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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs8
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs24
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs12
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs29
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt3
5 files changed, 31 insertions, 45 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index ce0fbe6..2486be5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -38,6 +38,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
38// Each type of linkset will define the information needed for its type. 38// Each type of linkset will define the information needed for its type.
39public abstract class BSLinksetInfo 39public abstract class BSLinksetInfo
40{ 40{
41 public virtual void Clear() { }
41} 42}
42 43
43public abstract class BSLinkset 44public abstract class BSLinkset
@@ -95,13 +96,6 @@ public abstract class BSLinkset
95 return BSPhysicsShapeType.SHAPE_UNKNOWN; 96 return BSPhysicsShapeType.SHAPE_UNKNOWN;
96 } 97 }
97 98
98 // Linksets move around the children so the linkset might need to compute the child position
99 public virtual OMV.Vector3 Position(BSPhysObject member)
100 { return member.RawPosition; }
101 public virtual OMV.Quaternion Orientation(BSPhysObject member)
102 { return member.RawOrientation; }
103 // TODO: does this need to be done for Velocity and RotationalVelocityy?
104
105 // We keep the prim's mass in the linkset structure since it could be dependent on other prims 99 // We keep the prim's mass in the linkset structure since it could be dependent on other prims
106 protected float m_mass; 100 protected float m_mass;
107 public float LinksetMass 101 public float LinksetMass
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 2189468..8359607 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -45,6 +45,11 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo
45 OffsetPos = p; 45 OffsetPos = p;
46 OffsetRot = r; 46 OffsetRot = r;
47 } 47 }
48 public override void Clear()
49 {
50 OffsetPos = OMV.Vector3.Zero;
51 OffsetRot = OMV.Quaternion.Identity;
52 }
48 public override string ToString() 53 public override string ToString()
49 { 54 {
50 StringBuilder buff = new StringBuilder(); 55 StringBuilder buff = new StringBuilder();
@@ -82,8 +87,11 @@ public sealed class BSLinksetCompound : BSLinkset
82 // its internal properties. 87 // its internal properties.
83 public override void Refresh(BSPhysObject requestor) 88 public override void Refresh(BSPhysObject requestor)
84 { 89 {
85 // External request for Refresh (from BSPrim) doesn't need to do anything 90 if (!IsRoot(requestor))
86 // InternalRefresh(requestor); 91 {
92 }
93 // Something changed so do the rebuilding thing
94 InternalRefresh(requestor);
87 } 95 }
88 96
89 // Schedule a refresh to happen after all the other taint processing. 97 // Schedule a refresh to happen after all the other taint processing.
@@ -170,18 +178,6 @@ public sealed class BSLinksetCompound : BSLinkset
170 // Nothing to do for compound linksets on property updates 178 // Nothing to do for compound linksets on property updates
171 } 179 }
172 180
173 // The children move around in relationship to the root.
174 // Just grab the current values of wherever it is right now.
175 public override OMV.Vector3 Position(BSPhysObject member)
176 {
177 return BulletSimAPI.GetPosition2(member.PhysBody.ptr);
178 }
179
180 public override OMV.Quaternion Orientation(BSPhysObject member)
181 {
182 return BulletSimAPI.GetOrientation2(member.PhysBody.ptr);
183 }
184
185 // Routine called when rebuilding the body of some member of the linkset. 181 // Routine called when rebuilding the body of some member of the linkset.
186 // Since we don't keep in world relationships, do nothing unless it's a child changing. 182 // Since we don't keep in world relationships, do nothing unless it's a child changing.
187 // Returns 'true' of something was actually removed and would need restoring 183 // Returns 'true' of something was actually removed and would need restoring
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 732c084..7076ab4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -83,18 +83,6 @@ public sealed class BSLinksetConstraints : BSLinkset
83 // Nothing to do for constraints on property updates 83 // Nothing to do for constraints on property updates
84 } 84 }
85 85
86 // The children of the linkset are moved around by the constraints.
87 // Just grab the current values of wherever it is right now.
88 public override OMV.Vector3 Position(BSPhysObject member)
89 {
90 return BulletSimAPI.GetPosition2(member.PhysBody.ptr);
91 }
92
93 public override OMV.Quaternion Orientation(BSPhysObject member)
94 {
95 return BulletSimAPI.GetOrientation2(member.PhysBody.ptr);
96 }
97
98 // Routine called when rebuilding the body of some member of the linkset. 86 // Routine called when rebuilding the body of some member of the linkset.
