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-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs65
1 files changed, 36 insertions, 29 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 67979b3..086aa12 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -43,23 +43,20 @@ public sealed class BSLinksetConstraints : BSLinkset
43 43
44 // When physical properties are changed the linkset needs to recalculate 44 // When physical properties are changed the linkset needs to recalculate
45 // its internal properties. 45 // its internal properties.
46 // May be called at runtime or taint-time (just pass the appropriate flag). 46 // This is queued in such a way that the
47 public override void Refresh(BSPhysObject requestor, bool inTaintTime) 47 // refresh will only happen once after all the other taints are applied.
48 public override void Refresh(BSPhysObject requestor)
48 { 49 {
49 // If there are no children or not root, I am not the one that recomputes the constraints 50 // If there are no children, there are no constraints to recompute.
50 if (!HasAnyChildren || !IsRoot(requestor)) 51 if (!HasAnyChildren)
51 return; 52 return;
52 53
53 BSScene.TaintCallback refreshOperation = delegate() 54 // Queue to happen after all the other taint processing
55 PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
54 { 56 {
55 RecomputeLinksetConstraintVariables(); 57 RecomputeLinksetConstraintVariables();
56 DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", 58 });
57 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); 59
58 };
59 if (inTaintTime)
60 refreshOperation();
61 else
62 PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation);
63 } 60 }
64 61
65 // The object is going dynamic (physical). Do any setup necessary 62 // The object is going dynamic (physical). Do any setup necessary
@@ -104,14 +101,14 @@ public sealed class BSLinksetConstraints : BSLinkset
104 if (IsRoot(child)) 101 if (IsRoot(child))
105 { 102 {
106 // If the one with the dependency is root, must undo all children 103 // If the one with the dependency is root, must undo all children
107 DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", 104 DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
108 child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); 105 child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
109 106
110 ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); 107 ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
111 } 108 }
112 else 109 else
113 { 110 {
114 DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}", 111 DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
115 child.LocalID, 112 child.LocalID,
116 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), 113 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
117 child.LocalID, child.BSBody.ptr.ToString("X")); 114 child.LocalID, child.BSBody.ptr.ToString("X"));
@@ -132,7 +129,7 @@ public sealed class BSLinksetConstraints : BSLinkset
132 { 129 {
133 if (IsRoot(child)) 130 if (IsRoot(child))
134 { 131 {
135 DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}", 132 DetailLog("{0},BSLinksetConstraint.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}",
136 child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); 133 child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
137 foreach (BSPhysObject bpo in m_taintChildren) 134 foreach (BSPhysObject bpo in m_taintChildren)
138 { 135 {
@@ -141,7 +138,7 @@ public sealed class BSLinksetConstraints : BSLinkset
141 } 138 }
142 else 139 else
143 { 140 {
144 DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}", 141 DetailLog("{0},BSLinksetConstraint.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
145 LinksetRoot.LocalID, 142 LinksetRoot.LocalID,
146 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), 143 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
147 child.LocalID, child.BSBody.ptr.ToString("X")); 144 child.LocalID, child.BSBody.ptr.ToString("X"));
@@ -178,6 +175,7 @@ public sealed class BSLinksetConstraints : BSLinkset
178 PhysicallyLinkAChildToRoot(rootx, childx); 175 PhysicallyLinkAChildToRoot(rootx, childx);
179 m_taintChildren.Add(child); 176 m_taintChildren.Add(child);
180 }); 177 });
178 Refresh(LinksetRoot);
181 } 179 }
182 return; 180 return;
183 } 181 }
@@ -211,9 +209,9 @@ public sealed class BSLinksetConstraints : BSLinkset
211 { 209 {
212 m_taintChildren.Remove(child); 210 m_taintChildren.Remove(child);
213 PhysicallyUnlinkAChildFromRoot(rootx, childx); 211 PhysicallyUnlinkAChildFromRoot(rootx, childx);
214 RecomputeLinksetConstraintVariables();
215 }); 212 });
216 213 // See that the linkset parameters are recomputed at the end of the taint time.
