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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs5
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs13
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs19
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs9
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs1
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs31
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs4
8 files changed, 51 insertions, 35 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
index b58745a..f017cdd 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
@@ -34,6 +34,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
34 34
35public abstract class BSConstraint : IDisposable 35public abstract class BSConstraint : IDisposable
36{ 36{
37 private static string LogHeader = "[BULLETSIM CONSTRAINT]";
38
37 protected BulletSim m_world; 39 protected BulletSim m_world;
38 protected BulletBody m_body1; 40 protected BulletBody m_body1;
39 protected BulletBody m_body2; 41 protected BulletBody m_body2;
@@ -124,7 +126,7 @@ public abstract class BSConstraint : IDisposable
124 } 126 }
125 else 127 else
126 { 128 {
127 m_world.physicsScene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID); 129 m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID);
128 } 130 }
129 } 131 }
130 return ret; 132 return ret;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index f71f3b0..117c878 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -464,8 +464,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
464 // Set the prim's inertia to zero. The vehicle code handles that and this 464 // Set the prim's inertia to zero. The vehicle code handles that and this
465 // removes the motion and torque actions introduced by Bullet. 465 // removes the motion and torque actions introduced by Bullet.
466 Vector3 inertia = Vector3.Zero; 466 Vector3 inertia = Vector3.Zero;
467 BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); 467 // comment out for DEBUG test
468 BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); 468 // BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia);
469 // BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr);
469 } 470 }
470 471
471 // One step of the vehicle properties for the next 'pTimestep' seconds. 472 // One step of the vehicle properties for the next 'pTimestep' seconds.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 2e6b104..c984824 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -165,6 +165,9 @@ public abstract class BSLinkset
165 bool ret = false; 165 bool ret = false;
166 lock (m_linksetActivityLock) 166 lock (m_linksetActivityLock)
167 { 167 {
168 if (m_children.Contains(child))
169 ret = true;
170 /*
168 foreach (BSPhysObject bp in m_children) 171 foreach (BSPhysObject bp in m_children)
169 { 172 {
170 if (child.LocalID == bp.LocalID) 173 if (child.LocalID == bp.LocalID)
@@ -173,6 +176,7 @@ public abstract class BSLinkset
173 break; 176 break;
174 } 177 }
175 } 178 }
179 */
176 } 180 }
177 return ret; 181 return ret;
178 } 182 }
@@ -196,21 +200,20 @@ public abstract class BSLinkset
196 // Called at taint-time! 200 // Called at taint-time!
197 public abstract bool MakeStatic(BSPhysObject child); 201 public abstract bool MakeStatic(BSPhysObject child);
198 202
199 // If the software is handling the movement of all the objects in a linkset 203 // Called when a parameter update comes from the physics engine for any object
200 // (like if one doesn't use constraints for static linksets), this is called 204 // of the linkset is received.
201 // when an update for the root of the linkset is received.
202 // Called at taint-time!! 205 // Called at taint-time!!
203 public abstract void UpdateProperties(BSPhysObject physObject); 206 public abstract void UpdateProperties(BSPhysObject physObject);
204 207
205 // Routine used when rebuilding the body of the root of the linkset 208 // Routine used when rebuilding the body of the root of the linkset
206 // Destroy all the constraints have have been made to root. 209 // Destroy all the constraints have have been made to root.
207 // This is called when the root body is changing. 210 // This is called when the root body is changing.
208 // Returns 'true' of something eas actually removed and would need restoring 211 // Returns 'true' of something was actually removed and would need restoring
209 // Called at taint-time!! 212 // Called at taint-time!!
210 public abstract bool RemoveBodyDependencies(BSPrim child); 213 public abstract bool RemoveBodyDependencies(BSPrim child);
211 214
212 // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', 215 // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
213 // this routine will restore the removed constraints. 216 // this routine will restore the removed constraints.
214 // Called at taint-time!! 217 // Called at taint-time!!
215 public abstract void RestoreBodyDependencies(BSPrim child); 218 public abstract void RestoreBodyDependencies(BSPrim child);
216 219
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 8eeeb73..8a750b5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -46,9 +46,8 @@ public class BSLinksetConstraints : BSLinkset
46 // May be called at runtime or taint-time (just pass the appropriate flag). 46 // May be called at runtime or taint-time (just pass the appropriate flag).
