 return numSimSteps;
1511 }
1512
1513 private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
1514 {
1515
1516 IndexedVector3 contactNormal = norm;
1517 if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
1518 (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
1519 {
1520 return;
1521 }
1522 uint idA = (uint)objA.GetUserPointer();
1523 uint idB = (uint)objB.GetUserPointer();
1524 if (idA > idB)
1525 {
1526 uint temp = idA;
1527 idA = idB;
1528 idB = temp;
1529 contactNormal = -contactNormal;
1530 }
1531
1532 ulong collisionID = ((ulong) idA << 32) | idB;
1533
1534 BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc()
1535 {
1536 aID = idA,
1537 bID = idB,
1538 point = contact,
1539 normal = contactNormal
1540 };
1541 world.UpdatedCollisions.Add(cDesc);
1542 m_collisionsThisFrame++;
1543
1544
1545 }
1546 private static EntityProperties GetDebugProperties(object pWorld, object pBody)
1547 {
1548 EntityProperties ent = new EntityProperties();
1549 DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
1550 RigidBody body = pBody as RigidBody;
1551 IndexedMatrix transform = body.GetWorldTransform();
1552 IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity();
1553 IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity();
1554 IndexedQuaternion rotation = transform.GetRotation();
1555 ent.Acceleration = Vector3.Zero;
1556 ent.ID = (uint)body.GetUserPointer();
1557 ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
1558 ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
1559 ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
1560 ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
1561 return ent;
1562
1563
1564 }
1565
1566
1567 internal static Vector3 GetLocalScaling2(object pBody)
1568 {
1569 CollisionShape shape = pBody as CollisionShape;
1570 IndexedVector3 scale = shape.GetLocalScaling();
1571 return new Vector3(scale.X,scale.Y,scale.Z);
1572 }
1573
1574 internal static bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe)
1575 {
1576 DynamicsWorld world = pWorld as DynamicsWorld;
1577 if (world != null)
1578 {
1579 if (NotMe is CollisionObject || NotMe is RigidBody)
1580 {
1581 CollisionObject AvoidBody = NotMe as CollisionObject;
1582
1583 IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
1584 IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
1585 using (
1586 ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin,
1587 rEnd, AvoidBody)
1588 )
1589 {
1590 world.RayTest(ref rOrigin, ref rEnd, rayCallback);
1591 if (rayCallback.HasHit())
1592 {
1593 IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
1594
1595 }
1596 return rayCallback.HasHit();
1597 }
1598 }
1599 }
1600 return false;
1601 }
1602}
1603}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
deleted file mode 100644
index f509dc4..0000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
+++ /dev/null
@@ -1,280 +0,0 @@
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 */
27using System;
28using System.Collections.Generic;
29using System.Text;
30using OMV = OpenMetaverse;
31
32namespace OpenSim.Region.Physics.BulletSNPlugin
33{
34// Classes to allow some type checking for the API
35// These hold pointers to allocated objects in the unmanaged space.
36
37// The physics engine controller class created at initialization
38public struct BulletWorld
39{
40 public BulletWorld(uint worldId, BSScene bss, object xx)
41 {
42 ptr = xx;
43 worldID = worldId;
44 physicsScene = bss;
45 }
46 public object ptr;
47 public uint worldID;
48 // The scene is only in here so very low level routines have a handle to print debug/error messages
49 public BSScene physicsScene;
50}
51
52// An allocated Bullet btRigidBody
53public struct BulletBody
54{
55 public BulletBody(uint id) : this(id, null)
56 {
57 }
58 public BulletBody(uint id, object xx)
59 {
60 ID = id;
61 ptr = xx;
62 collisionType = CollisionType.Static;
63 }
64 public object ptr;
65 public uint ID;
66 public CollisionType collisionType;
67
68 public void Clear()
69 {
70 ptr = null;
71 }
72 public bool HasPhysicalBody { get { return ptr != null; } }
73
74 // Apply the specificed collision mask into the physical world
75 public void ApplyCollisionMask()
76 {
77 // Should assert the body has been added to the physical world.
78 // (The collision masks are stored in the collision proxy cache which only exists for
79 // a collision body that is in the world.)
80 BulletSimAPI.SetCollisionGroupMask2(ptr,
81 BulletSimData.CollisionTypeMasks[collisionType].group,
82 BulletSimData.CollisionTypeMasks[collisionType].mask);
83 }
84
85 public override string ToString()
86 {
87 StringBuilder buff = new StringBuilder();
88 buff.Append("<id=");
89 buff.Append(ID.ToString());
90 buff.Append(",p=");
91 buff.Append(ptr.ToString());
92 buff.Append(",c=");
93 buff.Append(collisionType);
94 buff.Append(">");
95 return buff.ToString();
96 }
97}
98
99public struct BulletShape
100{
101 public BulletShape(object xx) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN)
102 {
103 }
104 public BulletShape(object xx, BSPhysicsShapeType typ)
105 {
106 ptr = xx;
107 type = typ;
108 shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
109 isNativeShape = false;
110 }
111 public object ptr;
112 public BSPhysicsShapeType type;
113 public System.UInt64 shapeKey;
114 public bool isNativeShape;
115
116 public void Clear()
117 {
118 ptr = null;
119 }
120 public bool HasPhysicalShape { get { return ptr != null; } }
121
122 public override string ToString()
123 {
124 StringBuilder buff = new StringBuilder();
125 buff.Append("<p=");
126 buff.Append(ptr.ToString());
127 buff.Append(",s=");
128 buff.Append(type.ToString());
129 buff.Append(",k=");
130 buff.Append(shapeKey.ToString("X"));
131 buff.Append(",n=");
132 buff.Append(isNativeShape.ToString());
133 buff.Append(">");
134 return buff.ToString();
135 }
136}
137
138// An allocated Bullet btConstraint
139public struct BulletConstraint
140{
141 public BulletConstraint(object xx)
142 {
143 ptr = xx;
144 }
145 public object ptr;
146
147 public void Clear()
148 {
149 ptr = null;
150 }
151 public bool HasPhysicalConstraint { get { return ptr != null; } }
152}
153
154// An allocated HeightMapThing which holds various heightmap info.
155// Made a class rather than a struct so there would be only one
156// instance of this and C# will pass around pointers rather
157// than making copies.
158public class BulletHeightMapInfo
159{
160 public BulletHeightMapInfo(uint id, float[] hm, object xx) {
161 ID = id;
162 Ptr = xx;
163 heightMap = hm;
164 terrainRegionBase = OMV.Vector3.Zero;
165 minCoords = new OMV.Vector3(100f, 100f, 25f);
166 maxCoords = new OMV.Vector3(101f, 101f, 26f);
167 minZ = maxZ = 0f;
168 sizeX = sizeY = 256f;
169 }
170 public uint ID;
171 public object Ptr;
172 public float[] heightMap;
173 public OMV.Vector3 terrainRegionBase;
174 public OMV.Vector3 minCoords;
175 public OMV.Vector3 maxCoords;
176 public float sizeX, sizeY;
177 public float minZ, maxZ;
178 public BulletShape terrainShape;
179 public BulletBody terrainBody;
180
181 public float collisionMargin { get; set; }
182}
183
184// The general class of collsion object.
185public enum CollisionType
186{
187 Avatar,
188 Groundplane,
189 Terrain,
190 Static,
191 Dynamic,
192 VolumeDetect,
193 // Linkset, // A linkset should be either Static or Dynamic
194 LinksetChild,
195 Unknown
196};
197
198// Hold specification of group and mask collision flags for a CollisionType
199public struct CollisionTypeFilterGroup
200{
201 public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
202 {
203 type = t;
204 group = g;
205 mask = m;
206 }
207 public CollisionType type;
208 public uint group;
209 public uint mask;
210};
211
212 /* NOTE: old definitions kept for reference. Delete when things are working.
213 // The collsion filters and masked are defined in one place -- don't want them scattered
214 AvatarGroup = BCharacterGroup,
215 AvatarMask = BAllGroup,
216 ObjectGroup = BSolidGroup,
217 ObjectMask = BAllGroup,
218 StaticObjectGroup = BStaticGroup,
219 StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
220 LinksetGroup = BLinksetGroup,
221 LinksetMask = BAllGroup,
222 LinksetChildGroup = BLinksetChildGroup,
223 LinksetChildMask = BNoneGroup, // Linkset children disappear from the world
224 VolumeDetectGroup = BSensorTrigger,
225 VolumeDetectMask = ~BSensorTrigger,
226 TerrainGroup = BTerrainGroup,
227 TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
228 GroundPlaneGroup = BGroundPlaneGroup,
229 GroundPlaneMask = BAllGroup
230 */
231
232public static class BulletSimData
233{
234
235// Map of collisionTypes to flags for collision groups and masks.
236// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
237// but, instead, use references to this dictionary. Finding and debugging
238// collision flag problems will be made easier.
239public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks
240 = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
241{
242 { CollisionType.Avatar,
243 new CollisionTypeFilterGroup(CollisionType.Avatar,
244 (uint)CollisionFilterGroups.BCharacterGroup,
245 (uint)CollisionFilterGroups.BAllGroup)
246 },
247 { CollisionType.Groundplane,
248 new CollisionTypeFilterGroup(CollisionType.Groundplane,
249 (uint)CollisionFilterGroups.BGroundPlaneGroup,
250 (uint)CollisionFilterGroups.BAllGroup)
251 },
252 { CollisionType.Terrain,
253 new CollisionTypeFilterGroup(CollisionType.Terrain,
254 (uint)CollisionFilterGroups.BTerrainGroup,
255 (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
256 },
257 { CollisionType.Static,
258 new CollisionTypeFilterGroup(CollisionType.Static,
259 (uint)CollisionFilterGroups.BStaticGroup,
260 (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
261 },
262 { CollisionType.Dynamic,
263 new CollisionTypeFilterGroup(CollisionType.Dynamic,
264 (uint)CollisionFilterGroups.BSolidGroup,
265 (uint)(CollisionFilterGroups.BAllGroup))
266 },
267 { CollisionType.VolumeDetect,
268 new CollisionTypeFilterGroup(CollisionType.VolumeDetect,
269 (uint)CollisionFilterGroups.BSensorTrigger,
270 (uint)(~CollisionFilterGroups.BSensorTrigger))
271 },
272 { CollisionType.LinksetChild,
273 new CollisionTypeFilterGroup(CollisionType.LinksetChild,
274 (uint)CollisionFilterGroups.BTerrainGroup,
275 (uint)(CollisionFilterGroups.BNoneGroup))
276 },
277};
278
279}
280}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs b/OpenSim/Region/PhysicsModules/BulletS/BSConstraintCollection.cs
index 87d1e44..5746ac1 100644..100755
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSConstraintCollection.cs
@@ -30,7 +30,7 @@ using System.Text;
30using log4net; 30using log4net;
31using OpenMetaverse; 31using OpenMetaverse;
32 32
33namespace OpenSim.Region.Physics.BulletSNPlugin 33namespace OpenSim.Region.PhysicsModule.BulletS
34{ 34{
35 35
36public sealed class BSConstraintCollection : IDisposable 36public sealed class BSConstraintCollection : IDisposable
@@ -117,8 +117,7 @@ public sealed class BSConstraintCollection : IDisposable
117 if (this.TryGetConstraint(body1, body2, out constrain)) 117 if (this.TryGetConstraint(body1, body2, out constrain))
118 { 118 {
119 // remove the constraint from our collection 119 // remove the constraint from our collection
120 RemoveAndDestroyConstraint(constrain); 120 ret = RemoveAndDestroyConstraint(constrain);
121 ret = true;
122 } 121 }
123 } 122 }
124 123
@@ -126,17 +125,19 @@ public sealed class BSConstraintCollection : IDisposable
126 } 125 }
127 126
128 // The constraint MUST exist in the collection 127 // The constraint MUST exist in the collection
128 // Could be called if the constraint was previously removed.
