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Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSScene.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs207
1 files changed, 116 insertions, 91 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 7c11f2b..de86d59 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -71,11 +71,17 @@ public class BSScene : PhysicsScene
71 private uint m_worldID; 71 private uint m_worldID;
72 public uint WorldID { get { return m_worldID; } } 72 public uint WorldID { get { return m_worldID; } }
73 73
74 private bool m_initialized = false;
75
74 public IMesher mesher; 76 public IMesher mesher;
75 public int meshLOD = 32; 77 private int m_meshLOD;
78 public int MeshLOD
79 {
80 get { return m_meshLOD; }
81 }
76 82
77 private int m_maxSubSteps = 10; 83 private int m_maxSubSteps;
78 private float m_fixedTimeStep = 1f / 60f; 84 private float m_fixedTimeStep;
79 private long m_simulationStep = 0; 85 private long m_simulationStep = 0;
80 public long SimulationStep { get { return m_simulationStep; } } 86 public long SimulationStep { get { return m_simulationStep; } }
81 87
@@ -84,68 +90,65 @@ public class BSScene : PhysicsScene
84 private int m_simulationNowTime; 90 private int m_simulationNowTime;
85 public int SimulationNowTime { get { return m_simulationNowTime; } } 91 public int SimulationNowTime { get { return m_simulationNowTime; } }
86 92
87 private int m_maxCollisionsPerFrame = 2048; 93 private int m_maxCollisionsPerFrame;
88 private CollisionDesc[] m_collisionArray; 94 private CollisionDesc[] m_collisionArray;
89 private GCHandle m_collisionArrayPinnedHandle; 95 private GCHandle m_collisionArrayPinnedHandle;
90 96
91 private int m_maxUpdatesPerFrame = 2048; 97 private int m_maxUpdatesPerFrame;
92 private EntityProperties[] m_updateArray; 98 private EntityProperties[] m_updateArray;
93 private GCHandle m_updateArrayPinnedHandle; 99 private GCHandle m_updateArrayPinnedHandle;
94 100
95 private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed 101 private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed
96 private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes 102 private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes
97 public float maximumMassObject = 10000.01f;
98 103
99 public const uint TERRAIN_ID = 0; 104 public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
100 public const uint GROUNDPLANE_ID = 1; 105 public const uint GROUNDPLANE_ID = 1;
101 106
102 public float DefaultFriction = 0.70f; 107 public ConfigurationParameters Params
103 public float DefaultDensity = 10.000006836f; // Aluminum g/cm3; TODO: compute based on object material 108 {
104 public Vector3 DefaultGravity = new Vector3(0, 0, -9.80665f); 109 get { return m_params[0]; }
110 }
111 public Vector3 DefaultGravity
112 {
113 get { return new Vector3(0f, 0f, Params.gravity); }
114 }
115
116 private float m_maximumObjectMass;
117 public float MaximumObjectMass
118 {
119 get { return m_maximumObjectMass; }
120 }
105 121
106 public delegate void TaintCallback(); 122 public delegate void TaintCallback();
107 private List<TaintCallback> _taintedObjects; 123 private List<TaintCallback> _taintedObjects;
108 private Object _taintLock = new Object(); 124 private Object _taintLock = new Object();
109 125
110 // A pointer to an instance if this structure is passed to the C++ code 126 // A pointer to an instance if this structure is passed to the C++ code
111 // Format of this structure must match the definition in the C++ code 127 ConfigurationParameters[] m_params;
112 private struct ConfigurationParameters
113 {
114 public float defaultFriction;
115 public float defaultDensity;
116 public float collisionMargin;
117 public float gravity;
118
119 public float linearDamping;
120 public float angularDamping;
121 public float deactivationTime;
122 public float linearSleepingThreshold;
123 public float angularSleepingThreshold;
124
125 public float terrainFriction;
126 public float terrainHitFriction;
127 public float terrainRestitution;
128 public float avatarFriction;
129 public float avatarCapsuleRadius;
130 public float avatarCapsuleHeight;
131 }
132 ConfigurationParameters m_params;
133 GCHandle m_paramsHandle; 128 GCHandle m_paramsHandle;
134 129
135 private BulletSimAPI.DebugLogCallback debugLogCallbackHandle; 130 private BulletSimAPI.DebugLogCallback debugLogCallbackHandle;
136 131
137 public BSScene(string identifier) 132 public BSScene(string identifier)
138 { 133 {
134 m_initialized = false;
139 } 135 }
140 136
141 public override void Initialise(IMesher meshmerizer, IConfigSource config) 137 public override void Initialise(IMesher meshmerizer, IConfigSource config)
142 { 138 {
143 m_params = new ConfigurationParameters(); 139 // Allocate pinned memory to pass parameters.
