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Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs62
1 files changed, 30 insertions, 32 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 1c6d476..68a153e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -174,7 +174,7 @@ public sealed class BSPrim : BSPhysObject
174 // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct 174 // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
175 // scale and margins are set. 175 // scale and margins are set.
176 CreateGeomAndObject(true); 176 CreateGeomAndObject(true);
177 DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical); 177 // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
178 }); 178 });
179 } 179 }
180 } 180 }
@@ -204,6 +204,7 @@ public sealed class BSPrim : BSPhysObject
204 _isSelected = value; 204 _isSelected = value;
205 PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() 205 PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
206 { 206 {
207 // DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
207 SetObjectDynamic(false); 208 SetObjectDynamic(false);
208 }); 209 });
209 } 210 }
@@ -279,7 +280,7 @@ public sealed class BSPrim : BSPhysObject
279 // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? 280 // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
280 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() 281 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
281 { 282 {
282 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 283 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
283 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); 284 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
284 }); 285 });
285 } 286 }
@@ -317,7 +318,7 @@ public sealed class BSPrim : BSPhysObject
317 _force = value; 318 _force = value;
318 PhysicsScene.TaintedObject("BSPrim.setForce", delegate() 319 PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
319 { 320 {
320 DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); 321 // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
321 BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); 322 BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
322 }); 323 });
323 } 324 }
@@ -385,7 +386,7 @@ public sealed class BSPrim : BSPhysObject
385 _isVolumeDetect = newValue; 386 _isVolumeDetect = newValue;
386 PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() 387 PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
387 { 388 {
388 DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); 389 // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
389 SetObjectDynamic(true); 390 SetObjectDynamic(true);
390 }); 391 });
391 } 392 }
@@ -398,7 +399,7 @@ public sealed class BSPrim : BSPhysObject
398 _velocity = value; 399 _velocity = value;
399 PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() 400 PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
400 { 401 {
401 DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); 402 // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
402 BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); 403 BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
403 }); 404 });
404 } 405 }
@@ -406,7 +407,7 @@ public sealed class BSPrim : BSPhysObject
406 public override OMV.Vector3 Torque { 407 public override OMV.Vector3 Torque {
407 get { return _torque; } 408 get { return _torque; }
408 set { _torque = value; 409 set { _torque = value;
409 DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); 410 // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
410 } 411 }
411 } 412 }
412 public override float CollisionScore { 413 public override float CollisionScore {
@@ -433,7 +434,7 @@ public sealed class BSPrim : BSPhysObject
433 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() 434 PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
434 { 435 {
435 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); 436 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
436 DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); 437 // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
437 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); 438 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
438 }); 439 });
439 } 440 }
@@ -450,7 +451,7 @@ public sealed class BSPrim : BSPhysObject
450 _isPhysical = value; 451 _isPhysical = value;
451 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() 452 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
452 { 453 {
453 DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); 454 // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
454 SetObjectDynamic(true); 455 SetObjectDynamic(true);
455 }); 456 });
456 } 457 }
@@ -470,12 +471,7 @@ public sealed class BSPrim : BSPhysObject
470 } 471 }
471 472
472 // Make gravity work if the object is physical and not selected 473 // Make gravity work if the object is physical and not selected
473 // No locking here because only called when it is safe (called at taint-time). 474 // Called at taint-time!!
474 // There are four flags we're interested in:
475 // IsStatic: Object does not move, otherwise the object has mass and moves
476 // isSolid: other objects bounce off of this object
477 // isVolumeDetect: other objects pass through but can generate collisions
478 // collisionEvents: whether this object returns collision events
479 private void SetObjectDynamic(bool forceRebuild) 475 private void SetObjectDynamic(bool forceRebuild)
480 { 476 {
481#if CSHARP_BODY_MANAGEMENT 477#if CSHARP_BODY_MANAGEMENT
@@ -488,11 +484,17 @@ public sealed class BSPrim : BSPhysObject
488#endif // CSHARP_BODY_MANAGEMENT 484#endif // CSHARP_BODY_MANAGEMENT
489 } 485 }
490 486
487 // Convert the simulator's physical properties into settings on BulletSim objects.
488 // There are four flags we're interested in:
489 // IsStatic: Object does not move, otherwise the object has mass and moves
490 // isSolid: other objects bounce off of this object
491 // isVolumeDetect: other objects pass through but can generate collisions
492 // collisionEvents: whether this object returns collision events
491 private void UpdatePhysicalParameters() 493 private void UpdatePhysicalParameters()
492 { 494 {
493 DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); 495 // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
494 496
495 // Mangling all the physical properties requires the object to be out of the physical world. 497 // Mangling all the physical properties requires the object not be in the physical world.