129 // Return 'true' if the constraint was actually removed and disposed.
129 public bool RemoveAndDestroyConstraint(BSConstraint constrain) 130 public bool RemoveAndDestroyConstraint(BSConstraint constrain)
130 { 131 {
132 bool removed = false;
131 lock (m_constraints) 133 lock (m_constraints)
132 { 134 {
133 // remove the constraint from our collection 135 // remove the constraint from our collection
134 m_constraints.Remove(constrain); 136 removed = m_constraints.Remove(constrain);
135 } 137 }
136 // tell the engine that all its structures need to be freed 138 // Dispose() is safe to call multiple times
137 constrain.Dispose(); 139 constrain.Dispose();
138 // we destroyed something 140 return removed;
139 return true;
140 } 141 }
141 142
142 // Remove all constraints that reference the passed body. 143 // Remove all constraints that reference the passed body.
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs b/OpenSim/Region/PhysicsModules/BulletS/BSConstraintSlider.cs
index fbd1bc0..83d42af 100644..100755
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSConstraintSlider.cs
@@ -29,26 +29,24 @@ using System.Collections.Generic;
29using System.Text; 29using System.Text;
30using OpenMetaverse; 30using OpenMetaverse;
31 31
32namespace OpenSim.Region.Physics.BulletSNPlugin 32namespace OpenSim.Region.PhysicsModule.BulletS
33{ 33{
34 34
35public sealed class BSConstraintHinge : BSConstraint 35public sealed class BSConstraintSlider : BSConstraint
36{ 36{
37 public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } } 37 public override ConstraintType Type { get { return ConstraintType.SLIDER_CONSTRAINT_TYPE; } }
38 38
39 public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2, 39 public BSConstraintSlider(BulletWorld world, BulletBody obj1, BulletBody obj2,
40 Vector3 pivotInA, Vector3 pivotInB, 40 Vector3 frameInAloc, Quaternion frameInArot,
41 Vector3 axisInA, Vector3 axisInB, 41 Vector3 frameInBloc, Quaternion frameInBrot,
42 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) 42 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
43 : base(world)
43 { 44 {
44 m_world = world;
45 m_body1 = obj1; 45 m_body1 = obj1;
46 m_body2 = obj2; 46 m_body2 = obj2;
47 m_constraint = new BulletConstraint( 47 m_constraint = PhysicsScene.PE.CreateSliderConstraint(world, obj1, obj2,
48 BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr, 48 frameInAloc, frameInArot, frameInBloc, frameInBrot,
49 pivotInA, pivotInB, 49 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies);
50 axisInA, axisInB,
51 useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
52 m_enabled = true; 50 m_enabled = true;
53 } 51 }
54 52
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs b/OpenSim/Region/PhysicsModules/BulletS/BSDynamics.cs
index 415ad4f..0fc5577 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSDynamics.cs
@@ -35,17 +35,21 @@ using System.Collections.Generic;
35using System.Reflection; 35using System.Reflection;
36using System.Runtime.InteropServices; 36using System.Runtime.InteropServices;
37using OpenMetaverse; 37using OpenMetaverse;
38using OpenSim.Region.Physics.Manager; 38using OpenSim.Framework;
39using OpenSim.Region.PhysicsModules.SharedBase;
39 40
40namespace OpenSim.Region.Physics.BulletSNPlugin 41namespace OpenSim.Region.PhysicsModule.BulletS
41{ 42{
42 public sealed class BSDynamics 43 public sealed class BSDynamics : BSActor
43 { 44 {
45#pragma warning disable 414
44 private static string LogHeader = "[BULLETSIM VEHICLE]"; 46 private static string LogHeader = "[BULLETSIM VEHICLE]";
47#pragma warning restore 414
45 48
46 private BSScene PhysicsScene { get; set; }
47 // the prim this dynamic controller belongs to 49 // the prim this dynamic controller belongs to
48 private BSPrim Prim { get; set; } 50 private BSPrimLinkable ControllingPrim { get; set; }
51
52 private bool m_haveRegisteredForSceneEvents;
49 53
50 // mass of the vehicle fetched each time we're calles 54 // mass of the vehicle fetched each time we're calles
51 private float m_vehicleMass; 55 private float m_vehicleMass;
@@ -72,8 +76,8 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
72 private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center 76 private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center
73 private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL 77 private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
74 private Vector3 m_linearFrictionTimescale = Vector3.Zero; 78 private Vector3 m_linearFrictionTimescale = Vector3.Zero;
75 private float m_linearMotorDecayTimescale = 0; 79 private float m_linearMotorDecayTimescale = 1;
76 private float m_linearMotorTimescale = 0; 80 private float m_linearMotorTimescale = 1;
77 private Vector3 m_lastLinearVelocityVector = Vector3.Zero; 81 private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
78 private Vector3 m_lastPositionVector = Vector3.Zero; 82 private Vector3 m_lastPositionVector = Vector3.Zero;
79 // private bool m_LinearMotorSetLastFrame = false; 83 // private bool m_LinearMotorSetLastFrame = false;
@@ -84,8 +88,8 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
84 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor 88 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
85 // private int m_angularMotorApply = 0; // application frame counter 89 // private int m_angularMotorApply = 0; // application frame counter
86 private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity 90 private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity
87 private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate 91 private float m_angularMotorTimescale = 1; // motor angular velocity ramp up rate
88 private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate 92 private float m_angularMotorDecayTimescale = 1; // motor angular velocity decay rate
89 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate 93 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
90 private Vector3 m_lastAngularVelocity = Vector3.Zero; 94 private Vector3 m_lastAngularVelocity = Vector3.Zero;
91 private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body 95 private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
@@ -99,7 +103,7 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
99 103
100 //Banking properties 104 //Banking properties
101 private float m_bankingEfficiency = 0; 105 private float m_bankingEfficiency = 0;
102 private float m_bankingMix = 0; 106 private float m_bankingMix = 1;
103 private float m_bankingTimescale = 0; 107 private float m_bankingTimescale = 0;
104 108
105 //Hover and Buoyancy properties 109 //Hover and Buoyancy properties
@@ -108,10 +112,9 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
108 private float m_VhoverEfficiency = 0f; 112 private float m_VhoverEfficiency = 0f;
109 private float m_VhoverTimescale = 0f; 113 private float m_VhoverTimescale = 0f;
110 private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height 114 private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
111 private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. 115 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
112 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) 116 private float m_VehicleBuoyancy = 0f;
113 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. 117 private Vector3 m_VehicleGravity = Vector3.Zero; // Gravity computed when buoyancy set
114 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
115 118
116 //Attractor properties 119 //Attractor properties
117 private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction"); 120 private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
@@ -121,74 +124,95 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
121 private float m_verticalAttractionTimescale = 510f; 124 private float m_verticalAttractionTimescale = 510f;
122 125
123 // Just some recomputed constants: 126 // Just some recomputed constants:
127#pragma warning disable 414
128 static readonly float TwoPI = ((float)Math.PI) * 2f;
129 static readonly float FourPI = ((float)Math.PI) * 4f;
124 static readonly float PIOverFour = ((float)Math.PI) / 4f; 130 static readonly float PIOverFour = ((float)Math.PI) / 4f;
125 static readonly float PIOverTwo = ((float)Math.PI) / 2f; 131 static readonly float PIOverTwo = ((float)Math.PI) / 2f;
132#pragma warning restore 414
126 133
127 public BSDynamics(BSScene myScene, BSPrim myPrim) 134 public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName)
135 : base(myScene, myPrim, actorName)
128 { 136 {
129 PhysicsScene = myScene;
130 Prim = myPrim;
131 Type = Vehicle.TYPE_NONE; 137 Type = Vehicle.TYPE_NONE;
138 m_haveRegisteredForSceneEvents = false;
139
140 ControllingPrim = myPrim as BSPrimLinkable;
141 if (ControllingPrim == null)
142 {
143 // THIS CANNOT HAPPEN!!
144 }
145 VDetailLog("{0},Creation", ControllingPrim.LocalID);
132 } 146 }
133 147
134 // Return 'true' if this vehicle is doing vehicle things 148 // Return 'true' if this vehicle is doing vehicle things
135 public bool IsActive 149 public bool IsActive
136 { 150 {
137 get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; } 151 get { return (Type != Vehicle.TYPE_NONE && ControllingPrim.IsPhysicallyActive); }
152 }
153
154 // Return 'true' if this a vehicle that should be sitting on the ground
155 public bool IsGroundVehicle
156 {
157 get { return (Type == Vehicle.TYPE_CAR || Type == Vehicle.TYPE_SLED); }
138 } 158 }
139 159
140 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) 160 #region Vehicle parameter setting
161 public void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
141 { 162 {
142 VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); 163 VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue);
164 float clampTemp;
165
143 switch (pParam) 166 switch (pParam)
144 { 167 {
145 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: 168 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
146 m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f); 169 m_angularDeflectionEfficiency = ClampInRange(0f, pValue, 1f);
147 break; 170 break;
148 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: 171 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
149 m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); 172 m_angularDeflectionTimescale = ClampInRange(0.25f, pValue, 120);
150 break; 173 break;
151 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: 174 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
152 m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); 175 m_angularMotorDecayTimescale = ClampInRange(0.25f, pValue, 120);
153 m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale; 176 m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
154 break; 177 break;
155 case Vehicle.ANGULAR_MOTOR_TIMESCALE: 178 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
156 m_angularMotorTimescale = Math.Max(pValue, 0.01f); 179 m_angularMotorTimescale = ClampInRange(0.25f, pValue, 120);
157 m_angularMotor.TimeScale = m_angularMotorTimescale; 180 m_angularMotor.TimeScale = m_angularMotorTimescale;
158 break; 181 break;
159 case Vehicle.BANKING_EFFICIENCY: 182 case Vehicle.BANKING_EFFICIENCY:
160 m_bankingEfficiency = ClampInRange(-1f, pValue, 1f); 183 m_bankingEfficiency = ClampInRange(-1f, pValue, 1f);
161 break; 184 break;
162 case Vehicle.BANKING_MIX: 185 case Vehicle.BANKING_MIX:
163 m_bankingMix = Math.Max(pValue, 0.01f); 186 m_bankingMix = ClampInRange(0.01f, pValue, 1);
164 break; 187 break;
165 case Vehicle.BANKING_TIMESCALE: 188 case Vehicle.BANKING_TIMESCALE:
166 m_bankingTimescale = Math.Max(pValue, 0.01f); 189 m_bankingTimescale = ClampInRange(0.25f, pValue, 120);
167 break; 190 break;
168 case Vehicle.BUOYANCY: 191 case Vehicle.BUOYANCY:
169 m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f); 192 m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
193 m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
170 break; 194 break;
171 case Vehicle.HOVER_EFFICIENCY: 195 case Vehicle.HOVER_EFFICIENCY:
172 m_VhoverEfficiency = ClampInRange(0f, pValue, 1f); 196 m_VhoverEfficiency = ClampInRange(0.01f, pValue, 1f);
173 break; 197 break;
174 case Vehicle.HOVER_HEIGHT: 198 case Vehicle.HOVER_HEIGHT:
175 m_VhoverHeight = pValue; 199 m_VhoverHeight = ClampInRange(0f, pValue, 1000000f);
176 break; 200 break;
177 case Vehicle.HOVER_TIMESCALE: 201 case Vehicle.HOVER_TIMESCALE:
178 m_VhoverTimescale = Math.Max(pValue, 0.01f); 202 m_VhoverTimescale = ClampInRange(0.01f, pValue, 120);
179 break; 203 break;
180 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: 204 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
181 m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f); 205 m_linearDeflectionEfficiency = ClampInRange(0f, pValue, 1f);
182 break; 206 break;
183 case Vehicle.LINEAR_DEFLECTION_TIMESCALE: 207 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
184 m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); 208 m_linearDeflectionTimescale = ClampInRange(0.01f, pValue, 120);
185 break; 209 break;
186 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: 210 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
187 m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); 211 m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
188 m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale; 212 m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale;
189 break; 213 break;
