From a61f20ac74836049cbd24397670c2dcd75fb22da Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 21 Oct 2012 16:12:06 -0700 Subject: BulletSim: Create LinkSet abstract class and sparate constraint based linksets into own subclass. Will eventually add manual movement linkset subclass. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 355 ++---------------- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 396 +++++++++++++++++++++ .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +- 3 files changed, 434 insertions(+), 319 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 43b1262..2e6b104 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -32,10 +32,27 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSLinkset +public abstract class BSLinkset { // private static string LogHeader = "[BULLETSIM LINKSET]"; + // Create the correct type of linkset for this child + public static BSLinkset Factory(BSScene physScene, BSPhysObject parent) + { + BSLinkset ret = null; + /* + if (parent.IsPhysical) + ret = new BSLinksetConstraints(physScene, parent); + else + ret = new BSLinksetManual(physScene, parent); + */ + + // at the moment, there is only one + ret = new BSLinksetConstraints(physScene, parent); + + return ret; + } + public BSPhysObject LinksetRoot { get; protected set; } public BSScene PhysicsScene { get; private set; } @@ -52,16 +69,16 @@ public class BSLinkset // the physical 'taint' children separately. // After taint processing and before the simulation step, these // two lists must be the same. - private HashSet m_children; - private HashSet m_taintChildren; + protected HashSet m_children; + protected HashSet m_taintChildren; // We lock the diddling of linkset classes to prevent any badness. // This locks the modification of the instances of this class. Changes // to the physical representation is done via the tainting mechenism. - private object m_linksetActivityLock = new Object(); + protected object m_linksetActivityLock = new Object(); // We keep the prim's mass in the linkset structure since it could be dependent on other prims - private float m_mass; + protected float m_mass; public float LinksetMass { get @@ -81,7 +98,7 @@ public class BSLinkset get { return ComputeLinksetGeometricCenter(); } } - public BSLinkset(BSScene scene, BSPhysObject parent) + protected void Initialize(BSScene scene, BSPhysObject parent) { // A simple linkset of one (no children) LinksetID = m_nextLinksetID++; @@ -128,7 +145,7 @@ public class BSLinkset } // The child is down to a linkset of just itself - return new BSLinkset(PhysicsScene, child); + return BSLinkset.Factory(PhysicsScene, child); } // Return 'true' if the passed object is the root object of this linkset @@ -163,24 +180,7 @@ public class BSLinkset // When physical properties are changed the linkset needs to recalculate // its internal properties. // May be called at runtime or taint-time (just pass the appropriate flag). - public void Refresh(BSPhysObject requestor, bool inTaintTime) - { - // If there are no children, not physical or not root, I am not the one that recomputes the constraints - // (For the moment, static linksets do create constraints so remove the test for physical.) - if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor)) - return; - - BSScene.TaintCallback refreshOperation = delegate() - { - RecomputeLinksetConstraintVariables(); - DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", - LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); - }; - if (inTaintTime) - refreshOperation(); - else - PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation); - } + public abstract void Refresh(BSPhysObject requestor, bool inTaintTime); // The object is going dynamic (physical). Do any setup necessary // for a dynamic linkset. @@ -188,102 +188,36 @@ public class BSLinkset // has not yet been fully constructed. // Return 'true' if any properties updated on the passed object. // Called at taint-time! - public bool MakeDynamic(BSPhysObject child) - { - // What is done for each object in BSPrim is what we want. - return false; - } + public abstract bool MakeDynamic(BSPhysObject child); // The object is going static (non-physical). Do any setup necessary // for a static linkset. // Return 'true' if any properties updated on the passed object. // Called at taint-time! - public bool MakeStatic(BSPhysObject child) - { - // What is done for each object in BSPrim is what we want. - return false; - } + public abstract bool MakeStatic(BSPhysObject child); // If the software is handling the movement of all the objects in a linkset // (like if one doesn't use constraints for static linksets), this is called // when an update for the root of the linkset is received. // Called at taint-time!! - public void UpdateProperties(BSPhysObject physObject) - { - // The root local properties have been updated. Apply to the children if appropriate. - if (IsRoot(physObject) && HasAnyChildren) - { - if (!physObject.IsPhysical) - { - // TODO: implement software linkset update for static object linksets - } - } - } + public abstract void UpdateProperties(BSPhysObject physObject); // Routine used when rebuilding the body of the root of the linkset // Destroy all the constraints have have been made to root. // This is called when the root body is changing. // Returns 'true' of something eas actually removed and would need restoring // Called at taint-time!! - public bool RemoveBodyDependencies(BSPrim child) - { - bool ret = false; - - lock (m_linksetActivityLock) - { - if (IsRoot(child)) - { - // If the one with the dependency is root, must undo all children - DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); - - ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); - } - else - { - DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}", - child.LocalID, - LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), - child.LocalID, child.BSBody.ptr.ToString("X")); - // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child); - // Despite the function name, this removes any link to the specified object. - ret = PhysicallyUnlinkAllChildrenFromRoot(child); - } - } - return ret; - } + public abstract bool RemoveBodyDependencies(BSPrim child); // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', // this routine will restore the removed constraints. // Called at taint-time!! - public void RestoreBodyDependencies(BSPrim child) - { - lock (m_linksetActivityLock) - { - if (IsRoot(child)) - { - DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}", - child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); - foreach (BSPhysObject bpo in