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Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs103
1 files changed, 31 insertions, 72 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 308cf13..1d94142 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -35,62 +35,6 @@ using OMV = OpenMetaverse;
35namespace OpenSim.Region.Physics.BulletSPlugin 35namespace OpenSim.Region.Physics.BulletSPlugin
36{ 36{
37 37
38 /*
39// When a child is linked, the relationship position of the child to the parent
40// is remembered so the child's world position can be recomputed when it is
41// removed from the linkset.
42sealed class BSLinksetCompoundInfo : BSLinksetInfo
43{
44 public int Index;
45 public OMV.Vector3 OffsetFromRoot;
46 public OMV.Vector3 OffsetFromCenterOfMass;
47 public OMV.Quaternion OffsetRot;
48 public BSLinksetCompoundInfo(int indx, OMV.Vector3 p, OMV.Quaternion r)
49 {
50 Index = indx;
51 OffsetFromRoot = p;
52 OffsetFromCenterOfMass = p;
53 OffsetRot = r;
54 }
55 // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape)
56 public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement)
57 {
58 // Each child position and rotation is given relative to the center-of-mass.
59 OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation);
60 OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation;
61 OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
62 OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation;
63
64 // Save relative position for recomputing child's world position after moving linkset.
65 Index = indx;
66 OffsetFromRoot = displacementFromRoot;
67 OffsetFromCenterOfMass = displacementFromCOM;
68 OffsetRot = displacementRot;
69 }
70 public override void Clear()
71 {
72 Index = 0;
73 OffsetFromRoot = OMV.Vector3.Zero;
74 OffsetFromCenterOfMass = OMV.Vector3.Zero;
75 OffsetRot = OMV.Quaternion.Identity;
76 }
77 public override string ToString()
78 {
79 StringBuilder buff = new StringBuilder();
80 buff.Append("<i=");
81 buff.Append(Index.ToString());
82 buff.Append(",p=");
83 buff.Append(OffsetFromRoot.ToString());
84 buff.Append(",m=");
85 buff.Append(OffsetFromCenterOfMass.ToString());
86 buff.Append(",r=");
87 buff.Append(OffsetRot.ToString());
88 buff.Append(">");
89 return buff.ToString();
90 }
91};
92 */
93
94public sealed class BSLinksetCompound : BSLinkset 38public sealed class BSLinksetCompound : BSLinkset
95{ 39{
96 private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; 40 private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
@@ -151,7 +95,9 @@ public sealed class BSLinksetCompound : BSLinkset
151 public override bool MakeStatic(BSPrimLinkable child) 95 public override bool MakeStatic(BSPrimLinkable child)
152 { 96 {
153 bool ret = false; 97 bool ret = false;
98
154 DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); 99 DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
100 child.ClearDisplacement();
155 if (IsRoot(child)) 101 if (IsRoot(child))
156 { 102 {
157 // Schedule a rebuild to verify that the root shape is set to the real shape. 103 // Schedule a rebuild to verify that the root shape is set to the real shape.
@@ -315,7 +261,6 @@ public sealed class BSLinksetCompound : BSLinkset
315 // Note that this works for rebuilding just the root after a linkset is taken apart. 261 // Note that this works for rebuilding just the root after a linkset is taken apart.
316 // Called at taint time!! 262 // Called at taint time!!
317 private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape 263 private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape
318 private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting
319 private void RecomputeLinksetCompound() 264 private void RecomputeLinksetCompound()
320 { 265 {
321 try 266 try
@@ -326,55 +271,70 @@ public sealed class BSLinksetCompound : BSLinkset
326 // to what they should be as if the root was not in a linkset. 271 // to what they should be as if the root was not in a linkset.
327 // Not that bad since we only get into this routine if there are children in the linkset and 272 // Not that bad since we only get into this routine if there are children in the linkset and
328 // something has been updated/changed. 273 // something has been updated/changed.
274 // Have to do the rebuild before checking for physical because this might be a linkset
275 // being destructed and going non-physical.
329 LinksetRoot.ForceBodyShapeRebuild(true); 276 LinksetRoot.ForceBodyShapeRebuild(true);
330 277
331 // There is no reason to build all this physical stuff for a non-physical linkset. 278 // There is no reason to build all this physical stuff for a non-physical linkset.
332 if (!LinksetRoot.IsPhysicallyActive) 279 if (!LinksetRoot.IsPhysicallyActive)
333 { 280 {
334 // Clean up any old linkset shape and make sure the root shape is set to the root object.