190 case Vehicle.LINEAR_MOTOR_TIMESCALE: 214 case Vehicle.LINEAR_MOTOR_TIMESCALE:
191 m_linearMotorTimescale = Math.Max(pValue, 0.01f); 215 m_linearMotorTimescale = ClampInRange(0.01f, pValue, 120);
192 m_linearMotor.TimeScale = m_linearMotorTimescale; 216 m_linearMotor.TimeScale = m_linearMotorTimescale;
193 break; 217 break;
194 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: 218 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
@@ -196,31 +220,35 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
196 m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency; 220 m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency;
197 break; 221 break;
198 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: 222 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
199 m_verticalAttractionTimescale = Math.Max(pValue, 0.01f); 223 m_verticalAttractionTimescale = ClampInRange(0.01f, pValue, 120);
200 m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale; 224 m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale;
201 break; 225 break;
202 226
203 // These are vector properties but the engine lets you use a single float value to 227 // These are vector properties but the engine lets you use a single float value to
204 // set all of the components to the same value 228 // set all of the components to the same value
205 case Vehicle.ANGULAR_FRICTION_TIMESCALE: 229 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
206 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); 230 clampTemp = ClampInRange(0.01f, pValue, 120);
207 m_angularMotor.FrictionTimescale = m_angularFrictionTimescale; 231 m_angularFrictionTimescale = new Vector3(clampTemp, clampTemp, clampTemp);
208 break; 232 break;
209 case Vehicle.ANGULAR_MOTOR_DIRECTION: 233 case Vehicle.ANGULAR_MOTOR_DIRECTION:
210 m_angularMotorDirection = new Vector3(pValue, pValue, pValue); 234 clampTemp = ClampInRange(-TwoPI, pValue, TwoPI);
235 m_angularMotorDirection = new Vector3(clampTemp, clampTemp, clampTemp);
236 m_angularMotor.Zero();
211 m_angularMotor.SetTarget(m_angularMotorDirection); 237 m_angularMotor.SetTarget(m_angularMotorDirection);
212 break; 238 break;
213 case Vehicle.LINEAR_FRICTION_TIMESCALE: 239 case Vehicle.LINEAR_FRICTION_TIMESCALE:
214 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); 240 clampTemp = ClampInRange(0.01f, pValue, 120);
215 m_linearMotor.FrictionTimescale = m_linearFrictionTimescale; 241 m_linearFrictionTimescale = new Vector3(clampTemp, clampTemp, clampTemp);
216 break; 242 break;
217 case Vehicle.LINEAR_MOTOR_DIRECTION: 243 case Vehicle.LINEAR_MOTOR_DIRECTION:
218 m_linearMotorDirection = new Vector3(pValue, pValue, pValue); 244 clampTemp = ClampInRange(-BSParam.MaxLinearVelocity, pValue, BSParam.MaxLinearVelocity);
219 m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); 245 m_linearMotorDirection = new Vector3(clampTemp, clampTemp, clampTemp);
246 m_linearMotorDirectionLASTSET = new Vector3(clampTemp, clampTemp, clampTemp);
220 m_linearMotor.SetTarget(m_linearMotorDirection); 247 m_linearMotor.SetTarget(m_linearMotorDirection);
221 break; 248 break;
222 case Vehicle.LINEAR_MOTOR_OFFSET: 249 case Vehicle.LINEAR_MOTOR_OFFSET:
223 m_linearMotorOffset = new Vector3(pValue, pValue, pValue); 250 clampTemp = ClampInRange(-1000, pValue, 1000);
251 m_linearMotorOffset = new Vector3(clampTemp, clampTemp, clampTemp);
224 break; 252 break;
225 253
226 } 254 }
@@ -228,34 +256,50 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
228 256
229 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) 257 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
230 { 258 {
231 VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); 259 VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue);
232 switch (pParam) 260 switch (pParam)
233 { 261 {
234 case Vehicle.ANGULAR_FRICTION_TIMESCALE: 262 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
263 pValue.X = ClampInRange(0.25f, pValue.X, 120);
264 pValue.Y = ClampInRange(0.25f, pValue.Y, 120);
265 pValue.Z = ClampInRange(0.25f, pValue.Z, 120);
235 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); 266 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
236 m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
237 break; 267 break;
238 case Vehicle.ANGULAR_MOTOR_DIRECTION: 268 case Vehicle.ANGULAR_MOTOR_DIRECTION:
239 // Limit requested angular speed to 2 rps= 4 pi rads/sec 269 // Limit requested angular speed to 2 rps= 4 pi rads/sec
240 pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f); 270 pValue.X = ClampInRange(-FourPI, pValue.X, FourPI);
241 pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f); 271 pValue.Y = ClampInRange(-FourPI, pValue.Y, FourPI);
242 pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f); 272 pValue.Z = ClampInRange(-FourPI, pValue.Z, FourPI);
243 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); 273 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
274 m_angularMotor.Zero();
244 m_angularMotor.SetTarget(m_angularMotorDirection); 275 m_angularMotor.SetTarget(m_angularMotorDirection);
245 break; 276 break;
246 case Vehicle.LINEAR_FRICTION_TIMESCALE: 277 case Vehicle.LINEAR_FRICTION_TIMESCALE:
278 pValue.X = ClampInRange(0.25f, pValue.X, 120);
279 pValue.Y = ClampInRange(0.25f, pValue.Y, 120);
280 pValue.Z = ClampInRange(0.25f, pValue.Z, 120);
247 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); 281 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
248 m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
249 break; 282 break;
250 case Vehicle.LINEAR_MOTOR_DIRECTION: 283 case Vehicle.LINEAR_MOTOR_DIRECTION:
284 pValue.X = ClampInRange(-BSParam.MaxLinearVelocity, pValue.X, BSParam.MaxLinearVelocity);
285 pValue.Y = ClampInRange(-BSParam.MaxLinearVelocity, pValue.Y, BSParam.MaxLinearVelocity);
286 pValue.Z = ClampInRange(-BSParam.MaxLinearVelocity, pValue.Z, BSParam.MaxLinearVelocity);
251 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); 287 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
252 m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); 288 m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
253 m_linearMotor.SetTarget(m_linearMotorDirection); 289 m_linearMotor.SetTarget(m_linearMotorDirection);
254 break; 290 break;
255 case Vehicle.LINEAR_MOTOR_OFFSET: 291 case Vehicle.LINEAR_MOTOR_OFFSET:
292 // Not sure the correct range to limit this variable
293 pValue.X = ClampInRange(-1000, pValue.X, 1000);
294 pValue.Y = ClampInRange(-1000, pValue.Y, 1000);
295 pValue.Z = ClampInRange(-1000, pValue.Z, 1000);
256 m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); 296 m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
257 break; 297 break;
258 case Vehicle.BLOCK_EXIT: 298 case Vehicle.BLOCK_EXIT:
299 // Not sure the correct range to limit this variable
300 pValue.X = ClampInRange(-10000, pValue.X, 10000);
301 pValue.Y = ClampInRange(-10000, pValue.Y, 10000);
302 pValue.Z = ClampInRange(-10000, pValue.Z, 10000);
259 m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); 303 m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
260 break; 304 break;
261 } 305 }
@@ -263,7 +307,7 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
263 307
264 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) 308 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
265 { 309 {
266 VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); 310 VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue);
267 switch (pParam) 311 switch (pParam)
268 { 312 {
269 case Vehicle.REFERENCE_FRAME: 313 case Vehicle.REFERENCE_FRAME:
@@ -277,7 +321,7 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
277 321
278 internal void ProcessVehicleFlags(int pParam, bool remove) 322 internal void ProcessVehicleFlags(int pParam, bool remove)
279 { 323 {
280 VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove); 324 VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", ControllingPrim.LocalID, pParam, remove);
281 VehicleFlag parm = (VehicleFlag)pParam; 325 VehicleFlag parm = (VehicleFlag)pParam;
282 if (pParam == -1) 326 if (pParam == -1)
283 m_flags = (VehicleFlag)0; 327 m_flags = (VehicleFlag)0;
@@ -290,9 +334,9 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
290 } 334 }
291 } 335 }
292 336
293 internal void ProcessTypeChange(Vehicle pType) 337 public void ProcessTypeChange(Vehicle pType)
294 { 338 {
295 VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType); 339 VDetailLog("{0},ProcessTypeChange,type={1}", ControllingPrim.LocalID, pType);
296 // Set Defaults For Type 340 // Set Defaults For Type
297 Type = pType; 341 Type = pType;
298 switch (pType) 342 switch (pType)
@@ -526,81 +570,144 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
526 break; 570 break;
527 } 571 }
528 572
529 // Update any physical parameters based on this type. 573 m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, 1f);
530 Refresh(); 574 // m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
531
532 m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
533 m_linearMotorDecayTimescale, m_linearFrictionTimescale,
534 1f);
535 m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
536 575
537 m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, 576 m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, m_angularMotorDecayTimescale, 1f);
538 m_angularMotorDecayTimescale, m_angularFrictionTimescale, 577 // m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
539 1f);
540 m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
541 578
579 /* Not implemented
542 m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale, 580 m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
543 BSMotor.Infinite, BSMotor.InfiniteVector, 581 BSMotor.Infinite, BSMotor.InfiniteVector,
544 m_verticalAttractionEfficiency); 582 m_verticalAttractionEfficiency);
545 // Z goes away and we keep X and Y 583 // Z goes away and we keep X and Y
546 m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
547 m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) 584 m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
585 */
586
587 if (this.Type == Vehicle.TYPE_NONE)
588 {
589 UnregisterForSceneEvents();
590 }
591 else
592 {
593 RegisterForSceneEvents();
594 }
595
596 // Update any physical parameters based on this type.
597 Refresh();
598 }
599 #endregion // Vehicle parameter setting
600
601 // BSActor.Refresh()
602 public override void Refresh()
603 {
604 // If asking for a refresh, reset the physical parameters before the next simulation step.
605 // Called whether active or not since the active state may be updated before the next step.
606 m_physicsScene.PostTaintObject("BSDynamics.Refresh", ControllingPrim.LocalID, delegate()
607 {
608 SetPhysicalParameters();
609 });
548 } 610 }
549 611
550 // Some of the properties of this prim may have changed. 612 // Some of the properties of this prim may have changed.
551 // Do any updating needed for a vehicle 613 // Do any updating needed for a vehicle
552 public void Refresh() 614 private void SetPhysicalParameters()
553 { 615 {
554 if (IsActive) 616 if (IsActive)
555 { 617 {
556 // Remember the mass so we don't have to fetch it every step 618 // Remember the mass so we don't have to fetch it every step
557 m_vehicleMass = Prim.Linkset.LinksetMass; 619 m_vehicleMass = ControllingPrim.TotalMass;
558 620
559 // Friction affects are handled by this vehicle code 621 // Friction affects are handled by this vehicle code
560 float friction = 0f; 622 // m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
561 BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction); 623 // m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
624 ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
625 ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
562 626
563 // Moderate angular movement introduced by Bullet. 627 // Moderate angular movement introduced by Bullet.
564 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. 628 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
565 // Maybe compute linear and angular factor and damping from params. 629 // Maybe compute linear and angular factor and damping from params.
566 float angularDamping = BSParam.VehicleAngularDamping; 630 m_physicsScene.PE.SetAngularDamping(ControllingPrim.PhysBody, BSParam.VehicleAngularDamping);
567 BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); 631 m_physicsScene.PE.SetLinearFactor(ControllingPrim.PhysBody, BSParam.VehicleLinearFactor);
632 m_physicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor);
568 633
569 // Vehicles report collision events so we know when it's on the ground 634 // Vehicles report collision events so we know when it's on the ground
570 BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); 635 // m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
636 ControllingPrim.Linkset.AddToPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
637
638 // Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
639 // ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
640 // m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
641 // m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
642 ControllingPrim.Linkset.ComputeAndSetLocalInertia(BSParam.VehicleInertiaFactor, m_vehicleMass);
643
644 // Set the gravity for the vehicle depending on the buoyancy
645 // TODO: what should be done if prim and vehicle buoyancy differ?