99 // Destroy all the constraints have have been made to root and set 87 // Destroy all the constraints have have been made to root and set
100 // up to rebuild the constraints before the next simulation step. 88 // up to rebuild the constraints before the next simulation step.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index c9c9c2c..53be2e3 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -279,9 +279,12 @@ public sealed class BSPrim : BSPhysObject
279 } 279 }
280 public override OMV.Vector3 Position { 280 public override OMV.Vector3 Position {
281 get { 281 get {
282 /* NOTE: this refetch is not necessary. The simulator knows about linkset children
283 * and does not fetch this position info for children. Thus this is commented out.
282 // child prims move around based on their parent. Need to get the latest location 284 // child prims move around based on their parent. Need to get the latest location
283 if (!Linkset.IsRoot(this)) 285 if (!Linkset.IsRoot(this))
284 _position = Linkset.Position(this); 286 _position = Linkset.PositionGet(this);
287 */
285 288
286 // don't do the GetObjectPosition for root elements because this function is called a zillion times. 289 // don't do the GetObjectPosition for root elements because this function is called a zillion times.
287 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); 290 // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
@@ -289,21 +292,18 @@ public sealed class BSPrim : BSPhysObject
289 } 292 }
290 set { 293 set {
291 // If the position must be forced into the physics engine, use ForcePosition. 294 // If the position must be forced into the physics engine, use ForcePosition.
295 // All positions are given in world positions.
292 if (_position == value) 296 if (_position == value)
293 { 297 {
298 DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
294 return; 299 return;
295 } 300 }
296 _position = value; 301 _position = value;
297 // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
298 PositionSanityCheck(false); 302 PositionSanityCheck(false);
299 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() 303 PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
300 { 304 {
301 // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 305 DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
302 if (PhysBody.HasPhysicalBody) 306 ForcePosition = _position;
303 {
304 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
305 ActivateIfPhysical(false);
306 }
307 }); 307 });
308 } 308 }
309 } 309 }
@@ -314,9 +314,11 @@ public sealed class BSPrim : BSPhysObject
314 } 314 }
315 set { 315 set {
316 _position = value; 316 _position = value;
317 // PositionSanityCheck(); // Don't do this! Causes a loop and caller should know better. 317 if (PhysBody.HasPhysicalBody)
318 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); 318 {
319 ActivateIfPhysical(false); 319 BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
320 ActivateIfPhysical(false);
321 }
320 } 322 }
321 } 323 }
322 324
@@ -551,11 +553,14 @@ public sealed class BSPrim : BSPhysObject
551 } 553 }
552 public override OMV.Quaternion Orientation { 554 public override OMV.Quaternion Orientation {
553 get { 555 get {
556 /* NOTE: this refetch is not necessary. The simulator knows about linkset children
557 * and does not fetch this position info for children. Thus this is commented out.
554 // Children move around because tied to parent. Get a fresh value. 558 // Children move around because tied to parent. Get a fresh value.
555 if (!Linkset.IsRoot(this)) 559 if (!Linkset.IsRoot(this))
556 { 560 {
557 _orientation = Linkset.Orientation(this); 561 _orientation = Linkset.OrientationGet(this);
558 } 562 }
563 */
559 return _orientation; 564 return _orientation;
560 } 565 }
561 set { 566 set {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 7d6ace8..9b89f0b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -37,6 +37,7 @@ Border crossing with linked vehicle causes crash
37 37
38BULLETSIM TODO LIST: 38BULLETSIM TODO LIST:
39================================================= 39=================================================
40Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
40Avatar height off after unsitting (floats off ground) 41Avatar height off after unsitting (floats off ground)
41 Editting appearance then moving restores. 42 Editting appearance then moving restores.
42 Must not be initializing height when recreating capsule after unsit. 43 Must not be initializing height when recreating capsule after unsit.
@@ -64,6 +65,8 @@ Implement ShapeCollection.Dispose()
64Implement water as a plain so raycasting and collisions can happen with same. 65Implement water as a plain so raycasting and collisions can happen with same.
65Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE 66Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE
66 Also osGetPhysicsEngineVerion() maybe. 67 Also osGetPhysicsEngineVerion() maybe.
68Linkset.Position and Linkset.Orientation requre rewrite to properly return
69 child position. LinksetConstraint acts like it's at taint time!!
67 70
68LINKSETS 71LINKSETS
69====================================================== 72======================================================