From 24df15dab7befd50f7a45eb54f001e6e481f0ec4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 1 Aug 2013 17:43:06 -0700 Subject: BulletSim: add implementation of 'physSetLinksetType' and 'physGetLinksetType' and processing routines in BulletSim. Add linkset rebuild/conversion routine in BSLinkset. --- .../Scripting/ExtendedPhysics/ExtendedPhysics.cs | 65 ++++++++++++++++++++-- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 + .../Physics/BulletSPlugin/BSLinksetCompound.cs | 1 + .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 44 +++++++++++++++ .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 30 ++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 17 ++++++ OpenSim/Region/Physics/Manager/PhysicsActor.cs | 3 +- OpenSim/Region/Physics/Manager/PhysicsScene.cs | 3 +- 9 files changed, 159 insertions(+), 7 deletions(-) diff --git a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs index 0cbc5f9..d1d318c 100755 --- a/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs +++ b/OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs @@ -49,10 +49,20 @@ public class ExtendedPhysics : INonSharedRegionModule private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static string LogHeader = "[EXTENDED PHYSICS]"; + // ============================================================= // Since BulletSim is a plugin, this these values aren't defined easily in one place. - // This table must coorespond to an identical table in BSScene. + // This table must correspond to an identical table in BSScene. + + // Per scene functions. See BSScene. + + // Per avatar functions. See BSCharacter. + + // Per prim functions. See BSPrim. + public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType"; public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType"; + // ============================================================= + private IConfig Configuration { get; set; } private bool Enabled { get; set; } private Scene BaseScene { get; set; } @@ -123,6 +133,7 @@ public class ExtendedPhysics : INonSharedRegionModule // Register as LSL functions all the [ScriptInvocation] marked methods. Comms.RegisterScriptInvocations(this); + Comms.RegisterConstants(this); // When an object is modified, we might need to update its extended physics parameters BaseScene.EventManager.OnObjectAddedToScene += EventManager_OnObjectAddedToScene; @@ -136,7 +147,6 @@ public class ExtendedPhysics : INonSharedRegionModule private void EventManager_OnObjectAddedToScene(SceneObjectGroup obj) { - throw new NotImplementedException(); } // Event generated when some property of a prim changes. @@ -168,9 +178,11 @@ public class ExtendedPhysics : INonSharedRegionModule public static int PHYS_LINKSET_TYPE_MANUAL = 2; [ScriptInvocation] - public void physSetLinksetType(UUID hostID, UUID scriptID, int linksetType) + public int physSetLinksetType(UUID hostID, UUID scriptID, int linksetType) { - if (!Enabled) return; + int ret = -1; + + if (!Enabled) return ret; // The part that is requesting the change. SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID); @@ -186,7 +198,7 @@ public class ExtendedPhysics : INonSharedRegionModule Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor; if (rootPhysActor != null) { - rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType); + ret = (int)rootPhysActor.Extension(PhysFunctSetLinksetType, linksetType); } else { @@ -204,6 +216,49 @@ public class ExtendedPhysics : INonSharedRegionModule { m_log.WarnFormat("{0} physSetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID); } + return ret; + } + + [ScriptInvocation] + public int physGetLinksetType(UUID hostID, UUID scriptID) + { + int ret = -1; + + if (!Enabled) return ret; + + // The part that is requesting the change. + SceneObjectPart requestingPart = BaseScene.GetSceneObjectPart(hostID); + + if (requestingPart != null) + { + // The type is is always on the root of a linkset. + SceneObjectGroup containingGroup = requestingPart.ParentGroup; + SceneObjectPart rootPart = containingGroup.RootPart; + + if (rootPart != null) + { + Physics.Manager.PhysicsActor rootPhysActor = rootPart.PhysActor; + if (rootPhysActor != null) + { + ret = (int)rootPhysActor.Extension(PhysFunctGetLinksetType); + } + else + { + m_log.WarnFormat("{0} physGetLinksetType: root part does not have a physics actor. rootName={1}, hostID={2}", + LogHeader, rootPart.Name, hostID); + } + } + else + { + m_log.WarnFormat("{0} physGetLinksetType: root part does not exist. RequestingPartName={1}, hostID={2}", + LogHeader, requestingPart.Name, hostID); + } + } + else + { + m_log.WarnFormat("{0} physGetLinsetType: cannot find script object in scene. hostID={1}", LogHeader, hostID); + } + return ret; } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 9613fe0..3afd52e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -79,6 +79,8 @@ public abstract class BSLinkset } } + public LinksetImplementation LinksetImpl { get; protected set; } + public BSPrimLinkable LinksetRoot { get; protected set; } protected BSScene m_physicsScene { get; private set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 53c3584..085d195 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -42,6 +42,7 @@ public sealed class BSLinksetCompound : BSLinkset