646 m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
647 // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
648 // m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
649 ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
650
651 VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
652 ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity,
653 BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution,
654 BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor
655 );
656 }
657 else
658 {
659 if (ControllingPrim.PhysBody.HasPhysicalBody)
660 m_physicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
661 // ControllingPrim.Linkset.RemoveFromPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
662 }
663 }
571 664
572 Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass); 665 // BSActor.RemoveBodyDependencies
573 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); 666 public override void RemoveDependencies()
574 BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); 667 {
668 Refresh();
669 }
575 670
576 Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy); 671 // BSActor.Release()
577 BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav); 672 public override void Dispose()
673 {
674 VDetailLog("{0},Dispose", ControllingPrim.LocalID);
675 UnregisterForSceneEvents();
676 Type = Vehicle.TYPE_NONE;
677 Enabled = false;
678 return;
679 }
578 680
579 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", 681 private void RegisterForSceneEvents()
580 Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); 682 {
581 } 683 if (!m_haveRegisteredForSceneEvents)
582 else
583 { 684 {
584 BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); 685 m_physicsScene.BeforeStep += this.Step;
686 m_physicsScene.AfterStep += this.PostStep;
687 ControllingPrim.OnPreUpdateProperty += this.PreUpdateProperty;
688 m_haveRegisteredForSceneEvents = true;
585 } 689 }
586 } 690 }
587 691
588 public bool RemoveBodyDependencies(BSPhysObject prim) 692 private void UnregisterForSceneEvents()
589 { 693 {
590 // If active, we need to add our properties back when the body is rebuilt. 694 if (m_haveRegisteredForSceneEvents)
591 return IsActive; 695 {
696 m_physicsScene.BeforeStep -= this.Step;
697 m_physicsScene.AfterStep -= this.PostStep;
698 ControllingPrim.OnPreUpdateProperty -= this.PreUpdateProperty;
699 m_haveRegisteredForSceneEvents = false;
700 }
592 } 701 }
593 702
594 public void RestoreBodyDependencies(BSPhysObject prim) 703 private void PreUpdateProperty(ref EntityProperties entprop)
595 { 704 {
596 if (Prim.LocalID != prim.LocalID) 705 // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
706 // TODO: handle physics introduced by Bullet with computed vehicle physics.
707 if (IsActive)
597 { 708 {
598 // The call should be on us by our prim. Error if not. 709 entprop.RotationalVelocity = Vector3.Zero;
599 PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}",
600 LogHeader, prim.LocalID, Prim.LocalID);
601 return;
602 } 710 }
603 Refresh();
604 } 711 }
605 712
606 #region Known vehicle value functions 713 #region Known vehicle value functions
@@ -617,70 +724,85 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
617 private Vector3 m_knownPosition; 724 private Vector3 m_knownPosition;
618 private Vector3 m_knownVelocity; 725 private Vector3 m_knownVelocity;
619 private Vector3 m_knownForce; 726 private Vector3 m_knownForce;
727 private Vector3 m_knownForceImpulse;
620 private Quaternion m_knownOrientation; 728 private Quaternion m_knownOrientation;
621 private Vector3 m_knownRotationalVelocity; 729 private Vector3 m_knownRotationalVelocity;
622 private Vector3 m_knownRotationalForce; 730 private Vector3 m_knownRotationalForce;
623 private Vector3 m_knownForwardVelocity; // vehicle relative forward speed 731 private Vector3 m_knownRotationalImpulse;
624 732
625 private const int m_knownChangedPosition = 1 << 0; 733 private const int m_knownChangedPosition = 1 << 0;
626 private const int m_knownChangedVelocity = 1 << 1; 734 private const int m_knownChangedVelocity = 1 << 1;
627 private const int m_knownChangedForce = 1 << 2; 735 private const int m_knownChangedForce = 1 << 2;
628 private const int m_knownChangedOrientation = 1 << 3; 736 private const int m_knownChangedForceImpulse = 1 << 3;
629 private const int m_knownChangedRotationalVelocity = 1 << 4; 737 private const int m_knownChangedOrientation = 1 << 4;
630 private const int m_knownChangedRotationalForce = 1 << 5; 738 private const int m_knownChangedRotationalVelocity = 1 << 5;
631 private const int m_knownChangedTerrainHeight = 1 << 6; 739 private const int m_knownChangedRotationalForce = 1 << 6;
632 private const int m_knownChangedWaterLevel = 1 << 7; 740 private const int m_knownChangedRotationalImpulse = 1 << 7;
633 private const int m_knownChangedForwardVelocity = 1 << 8; 741 private const int m_knownChangedTerrainHeight = 1 << 8;
634 742 private const int m_knownChangedWaterLevel = 1 << 9;
635 private void ForgetKnownVehicleProperties() 743
744 public void ForgetKnownVehicleProperties()
636 { 745 {
637 m_knownHas = 0; 746 m_knownHas = 0;
638 m_knownChanged = 0; 747 m_knownChanged = 0;
639 } 748 }
640 // Push all the changed values back into the physics engine 749 // Push all the changed values back into the physics engine
641 private void PushKnownChanged() 750 public void PushKnownChanged()
642 { 751 {
643 if (m_knownChanged != 0) 752 if (m_knownChanged != 0)
644 { 753 {
645 if ((m_knownChanged & m_knownChangedPosition) != 0) 754 if ((m_knownChanged & m_knownChangedPosition) != 0)
646 Prim.ForcePosition = m_knownPosition; 755 ControllingPrim.ForcePosition = m_knownPosition;
647 756
648 if ((m_knownChanged & m_knownChangedOrientation) != 0) 757 if ((m_knownChanged & m_knownChangedOrientation) != 0)
649 Prim.ForceOrientation = m_knownOrientation; 758 ControllingPrim.ForceOrientation = m_knownOrientation;
650 759
651 if ((m_knownChanged & m_knownChangedVelocity) != 0) 760 if ((m_knownChanged & m_knownChangedVelocity) != 0)
652 { 761 {
653 Prim.ForceVelocity = m_knownVelocity; 762 ControllingPrim.ForceVelocity = m_knownVelocity;
654 BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity); 763 // Fake out Bullet by making it think the velocity is the same as last time.
764 // Bullet does a bunch of smoothing for changing parameters.
765 // Since the vehicle is demanding this setting, we override Bullet's smoothing
766 // by telling Bullet the value was the same last time.
767 // PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity);
655 } 768 }
656 769
657 if ((m_knownChanged & m_knownChangedForce) != 0) 770 if ((m_knownChanged & m_knownChangedForce) != 0)
658 Prim.AddForce((Vector3)m_knownForce, false, true); 771 ControllingPrim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/);
772
773 if ((m_knownChanged & m_knownChangedForceImpulse) != 0)
774 ControllingPrim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/);
659 775
660 if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) 776 if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
661 { 777 {
662 Prim.ForceRotationalVelocity = m_knownRotationalVelocity; 778 ControllingPrim.ForceRotationalVelocity = m_knownRotationalVelocity;
663 // Fake out Bullet by making it think the velocity is the same as last time. 779 // PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
664 BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity);
665 } 780 }
666 781
782 if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0)
783 ControllingPrim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/);
784
667 if ((m_knownChanged & m_knownChangedRotationalForce) != 0) 785 if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
668 Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true); 786 {
787 ControllingPrim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/);
788 }
669 789
670 // If we set one of the values (ie, the physics engine didn't do it) we must force 790 // If we set one of the values (ie, the physics engine didn't do it) we must force
671 // an UpdateProperties event to send the changes up to the simulator. 791 // an UpdateProperties event to send the changes up to the simulator.
672 BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); 792 m_physicsScene.PE.PushUpdate(ControllingPrim.PhysBody);
673 } 793 }
674 m_knownChanged = 0; 794 m_knownChanged = 0;
675 } 795 }
676 796
677 // Since the computation of terrain height can be a little involved, this routine 797 // Since the computation of terrain height can be a little involved, this routine
678 // is used to fetch the height only once for each vehicle simulation step. 798 // is used to fetch the height only once for each vehicle simulation step.
799 Vector3 lastRememberedHeightPos = new Vector3(-1, -1, -1);
679 private float GetTerrainHeight(Vector3 pos) 800 private float GetTerrainHeight(Vector3 pos)
680 { 801 {
681 if ((m_knownHas & m_knownChangedTerrainHeight) == 0) 802 if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos)
682 { 803 {
683 m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); 804 lastRememberedHeightPos = pos;
805 m_knownTerrainHeight = ControllingPrim.PhysScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
684 m_knownHas |= m_knownChangedTerrainHeight; 806 m_knownHas |= m_knownChangedTerrainHeight;
685 } 807 }
686 return m_knownTerrainHeight; 808 return m_knownTerrainHeight;
@@ -688,14 +810,16 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
688 810
689 // Since the computation of water level can be a little involved, this routine 811 // Since the computation of water level can be a little involved, this routine
690 // is used ot fetch the level only once for each vehicle simulation step. 812 // is used ot fetch the level only once for each vehicle simulation step.