m_taintChildren) - { - PhysicallyLinkAChildToRoot(LinksetRoot, bpo); - } - } - else - { - DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}", - LinksetRoot.LocalID, - LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), - child.LocalID, child.BSBody.ptr.ToString("X")); - PhysicallyLinkAChildToRoot(LinksetRoot, child); - } - } - } + public abstract void RestoreBodyDependencies(BSPrim child); // ================================================================ // Below this point is internal magic - private float ComputeLinksetMass() + protected virtual float ComputeLinksetMass() { float mass; lock (m_linksetActivityLock) @@ -297,7 +231,7 @@ public class BSLinkset return mass; } - private OMV.Vector3 ComputeLinksetCenterOfMass() + protected virtual OMV.Vector3 ComputeLinksetCenterOfMass() { OMV.Vector3 com; lock (m_linksetActivityLock) @@ -317,7 +251,7 @@ public class BSLinkset return com; } - private OMV.Vector3 ComputeLinksetGeometricCenter() + protected virtual OMV.Vector3 ComputeLinksetGeometricCenter() { OMV.Vector3 com; lock (m_linksetActivityLock) @@ -336,236 +270,21 @@ public class BSLinkset // I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. - private void AddChildToLinkset(BSPhysObject child) - { - if (!HasChild(child)) - { - m_children.Add(child); - - BSPhysObject rootx = LinksetRoot; // capture the root as of now - BSPhysObject childx = child; - - DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); - - PhysicsScene.TaintedObject("AddChildToLinkset", delegate() - { - DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", - rootx.LocalID, - rootx.LocalID, rootx.BSBody.ptr.ToString("X"), - childx.LocalID, childx.BSBody.ptr.ToString("X")); - // Since this is taint-time, the body and shape could have changed for the child - rootx.ForcePosition = rootx.Position; // DEBUG - childx.ForcePosition = childx.Position; // DEBUG - PhysicallyLinkAChildToRoot(rootx, childx); - m_taintChildren.Add(child); - }); - } - return; - } + protected abstract void AddChildToLinkset(BSPhysObject child); // Forcefully removing a child from a linkset. // This is not being called by the child so we have to make sure the child doesn't think // it's still connected to the linkset. // Normal OpenSimulator operation will never do this because other SceneObjectPart information // also has to be updated (like pointer to prim's parent). - private void RemoveChildFromOtherLinkset(BSPhysObject pchild) - { - pchild.Linkset = new BSLinkset(PhysicsScene, pchild); - RemoveChildFromLinkset(pchild); - } + protected abstract void RemoveChildFromOtherLinkset(BSPhysObject pchild); // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. - private void RemoveChildFromLinkset(BSPhysObject child) - { - if (m_children.Remove(child)) - { - BSPhysObject rootx = LinksetRoot; // capture the root and body as of now - BSPhysObject childx = child; - - DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", - childx.LocalID, - rootx.LocalID, rootx.BSBody.ptr.ToString("X"), - childx.LocalID, childx.BSBody.ptr.ToString("X")); - - PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() - { - m_taintChildren.Remove(child); - PhysicallyUnlinkAChildFromRoot(rootx, childx); - RecomputeLinksetConstraintVariables(); - }); - - } - else - { - // This will happen if we remove the root of the linkset first. Non-fatal occurance. - // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); - } - return; - } - - // Create a constraint between me (root of linkset) and the passed prim (the child). - // Called at taint time! - private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) - { - // Zero motion for children so they don't interpolate - childPrim.ZeroMotion(); - - // Relative position normalized to the root prim - // Essentually a vector pointing from center of rootPrim to center of childPrim - OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position; - - // real world coordinate of midpoint between the two objects - OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); - - DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", - rootPrim.LocalID, - rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), - childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"), - rootPrim.Position, childPrim.Position, midPoint); - - // create a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - - BS6DofConstraint constrain = new BS6DofConstraint( - PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true ); - - /* NOTE: below is an attempt to build constraint with full frame computation, etc. - * Using the midpoint is easier since it lets the Bullet code manipulate the transforms - * of the objects. - * Code left as a warning to future programmers. - // ================================================================================== - // relative position normalized to the root prim - OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); - OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation; - - // relative rotation of the child to the parent - OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; - OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation); - - // create a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); - BS6DofConstraint constrain = new BS6DofConstraint( - PhysicsScene.World, rootPrim.Body, childPrim.Body, - OMV.Vector3.Zero, - OMV.Quaternion.Inverse(rootPrim.Orientation), - OMV.Vector3.Zero, - OMV.Quaternion.Inverse(childPrim.Orientation), - // A point half way between the parent and child - // childRelativePosition/2, - // childRelativeRotation, - // childRelativePosition/2, - // inverseChildRelativeRotation, - true, - true - ); - // ================================================================================== - */ - - PhysicsScene.Constraints.AddConstraint(constrain); - - // zero linear and angular limits makes the objects unable to move in relation to each other - constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); - constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); - - // tweek the constraint to increase stability - constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset)); - constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor), - PhysicsScene.Params.linkConstraintTransMotorMaxVel, - PhysicsScene.Params.linkConstraintTransMotorMaxForce); - constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); - if (PhysicsScene.Params.linkConstraintSolverIterations != 0f) - { - constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations); - } - } - - // Remove linkage between myself and a particular child - // The root and child bodies are passed in because we need to remove the constraint between - // the bodies that were at unlink time. - // Called at taint time! - private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) - { - bool ret = false; - DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", - rootPrim.LocalID, - rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), - childPrim.LocalID, childPrim.BSBody.ptr.ToString("X")); - - // Find the constraint for this link and get rid of it from the overall collection and from my list - if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody)) - { - // Make the child refresh its location - BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); - ret = true; - } - - return ret; - } - - // Remove linkage between myself and any possible children I might have. - // Called at taint time! - private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) - { - DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); - bool ret = false; - - if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody)) - { - ret = true; - } - return ret; - } - - // Call each of the constraints that make up this linkset and recompute the - // various transforms and variables. Used when objects are added or removed - // from a linkset to make sure the constraints know about the new mass and - // geometry. - // Must only be called at taint time!! - private void RecomputeLinksetConstraintVariables() - { - float linksetMass = LinksetMass; - foreach (BSPhysObject child in m_taintChildren) - { - BSConstraint constrain; - if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) - { - // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", - // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); - constrain.RecomputeConstraintVariables(linksetMass); - } - else - { - // Non-fatal error that happens when children are being added to the linkset but - // their constraints have not been created yet. - break; - } - } - - // If the whole linkset is not here, doesn't make sense to recompute linkset wide values - if (m_children.Count == m_taintChildren.Count) - { - // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass - OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); - BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, - centerOfMass, OMV.Quaternion.Identity); - DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}", - LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X")); - foreach (BSPhysObject child in m_taintChildren) - { - BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, - centerOfMass, OMV.Quaternion.Identity); - } - - // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG - } - return; - } - + protected abstract void RemoveChildFromLinkset(BSPhysObject child); // Invoke the detailed logger and output something if it's enabled. - private void DetailLog(string msg, params Object[] args) + protected void DetailLog(string msg, params Object[] args) { if (PhysicsScene.PhysicsLogging.Enabled) PhysicsScene.DetailLog(msg, args); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs new file mode 100755 index 0000000..ee53d92 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -0,0 +1,396 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSLinksetConstraints : BSLinkset +{ + // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; + + public BSLinksetConstraints(BSScene scene, BSPhysObject parent) + { + base.Initialize(scene, parent); + } + + // When physical properties are changed the linkset needs to recalculate + // its internal properties. + // May be called at runtime or taint-time (just pass the appropriate flag). + public override void Refresh(BSPhysObject requestor, bool inTaintTime) + { + // If there are no children, not physical or not root, I am not the one that recomputes the constraints + // (For the moment, static linksets do create constraints so remove the test for physical.) + if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor)) + return; + + BSScene.TaintCallback refreshOperation = delegate() + { + RecomputeLinksetConstraintVariables(); + DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", + LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); + }; + if (inTaintTime) + refreshOperation(); + else + PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation); + } + + // The object is going dynamic (physical). Do any setup necessary + // for a dynamic linkset. + // Only the state of the passed object can be modified. The rest of the linkset + // has not yet been fully constructed. + // Return 'true' if any properties updated on the passed object. + // Called at taint-time! + public override bool MakeDynamic(BSPhysObject child) + { + // What is done for each object in BSPrim is what we want. + return false; + } + + // The object is going static (non-physical). Do any setup necessary + // for a static linkset. + // Return 'true' if any properties updated on the passed object. + // Called at taint-time! + public override bool MakeStatic(BSPhysObject child) + { + // What is done for each object in BSPrim is what we want. + return false; + } + + // If the software is handling the movement of all the objects in a linkset + // (like if one doesn't use constraints for static linksets), this is called + // when an update for the root of the linkset is received. + // Called at taint-time!! + public override void UpdateProperties(BSPhysObject physObject) + { + // The root local properties have been updated. Apply to the children if appropriate. + if (IsRoot(physObject) && HasAnyChildren) + { + if (!physObject.IsPhysical) + { + // TODO: implement software linkset update for static object linksets + } + } + } + + // Routine used when rebuilding the body of the root of the linkset + // Destroy all the constraints have have been made to root. + // This is called when the root body is changing. + // Returns 'true' of something eas actually removed and would need restoring + // Called at taint-time!! + public override bool RemoveBodyDependencies(BSPrim child) + { + bool ret = false; + + lock (m_linksetActivityLock) + { + if (IsRoot(child)) + { + // If the one with the dependency is root, must undo all children + DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", + child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); + + ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); + } + else + { + DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}", + child.LocalID, + LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), + child.LocalID, child.BSBody.ptr.ToString("X")); + // ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child); + // Despite the function name, this removes any link to the specified object. + ret = PhysicallyUnlinkAllChildrenFromRoot(child); + } + } + return ret; + } + + // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', + // this routine will restore the removed constraints. + // Called at taint-time!! + public override void RestoreBodyDependencies(BSPrim child) + { + lock (m_linksetActivityLock) + { + if (IsRoot(child)) + { + DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}", + child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count); + foreach (BSPhysObject bpo in m_taintChildren) + { + PhysicallyLinkAChildToRoot(LinksetRoot, bpo); + } + } + else + { + DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}", + LinksetRoot.LocalID, + LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), + child.LocalID, child.BSBody.ptr.ToString("X")); + PhysicallyLinkAChildToRoot(LinksetRoot, child); + } + } + } + + // ================================================================ + // Below this point is internal magic + + // I am the root of a linkset and a new child is being added + // Called while LinkActivity is locked. + protected override void AddChildToLinkset(BSPhysObject child) + { + if (!HasChild(child)) + { + m_children.Add(child); + + BSPhysObject rootx = LinksetRoot; // capture the root as of now + BSPhysObject childx = child; + + DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); + + PhysicsScene.TaintedObject("AddChildToLinkset", delegate() + { + DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", + rootx.LocalID, + rootx.LocalID, rootx.BSBody.ptr.ToString("X"), + childx.LocalID, childx.BSBody.ptr.ToString("X")); + // Since this is taint-time, the body and shape could have changed for the child + rootx.ForcePosition = rootx.Position; // DEBUG + childx.ForcePosition = childx.Position; // DEBUG + PhysicallyLinkAChildToRoot(rootx, childx); + m_taintChildren.Add(child); + }); + } + return; + } + + // Forcefully removing a child from a linkset. + // This is not being called by the child so we have to make sure the child doesn't think + // it's still connected to the linkset. + // Normal OpenSimulator operation will never do this because other SceneObjectPart information + // also has to be updated (like pointer to prim's parent). + protected override void RemoveChildFromOtherLinkset(BSPhysObject pchild) + { + pchild.Linkset = BSLinkset.Factory(PhysicsScene, pchild); + RemoveChildFromLinkset(pchild); + } + + // I am the root of a linkset and one of my children is being removed. + // Safe to call even if the child is not really in my linkset. + protected override void RemoveChildFromLinkset(BSPhysObject child) + { + if (m_children.Remove(child)) + { + BSPhysObject rootx = LinksetRoot; // capture the root and body as of now + BSPhysObject childx = child; + + DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", + childx.LocalID, + rootx.LocalID, rootx.BSBody.ptr.ToString("X"), + childx.LocalID, childx.BSBody.ptr.ToString("X")); + + PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() + { + m_taintChildren.Remove(child); + PhysicallyUnlinkAChildFromRoot(rootx, childx); + RecomputeLinksetConstraintVariables(); + }); + + } + else + { + // This will happen if we remove the root of the linkset first. Non-fatal occurance. + // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); + } + return; + } + + // Create a constraint between me (root of linkset) and the passed prim (the child). + // Called at taint time! + private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) + { + // Zero motion for children so they don't interpolate + childPrim.ZeroMotion(); + + // Relative position normalized to the root prim + // Essentually a vector pointing from center of rootPrim to center of childPrim + OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position; + + // real world coordinate of midpoint between the two objects + OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); + + DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", + rootPrim.LocalID, + rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), + childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"), + rootPrim.Position, childPrim.Position, midPoint); + + // create a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + + BS6DofConstraint constrain = new BS6DofConstraint( + PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true ); + + /* NOTE: below is an attempt to build constraint with full frame computation, etc. + * Using the midpoint is easier since it lets the Bullet code manipulate the transforms + * of the objects. + * Code left as a warning to future programmers. + // ================================================================================== + // relative position normalized to the root prim + OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation); + OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation; + + // relative rotation of the child to the parent + OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; + OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation); + + // create a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID); + BS6DofConstraint constrain = new BS6DofConstraint( + PhysicsScene.World, rootPrim.Body, childPrim.Body, + OMV.Vector3.Zero, + OMV.Quaternion.Inverse(rootPrim.Orientation), + OMV.Vector3.Zero, + OMV.Quaternion.Inverse(childPrim.Orientation), + // A point half way between the parent and child + // childRelativePosition/2, + // childRelativeRotation, + // childRelativePosition/2, + // inverseChildRelativeRotation, + true, + true + ); + // ================================================================================== + */ + + PhysicsScene.Constraints.AddConstraint(constrain); + + // zero linear and angular limits makes the objects unable to move in relation to each other + constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); + constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); + + // tweek the constraint to increase stability + constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset)); + constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor), + PhysicsScene.Params.linkConstraintTransMotorMaxVel, + PhysicsScene.Params.linkConstraintTransMotorMaxForce); + constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); + if (PhysicsScene.Params.linkConstraintSolverIterations != 0f) + { + constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations); + } + } + + // Remove linkage between myself and a particular child + // The root and child bodies are passed in because we need to remove the constraint between + // the bodies that were at unlink time. + // Called at taint time! + private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) + { + bool