335 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); 281 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
336
337 return; // Note the 'finally' clause at the botton which will get executed. 282 return; // Note the 'finally' clause at the botton which will get executed.
338 } 283 }
339 284
340 // Get a new compound shape to build the linkset shape in. 285 // Get a new compound shape to build the linkset shape in.
341 BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene); 286 BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene);
342 287
343 // The center of mass for the linkset is the geometric center of the group.
344 // Compute a displacement for each component so it is relative to the center-of-mass. 288 // Compute a displacement for each component so it is relative to the center-of-mass.
345 // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass 289 // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
346 OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass(); 290 OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass();
347 291
348 OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation)); 292 OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation));
293 OMV.Vector3 origRootPosition = LinksetRoot.RawPosition;
349 294
350 // 'centerDisplacement' is the value to subtract from children to give physical offset position 295 // 'centerDisplacementV' is the vehicle relative distance from the simulator root position to the center-of-mass
351 OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; 296 OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
352 if (UseBulletSimRootOffsetHack || disableCOM) 297 if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass)
353 { 298 {
299 // Zero everything if center-of-mass displacement is not being done.
354 centerDisplacementV = OMV.Vector3.Zero; 300 centerDisplacementV = OMV.Vector3.Zero;
355 LinksetRoot.ClearDisplacement(); 301 LinksetRoot.ClearDisplacement();
356 } 302 }
357 else 303 else
358 { 304 {
359 LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV); 305 // The actual center-of-mass could have been set by the user.
306 centerDisplacementV = LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV);
360 } 307 }
308
361 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", 309 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}",
362 LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacementV); 310 LinksetRoot.LocalID, origRootPosition, centerOfMassW, centerDisplacementV);
363 311
364 // Add the shapes of all the components of the linkset 312 // Add the shapes of all the components of the linkset
365 int memberIndex = 1; 313 int memberIndex = 1;
366 ForEachMember(delegate(BSPrimLinkable cPrim) 314 ForEachMember(delegate(BSPrimLinkable cPrim)
367 { 315 {
368 // Root shape is always index zero. 316 if (IsRoot(cPrim))
369 cPrim.LinksetChildIndex = IsRoot(cPrim) ? 0 : memberIndex; 317 {
318 // Root shape is always index zero.
319 cPrim.LinksetChildIndex = 0;
320 }
321 else
322 {
323 cPrim.LinksetChildIndex = memberIndex;
324 memberIndex++;
325 }
370 326
371 // Get a reference to the shape of the child and add that shape to the linkset compound shape 327 // Get a reference to the shape of the child for adding of that shape to the linkset compound shape
372 BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); 328 BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);
373 OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacementV; 329
330 // Offset the child shape from the center-of-mass and rotate it to vehicle relative.
331 OMV.Vector3 offsetPos = (cPrim.RawPosition - origRootPosition) * invRootOrientation - centerDisplacementV;
374 OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; 332 OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation;
333
334 // Add the child shape to the compound shape being built
375 m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); 335 m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
376 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", 336 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}",
377 LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot); 337 LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot);
378 338
379 // Since we are borrowing the shape of the child, disable the origional child body 339 // Since we are borrowing the shape of the child, disable the origional child body
380 if (!IsRoot(cPrim)) 340 if (!IsRoot(cPrim))
@@ -386,8 +346,6 @@ public sealed class BSLinksetCompound : BSLinkset
386 cPrim.PhysBody.collisionType = CollisionType.LinksetChild; 346 cPrim.PhysBody.collisionType = CollisionType.LinksetChild;
387 } 347 }
388 348
389 memberIndex++;
390
391 return false; // 'false' says to move onto the next child in the list 349 return false; // 'false' says to move onto the next child in the list
392 }); 350 });
393 351
@@ -409,8 +367,9 @@ public sealed class BSLinksetCompound : BSLinkset
409 { 367 {
410 // Enable the physical position updator to return the position and rotation of the root shape. 368 // Enable the physical position updator to return the position and rotation of the root shape.
411 // This enables a feature in the C++ code to return the world coordinates of the first shape in the 369 // This enables a feature in the C++ code to return the world coordinates of the first shape in the
412 // compound shape. This eleviates the need to offset the returned physical position by the 370 // compound shape. This aleviates the need to offset the returned physical position by the
413 // center-of-mass offset. 371 // center-of-mass offset.
372 // TODO: either debug this feature or remove it.
414 m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); 373 m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
415 } 374 }
416 } 375 }