813 Vector3 lastRememberedWaterHeightPos = new Vector3(-1, -1, -1);
691 private float GetWaterLevel(Vector3 pos) 814 private float GetWaterLevel(Vector3 pos)
692 { 815 {
693 if ((m_knownHas & m_knownChangedWaterLevel) == 0) 816 if ((m_knownHas & m_knownChangedWaterLevel) == 0 || pos != lastRememberedWaterHeightPos)
694 { 817 {
695 m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); 818 lastRememberedWaterHeightPos = pos;
819 m_knownWaterLevel = ControllingPrim.PhysScene.TerrainManager.GetWaterLevelAtXYZ(pos);
696 m_knownHas |= m_knownChangedWaterLevel; 820 m_knownHas |= m_knownChangedWaterLevel;
697 } 821 }
698 return (float)m_knownWaterLevel; 822 return m_knownWaterLevel;
699 } 823 }
700 824
701 private Vector3 VehiclePosition 825 private Vector3 VehiclePosition
@@ -704,7 +828,7 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
704 { 828 {
705 if ((m_knownHas & m_knownChangedPosition) == 0) 829 if ((m_knownHas & m_knownChangedPosition) == 0)
706 { 830 {
707 m_knownPosition = Prim.ForcePosition; 831 m_knownPosition = ControllingPrim.ForcePosition;
708 m_knownHas |= m_knownChangedPosition; 832 m_knownHas |= m_knownChangedPosition;
709 } 833 }
710 return m_knownPosition; 834 return m_knownPosition;
@@ -723,7 +847,7 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
723 { 847 {
724 if ((m_knownHas & m_knownChangedOrientation) == 0) 848 if ((m_knownHas & m_knownChangedOrientation) == 0)
725 { 849 {
726 m_knownOrientation = Prim.ForceOrientation; 850 m_knownOrientation = ControllingPrim.ForceOrientation;
727 m_knownHas |= m_knownChangedOrientation; 851 m_knownHas |= m_knownChangedOrientation;
728 } 852 }
729 return m_knownOrientation; 853 return m_knownOrientation;
@@ -742,10 +866,10 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
742 { 866 {
743 if ((m_knownHas & m_knownChangedVelocity) == 0) 867 if ((m_knownHas & m_knownChangedVelocity) == 0)
744 { 868 {
745 m_knownVelocity = Prim.ForceVelocity; 869 m_knownVelocity = ControllingPrim.ForceVelocity;
746 m_knownHas |= m_knownChangedVelocity; 870 m_knownHas |= m_knownChangedVelocity;
747 } 871 }
748 return (Vector3)m_knownVelocity; 872 return m_knownVelocity;
749 } 873 }
750 set 874 set
751 { 875 {
@@ -755,15 +879,26 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
755 } 879 }
756 } 880 }
757 881
758 private void VehicleAddForce(Vector3 aForce) 882 private void VehicleAddForce(Vector3 pForce)
759 { 883 {
760 if ((m_knownHas & m_knownChangedForce) == 0) 884 if ((m_knownHas & m_knownChangedForce) == 0)
761 { 885 {
762 m_knownForce = Vector3.Zero; 886 m_knownForce = Vector3.Zero;
887 m_knownHas |= m_knownChangedForce;
763 } 888 }
764 m_knownForce += aForce; 889 m_knownForce += pForce;
765 m_knownChanged |= m_knownChangedForce; 890 m_knownChanged |= m_knownChangedForce;
766 m_knownHas |= m_knownChangedForce; 891 }
892
893 private void VehicleAddForceImpulse(Vector3 pImpulse)
894 {
895 if ((m_knownHas & m_knownChangedForceImpulse) == 0)
896 {
897 m_knownForceImpulse = Vector3.Zero;
898 m_knownHas |= m_knownChangedForceImpulse;
899 }
900 m_knownForceImpulse += pImpulse;
901 m_knownChanged |= m_knownChangedForceImpulse;
767 } 902 }
768 903
769 private Vector3 VehicleRotationalVelocity 904 private Vector3 VehicleRotationalVelocity
@@ -772,7 +907,7 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
772 { 907 {
773 if ((m_knownHas & m_knownChangedRotationalVelocity) == 0) 908 if ((m_knownHas & m_knownChangedRotationalVelocity) == 0)
774 { 909 {
775 m_knownRotationalVelocity = Prim.ForceRotationalVelocity; 910 m_knownRotationalVelocity = ControllingPrim.ForceRotationalVelocity;
776 m_knownHas |= m_knownChangedRotationalVelocity; 911 m_knownHas |= m_knownChangedRotationalVelocity;
777 } 912 }
778 return (Vector3)m_knownRotationalVelocity; 913 return (Vector3)m_knownRotationalVelocity;
@@ -794,19 +929,26 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
794 m_knownChanged |= m_knownChangedRotationalForce; 929 m_knownChanged |= m_knownChangedRotationalForce;
795 m_knownHas |= m_knownChangedRotationalForce; 930 m_knownHas |= m_knownChangedRotationalForce;
796 } 931 }
932 private void VehicleAddRotationalImpulse(Vector3 pImpulse)
933 {
934 if ((m_knownHas & m_knownChangedRotationalImpulse) == 0)
935 {
936 m_knownRotationalImpulse = Vector3.Zero;
937 m_knownHas |= m_knownChangedRotationalImpulse;
938 }
939 m_knownRotationalImpulse += pImpulse;
940 m_knownChanged |= m_knownChangedRotationalImpulse;
941 }
942
797 // Vehicle relative forward velocity 943 // Vehicle relative forward velocity
798 private Vector3 VehicleForwardVelocity 944 private Vector3 VehicleForwardVelocity
799 { 945 {
800 get 946 get
801 { 947 {
802 if ((m_knownHas & m_knownChangedForwardVelocity) == 0) 948 return VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleFrameOrientation));
803 {
804 m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
805 m_knownHas |= m_knownChangedForwardVelocity;
806 }
807 return m_knownForwardVelocity;
808 } 949 }
809 } 950 }
951
810 private float VehicleForwardSpeed 952 private float VehicleForwardSpeed
811 { 953 {
812 get 954 get
@@ -814,6 +956,13 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
814 return VehicleForwardVelocity.X; 956 return VehicleForwardVelocity.X;
815 } 957 }
816 } 958 }
959 private Quaternion VehicleFrameOrientation
960 {
961 get
962 {
963 return VehicleOrientation * m_referenceFrame;
964 }
965 }
817 966
818 #endregion // Known vehicle value functions 967 #endregion // Known vehicle value functions
819 968
@@ -836,106 +985,170 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
836 // for the physics engine to note the changes so an UpdateProperties event will happen. 985 // for the physics engine to note the changes so an UpdateProperties event will happen.
837 PushKnownChanged(); 986 PushKnownChanged();
838 987
839 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 988 if (m_physicsScene.VehiclePhysicalLoggingEnabled)
840 Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity); 989 m_physicsScene.PE.DumpRigidBody(m_physicsScene.World, ControllingPrim.PhysBody);
990
991 VDetailLog("{0},BSDynamics.Step,done,pos={1}, force={2},velocity={3},angvel={4}",
992 ControllingPrim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity);
993 }
994
995 // Called after the simulation step
996 internal void PostStep(float pTimestep)
997 {
998 if (!IsActive) return;
999
1000 if (m_physicsScene.VehiclePhysicalLoggingEnabled)
1001 m_physicsScene.PE.DumpRigidBody(m_physicsScene.World, ControllingPrim.PhysBody);
841 } 1002 }
842 1003
843 // Apply the effect of the linear motor and other linear motions (like hover and float). 1004 // Apply the effect of the linear motor and other linear motions (like hover and float).
844 private void MoveLinear(float pTimestep) 1005 private void MoveLinear(float pTimestep)
845 { 1006 {
846 Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep); 1007 ComputeLinearVelocity(pTimestep);
847 1008
848 // The movement computed in the linear motor is relative to the vehicle 1009 ComputeLinearDeflection(pTimestep);
849 // coordinates. Rotate the movement to world coordinates.
850 linearMotorContribution *= VehicleOrientation;
851 1010
852 // ================================================================== 1011 ComputeLinearTerrainHeightCorrection(pTimestep);
853 // Buoyancy: force to overcome gravity.
854 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
855 // So, if zero, don't change anything (let gravity happen). If one, negate the effect of gravity.
856 Vector3 buoyancyContribution = Prim.PhysicsScene.DefaultGravity * m_VehicleBuoyancy;
857
858 Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep);
859 1012
860 Vector3 hoverContribution = ComputeLinearHover(pTimestep); 1013 ComputeLinearHover(pTimestep);
861 1014
862 ComputeLinearBlockingEndPoint(pTimestep); 1015 ComputeLinearBlockingEndPoint(pTimestep);
863 1016
864 Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep); 1017 ComputeLinearMotorUp(pTimestep);
865
866 // ==================================================================
867 Vector3 newVelocity = linearMotorContribution
868 + terrainHeightContribution
869 + hoverContribution
870 + limitMotorUpContribution;
871 1018
872 Vector3 newForce = buoyancyContribution; 1019 ApplyGravity(pTimestep);
873 1020
874 // If not changing some axis, reduce out velocity 1021 // If not changing some axis, reduce out velocity
875 if ((m_flags & (VehicleFlag.NO_X)) != 0) 1022 if ((m_flags & (VehicleFlag.NO_X | VehicleFlag.NO_Y | VehicleFlag.NO_Z)) != 0)
876 newVelocity.X = 0; 1023 {
877 if ((m_flags & (VehicleFlag.NO_Y)) != 0) 1024 Vector3 vel = VehicleVelocity;
878 newVelocity.Y = 0; 1025 if ((m_flags & (VehicleFlag.NO_X)) != 0)
879 if ((m_flags & (VehicleFlag.NO_Z)) != 0) 1026 {
880 newVelocity.Z = 0; 1027 vel.X = 0;
1028 }
1029 if ((m_flags & (VehicleFlag.NO_Y)) != 0)
1030 {
1031 vel.Y = 0;
1032 }
1033 if ((m_flags & (VehicleFlag.NO_Z)) != 0)
1034 {
1035 vel.Z = 0;
1036 }
1037 VehicleVelocity = vel;
1038 }
881 1039
882 // ================================================================== 1040 // ==================================================================
883 // Clamp high or low velocities 1041 // Clamp high or low velocities
884 float newVelocityLengthSq = newVelocity.LengthSquared(); 1042 float newVelocityLengthSq = VehicleVelocity.LengthSquared();
885 if (newVelocityLengthSq > 1000f) 1043 if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocitySquared)
886 { 1044 {
887 newVelocity /= newVelocity.Length(); 1045 Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG
888 newVelocity *= 1000f; 1046 VehicleVelocity /= VehicleVelocity.Length();
1047 VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
1048 VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}",
1049 ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity);
1050 }
1051 else if (newVelocityLengthSq < BSParam.VehicleMinLinearVelocitySquared)
1052 {
1053 Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG
1054 VDetailLog("{0}, MoveLinear,clampMin,origVelW={1},lenSq={2}",
1055 ControllingPrim.LocalID, origVelW, newVelocityLengthSq);
1056 VehicleVelocity = Vector3.Zero;
889 } 1057 }
890 else if (newVelocityLengthSq < 0.001f)
891 newVelocity = Vector3.Zero;
892 1058
893 // ================================================================== 1059 VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, VehicleVelocity );
894 // Stuff new linear velocity into the vehicle. 1060
895 // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us. 1061 } // end MoveLinear()
896 VehicleVelocity = newVelocity; 1062
1063 public void ComputeLinearVelocity(float pTimestep)
1064 {
1065 // Step the motor from the current value. Get the correction needed this step.
1066 Vector3 origVelW = VehicleVelocity; // DEBUG
1067 Vector3 currentVelV = VehicleForwardVelocity;
1068 Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV);
1069
1070 // Friction reduces vehicle motion based on absolute speed. Slow vehicle down by friction.
1071 Vector3 frictionFactorV = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep);
1072 linearMotorCorrectionV -= (currentVelV * frictionFactorV);
1073
1074 // Motor is vehicle coordinates. Rotate it to world coordinates
1075 Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleFrameOrientation;
897 1076
898 // Other linear forces are applied as forces. 1077 // If we're a ground vehicle, don't add any upward Z movement
899 Vector3 totalDownForce = newForce * m_vehicleMass; 1078 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
900 if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f))
901 { 1079 {
902 VehicleAddForce(totalDownForce); 1080 if (linearMotorVelocityW.Z > 0f)
1081 linearMotorVelocityW.Z = 0f;
903 } 1082 }
904 1083
905 VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},IsColliding={3}", 1084 // Add this correction to the velocity to make it faster/slower.
906 Prim.LocalID, newVelocity, totalDownForce, Prim.IsColliding); 1085 VehicleVelocity += linearMotorVelocityW;
907 VDetailLog("{0}, MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},buoyContrib={5}",
908 Prim.LocalID,
909 linearMotorContribution, terrainHeightContribution, hoverContribution,
910 limitMotorUpContribution, buoyancyContribution
911 );
912 1086
913 } // end MoveLinear() 1087 VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},tgt={3},correctV={4},correctW={5},newVelW={6},fricFact={7}",
1088 ControllingPrim.LocalID, origVelW, currentVelV, m_linearMotor.TargetValue, linearMotorCorrectionV,
1089 linearMotorVelocityW, VehicleVelocity, frictionFactorV);
1090 }
1091
1092 //Given a Deflection Effiency and a Velocity, Returns a Velocity that is Partially Deflected onto the X Axis
1093 //Clamped so that a DeflectionTimescale of less then 1 does not increase force over original velocity
1094 private void ComputeLinearDeflection(float pTimestep)
1095 {
1096 Vector3 linearDeflectionV = Vector3.Zero;
1097 Vector3 velocityV = VehicleForwardVelocity;
1098
1099 if (BSParam.VehicleEnableLinearDeflection)
1100 {
1101 // Velocity in Y and Z dimensions is movement to the side or turning.