47 public override void Refresh(BSPhysObject requestor, bool inTaintTime) 47 public override void Refresh(BSPhysObject requestor, bool inTaintTime)
48 { 48 {
49 // If there are no children, not physical or not root, I am not the one that recomputes the constraints 49 // If there are no children or not root, I am not the one that recomputes the constraints
50 // (For the moment, static linksets do create constraints so remove the test for physical.) 50 if (!HasAnyChildren || !IsRoot(requestor))
51 if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor))
52 return; 51 return;
53 52
54 BSScene.TaintCallback refreshOperation = delegate() 53 BSScene.TaintCallback refreshOperation = delegate()
@@ -85,20 +84,10 @@ public class BSLinksetConstraints : BSLinkset
85 return false; 84 return false;
86 } 85 }
87 86
88 // If the software is handling the movement of all the objects in a linkset
89 // (like if one doesn't use constraints for static linksets), this is called
90 // when an update for the root of the linkset is received.
91 // Called at taint-time!! 87 // Called at taint-time!!
92 public override void UpdateProperties(BSPhysObject physObject) 88 public override void UpdateProperties(BSPhysObject updated)
93 { 89 {
94 // The root local properties have been updated. Apply to the children if appropriate. 90 // Nothing to do for constraints on property updates
95 if (IsRoot(physObject) && HasAnyChildren)
96 {
97 if (!physObject.IsPhysical)
98 {
99 // TODO: implement software linkset update for static object linksets
100 }
101 }
102 } 91 }
103 92
104 // Routine used when rebuilding the body of the root of the linkset 93 // Routine used when rebuilding the body of the root of the linkset
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 3c5e6e5..8401c69 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -399,7 +399,7 @@ public sealed class BSPrim : BSPhysObject
399 { 399 {
400 // Done at taint time so we're sure the physics engine is not using the variables 400 // Done at taint time so we're sure the physics engine is not using the variables
401 // Vehicle code changes the parameters for this vehicle type. 401 // Vehicle code changes the parameters for this vehicle type.
402 this._vehicle.ProcessTypeChange(type); 402 _vehicle.ProcessTypeChange(type);
403 }); 403 });
404 } 404 }
405 } 405 }
@@ -1246,12 +1246,13 @@ public sealed class BSPrim : BSPhysObject
1246 FillShapeInfo(out shapeData); 1246 FillShapeInfo(out shapeData);
1247 1247
1248 // If this prim is part of a linkset, we must remove and restore the physical 1248 // If this prim is part of a linkset, we must remove and restore the physical
1249 // links of the body is rebuilt. 1249 // links if the body is rebuilt.
1250 bool needToRestoreLinkset = false; 1250 bool needToRestoreLinkset = false;
1251 1251
1252 // Create the correct physical representation for this type of object. 1252 // Create the correct physical representation for this type of object.
1253 // Updates BSBody and BSShape with the new information. 1253 // Updates BSBody and BSShape with the new information.
1254 // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. 1254 // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
1255 // Returns 'true' if either the body or the shape was changed.
1255 PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, 1256 PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape,
1256 null, delegate(BulletBody dBody) 1257 null, delegate(BulletBody dBody)
1257 { 1258 {
@@ -1355,7 +1356,7 @@ public sealed class BSPrim : BSPhysObject
1355 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", 1356 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
1356 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); 1357 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
1357 1358
1358 // BulletSimAPI.DumpRigidBody2(Scene.World.Ptr, BSBody.Ptr); 1359 BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG
1359 1360
1360 base.RequestPhysicsterseUpdate(); 1361 base.RequestPhysicsterseUpdate();
1361 } 1362 }
@@ -1368,8 +1369,8 @@ public sealed class BSPrim : BSPhysObject
1368 entprop.Acceleration, entprop.RotationalVelocity); 1369 entprop.Acceleration, entprop.RotationalVelocity);
1369 } 1370 }
1370 */ 1371 */
1371 // The linkset implimentation might want to know about this.
1372 1372
1373 // The linkset implimentation might want to know about this.
