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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs4
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs1
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs82
3 files changed, 64 insertions, 23 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 0204967..4c2c1c1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1029,8 +1029,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1029 // Add this correction to the velocity to make it faster/slower. 1029 // Add this correction to the velocity to make it faster/slower.
1030 VehicleVelocity += linearMotorVelocityW; 1030 VehicleVelocity += linearMotorVelocityW;
1031 1031
1032 VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}", 1032 VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},tgt={3},correctV={4},correctW={5},newVelW={6},fricFact={7}",
1033 ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, 1033 ControllingPrim.LocalID, origVelW, currentVelV, m_linearMotor.TargetValue, linearMotorCorrectionV,
1034 linearMotorVelocityW, VehicleVelocity, frictionFactorV); 1034 linearMotorVelocityW, VehicleVelocity, frictionFactorV);
1035 } 1035 }
1036 1036
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 1d94142..3668456 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -59,6 +59,7 @@ public sealed class BSLinksetCompound : BSLinkset
59 { 59 {
60 DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", 60 DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
61 requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); 61 requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
62
62 // When rebuilding, it is possible to set properties that would normally require a rebuild. 63 // When rebuilding, it is possible to set properties that would normally require a rebuild.
63 // If already rebuilding, don't request another rebuild. 64 // If already rebuilding, don't request another rebuild.
64 // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. 65 // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index a06a44d..f17d698 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -48,12 +48,22 @@ public sealed class BSLinksetConstraints : BSLinkset
48 { 48 {
49 base.Refresh(requestor); 49 base.Refresh(requestor);
50 50
51 if (HasAnyChildren && IsRoot(requestor)) 51 }
52
53 private void ScheduleRebuild(BSPrimLinkable requestor)
54 {
55 DetailLog("{0},BSLinksetConstraint.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
56 requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
57
58 // When rebuilding, it is possible to set properties that would normally require a rebuild.
59 // If already rebuilding, don't request another rebuild.
60 // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
61 if (!Rebuilding && HasAnyChildren)
52 { 62 {
53 // Queue to happen after all the other taint processing 63 // Queue to happen after all the other taint processing
54 m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() 64 m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
55 { 65 {
56 if (HasAnyChildren && IsRoot(requestor)) 66 if (HasAnyChildren)
57 RecomputeLinksetConstraints(); 67 RecomputeLinksetConstraints();
58 }); 68 });
59 } 69 }
@@ -67,8 +77,14 @@ public sealed class BSLinksetConstraints : BSLinkset
67 // Called at taint-time! 77 // Called at taint-time!
68 public override bool MakeDynamic(BSPrimLinkable child) 78 public override bool MakeDynamic(BSPrimLinkable child)
69 { 79 {
70 // What is done for each object in BSPrim is what we want. 80 bool ret = false;
71 return false; 81 DetailLog("{0},BSLinksetConstraints.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
82 if (IsRoot(child))
83 {
84 // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
85 ScheduleRebuild(LinksetRoot);
86 }
87 return ret;
72 } 88 }
73 89
74 // The object is going static (non-physical). Do any setup necessary for a static linkset. 90 // The object is going static (non-physical). Do any setup necessary for a static linkset.
@@ -78,8 +94,16 @@ public sealed class BSLinksetConstraints : BSLinkset
78 // Called at taint-time! 94 // Called at taint-time!
79 public override bool MakeStatic(BSPrimLinkable child) 95 public override bool MakeStatic(BSPrimLinkable child)
80 { 96 {
81 // What is done for each object in BSPrim is what we want. 97 bool ret = false;
82 return false; 98
99 DetailLog("{0},BSLinksetConstraint.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
100 child.ClearDisplacement();
101 if (IsRoot(child))
102 {
103 // Schedule a rebuild to verify that the root shape is set to the real shape.
104 ScheduleRebuild(LinksetRoot);
105 }
106 return ret;
83 } 107 }
84 108
85 // Called at taint-time!! 109 // Called at taint-time!!
@@ -105,7 +129,7 @@ public sealed class BSLinksetConstraints : BSLinkset
105 // Just undo all the constraints for this linkset. Rebuild at the end of the step. 129 // Just undo all the constraints for this linkset. Rebuild at the end of the step.
106 ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); 130 ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
107 // Cause the constraints, et al to be rebuilt before the next simulation step. 131 // Cause the constraints, et al to be rebuilt before the next simulation step.
108 Refresh(LinksetRoot); 132 ScheduleRebuild(LinksetRoot);
109 } 133 }
110 return ret; 134 return ret;
111 } 135 }
@@ -123,7 +147,7 @@ public sealed class BSLinksetConstraints : BSLinkset
123 DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); 147 DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
124 148
125 // Cause constraints and assorted properties to be recomputed before the next simulation step. 149 // Cause constraints and assorted properties to be recomputed before the next simulation step.
126 Refresh(LinksetRoot); 150 ScheduleRebuild(LinksetRoot);
127 } 151 }
128 return; 152 return;
129 } 153 }
@@ -147,7 +171,7 @@ public sealed class BSLinksetConstraints : BSLinkset
147 PhysicallyUnlinkAChildFromRoot(rootx, childx); 171 PhysicallyUnlinkAChildFromRoot(rootx, childx);
148 }); 172 });
149 // See that the linkset parameters are recomputed at the end of the taint time. 173 // See that the linkset parameters are recomputed at the end of the taint time.
150 Refresh(LinksetRoot); 174 ScheduleRebuild(LinksetRoot);
151 } 175 }
152 else 176 else
153 { 177 {
@@ -165,6 +189,7 @@ public sealed class BSLinksetConstraints : BSLinkset
165 Refresh(rootPrim); 189 Refresh(rootPrim);
166 } 190 }
167 191
192 // Create a static constraint between the two passed objects
168 private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim) 193 private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
169 { 194 {
170 // Zero motion for children so they don't interpolate 195 // Zero motion for children so they don't interpolate
@@ -281,24 +306,39 @@ public sealed class BSLinksetConstraints : BSLinkset
281 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", 306 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
282 LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass); 307 LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
283 308
284 foreach (BSPrimLinkable child in m_children) 309 try
285 { 310 {
286 // A child in the linkset physically shows the mass of the whole linkset. 311 Rebuilding = true;
287 // This allows Bullet to apply enough force on the child to move the whole linkset.
288 // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
289 child.UpdatePhysicalMassProperties(linksetMass, true);
290 312
291 BSConstraint constrain; 313 // There is no reason to build all this physical stuff for a non-physical linkset.
292 if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) 314 if (!LinksetRoot.IsPhysicallyActive)
293 { 315 {
294 // If constraint doesn't exist yet, create it. 316 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
295 constrain = BuildConstraint(LinksetRoot, child); 317 return; // Note the 'finally' clause at the botton which will get executed.
296 } 318 }
297 constrain.RecomputeConstraintVariables(linksetMass);
298 319
299 // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG 320 foreach (BSPrimLinkable child in m_children)
300 } 321 {
322 // A child in the linkset physically shows the mass of the whole linkset.
323 // This allows Bullet to apply enough force on the child to move the whole linkset.
324 // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
325 child.UpdatePhysicalMassProperties(linksetMass, true);
326
327 BSConstraint constrain;
328 if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
329 {
330 // If constraint doesn't exist yet, create it.
331 constrain = BuildConstraint(LinksetRoot, child);
332 }
333 constrain.RecomputeConstraintVariables(linksetMass);
301 334
335 // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG
336 }
337 }
338 finally
339 {
340 Rebuilding = false;
341 }
302 } 342 }
303} 343}
304} 344}