1102 // Compute deflection factor from the to the side and rotational velocity
1103 linearDeflectionV.Y = SortedClampInRange(0, (velocityV.Y * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Y);
1104 linearDeflectionV.Z = SortedClampInRange(0, (velocityV.Z * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Z);
1105
1106 // Velocity to the side and around is corrected and moved into the forward direction
1107 linearDeflectionV.X += Math.Abs(linearDeflectionV.Y);
1108 linearDeflectionV.X += Math.Abs(linearDeflectionV.Z);
1109
1110 // Scale the deflection to the fractional simulation time
1111 linearDeflectionV *= pTimestep;
1112
1113 // Subtract the sideways and rotational velocity deflection factors while adding the correction forward
1114 linearDeflectionV *= new Vector3(1, -1, -1);
1115
1116 // Correction is vehicle relative. Convert to world coordinates.
1117 Vector3 linearDeflectionW = linearDeflectionV * VehicleFrameOrientation;
1118
1119 // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall.
1120 if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision)
1121 {
1122 linearDeflectionW.Z = 0f;
1123 }
1124
1125 VehicleVelocity += linearDeflectionW;
1126
1127 VDetailLog("{0}, MoveLinear,LinearDeflection,linDefEff={1},linDefTS={2},linDeflectionV={3}",
1128 ControllingPrim.LocalID, m_linearDeflectionEfficiency, m_linearDeflectionTimescale, linearDeflectionV);
1129 }
1130 }
914 1131
915 public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep) 1132 public void ComputeLinearTerrainHeightCorrection(float pTimestep)
916 { 1133 {
917 Vector3 ret = Vector3.Zero;
918 // If below the terrain, move us above the ground a little. 1134 // If below the terrain, move us above the ground a little.
919 // TODO: Consider taking the rotated size of the object or possibly casting a ray. 1135 // TODO: Consider taking the rotated size of the object or possibly casting a ray.
920 if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition)) 1136 if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
921 { 1137 {
922 // TODO: correct position by applying force rather than forcing position. 1138 // Force position because applying force won't get the vehicle through the terrain
923 Vector3 newPosition = VehiclePosition; 1139 Vector3 newPosition = VehiclePosition;
924 newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f; 1140 newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f;
925 VehiclePosition = newPosition; 1141 VehiclePosition = newPosition;
926 VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", 1142 VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}",
927 Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); 1143 ControllingPrim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
928 } 1144 }
929 return ret;
930 } 1145 }
931 1146
932 public Vector3 ComputeLinearHover(float pTimestep) 1147 public void ComputeLinearHover(float pTimestep)
933 { 1148 {
934 Vector3 ret = Vector3.Zero;
935
936 // m_VhoverEfficiency: 0=bouncy, 1=totally damped 1149 // m_VhoverEfficiency: 0=bouncy, 1=totally damped
937 // m_VhoverTimescale: time to achieve height 1150 // m_VhoverTimescale: time to achieve height
938 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) 1151 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0 && (m_VhoverHeight > 0) && (m_VhoverTimescale < 300))
939 { 1152 {
940 // We should hover, get the target height 1153 // We should hover, get the target height
941 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) 1154 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
@@ -950,14 +1163,25 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
950 { 1163 {
951 m_VhoverTargetHeight = m_VhoverHeight; 1164 m_VhoverTargetHeight = m_VhoverHeight;
952 } 1165 }
953
954 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) 1166 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
955 { 1167 {
956 // If body is already heigher, use its height as target height 1168 // If body is already heigher, use its height as target height
957 if (VehiclePosition.Z > m_VhoverTargetHeight) 1169 if (VehiclePosition.Z > m_VhoverTargetHeight)
1170 {
958 m_VhoverTargetHeight = VehiclePosition.Z; 1171 m_VhoverTargetHeight = VehiclePosition.Z;
1172
1173 // A 'misfeature' of this flag is that if the vehicle is above it's hover height,
1174 // the vehicle's buoyancy goes away. This is an SL bug that got used by so many
1175 // scripts that it could not be changed.
1176 // So, if above the height, reapply gravity if buoyancy had it turned off.
1177 if (m_VehicleBuoyancy != 0)
1178 {
1179 Vector3 appliedGravity = ControllingPrim.ComputeGravity(ControllingPrim.Buoyancy) * m_vehicleMass;
1180 VehicleAddForce(appliedGravity);
1181 }
1182 }
959 } 1183 }
960 1184
961 if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) 1185 if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
962 { 1186 {
963 if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f) 1187 if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
@@ -965,26 +1189,41 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
965 Vector3 pos = VehiclePosition; 1189 Vector3 pos = VehiclePosition;
966 pos.Z = m_VhoverTargetHeight; 1190 pos.Z = m_VhoverTargetHeight;
967 VehiclePosition = pos; 1191 VehiclePosition = pos;
1192
1193 VDetailLog("{0}, MoveLinear,hover,pos={1},lockHoverHeight", ControllingPrim.LocalID, pos);
968 } 1194 }
969 } 1195 }
970 else 1196 else
971 { 1197 {
972 // Error is positive if below the target and negative if above. 1198 // Error is positive if below the target and negative if above.
973 float verticalError = m_VhoverTargetHeight - VehiclePosition.Z; 1199 Vector3 hpos = VehiclePosition;
1200 float verticalError = m_VhoverTargetHeight - hpos.Z;
1201 float verticalCorrection = verticalError / m_VhoverTimescale;
1202 verticalCorrection *= m_VhoverEfficiency;
1203
1204 hpos.Z += verticalCorrection;
1205 VehiclePosition = hpos;
1206
1207 // Since we are hovering, we need to do the opposite of falling -- get rid of world Z
1208 Vector3 vel = VehicleVelocity;
1209 vel.Z = 0f;
1210 VehicleVelocity = vel;
1211
1212 /*
974 float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; 1213 float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
1214 Vector3 verticalCorrection = new Vector3(0f, 0f, verticalCorrectionVelocity);
1215 verticalCorrection *= m_vehicleMass;
975 1216
976 // TODO: implement m_VhoverEfficiency correctly 1217 // TODO: implement m_VhoverEfficiency correctly
977 if (Math.Abs(verticalError) > m_VhoverEfficiency) 1218 VehicleAddForceImpulse(verticalCorrection);
978 { 1219 */
979 ret = new Vector3(0f, 0f, verticalCorrectionVelocity);
980 }
981 }
982 1220
983 VDetailLog("{0}, MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}", 1221 VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}",
984 Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight); 1222 ControllingPrim.LocalID, VehiclePosition, m_VhoverEfficiency,
1223 m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
1224 verticalError, verticalCorrection);
1225 }
985 } 1226 }
986
987 return ret;
988 } 1227 }
989 1228
990 public bool ComputeLinearBlockingEndPoint(float pTimestep) 1229 public bool ComputeLinearBlockingEndPoint(float pTimestep)
@@ -1024,7 +1263,7 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
1024 { 1263 {
1025 VehiclePosition = pos; 1264 VehiclePosition = pos;
1026 VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", 1265 VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
1027 Prim.LocalID, m_BlockingEndPoint, posChange, pos); 1266 ControllingPrim.LocalID, m_BlockingEndPoint, posChange, pos);
1028 } 1267 }
1029 } 1268 }
1030 return changed; 1269 return changed;
@@ -1035,34 +1274,75 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
1035 // used with conjunction with banking: the strength of the banking will decay when the 1274 // used with conjunction with banking: the strength of the banking will decay when the
1036 // vehicle no longer experiences collisions. The decay timescale is the same as 1275 // vehicle no longer experiences collisions. The decay timescale is the same as
1037 // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering 1276 // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering
1038 // when they are in mid jump. 1277 // when they are in mid jump.
1039 // TODO: this code is wrong. Also, what should it do for boats (height from water)? 1278 // TODO: this code is wrong. Also, what should it do for boats (height from water)?
1040 // This is just using the ground and a general collision check. Should really be using 1279 // This is just using the ground and a general collision check. Should really be using
1041 // a downward raycast to find what is below. 1280 // a downward raycast to find what is below.
1042 public Vector3 ComputeLinearMotorUp(float pTimestep) 1281 public void ComputeLinearMotorUp(float pTimestep)
1043 { 1282 {
1044 Vector3 ret = Vector3.Zero;
1045 float distanceAboveGround = 0f;
1046
1047 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) 1283 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
1048 { 1284 {
1285 // This code tries to decide if the object is not on the ground and then pushing down
1286 /*
1049 float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition); 1287 float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
1050 distanceAboveGround = VehiclePosition.Z - targetHeight; 1288 distanceAboveGround = VehiclePosition.Z - targetHeight;
1051 // Not colliding if the vehicle is off the ground 1289 // Not colliding if the vehicle is off the ground
1052 if (!Prim.IsColliding) 1290 if (!Prim.HasSomeCollision)
1053 { 1291 {
1054 // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); 1292 // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
1055 ret = new Vector3(0, 0, -distanceAboveGround); 1293 VehicleVelocity += new Vector3(0, 0, -distanceAboveGround);
1056 } 1294 }
1057 // TODO: this calculation is wrong. From the description at 1295 // TODO: this calculation is wrong. From the description at
1058 // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce 1296 // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
1059 // has a decay factor. This says this force should 1297 // has a decay factor. This says this force should
1060 // be computed with a motor. 1298 // be computed with a motor.
1061 // TODO: add interaction with banking. 1299 // TODO: add interaction with banking.
1300 VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
1301 Prim.LocalID, distanceAboveGround, Prim.HasSomeCollision, ret);
1302 */
1303
1304 // Another approach is to measure if we're going up. If going up and not colliding,
1305 // the vehicle is in the air. Fix that by pushing down.
1306 if (!ControllingPrim.HasSomeCollision && VehicleVelocity.Z > 0.1)
1307 {
1308 // Get rid of any of the velocity vector that is pushing us up.
1309 float upVelocity = VehicleVelocity.Z;
1310 VehicleVelocity += new Vector3(0, 0, -upVelocity);
1311
1312 /*
1313 // If we're pointed up into the air, we should nose down
1314 Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
1315 // The rotation around the Y axis is pitch up or down
1316 if (pointingDirection.Y > 0.01f)
1317 {
1318 float angularCorrectionForce = -(float)Math.Asin(pointingDirection.Y);
1319 Vector3 angularCorrectionVector = new Vector3(0f, angularCorrectionForce, 0f);
1320 // Rotate into world coordinates and apply to vehicle
1321 angularCorrectionVector *= VehicleOrientation;
1322 VehicleAddAngularForce(angularCorrectionVector);
1323 VDetailLog("{0}, MoveLinear,limitMotorUp,newVel={1},pntDir={2},corrFrc={3},aCorr={4}",
1324 Prim.LocalID, VehicleVelocity, pointingDirection, angularCorrectionForce, angularCorrectionVector);
1325 }
1326 */
1327 VDetailLog("{0}, MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}",
1328 ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, upVelocity, VehicleVelocity);
1329 }
1062 } 1330 }
1063 VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", 1331 }
1064 Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); 1332
1065 return ret; 1333 private void ApplyGravity(float pTimeStep)
1334 {
1335 Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass;
1336
1337 // Hack to reduce downward force if the vehicle is probably sitting on the ground
1338 if (ControllingPrim.HasSomeCollision && IsGroundVehicle)
1339 appliedGravity *= BSParam.VehicleGroundGravityFudge;
1340
1341 VehicleAddForce(appliedGravity);
1342
1343 VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={5}",
1344 ControllingPrim.LocalID, m_VehicleGravity,
1345 ControllingPrim.HasSomeCollision, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
1066 } 1346 }
1067 1347
1068 // ======================================================================= 1348 // =======================================================================
@@ -1073,55 +1353,24 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
1073 // set directly on the vehicle. 1353 // set directly on the vehicle.
1074 private void MoveAngular(float pTimestep) 1354 private void MoveAngular(float pTimestep)
1075 { 1355 {
1076 // The user wants this many radians per second angular change? 1356 ComputeAngularTurning(pTimestep);
1077 Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
1078
1079 // ==================================================================
1080 // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
1081 // This flag prevents linear deflection parallel to world z-axis. This is useful
1082 // for preventing ground vehicles with large linear deflection, like bumper cars,
1083 // from climbing their linear deflection into the sky.
