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Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs51
1 files changed, 32 insertions, 19 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 6c6ca09..0c4db40 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -219,30 +219,31 @@ public sealed class BSLinksetCompound : BSLinkset
219 { 219 {
220 // Gather the child info. It might not be there if the linkset is in transition. 220 // Gather the child info. It might not be there if the linkset is in transition.
221 BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo; 221 BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo;
222 222 if (lsi != null)
223 // The linksetInfo will need to be rebuilt either here or when the linkset is rebuilt
224 if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null)
225 { 223 {
226 if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape)) 224 // Since the child moved or rotationed, it needs a new relative position within the linkset
225 BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement);
226 updated.LinksetInfo = newLsi;
227
228 // Find the physical instance of the child
229 if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape))
227 { 230 {
231 // It is possible that the linkset is still under construction and the child is not yet
232 // inserted into the compound shape. A rebuild of the linkset in a pre-step action will
233 // build the whole thing with the new position or rotation.
234 // The index must be checked because Bullet references the child array but does no validity
235 // checking of the child index passed.
228 int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape); 236 int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape);
229 if (lsi.Index < numLinksetChildren) 237 if (lsi.Index < numLinksetChildren)
230 { 238 {
231 // It is possible that the linkset is still under construction and the child is not yet
232 // inserted into the compound shape. A rebuild of the linkset in a pre-step action will
233 // build the whole thing with the new position or rotation.
234 // This must be checked for because Bullet references the child array but does no validity
235 // checking of the child index passed.
236 BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index); 239 BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index);
237 if (linksetChildShape.HasPhysicalShape) 240 if (linksetChildShape.HasPhysicalShape)
238 { 241 {
239 // Compute the offset from the center-of-gravity 242 // Found the child shape within the compound shape
240 BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement);
241 PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index, 243 PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index,
242 newLsi.OffsetFromCenterOfMass, 244 newLsi.OffsetFromCenterOfMass,
243 newLsi.OffsetRot, 245 newLsi.OffsetRot,
244 true /* shouldRecalculateLocalAabb */); 246 true /* shouldRecalculateLocalAabb */);
245 updated.LinksetInfo = newLsi;
246 updatedChild = true; 247 updatedChild = true;
247 DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}", 248 DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}",
248 updated.LocalID, whichUpdated, newLsi); 249 updated.LocalID, whichUpdated, newLsi);
@@ -262,19 +263,20 @@ public sealed class BSLinksetCompound : BSLinkset
262 } 263 }
263 else // DEBUG DEBUG 264 else // DEBUG DEBUG
264 { // DEBUG DEBUG 265 { // DEBUG DEBUG
265 DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,notCompound", updated.LocalID); 266 DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID);
266 } // DEBUG DEBUG 267 } // DEBUG DEBUG
267 } 268 }
268 else // DEBUG DEBUG 269 else // DEBUG DEBUG
269 { // DEBUG DEBUG 270 { // DEBUG DEBUG
270 DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,rootPhysShape={1},lsi={2}", 271 DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noLinkSetInfo,rootPhysShape={1}",
271 updated.LocalID, LinksetRoot.PhysShape, lsi == null ? "NULL" : lsi.ToString()); 272 updated.LocalID, LinksetRoot.PhysShape);
272 } // DEBUG DEBUG 273 } // DEBUG DEBUG
274
273 if (!updatedChild) 275 if (!updatedChild)
274 { 276 {
275 // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info. 277 // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.
276 // Note that there are several ways through this code that will not update the child that can 278 // Note: there are several ways through this code that will not update the child if
277 // occur if the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since 279 // the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since
278 // there will already be a rebuild scheduled. 280 // there will already be a rebuild scheduled.
279 DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}", 281 DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
280 updated.LocalID, whichUpdated); 282 updated.LocalID, whichUpdated);
@@ -300,7 +302,8 @@ public sealed class BSLinksetCompound : BSLinkset
300 { 302 {
301 // Because it is a convenient time, recompute child world position and rotation based on 303 // Because it is a convenient time, recompute child world position and rotation based on
302 // its position in the linkset. 304 // its position in the linkset.
303 RecomputeChildWorldPosition(child, true); 305 RecomputeChildWorldPosition(child, true /* inTaintTime */);
306 child.LinksetInfo = null;
304 } 307 }
305 308
306 // Cannot schedule a refresh/rebuild here because this routine is called when 309 // Cannot schedule a refresh/rebuild here because this routine is called when
@@ -315,6 +318,14 @@ public sealed class BSLinksetCompound : BSLinkset
315 // prim. The child prim's location must be recomputed based on the location of the root shape. 318 // prim. The child prim's location must be recomputed based on the location of the root shape.
316 private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) 319 private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
317 { 320 {
321 // For the moment (20130201), disable this computation (converting the child physical addr back to
322 // a region address) until we have a good handle on center-of-mass offsets and what the physics
323 // engine moving a child actually means.
324 // The simulator keeps track of where children should be as the linkset moves. Setting
325 // the pos/rot here does not effect that knowledge as there is no good way for the
326 // physics engine to send the simulator an update for a child.
327
328 /*
318 BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo; 329 BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
319 if (lci != null) 330 if (lci != null)
320 { 331 {
@@ -343,6 +354,7 @@ public sealed class BSLinksetCompound : BSLinkset
343 // LogHeader, child.LocalID); 354 // LogHeader, child.LocalID);
344 DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID); 355 DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
345 } 356 }
357 */
346 } 358 }
347 359
348 // ================================================================ 360 // ================================================================
@@ -376,6 +388,7 @@ public sealed class BSLinksetCompound : BSLinkset
376 388
377 // Cause the child's body to be rebuilt and thus restored to normal operation 389 // Cause the child's body to be rebuilt and thus restored to normal operation
378 RecomputeChildWorldPosition(child, false); 390 RecomputeChildWorldPosition(child, false);
391 child.LinksetInfo = null;
379 child.ForceBodyShapeRebuild(false); 392 child.ForceBodyShapeRebuild(false);
380 393
381 if (!HasAnyChildren) 394 if (!HasAnyChildren)
@@ -397,7 +410,7 @@ public sealed class BSLinksetCompound : BSLinkset
397 // Constraint linksets are rebuilt every time. 410 // Constraint linksets are rebuilt every time.
398 // Note that this works for rebuilding just the root after a linkset is taken apart. 411 // Note that this works for rebuilding just the root after a linkset is taken apart.
399 // Called at taint time!! 412 // Called at taint time!!
400 private bool disableCOM = true; // disable until we get this debugged 413 private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged
401 private void RecomputeLinksetCompound() 414 private void RecomputeLinksetCompound()
402 { 415 {
403 try 416 try