1373 Linkset.UpdateProperties(this); 1374 Linkset.UpdateProperties(this);
1374 } 1375 }
1375} 1376}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 233f1ca..48ee6f6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -716,6 +716,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
716 } 716 }
717 catch (Exception e) 717 catch (Exception e)
718 { 718 {
719 DetailLog("{0},BSScene.ProcessTaints,doTaintException,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
719 m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e); 720 m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e);
720 } 721 }
721 } 722 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 89d0d3e..b1833c5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -36,7 +36,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
36{ 36{
37public class BSShapeCollection : IDisposable 37public class BSShapeCollection : IDisposable
38{ 38{
39 // private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; 39 private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
40 40
41 protected BSScene PhysicsScene { get; set; } 41 protected BSScene PhysicsScene { get; set; }
42 42
@@ -434,16 +434,26 @@ public class BSShapeCollection : IDisposable
434 ShapeData shapeData, ShapeData.FixedShapeKey shapeKey) 434 ShapeData shapeData, ShapeData.FixedShapeKey shapeKey)
435 { 435 {
436 BulletShape newShape; 436 BulletShape newShape;
437 // Need to make sure the passed shape information is for the native type.
438 ShapeData nativeShapeData = shapeData;
439 nativeShapeData.Type = shapeType;
440 nativeShapeData.MeshKey = (ulong)shapeKey;
441 nativeShapeData.HullKey = (ulong)shapeKey;
437 442
438 if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) 443 if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
439 { 444 {
440 newShape = new BulletShape( 445 newShape = new BulletShape(
441 BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), 446 BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, nativeShapeData.Scale), shapeType);
442 shapeType); 447 DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale);
443 } 448 }
444 else 449 else
445 { 450 {
446 newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); 451 newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
452 }
453 if (newShape.ptr == IntPtr.Zero)
454 {
455 PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
456 LogHeader, nativeShapeData.ID, nativeShapeData.Type);
447 } 457 }
448 newShape.shapeKey = (System.UInt64)shapeKey; 458 newShape.shapeKey = (System.UInt64)shapeKey;
449 newShape.isNativeShape = true; 459 newShape.isNativeShape = true;
@@ -716,6 +726,8 @@ public class BSShapeCollection : IDisposable
716 { 726 {
717 prim.LastAssetBuildFailed = true; 727 prim.LastAssetBuildFailed = true;
718 BSPhysObject xprim = prim; 728 BSPhysObject xprim = prim;
729 DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}",
730 LogHeader, shapeData.ID.ToString("X"), prim.LastAssetBuildFailed);
719 Util.FireAndForget(delegate 731 Util.FireAndForget(delegate
720 { 732 {
721 RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod; 733 RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
@@ -732,16 +744,25 @@ public class BSShapeCollection : IDisposable
732 yprim.BaseShape.SculptData = asset.Data; 744 yprim.BaseShape.SculptData = asset.Data;
733 // This will cause the prim to see that the filler shape is not the right 745 // This will cause the prim to see that the filler shape is not the right
734 // one and try again to build the object. 746 // one and try again to build the object.
747 // No race condition with the native sphere setting since the rebuild is at taint time.
735 yprim.ForceBodyShapeRebuild(false); 748 yprim.ForceBodyShapeRebuild(false);
736 749
737 }); 750 });
738 } 751 }
739 }); 752 });
740 } 753 }
754 else
755 {
756 if (prim.LastAssetBuildFailed)
757 {
758 PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}",
759 LogHeader, shapeData.ID, pbs.SculptTexture);
760 }
761 }
741 762
742 // While we figure out the real problem, stick a simple native shape on the object. 763 // While we figure out the real problem, stick a simple native shape on the object.
743 BulletShape fillinShape = 764 BulletShape fillinShape =
744 BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_SPHERE, shapeData, ShapeData.FixedShapeKey.KEY_SPHERE); 765 BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_BOX, shapeData, ShapeData.FixedShapeKey.KEY_BOX);
745 766
746 return fillinShape; 767 return fillinShape;
747 } 768 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index 4106534..ae267e3 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -201,9 +201,7 @@ public class BSTerrainManager
201 // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new 201 // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
202 // terrain shape is created and added to the body. 202 // terrain shape is created and added to the body.
203 // This call is most often used to update the heightMap and parameters of the terrain. 203 // This call is most often used to update the heightMap and parameters of the terrain.
204 // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when 204 // (The above does suggest that some simplification/refactoring is in order.)
205 // calling this routine from initialization or taint-time routines) or whether to delay
206 // all the unmanaged activities to taint-time.
207 private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) 205 private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
208 { 206 {
209 DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}", 207 DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}",