214 Refresh(LinksetRoot);
217 } 215 }
218 else 216 else
219 { 217 {
@@ -237,7 +235,7 @@ public sealed class BSLinksetConstraints : BSLinkset
237 // real world coordinate of midpoint between the two objects 235 // real world coordinate of midpoint between the two objects
238 OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); 236 OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
239 237
240 DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", 238 DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
241 rootPrim.LocalID, 239 rootPrim.LocalID,
242 rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), 240 rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
243 childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"), 241 childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"),
@@ -248,6 +246,7 @@ public sealed class BSLinksetConstraints : BSLinkset
248 246
249 BSConstraint6Dof constrain = new BSConstraint6Dof( 247 BSConstraint6Dof constrain = new BSConstraint6Dof(
250 PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true ); 248 PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true );
249 // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true );
251 250
252 /* NOTE: below is an attempt to build constraint with full frame computation, etc. 251 /* NOTE: below is an attempt to build constraint with full frame computation, etc.
253 * Using the midpoint is easier since it lets the Bullet code manipulate the transforms 252 * Using the midpoint is easier since it lets the Bullet code manipulate the transforms
@@ -264,7 +263,7 @@ public sealed class BSLinksetConstraints : BSLinkset
264 263
265 // create a constraint that allows no freedom of movement between the two objects 264 // create a constraint that allows no freedom of movement between the two objects
266 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 265 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
267 DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); 266 DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
268 BS6DofConstraint constrain = new BS6DofConstraint( 267 BS6DofConstraint constrain = new BS6DofConstraint(
269 PhysicsScene.World, rootPrim.Body, childPrim.Body, 268 PhysicsScene.World, rootPrim.Body, childPrim.Body,
270 OMV.Vector3.Zero, 269 OMV.Vector3.Zero,
@@ -307,7 +306,7 @@ public sealed class BSLinksetConstraints : BSLinkset
307 private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) 306 private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
308 { 307 {
309 bool ret = false; 308 bool ret = false;
310 DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", 309 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
311 rootPrim.LocalID, 310 rootPrim.LocalID,
312 rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), 311 rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
313 childPrim.LocalID, childPrim.BSBody.ptr.ToString("X")); 312 childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"));
@@ -327,7 +326,7 @@ public sealed class BSLinksetConstraints : BSLinkset
327 // Called at taint time! 326 // Called at taint time!
328 private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) 327 private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
329 { 328 {
330 DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); 329 DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
331 bool ret = false; 330 bool ret = false;
332 331
333 if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody)) 332 if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody))
@@ -350,7 +349,7 @@ public sealed class BSLinksetConstraints : BSLinkset
350 BSConstraint constrain; 349 BSConstraint constrain;
351 if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) 350 if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
352 { 351 {
353 // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", 352 // DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
354 // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); 353 // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
355 constrain.RecomputeConstraintVariables(linksetMass); 354 constrain.RecomputeConstraintVariables(linksetMass);
356 } 355 }
@@ -367,15 +366,23 @@ public sealed class BSLinksetConstraints : BSLinkset
367 { 366 {
368 // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass 367 // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
369 OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); 368 OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
370 BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, 369 BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
371 centerOfMass, OMV.Quaternion.Identity); 370 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
372 DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}", 371 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
373 LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X")); 372 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2},linksetMass={3}",
373 LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass);
374 foreach (BSPhysObject child in m_taintChildren) 374 foreach (BSPhysObject child in m_taintChildren)
375 { 375 {
376 BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, 376 BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
377 centerOfMass, OMV.Quaternion.Identity); 377 // A child in the linkset physically shows the mass of the whole linkset.
378 // This allows Bullet to apply enough force on the child to move the whole linkset.
379 child.UpdatePhysicalMassProperties(linksetMass);
380 // DEBUG: see of inter-linkset collisions are causing problems
381 // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr,
382 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
378 } 383 }
384 // Also update the root's physical mass to the whole linkset
385 LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
379 386
380 // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG 387 // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG
381 } 388 }