public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) : base(scene, parent) { + LinksetImpl = LinksetImplementation.Compound; } // ================================================================ diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index d98bf77..4bac222 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -107,6 +107,7 @@ public sealed class BSLinksetConstraints : BSLinkset public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent) { + LinksetImpl = LinksetImplementation.Constraint; } // When physical properties are changed the linkset needs to recalculate diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e92a1d2..a0b6abc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1541,6 +1541,50 @@ public class BSPrim : BSPhysObject PhysicalActors.RemoveDependencies(); } + #region Extension + public override object Extension(string pFunct, params object[] pParams) + { + object ret = null; + switch (pFunct) + { + case BSScene.PhysFunctGetLinksetType: + { + BSPrimLinkable myHandle = this as BSPrimLinkable; + if (myHandle != null) + { + ret = (object)myHandle.LinksetType; + } + m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret); + break; + } + case BSScene.PhysFunctSetLinksetType: + { + if (pParams.Length > 0) + { + BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[0]; + BSPrimLinkable myHandle = this as BSPrimLinkable; + if (myHandle != null && myHandle.Linkset.IsRoot(myHandle)) + { + PhysScene.TaintedObject("BSPrim.PhysFunctSetLinksetType", delegate() + { + // Cause the linkset type to change + m_log.DebugFormat("{0} Extension.physSetLinksetType, oldType={1}, newType={2}", + LogHeader, myHandle.Linkset.LinksetImpl, linksetType); + myHandle.ConvertLinkset(linksetType); + }); + } + ret = (object)(int)linksetType; + } + break; + } + default: + ret = base.Extension(pFunct, pParams); + break; + } + return ret; + } + #endregion // Extension + // The physics engine says that properties have updated. Update same and inform // the world that things have changed. // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimLinkable which modifies updates from root and children prims. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 2f392da..c565998 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -233,5 +233,35 @@ public class BSPrimLinkable : BSPrimDisplaced base.HasSomeCollision = value; } } + + // Convert the existing linkset of this prim into a new type. + public bool ConvertLinkset(BSLinkset.LinksetImplementation newType) + { + bool ret = false; + if (LinksetType != newType) + { + BSLinkset oldLinkset = Linkset; + BSLinkset newLinkset = BSLinkset.Factory(PhysScene, this); + + // Pick up any physical dependencies this linkset might have in the physics engine. + oldLinkset.RemoveDependencies(this); + + // Copy the linkset children from the old linkset to the new (will be a new instance from the factory) + oldLinkset.ForEachLinkInfo((li) => + { + oldLinkset.RemoveMeFromLinkset(li.member); + newLinkset.AddMeToLinkset(li.member); + li.member.Linkset = newLinkset; + return false; + }); + + this.Linkset = newLinkset; + + // Force the shape and linkset to get reconstructed + newLinkset.Refresh(this); + this.ForceBodyShapeRebuild(true); + } + return ret; + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 41aca3b..79ac5a5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -862,6 +862,23 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public override bool IsThreaded { get { return false; } } + #region Extensions + // ============================================================= + // Per scene functions. See below. + + // Per avatar functions. See BSCharacter. + + // Per prim functions. See BSPrim. + public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType"; + public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType"; + // ============================================================= + + public override object Extension(string pFunct, params object[] pParams) + { + return base.Extension(pFunct, pParams); + } + #endregion // Extensions + #region Taints // The simulation execution order is: // Simulate() diff --git a/OpenSim/Region/Physics/Manager/PhysicsActor.cs b/OpenSim/Region/Physics/Manager/PhysicsActor.cs index 2500f27..1750853 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsActor.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsActor.cs @@ -317,7 +317,8 @@ namespace OpenSim.Region.Physics.Manager // Extendable interface for new, physics engine specific operations public virtual object Extension(string pFunct, params object[] pParams) { - throw new NotImplementedException(); + // A NOP of the physics engine does not implement this feature + return null; } } diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs index 07a1d36..c93206d 100644 --- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs +++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs @@ -338,7 +338,8 @@ namespace OpenSim.Region.Physics.Manager // Extendable interface for new, physics engine specific operations public virtual object Extension(string pFunct, params object[] pParams) { - throw new NotImplementedException(); + // A NOP if the extension thing is not implemented by the physics engine + return null; } } } -- cgit v1.1