1084 // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
1085 if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
1086 {
1087 angularMotorContribution.X = 0f;
1088 angularMotorContribution.Y = 0f;
1089 VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
1090 }
1091
1092 Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction();
1093 1357
1094 Vector3 deflectionContribution = ComputeAngularDeflection(); 1358 ComputeAngularVerticalAttraction();
1095 1359
1096 Vector3 bankingContribution = ComputeAngularBanking(); 1360 ComputeAngularDeflection();
1097 1361
1098 // ================================================================== 1362 ComputeAngularBanking();
1099 m_lastVertAttractor = verticalAttractionContribution;
1100
1101 m_lastAngularVelocity = angularMotorContribution
1102 + verticalAttractionContribution
1103 + deflectionContribution
1104 + bankingContribution;
1105 1363
1106 // ================================================================== 1364 // ==================================================================
1107 // Apply the correction velocity. 1365 if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.0001f))
1108 // TODO: Should this be applied as an angular force (torque)?
1109 if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
1110 { 1366 {
1111 VehicleRotationalVelocity = m_lastAngularVelocity; 1367 // The vehicle is not adding anything angular wise.
1112 1368 VehicleRotationalVelocity = Vector3.Zero;
1113 VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}", 1369 VDetailLog("{0}, MoveAngular,done,zero", ControllingPrim.LocalID);
1114 Prim.LocalID,
1115 angularMotorContribution, verticalAttractionContribution,
1116 bankingContribution, deflectionContribution,
1117 m_lastAngularVelocity
1118 );
1119 } 1370 }
1120 else 1371 else
1121 { 1372 {
1122 // The vehicle is not adding anything angular wise. 1373 VDetailLog("{0}, MoveAngular,done,nonZero,angVel={1}", ControllingPrim.LocalID, VehicleRotationalVelocity);
1123 VehicleRotationalVelocity = Vector3.Zero;
1124 VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID);
1125 } 1374 }
1126 1375
1127 // ================================================================== 1376 // ==================================================================
@@ -1152,10 +1401,43 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
1152 torqueFromOffset.Z = 0; 1401 torqueFromOffset.Z = 0;
1153 1402
1154 VehicleAddAngularForce(torqueFromOffset * m_vehicleMass); 1403 VehicleAddAngularForce(torqueFromOffset * m_vehicleMass);
1155 VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); 1404 VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", ControllingPrim.LocalID, torqueFromOffset);
1156 } 1405 }
1157 1406
1158 } 1407 }
1408
1409 private void ComputeAngularTurning(float pTimestep)
1410 {
1411 // The user wants this many radians per second angular change?
1412 Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity; // DEBUG DEBUG
1413 Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleFrameOrientation);
1414 Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV);
1415
1416 // ==================================================================
1417 // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
1418 // This flag prevents linear deflection parallel to world z-axis. This is useful
1419 // for preventing ground vehicles with large linear deflection, like bumper cars,
1420 // from climbing their linear deflection into the sky.
1421 // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
1422 // TODO: This is here because this is where ODE put it but documentation says it
1423 // is a linear effect. Where should this check go?
1424 //if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
1425 // {
1426 // angularMotorContributionV.X = 0f;
1427 // angularMotorContributionV.Y = 0f;
1428 // }
1429
1430 // Reduce any velocity by friction.
1431 Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
1432 angularMotorContributionV -= (currentAngularV * frictionFactorW);
1433
1434 Vector3 angularMotorContributionW = angularMotorContributionV * VehicleFrameOrientation;
1435 VehicleRotationalVelocity += angularMotorContributionW;
1436
1437 VDetailLog("{0}, MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}",
1438 ControllingPrim.LocalID, currentAngularV, origVehicleRotationalVelocity, VehicleRotationalVelocity, frictionFactorW, angularMotorContributionV, angularMotorContributionW);
1439 }
1440
1159 // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: 1441 // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
1160 // Some vehicles, like boats, should always keep their up-side up. This can be done by 1442 // Some vehicles, like boats, should always keep their up-side up. This can be done by
1161 // enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to 1443 // enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to
@@ -1164,77 +1446,183 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
1164 // and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An 1446 // and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An
1165 // efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an 1447 // efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an
1166 // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay. 1448 // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay.
1167 public Vector3 ComputeAngularVerticalAttraction() 1449 public void ComputeAngularVerticalAttraction()
1168 { 1450 {
1169 Vector3 ret = Vector3.Zero;
1170 1451
1171 // If vertical attaction timescale is reasonable 1452 // If vertical attaction timescale is reasonable
1172 if (m_verticalAttractionTimescale < m_verticalAttractionCutoff) 1453 if (BSParam.VehicleEnableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
1173 { 1454 {
1174 // Take a vector pointing up and convert it from world to vehicle relative coords. 1455 Vector3 vehicleUpAxis = Vector3.UnitZ * VehicleFrameOrientation;
1175 Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; 1456 switch (BSParam.VehicleAngularVerticalAttractionAlgorithm)
1176
1177 // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
1178 // is now:
1179 // leaning to one side: rotated around the X axis with the Y value going
1180 // from zero (nearly straight up) to one (completely to the side)) or
1181 // leaning front-to-back: rotated around the Y axis with the value of X being between
1182 // zero and one.
1183 // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
1184
1185 // Y error means needed rotation around X axis and visa versa.
1186 // Since the error goes from zero to one, the asin is the corresponding angle.
1187 ret.X = (float)Math.Asin(verticalError.Y);
1188 // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
1189 ret.Y = -(float)Math.Asin(verticalError.X);
1190
1191 // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
1192 if (verticalError.Z < 0f)
1193 { 1457 {
1194 ret.X += PIOverFour; 1458 case 0:
1195 ret.Y += PIOverFour; 1459 {
1460 //Another formula to try got from :
1461 //http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html
1462
1463 // Flipping what was originally a timescale into a speed variable and then multiplying it by 2
1464 // since only computing half the distance between the angles.
1465 float verticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
1466
1467 // Make a prediction of where the up axis will be when this is applied rather then where it is now as
1468 // this makes for a smoother adjustment and less fighting between the various forces.
1469 Vector3 predictedUp = vehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
1470
1471 // This is only half the distance to the target so it will take 2 seconds to complete the turn.
1472 Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
1473
1474 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != 0)
1475 {
1476 Vector3 vehicleForwardAxis = Vector3.UnitX * VehicleFrameOrientation;
1477 torqueVector = ProjectVector(torqueVector, vehicleForwardAxis);
1478 }
1479
1480 // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
1481 Vector3 vertContributionV = torqueVector * verticalAttractionSpeed * verticalAttractionSpeed;
1482
1483 VehicleRotationalVelocity += vertContributionV;
1484
1485 VDetailLog("{0}, MoveAngular,verticalAttraction,vertAttrSpeed={1},upAxis={2},PredictedUp={3},torqueVector={4},contrib={5}",
1486 ControllingPrim.LocalID,
1487 verticalAttractionSpeed,
1488 vehicleUpAxis,
1489 predictedUp,
1490 torqueVector,
1491 vertContributionV);
1492 break;
1493 }
1494 case 1:
1495 {
1496 // Possible solution derived from a discussion at:
1497 // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no
1498
1499 // Create a rotation that is only the vehicle's rotation around Z
1500 Vector3 currentEulerW = Vector3.Zero;
1501 VehicleFrameOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z);
1502 Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z);
1503
1504 // Create the axis that is perpendicular to the up vector and the rotated up vector.
1505 Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleFrameOrientation);
1506 // Compute the angle between those to vectors.
1507 double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleFrameOrientation)));
1508 // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
1509
1510 // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
1511 // TODO: add 'efficiency'.
1512 // differenceAngle /= m_verticalAttractionTimescale;
1513
1514 // Create the quaterian representing the correction angle
1515 Quaternion correctionRotationW = Quaternion.CreateFromAxisAngle(differenceAxisW, (float)differenceAngle);
1516
1517 // Turn that quaternion into Euler values to make it into velocities to apply.
1518 Vector3 vertContributionW = Vector3.Zero;
1519 correctionRotationW.GetEulerAngles(out vertContributionW.X, out vertContributionW.Y, out vertContributionW.Z);
1520 vertContributionW *= -1f;
1521 vertContributionW /= m_verticalAttractionTimescale;
1522
1523 VehicleRotationalVelocity += vertContributionW;
1524
1525 VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},diffAxis={2},diffAng={3},corrRot={4},contrib={5}",
1526 ControllingPrim.LocalID,
1527 vehicleUpAxis,
1528 differenceAxisW,
1529 differenceAngle,
1530 correctionRotationW,
1531 vertContributionW);
1532 break;
1533 }
1534 case 2:
1535 {
1536 Vector3 vertContributionV = Vector3.Zero;
1537 Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG
1538
1539 // Take a vector pointing up and convert it from world to vehicle relative coords.
1540 Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleFrameOrientation);
1541
1542 // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
1543 // is now:
1544 // leaning to one side: rotated around the X axis with the Y value going
1545 // from zero (nearly straight up) to one (completely to the side)) or
1546 // leaning front-to-back: rotated around the Y axis with the value of X being between
1547 // zero and one.
1548 // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
1549
1550 // Y error means needed rotation around X axis and visa versa.
1551 // Since the error goes from zero to one, the asin is the corresponding angle.
1552 vertContributionV.X = (float)Math.Asin(verticalError.Y);
1553 // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
1554 vertContributionV.Y = -(float)Math.Asin(verticalError.X);
1555
1556 // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
1557 if (verticalError.Z < 0f)
1558 {
1559 vertContributionV.X += Math.Sign(vertContributionV.X) * PIOverFour;
1560 // vertContribution.Y -= PIOverFour;
1561 }
1562
1563 // 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
1564 // Correction happens over a number of seconds.
1565 Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG
1566
1567 // The correction happens over the user's time period
1568 vertContributionV /= m_verticalAttractionTimescale;
1569
1570 // Rotate the vehicle rotation to the world coordinates.
1571 VehicleRotationalVelocity += (vertContributionV * VehicleFrameOrientation);
1572
1573 VDetailLog("{0}, MoveAngular,verticalAttraction,,upAxis={1},origRotVW={2},vertError={3},unscaledV={4},eff={5},ts={6},vertContribV={7}",
1574 ControllingPrim.LocalID,
1575 vehicleUpAxis,
1576 origRotVelW,
1577 verticalError,
1578 unscaledContribVerticalErrorV,
1579 m_verticalAttractionEfficiency,
1580 m_verticalAttractionTimescale,
1581 vertContributionV);
1582 break;
1583 }
1584 default:
1585 {
1586 break;
1587 }
1196 } 1588 }
1197
1198 // 'ret' is now the necessary velocity to correct tilt in one second.
1199 // Correction happens over a number of seconds.
1200 Vector3 unscaledContrib = ret;
1201 ret /= m_verticalAttractionTimescale;
1202
1203 VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
1204 Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret);
1205 } 1589 }
1206 return ret;
1207 } 1590 }
1208 1591
1209 // Return the angular correction to correct the direction the vehicle is pointing to be 1592 // Angular correction to correct the direction the vehicle is pointing to be
1210 // the direction is should want to be pointing. 1593 // the direction is should want to be pointing.
1211 // The vehicle is moving in some direction and correct its orientation to it is pointing 1594 // The vehicle is moving in some direction and correct its orientation to it is pointing
1212 // in that direction. 1595 // in that direction.
1213 // TODO: implement reference frame. 1596 // TODO: implement reference frame.
1214 public Vector3 ComputeAngularDeflection() 1597 public void ComputeAngularDeflection()
1215 { 1598 {
1216 Vector3 ret = Vector3.Zero; 1599
1217 return ret; // DEBUG DEBUG DEBUG 1600 if (BSParam.VehicleEnableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
1218 // Disable angular deflection for the moment.