496 // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). 498 // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
497 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); 499 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
498 500
@@ -505,7 +507,7 @@ public sealed class BSPrim : BSPhysObject
505 // Set up the object physicalness (does gravity and collisions move this object) 507 // Set up the object physicalness (does gravity and collisions move this object)
506 MakeDynamic(IsStatic); 508 MakeDynamic(IsStatic);
507 509
508 // Arrange for collisions events if the simulator wants them 510 // Arrange for collision events if the simulator wants them
509 EnableCollisions(SubscribedEvents()); 511 EnableCollisions(SubscribedEvents());
510 512
511#if CSHARP_BODY_MANAGEMENT 513#if CSHARP_BODY_MANAGEMENT
@@ -522,8 +524,6 @@ public sealed class BSPrim : BSPhysObject
522 if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0) 524 if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0)
523 { 525 {
524 BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask); 526 BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask);
525 DetailLog("{0},BSPrim.UpdatePhysicalParameters,setCollisionFilterMask,filter={1},mask={2}",
526 LocalID, BSBody.collisionFilter.ToString("X"), BSBody.collisionMask.ToString("X"));
527 } 527 }
528 528
529 // Recompute any linkset parameters. 529 // Recompute any linkset parameters.
@@ -557,8 +557,8 @@ public sealed class BSPrim : BSPhysObject
557 // There can be special things needed for implementing linksets 557 // There can be special things needed for implementing linksets
558 Linkset.MakeStatic(this); 558 Linkset.MakeStatic(this);
559 // The activation state is 'sleeping' so Bullet will not try to act on it 559 // The activation state is 'sleeping' so Bullet will not try to act on it
560 // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); 560 BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
561 BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); 561 // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
562 562
563 BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; 563 BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
564 BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; 564 BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
@@ -571,16 +571,14 @@ public sealed class BSPrim : BSPhysObject
571 // Set various physical properties so internal dynamic properties will get computed correctly as they are set 571 // Set various physical properties so internal dynamic properties will get computed correctly as they are set
572 BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction); 572 BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction);
573 BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution); 573 BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
574
574 // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 575 // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
575 BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero); 576 BulletSimAPI.ClearAllForces2(BSBody.ptr);
576 BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero);
577 BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
578 577
579 // A dynamic object has mass 578 // A dynamic object has mass
580 IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); 579 IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
581 OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass); 580 OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass);
582 BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); 581 BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
583 // Inertia is based on our new mass
584 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); 582 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
585 583
586 // Various values for simulation limits 584 // Various values for simulation limits
@@ -645,7 +643,7 @@ public sealed class BSPrim : BSPhysObject
645 643
646 // Create the new body with the shape 644 // Create the new body with the shape
647 BSBody = new BulletBody(LocalID, BulletSimAPI.CreateBodyFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation)); 645 BSBody = new BulletBody(LocalID, BulletSimAPI.CreateBodyFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation));
648 BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); 646 CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
649 DetailLog("{0},BSPrim.MakeSolid:rigidBody,body={1},shape={2}", LocalID, BSBody, BSShape); 647 DetailLog("{0},BSPrim.MakeSolid:rigidBody,body={1},shape={2}", LocalID, BSBody, BSShape);
650 } 648 }
651 } 649 }
@@ -741,7 +739,7 @@ public sealed class BSPrim : BSPhysObject
741 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); 739 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
742 PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() 740 PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
743 { 741 {
744 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); 742 // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
745 BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity); 743 BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
746 }); 744 });
747 } 745 }
@@ -758,7 +756,7 @@ public sealed class BSPrim : BSPhysObject
758 _buoyancy = value; 756 _buoyancy = value;
759 PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() 757 PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
760 { 758 {
761 DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); 759 // DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
762 // Buoyancy is faked by changing the gravity applied to the object 760 // Buoyancy is faked by changing the gravity applied to the object
763 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); 761 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
764 BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); 762 BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
@@ -823,18 +821,18 @@ public sealed class BSPrim : BSPhysObject
823 } 821 }
824 m_accumulatedForces.Clear(); 822 m_accumulatedForces.Clear();
825 } 823 }
826 DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); 824 // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
827 // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. 825 // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
828 BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); 826 BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
829 }); 827 });
830 } 828 }
831 829
832 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 830 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
833 DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); 831 // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
834 // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); 832 // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
835 } 833 }
836 public override void SetMomentum(OMV.Vector3 momentum) { 834 public override void SetMomentum(OMV.Vector3 momentum) {
837 DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); 835 // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
838 } 836 }
839 #region Mass Calculation 837 #region Mass Calculation
840 838
@@ -1452,7 +1450,7 @@ public sealed class BSPrim : BSPhysObject
1452 } 1450 }
1453 // Rebuild the geometry and object. 1451 // Rebuild the geometry and object.
1454 // This is called when the shape changes so we need to recreate the mesh/hull. 1452 // This is called when the shape changes so we need to recreate the mesh/hull.
1455 // No locking here because this is done when the physics engine is not simulating (taint-time). 1453 // Called at taint-time!!!
1456 private void CreateGeomAndObject(bool forceRebuild) 1454 private void CreateGeomAndObject(bool forceRebuild)
1457 { 1455 {
1458#if CSHARP_BODY_MANAGEMENT 1456#if CSHARP_BODY_MANAGEMENT