ret = false; + DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", + rootPrim.LocalID, + rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), + childPrim.LocalID, childPrim.BSBody.ptr.ToString("X")); + + // Find the constraint for this link and get rid of it from the overall collection and from my list + if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody)) + { + // Make the child refresh its location + BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); + ret = true; + } + + return ret; + } + + // Remove linkage between myself and any possible children I might have. + // Called at taint time! + private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) + { + DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); + bool ret = false; + + if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody)) + { + ret = true; + } + return ret; + } + + // Call each of the constraints that make up this linkset and recompute the + // various transforms and variables. Used when objects are added or removed + // from a linkset to make sure the constraints know about the new mass and + // geometry. + // Must only be called at taint time!! + private void RecomputeLinksetConstraintVariables() + { + float linksetMass = LinksetMass; + foreach (BSPhysObject child in m_taintChildren) + { + BSConstraint constrain; + if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) + { + // DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}", + // LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID); + constrain.RecomputeConstraintVariables(linksetMass); + } + else + { + // Non-fatal error that happens when children are being added to the linkset but + // their constraints have not been created yet. + break; + } + } + + // If the whole linkset is not here, doesn't make sense to recompute linkset wide values + if (m_children.Count == m_taintChildren.Count) + { + // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass + OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); + BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, + centerOfMass, OMV.Quaternion.Identity); + DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}", + LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X")); + foreach (BSPhysObject child in m_taintChildren) + { + BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, + centerOfMass, OMV.Quaternion.Identity); + } + + // BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG + } + return; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index ead6a08..51b9196 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -46,7 +46,7 @@ public abstract class BSPhysObject : PhysicsActor PhysObjectName = name; TypeName = typeName; - Linkset = new BSLinkset(PhysicsScene, this); + Linkset = BSLinkset.Factory(PhysicsScene, this); LastAssetBuildFailed = false; CollisionCollection = new CollisionEventUpdate(); -- cgit v1.1 From c245178eeee530e2be90ef9395ee885e0a79b7df Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 21 Oct 2012 16:13:22 -0700 Subject: BulletSim: encorporate UBit's suggestion to save a copy of mesh raw data. --- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index d3ba273..7b808eb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -724,8 +724,7 @@ public class BSShapeCollection : IDisposable if (yprim.BaseShape.SculptTexture.ToString() != asset.ID) return; - yprim.BaseShape.SculptData = new byte[asset.Data.Length]; - asset.Data.CopyTo(yprim.BaseShape.SculptData, 0); + yprim.BaseShape.SculptData = asset.Data; // This will cause the prim to see that the filler shape is not the right // one and try again to build the object. yprim.ForceBodyShapeRebuild(false); -- cgit v1.1 From 65c131c4a362bed347a6240184ce40b9ddeaaae1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Oct 2012 08:23:21 -0700 Subject: BulletSim: remove trailing spaces to make git happy. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 10 +++++----- OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 10 +++++----- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 10 +++++----- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 6 +++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 10 +++++----- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 20 ++++++++++---------- 8 files changed, 36 insertions(+), 36 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 623ac8f..07dd613 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -165,7 +165,7 @@ public class BSCharacter : BSPhysObject // Do this after the object has been added to the world BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, - (uint)CollisionFilterGroups.AvatarFilter, + (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask); } @@ -269,7 +269,7 @@ public class BSCharacter : BSPhysObject private bool PositionSanityCheck() { bool ret = false; - + // If below the ground, move the avatar up float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); if (Position.Z < terrainHeight) @@ -413,7 +413,7 @@ public class BSCharacter : BSPhysObject }); } } - // Go directly to Bullet to get/set the value. + // Go directly to Bullet to get/set the value. public override OMV.Quaternion ForceOrientation { get @@ -478,7 +478,7 @@ public class BSCharacter : BSPhysObject set { _collidingObj = value; } } public override bool FloatOnWater { - set { + set { _floatOnWater = value; PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() { @@ -588,7 +588,7 @@ public class BSCharacter : BSPhysObject newScale.X = PhysicsScene.Params.avatarCapsuleRadius; newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; - // From the total height, remote the capsule half spheres that are at each end + // From the total height, remote the capsule half spheres that are at each end newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y); // newScale.Z = (size.Z * 2f); Scale = newScale; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index a20be3a..b58745a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -53,7 +53,7 @@ public abstract class BSConstraint : IDisposable { bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", - BSScene.DetailLogZero, + BSScene.DetailLogZero, m_body1.ID, m_body1.ptr.ToString("X"), m_body2.ID, m_body2.ptr.ToString("X"), success); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 56342b8..f71f3b0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -23,7 +23,7 @@ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ + * /* RA: June 14, 2011. Copied from ODEDynamics.cs and converted to * call the BulletSim system. @@ -352,7 +352,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_bankingMix = 