1219 // Since angularMotorUp and angularDeflection are computed independently, they will calculate
1220 // approximately the same X or Y correction. When added together (when contributions are combined)
1221 // this creates an over-correction and then wabbling as the target is overshot.
1222 // TODO: rethink how the different correction computations inter-relate.
1223
1224 if (m_angularDeflectionEfficiency != 0)
1225 { 1601 {
1602 Vector3 deflectContributionV = Vector3.Zero;
1603
1226 // The direction the vehicle is moving 1604 // The direction the vehicle is moving
1227 Vector3 movingDirection = VehicleVelocity; 1605 Vector3 movingDirection = VehicleVelocity;
1228 movingDirection.Normalize(); 1606 movingDirection.Normalize();
1229 1607
1608 // If the vehicle is going backward, it is still pointing forward
1609 movingDirection *= Math.Sign(VehicleForwardSpeed);
1610
1230 // The direction the vehicle is pointing 1611 // The direction the vehicle is pointing
1231 Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; 1612 Vector3 pointingDirection = Vector3.UnitX * VehicleFrameOrientation;
1232 pointingDirection.Normalize(); 1613 //Predict where the Vehicle will be pointing after AngularVelocity change is applied. This will keep
1614 // from overshooting and allow this correction to merge with the Vertical Attraction peacefully.
1615 Vector3 predictedPointingDirection = pointingDirection * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
1616 predictedPointingDirection.Normalize();
1233 1617
1234 // The difference between what is and what should be. 1618 // The difference between what is and what should be.
1235 Vector3 deflectionError = movingDirection - pointingDirection; 1619 // Vector3 deflectionError = movingDirection - predictedPointingDirection;
1620 Vector3 deflectionError = Vector3.Cross(movingDirection, predictedPointingDirection);
1236 1621
1237 // Don't try to correct very large errors (not our job) 1622 // Don't try to correct very large errors (not our job)
1623 // if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X);
1624 // if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = PIOverTwo * Math.Sign(deflectionError.Y);
1625 // if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = PIOverTwo * Math.Sign(deflectionError.Z);
1238 if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f; 1626 if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f;
1239 if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f; 1627 if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f;
1240 if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f; 1628 if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f;
@@ -1242,18 +1630,19 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
1242 // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError); 1630 // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
1243 1631
1244 // Scale the correction by recovery timescale and efficiency 1632 // Scale the correction by recovery timescale and efficiency
1245 ret = (-deflectionError) * m_angularDeflectionEfficiency; 1633 // Not modeling a spring so clamp the scale to no more then the arc
1246 ret /= m_angularDeflectionTimescale; 1634 deflectContributionV = (-deflectionError) * ClampInRange(0, m_angularDeflectionEfficiency/m_angularDeflectionTimescale,1f);
1635 //deflectContributionV /= m_angularDeflectionTimescale;
1247 1636
1637 VehicleRotationalVelocity += deflectContributionV;
1248 VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", 1638 VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
1249 Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret); 1639 ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV);
1250 VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", 1640 VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3},PredictedPointingDir={4}",
1251 Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); 1641 ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale, predictedPointingDirection);
1252 } 1642 }
1253 return ret;
1254 } 1643 }
1255 1644
1256 // Return an angular change to rotate the vehicle around the Z axis when the vehicle 1645 // Angular change to rotate the vehicle around the Z axis when the vehicle
1257 // is tipped around the X axis. 1646 // is tipped around the X axis.
1258 // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: 1647 // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
1259 // The vertical attractor feature must be enabled in order for the banking behavior to 1648 // The vertical attractor feature must be enabled in order for the banking behavior to
@@ -1261,13 +1650,13 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
1261 // produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude 1650 // produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude
1262 // of the yaw effect will be proportional to the 1651 // of the yaw effect will be proportional to the
1263 // VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's 1652 // VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's
1264 // velocity along its preferred axis of motion. 1653 // velocity along its preferred axis of motion.
1265 // The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any 1654 // The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any
1266 // positive rotation (by the right-hand rule) about the roll-axis will effect a 1655 // positive rotation (by the right-hand rule) about the roll-axis will effect a
1267 // (negative) torque around the yaw-axis, making it turn to the right--that is the 1656 // (negative) torque around the yaw-axis, making it turn to the right--that is the
1268 // vehicle will lean into the turn, which is how real airplanes and motorcycle's work. 1657 // vehicle will lean into the turn, which is how real airplanes and motorcycle's work.
1269 // Negating the banking coefficient will make it so that the vehicle leans to the 1658 // Negating the banking coefficient will make it so that the vehicle leans to the
1270 // outside of the turn (not very "physical" but might allow interesting vehicles so why not?). 1659 // outside of the turn (not very "physical" but might allow interesting vehicles so why not?).
1271 // The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making 1660 // The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making
1272 // banking vehicles do what you want rather than what the laws of physics allow. 1661 // banking vehicles do what you want rather than what the laws of physics allow.
1273 // For example, consider a real motorcycle...it must be moving forward in order for 1662 // For example, consider a real motorcycle...it must be moving forward in order for
@@ -1279,46 +1668,43 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
1279 // totally static (0.0) and totally dynamic (1.0). By "static" we mean that the 1668 // totally static (0.0) and totally dynamic (1.0). By "static" we mean that the
1280 // banking effect depends only on the vehicle's rotation about its roll-axis compared 1669 // banking effect depends only on the vehicle's rotation about its roll-axis compared
1281 // to "dynamic" where the banking is also proportional to its velocity along its 1670 // to "dynamic" where the banking is also proportional to its velocity along its
1282 // roll-axis. Finding the best value of the "mixture" will probably require trial and error. 1671 // roll-axis. Finding the best value of the "mixture" will probably require trial and error.
1283 // The time it takes for the banking behavior to defeat a preexisting angular velocity about the 1672 // The time it takes for the banking behavior to defeat a preexisting angular velocity about the
1284 // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to 1673 // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
1285 // bank quickly then give it a banking timescale of about a second or less, otherwise you can 1674 // bank quickly then give it a banking timescale of about a second or less, otherwise you can
1286 // make a sluggish vehicle by giving it a timescale of several seconds. 1675 // make a sluggish vehicle by giving it a timescale of several seconds.
1287 public Vector3 ComputeAngularBanking() 1676 public void ComputeAngularBanking()
1288 { 1677 {
1289 Vector3 ret = Vector3.Zero; 1678 if (BSParam.VehicleEnableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
1290
1291 if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
1292 { 1679 {
1293 // This works by rotating a unit vector to the orientation of the vehicle. The 1680 Vector3 bankingContributionV = Vector3.Zero;
1294 // roll (tilt) will be Y component of a tilting Z vector (zero for no tilt
1295 // up to one for full over).
1296 Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
1297 1681
1298 // Figure out the yaw value for this much roll. 1682 // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
1299 float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency; 1683 // As the vehicle rolls to the right or left, the Y value will increase from
1300 // Keep the sign 1684 // zero (straight up) to 1 or -1 (full tilt right or left)
1301 if (rollComponents.Y < 0f) 1685 Vector3 rollComponents = Vector3.UnitZ * VehicleFrameOrientation;
1302 turnComponent = -turnComponent;
1303
1304 // TODO: there must be a better computation of the banking force.
1305 float bankingTurnForce = turnComponent;
1306 1686
1687 // Figure out the yaw value for this much roll.
1688 float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency;
1307 // actual error = static turn error + dynamic turn error 1689 // actual error = static turn error + dynamic turn error
1308 float mixedBankingError = bankingTurnForce * (1f - m_bankingMix) + bankingTurnForce * m_bankingMix * VehicleForwardSpeed; 1690 float mixedYawAngle =(yawAngle * (1f - m_bankingMix)) + ((yawAngle * m_bankingMix) * VehicleForwardSpeed);
1691
1309 // TODO: the banking effect should not go to infinity but what to limit it to? 1692 // TODO: the banking effect should not go to infinity but what to limit it to?
1310 mixedBankingError = ClampInRange(-20f, mixedBankingError, 20f); 1693 // And what should happen when this is being added to a user defined yaw that is already PI*4?
1694 mixedYawAngle = ClampInRange(-FourPI, mixedYawAngle, FourPI);
1311 1695
1312 // Build the force vector to change rotation from what it is to what it should be 1696 // Build the force vector to change rotation from what it is to what it should be
1313 ret.Z = -mixedBankingError; 1697 bankingContributionV.Z = -mixedYawAngle;
1698
1699 // Don't do it all at once. Fudge because 1 second is too fast with most user defined roll as PI*4.
1700 bankingContributionV /= m_bankingTimescale * BSParam.VehicleAngularBankingTimescaleFudge;
1701
1702 VehicleRotationalVelocity += bankingContributionV;
1314 1703
1315 // Don't do it all at once.
1316 ret /= m_bankingTimescale;
1317 1704
1318 VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},turnComp={3},bankErr={4},mixedBankErr={5},ret={6}", 1705 VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
1319 Prim.LocalID, rollComponents, VehicleForwardSpeed, turnComponent, bankingTurnForce, mixedBankingError, ret); 1706 ControllingPrim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV);
1320 } 1707 }
1321 return ret;
1322 } 1708 }
1323 1709
1324 // This is from previous instantiations of XXXDynamics.cs. 1710 // This is from previous instantiations of XXXDynamics.cs.
@@ -1356,8 +1742,45 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
1356 if (rotq != m_rot) 1742 if (rotq != m_rot)
1357 { 1743 {
1358 VehicleOrientation = m_rot; 1744 VehicleOrientation = m_rot;
1359 VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); 1745 VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", ControllingPrim.LocalID, rotq, m_rot);
1746 }
1747
1748 }
1749
1750 // Given a friction vector (reduction in seconds) and a timestep, return the factor to reduce
1751 // some value by to apply this friction.
1752 private Vector3 ComputeFrictionFactor(Vector3 friction, float pTimestep)
1753 {
1754 Vector3 frictionFactor = Vector3.Zero;
1755 if (friction != BSMotor.InfiniteVector)
1756 {
1757 // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
1758 // Individual friction components can be 'infinite' so compute each separately.
1759 frictionFactor.X = (friction.X == BSMotor.Infinite) ? 0f : (1f / friction.X);
1760 frictionFactor.Y = (friction.Y == BSMotor.Infinite) ? 0f : (1f / friction.Y);
1761 frictionFactor.Z = (friction.Z == BSMotor.Infinite) ? 0f : (1f / friction.Z);
1762 frictionFactor *= pTimestep;
1763 }
1764 return frictionFactor;
1765 }
1766
1767 private float SortedClampInRange(float clampa, float val, float clampb)
1768 {
1769 if (clampa > clampb)
1770 {
1771 float temp = clampa;
1772 clampa = clampb;
1773 clampb = temp;
1360 } 1774 }
1775 return ClampInRange(clampa, val, clampb);
1776
1777 }
1778
1779 //Given a Vector and a unit vector will return the amount of the vector is on the same axis as the unit.
1780 private Vector3 ProjectVector(Vector3 vector, Vector3 onNormal)
1781 {
1782 float vectorDot = Vector3.Dot(vector, onNormal);
1783 return onNormal * vectorDot;
1361 1784
1362 } 1785 }
1363 1786
@@ -1370,8 +1793,8 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
1370 // Invoke the detailed logger and output something if it's enabled. 1793 // Invoke the detailed logger and output something if it's enabled.
1371 private void VDetailLog(string msg, params Object[] args) 1794 private void VDetailLog(string msg, params Object[] args)
1372 { 1795 {
1373 if (Prim.PhysicsScene.VehicleLoggingEnabled) 1796 if (ControllingPrim.PhysScene.VehicleLoggingEnabled)
1374 Prim.PhysicsScene.DetailLog(msg, args); 1797 ControllingPrim.PhysScene.DetailLog(msg, args);
1375 } 1798 }
1376 } 1799 }
1377} 1800}
generated by cgit v1.1 at 2024-07-21 00:00:04 +0000