140 m_params = new ConfigurationParameters[1];
144 m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned); 141 m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned);
145 142
146 // Set default values for physics parameters plus any overrides from the ini file 143 // Set default values for physics parameters plus any overrides from the ini file
147 GetInitialParameterValues(config); 144 GetInitialParameterValues(config);
148 145
146 // allocate more pinned memory close to the above in an attempt to get the memory all together
147 m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
148 m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
149 m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
150 m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
151
149 // if Debug, enable logging from the unmanaged code 152 // if Debug, enable logging from the unmanaged code
150 if (m_log.IsDebugEnabled) 153 if (m_log.IsDebugEnabled)
151 { 154 {
@@ -160,68 +163,95 @@ public class BSScene : PhysicsScene
160 // The bounding box for the simulated world 163 // The bounding box for the simulated world
161 Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f); 164 Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f);
162 165
163 // Allocate pinned memory to pass back object property updates and collisions from simulation step
164 m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
165 m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
166 m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
167 m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
168
169 // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); 166 // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
170 m_worldID = BulletSimAPI.Initialize(worldExtent, 167 m_worldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
171 m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), 168 m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
172 m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); 169 m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject());
170
171 m_initialized = true;
173 } 172 }
174 173
174 // All default parameter values are set here. There should be no values set in the
175 // variable definitions.
175 private void GetInitialParameterValues(IConfigSource config) 176 private void GetInitialParameterValues(IConfigSource config)
176 { 177 {
178 ConfigurationParameters parms = new ConfigurationParameters();
179
177 _meshSculptedPrim = true; // mesh sculpted prims 180 _meshSculptedPrim = true; // mesh sculpted prims
178 _forceSimplePrimMeshing = false; // use complex meshing if called for 181 _forceSimplePrimMeshing = false; // use complex meshing if called for
179 182
180 // Set the default values for the physics parameters 183 m_meshLOD = 32;
181 m_params.defaultFriction = 0.70f; 184
182 m_params.defaultDensity = 10.000006836f; // Aluminum g/cm3 185 m_maxSubSteps = 10;
183 m_params.collisionMargin = 0.0f; 186 m_fixedTimeStep = 1f / 60f;
184 m_params.gravity = -9.80665f; 187 m_maxCollisionsPerFrame = 2048;
185 188 m_maxUpdatesPerFrame = 2048;
186 m_params.linearDamping = 0.1f; 189 m_maximumObjectMass = 10000.01f;
187 m_params.angularDamping = 0.85f; 190
188 m_params.deactivationTime = 0.2f; 191 parms.defaultFriction = 0.70f;
189 m_params.linearSleepingThreshold = 0.8f; 192 parms.defaultDensity = 10.000006836f; // Aluminum g/cm3
190 m_params.angularSleepingThreshold = 1.0f; 193 parms.defaultRestitution = 0f;
191 194 parms.collisionMargin = 0.0f;
192 m_params.terrainFriction = 0.85f; 195 parms.gravity = -9.80665f;
193 m_params.terrainHitFriction = 0.8f; 196
194 m_params.terrainRestitution = 0.2f; 197 parms.linearDamping = 0.0f;
195 m_params.avatarFriction = 0.85f; 198 parms.angularDamping = 0.0f;
196 m_params.avatarCapsuleRadius = 0.37f; 199 parms.deactivationTime = 0.2f;
197 m_params.avatarCapsuleHeight = 1.5f; // 2.140599f 200 parms.linearSleepingThreshold = 0.8f;
201 parms.angularSleepingThreshold = 1.0f;
202 parms.ccdMotionThreshold = 0.5f; // set to zero to disable
203 parms.ccdSweptSphereRadius = 0.2f;
204
205 parms.terrainFriction = 0.85f;
206 parms.terrainHitFriction = 0.8f;
207 parms.terrainRestitution = 0.2f;
208 parms.avatarFriction = 0.85f;
209 parms.avatarDensity = 60f;
210 parms.avatarCapsuleRadius = 0.37f;
211 parms.avatarCapsuleHeight = 1.5f; // 2.140599f
198 212
199 if (config != null) 213 if (config != null)
200 { 214 {
201 // If there are specifications in the ini file, use those values 215 // If there are specifications in the ini file, use those values