1; // m_bankingTimescale = 1; // m_referenceFrame = Quaternion.Identity; - m_flags |= (VehicleFlag.NO_DEFLECTION_UP + m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); @@ -382,7 +382,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_bankingTimescale = 1; // m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY - | VehicleFlag.HOVER_GLOBAL_HEIGHT + | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY); m_flags |= (VehicleFlag.NO_DEFLECTION_UP @@ -458,7 +458,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Do any updating needed for a vehicle public void Refresh() { - if (!IsActive) + if (!IsActive) return; // Set the prim's inertia to zero. The vehicle code handles that and this @@ -791,7 +791,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Sum velocities m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection - + if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) { m_lastAngularVelocity.X = 0; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index ee53d92..8eeeb73 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -54,7 +54,7 @@ public class BSLinksetConstraints : BSLinkset BSScene.TaintCallback refreshOperation = delegate() { RecomputeLinksetConstraintVariables(); - DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", + DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}", LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); }; if (inTaintTime) @@ -179,7 +179,7 @@ public class BSLinksetConstraints : BSLinkset PhysicsScene.TaintedObject("AddChildToLinkset", delegate() { - DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", + DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}", rootx.LocalID, rootx.LocalID, rootx.BSBody.ptr.ToString("X"), childx.LocalID, childx.BSBody.ptr.ToString("X")); @@ -213,7 +213,7 @@ public class BSLinksetConstraints : BSLinkset BSPhysObject rootx = LinksetRoot; // capture the root and body as of now BSPhysObject childx = child; - DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", + DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", childx.LocalID, rootx.LocalID, rootx.BSBody.ptr.ToString("X"), childx.LocalID, childx.BSBody.ptr.ToString("X")); @@ -378,13 +378,13 @@ public class BSLinksetConstraints : BSLinkset { // If this is a multiple object linkset, set everybody's center of mass to the set's center of mass OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass(); - BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, + BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}", LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X")); foreach (BSPhysObject child in m_taintChildren) { - BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, + BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 51b9196..538f905 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -78,7 +78,7 @@ public abstract class BSPhysObject : PhysicsActor public PrimitiveBaseShape BaseShape { get; protected set; } // When the physical properties are updated, an EntityProperty holds the update values. - // Keep the current and last EntityProperties to enable computation of differences + // Keep the current and last EntityProperties to enable computation of differences // between the current update and the previous values. public EntityProperties CurrentEntityProperties { get; set; } public EntityProperties LastEntityProperties { get; set; } @@ -213,7 +213,7 @@ public abstract class BSPhysObject : PhysicsActor UnSubscribeEvents(); } } - public override void UnSubscribeEvents() { + public override void UnSubscribeEvents() { // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); SubscribedEventsMs = 0; PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() @@ -222,7 +222,7 @@ public abstract class BSPhysObject : PhysicsActor }); } // Return 'true' if the simulator wants collision events - public override bool SubscribedEvents() { + public override bool SubscribedEvents() { return (SubscribedEventsMs > 0); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index aeeb4dd..7b211fa 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -295,7 +295,7 @@ public sealed class BSPrim : BSPhysObject private bool PositionSanityCheck() { bool ret = false; - + // If totally below the ground, move the prim up // TODO: figure out the right solution for this... only for dynamic objects? /* @@ -510,7 +510,7 @@ public sealed class BSPrim : BSPhysObject }); } } - // Go directly to Bullet to get/set the value. + // Go directly to Bullet to get/set the value. public override OMV.Quaternion ForceOrientation { get @@ -768,7 +768,7 @@ public sealed class BSPrim : BSPhysObject } } public override bool FloatOnWater { - set { + set { _floatOnWater = value; PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() { @@ -971,7 +971,7 @@ public sealed class BSPrim : BSPhysObject if (hollowAmount > 0.0) { hollowVolume *= hollowAmount; - + switch (BaseShape.HollowShape) { case HollowShape.Square: @@ -1251,7 +1251,7 @@ public sealed class BSPrim : BSPhysObject // Create the correct physical representation for this type of object. // Updates BSBody and BSShape with the new information. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. - PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, + PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, null, delegate(BulletBody dBody) { // Called if the current prim body is about to be destroyed. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 6621d39..233f1ca 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -320,7 +320,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters { m_log.Debug("[BULLETS UNMANAGED]:" + msg); } - + // Called directly from unmanaged code so don't do much private void BulletLoggerPhysLog(string msg) { @@ -545,7 +545,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // This is a kludge to get avatar movement updates. - // The simulator expects collisions for avatars even if there are have been no collisions. + // The simulator expects collisions for avatars even if there are have been no collisions. // The event updates avatar animations and stuff. // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. foreach (BSPhysObject bsp in m_avatars) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 7b808eb..86bbf46 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -89,7 +89,7 @@ public class BSShapeCollection : IDisposable // higher level dependencies on the shape or body. Mostly used for LinkSets to // remove the physical constraints before the body is destroyed. // Called at taint-time!! - public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, + public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) { @@ -105,7 +105,7 @@ public class BSShapeCollection : IDisposable // If we had to select a new shape geometry for the object, // rebuild the body around it. // Updates prim.BSBody with information/pointers to requested body - bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, + bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData, bodyCallback); ret = newGeom || newBody; } @@ -325,7 +325,7 @@ public class BSShapeCollection : IDisposable // Info in prim.BSShape is updated to the new shape. // Returns 'true' if the geometry was rebuilt. // Called at taint-time! - private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData, + private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback) { bool ret = false; @@ -335,7 +335,7 @@ public class BSShapeCollection : IDisposable if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { // an avatar capsule is close to a native shape (it is not shared) - ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, + ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape); haveShape = true; @@ -362,7 +362,7 @@ public class BSShapeCollection : IDisposable || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE ) { - ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, + ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", prim.LocalID, forceRebuild, prim.BSShape); @@ -376,7 +376,7 @@ public class BSShapeCollection : IDisposable || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX ) { - ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, + ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", prim.LocalID, forceRebuild, prim.BSShape); @@ -423,14 +423,14 @@ public class BSShapeCollection : IDisposable BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey); // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. - DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", + DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", shapeData.ID, newShape, shapeData.Scale); prim.BSShape = newShape; return true; } - private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType, + private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType, ShapeData shapeData, ShapeData.FixedShapeKey shapeKey) { BulletShape newShape; @@ -438,7 +438,7 @@ public class BSShapeCollection : IDisposable if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { newShape = new BulletShape( - BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), + BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), shapeType); } else @@ -745,7 +745,7 @@ public class BSShapeCollection : IDisposable // Updates prim.BSBody with the information about the new body if one is created. // Returns 'true' if an object was actually created. // Called at taint-time. - private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape, + private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape, ShapeData shapeData, BodyDestructionCallback bodyCallback) { bool ret = false; -- cgit v1.1 From 7272a4cae835f2d3d2a696241c6e6eb5f4b5af54 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Oct 2012 09:12:06 -0700 Subject: BulletSim: fix problem of not rebuilding shape by clearing last rebuild failed flag in BSPrim.ForceBodyShapeRebuild() --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 9 +++++++-- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 7b211fa..3c5e6e5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -173,6 +173,7 @@ public sealed class BSPrim : BSPhysObject } public override bool ForceBodyShapeRebuild(bool inTaintTime) { + LastAssetBuildFailed = false; BSScene.TaintCallback rebuildOperation = delegate() { _mass = CalculateMass(); // changing the shape changes the mass diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 86bbf46..89d0d3e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -698,14 +698,19 @@ public class BSShapeCollection : IDisposable return ComputeShapeKey(shapeData, pbs, out lod); } + // The creation of a mesh or hull can fail if an underlying asset is not available. + // There are two cases: 1) the asset is not in the cache and it needs to be fetched; + // and 2) the asset cannot be converted (like decompressing JPEG2000s). + // The first case causes the asset to be fetched. The second case just requires + // us to not loop forever. + // Called after creating a physical mesh or hull. If the physical shape was created, + // just return. private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs) { // If the shape was successfully created, nothing more to do if (newShape.ptr != IntPtr.Zero) return newShape; - // The most common reason for failure is that an underlying asset is not available - // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero) { -- cgit v1.1 From 14eeb8b31b865f7b1927703028b03b6f61693cb6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Oct 2012 16:33:21 -0700 Subject: BulletSim: fix bug that caused error (and a crash on 32 bit Linux) when mesh assets weren't already in the cache. Comment cleanups. --- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 4 ++- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 5 ++-- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 13 +++++---- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 19 +++---------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 9 ++++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 + .../Physics/BulletSPlugin/BSShapeCollection.cs | 31 ++++++++++++++++++---- .../Physics/BulletSPlugin/BSTerrainManager.cs | 4 +-- 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 public abstract class BSConstraint : IDisposable { + private static string LogHeader = "[BULLETSIM CONSTRAINT]"; + protected BulletSim m_world; protected BulletBody m_body1; protected BulletBody m_body2; @@ -124,7 +126,7 @@ public abstract class BSConstraint : IDisposable } else { - m_world.physicsScene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID); + m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID); } } 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 // Set the prim's inertia to zero. The vehicle code handles that and this // removes the motion and torque actions introduced by Bullet. Vector3 inertia = Vector3.Zero; - BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); - BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); + // comment out for DEBUG test + // BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); + // BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); } // 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 bool ret = false; lock (m_linksetActivityLock) { + if (m_children.Contains(child)) + ret = true; + /* foreach (BSPhysObject