216 // WHEN ADDING OR UPDATING THIS SECTION, BE SURE TO ALSO UPDATE OpenSimDefaults.ini
202 IConfig pConfig = config.Configs["BulletSim"]; 217 IConfig pConfig = config.Configs["BulletSim"];
203 if (pConfig != null) 218 if (pConfig != null)
204 { 219 {
205 _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", true); 220 _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim);
206 _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", false); 221 _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing);
207 222
208 m_params.defaultFriction = pConfig.GetFloat("DefaultFriction", m_params.defaultFriction); 223 m_meshLOD = pConfig.GetInt("MeshLevelOfDetail", m_meshLOD);
209 m_params.defaultDensity = pConfig.GetFloat("DefaultDensity", m_params.defaultDensity); 224
210 m_params.collisionMargin = pConfig.GetFloat("CollisionMargin", m_params.collisionMargin); 225 m_maxSubSteps = pConfig.GetInt("MaxSubSteps", m_maxSubSteps);
211 m_params.gravity = pConfig.GetFloat("Gravity", m_params.gravity); 226 m_fixedTimeStep = pConfig.GetFloat("FixedTimeStep", m_fixedTimeStep);
212 m_params.linearDamping = pConfig.GetFloat("LinearDamping", m_params.linearDamping); 227 m_maxCollisionsPerFrame = pConfig.GetInt("MaxCollisionsPerFrame", m_maxCollisionsPerFrame);
213 m_params.angularDamping = pConfig.GetFloat("AngularDamping", m_params.angularDamping); 228 m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame);
214 m_params.deactivationTime = pConfig.GetFloat("DeactivationTime", m_params.deactivationTime); 229 m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass);
215 m_params.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold", m_params.linearSleepingThreshold); 230
216 m_params.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", m_params.angularSleepingThreshold); 231 parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction);
217 m_params.terrainFriction = pConfig.GetFloat("TerrainFriction", m_params.terrainFriction); 232 parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity);
218 m_params.terrainHitFriction = pConfig.GetFloat("TerrainHitFriction", m_params.terrainHitFriction); 233 parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution);
219 m_params.terrainRestitution = pConfig.GetFloat("TerrainRestitution", m_params.terrainRestitution); 234 parms.collisionMargin = pConfig.GetFloat("CollisionMargin", parms.collisionMargin);
220 m_params.avatarFriction = pConfig.GetFloat("AvatarFriction", m_params.avatarFriction); 235 parms.gravity = pConfig.GetFloat("Gravity", parms.gravity);
221 m_params.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", m_params.avatarCapsuleRadius); 236
222 m_params.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", m_params.avatarCapsuleHeight); 237 parms.linearDamping = pConfig.GetFloat("LinearDamping", parms.linearDamping);
238 parms.angularDamping = pConfig.GetFloat("AngularDamping", parms.angularDamping);
239 parms.deactivationTime = pConfig.GetFloat("DeactivationTime", parms.deactivationTime);
240 parms.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold", parms.linearSleepingThreshold);
241 parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", parms.angularSleepingThreshold);
242 parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold);
243 parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius);
244
245 parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction);
246 parms.terrainHitFriction = pConfig.GetFloat("TerrainHitFriction", parms.terrainHitFriction);
247 parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution);
248 parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction);
249 parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity);
250 parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius);
251 parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight);
223 } 252 }
224 } 253 }
254 m_params[0] = parms;
225 } 255 }
226 256
227 // Called directly from unmanaged code so don't do much 257 // Called directly from unmanaged code so don't do much
@@ -282,20 +312,13 @@ public class BSScene : PhysicsScene
282 Vector3 size, Quaternion rotation, bool isPhysical, uint localID) 312 Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
283 { 313 {
284 // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName); 314 // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
285 IMesh mesh = null; 315 BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
286 if (NeedsMeshing(pbs))
287 {
288 // if the prim is complex, create the mesh for it.
289 // If simple (box or sphere) leave 'mesh' null and physics will do a native shape.
290 mesh = mesher.CreateMesh(primName, pbs, size, this.meshLOD, isPhysical);
291 }
292 BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, mesh, pbs, isPhysical);
293 lock (m_prims) m_prims.Add(localID, prim); 316 lock (m_prims) m_prims.Add(localID, prim);
294 return prim; 317 return prim;
295 } 318 }
296 319
297 // This is a call from the simulator saying that some physical property has been updated. 320 // This is a call from the simulator saying that some physical property has been updated.
298 // The BulletS driver senses the changing of relevant properties so this taint 321 // The BulletSim driver senses the changing of relevant properties so this taint
299 // information call is not needed. 322 // information call is not needed.
300 public override void AddPhysicsActorTaint(PhysicsActor prim) { } 323 public override void AddPhysicsActorTaint(PhysicsActor prim) { }
301 324
@@ -307,6 +330,9 @@ public class BSScene : PhysicsScene
307 int collidersCount; 330 int collidersCount;
308 IntPtr collidersPtr; 331 IntPtr collidersPtr;
309 332
333 // prevent simulation until we've been initialized
334 if (!m_initialized) return 10.0f;
335
310 // update the prim states while we know the physics engine is not busy 336 // update the prim states while we know the physics engine is not busy
311 ProcessTaints(); 337 ProcessTaints();
312 338
@@ -360,7 +386,7 @@ public class BSScene : PhysicsScene
360 } 386 }
361 } 387 }
362 388
363 // fps calculation wrong. This calculation always returns about 1 in normal operation. 389 // FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation.
364 return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f; 390 return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f;
365 } 391 }
366 392
@@ -369,8 +395,7 @@ public class BSScene : PhysicsScene
369 { 395 {
370 if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID) 396 if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID)
371 { 397 {
372 // we never send collisions to the terrain 398 return; // don't send collisions to the terrain
373 return;
374 } 399 }
375 400
376 ActorTypes type = ActorTypes.Prim; 401 ActorTypes type = ActorTypes.Prim;
@@ -381,12 +406,12 @@ public class BSScene : PhysicsScene
381 406
382 BSPrim prim; 407 BSPrim prim;
383 if (m_prims.TryGetValue(localID, out prim)) { 408 if (m_prims.TryGetValue(localID, out prim)) {
384 prim.Collide(collidingWith, type, collidePoint, collideNormal, 0.01f); 409 prim.Collide(collidingWith, type, collidePoint, collideNormal, penitration);
385 return; 410 return;
386 } 411 }
387 BSCharacter actor; 412 BSCharacter actor;
388 if (m_avatars.TryGetValue(localID, out actor)) { 413 if (m_avatars.TryGetValue(localID, out actor)) {
389 actor.Collide(collidingWith, type, collidePoint, collideNormal, 0.01f); 414 actor.Collide(collidingWith, type, collidePoint, collideNormal, penitration);
390 return; 415 return;
391 } 416 }
392 return; 417 return;
@@ -448,7 +473,7 @@ public class BSScene : PhysicsScene
448 473
449 if (pbs.SculptEntry && !_meshSculptedPrim) 474 if (pbs.SculptEntry && !_meshSculptedPrim)
450 { 475 {
451 // m_log.DebugFormat("{0}: NeedsMeshing: scultpy mesh", LogHeader); 476 // Render sculpties as boxes
452 return false; 477 return false;
453 } 478 }
454 479