bp in m_children) { if (child.LocalID == bp.LocalID) @@ -173,6 +176,7 @@ public abstract class BSLinkset break; } } + */ } return ret; } @@ -196,21 +200,20 @@ public abstract class BSLinkset // Called at taint-time! public abstract bool MakeStatic(BSPhysObject child); - // If the software is handling the movement of all the objects in a linkset - // (like if one doesn't use constraints for static linksets), this is called - // when an update for the root of the linkset is received. + // Called when a parameter update comes from the physics engine for any object + // of the linkset is received. // Called at taint-time!! public abstract void UpdateProperties(BSPhysObject physObject); // Routine used when rebuilding the body of the root of the linkset // Destroy all the constraints have have been made to root. // This is called when the root body is changing. - // Returns 'true' of something eas actually removed and would need restoring + // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! public abstract bool RemoveBodyDependencies(BSPrim child); // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', - // this routine will restore the removed constraints. + // this routine will restore the removed constraints. // Called at taint-time!! public abstract void RestoreBodyDependencies(BSPrim child); 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 // May be called at runtime or taint-time (just pass the appropriate flag). public override void Refresh(BSPhysObject requestor, bool inTaintTime) { - // If there are no children, not physical or not root, I am not the one that recomputes the constraints - // (For the moment, static linksets do create constraints so remove the test for physical.) - if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor)) + // If there are no children or not root, I am not the one that recomputes the constraints + if (!HasAnyChildren || !IsRoot(requestor)) return; BSScene.TaintCallback refreshOperation = delegate() @@ -85,20 +84,10 @@ public class BSLinksetConstraints : BSLinkset return false; } - // If the software is handling the movement of all the objects in a linkset - // (like if one doesn't use constraints for static linksets), this is called - // when an update for the root of the linkset is received. // Called at taint-time!! - public override void UpdateProperties(BSPhysObject physObject) + public override void UpdateProperties(BSPhysObject updated) { - // The root local properties have been updated. Apply to the children if appropriate. - if (IsRoot(physObject) && HasAnyChildren) - { - if (!physObject.IsPhysical) - { - // TODO: implement software linkset update for static object linksets - } - } + // Nothing to do for constraints on property updates } // 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 { // Done at taint time so we're sure the physics engine is not using the variables // Vehicle code changes the parameters for this vehicle type. - this._vehicle.ProcessTypeChange(type); + _vehicle.ProcessTypeChange(type); }); } } @@ -1246,12 +1246,13 @@ public sealed class BSPrim : BSPhysObject FillShapeInfo(out shapeData); // If this prim is part of a linkset, we must remove and restore the physical - // links of the body is rebuilt. + // links if the body is rebuilt. bool needToRestoreLinkset = false; // Create the correct physical representation for this type of object. // Updates BSBody and BSShape with the new information. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. + // Returns 'true' if either the body or the shape was changed. PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape, null, delegate(BulletBody dBody) { @@ -1355,7 +1356,7 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); - // BulletSimAPI.DumpRigidBody2(Scene.World.Ptr, BSBody.Ptr); + BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG base.RequestPhysicsterseUpdate(); } @@ -1368,8 +1369,8 @@ public sealed class BSPrim : BSPhysObject entprop.Acceleration, entprop.RotationalVelocity); } */ - // The linkset implimentation might want to know about this. + // The linkset implimentation might want to know about this. Linkset.UpdateProperties(this); } } 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 } catch (Exception e) { + DetailLog("{0},BSScene.ProcessTaints,doTaintException,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e); } } 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 { public class BSShapeCollection : IDisposable { - // private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; + private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; protected BSScene PhysicsScene { get; set; } @@ -434,16 +434,26 @@ public class BSShapeCollection : IDisposable ShapeData shapeData, ShapeData.FixedShapeKey shapeKey) { BulletShape newShape; + // Need to make sure the passed shape information is for the native type. + ShapeData nativeShapeData = shapeData; + nativeShapeData.Type = shapeType; + nativeShapeData.MeshKey = (ulong)shapeKey; + nativeShapeData.HullKey = (ulong)shapeKey; if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { newShape = new BulletShape( - BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), - shapeType); + BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, nativeShapeData.Scale), shapeType); + DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale); } else { - newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType); + newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); + } + if (newShape.ptr == IntPtr.Zero) + { + PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", + LogHeader, nativeShapeData.ID, nativeShapeData.Type); } newShape.shapeKey = (System.UInt64)shapeKey; newShape.isNativeShape = true; @@ -716,6 +726,8 @@ public class BSShapeCollection : IDisposable { prim.LastAssetBuildFailed = true; BSPhysObject xprim = prim; + DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}", + LogHeader, shapeData.ID.ToString("X"), prim.LastAssetBuildFailed); Util.FireAndForget(delegate { RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod; @@ -732,16 +744,25 @@ public class BSShapeCollection : IDisposable yprim.BaseShape.SculptData = asset.Data; // This will cause the prim to see that the filler shape is not the right // one and try again to build the object. + // No race condition with the native sphere setting since the rebuild is at taint time. yprim.ForceBodyShapeRebuild(false); }); } }); } + else + { + if (prim.LastAssetBuildFailed) + { + PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}", + LogHeader, shapeData.ID, pbs.SculptTexture); + } + } // While we figure out the real problem, stick a simple native shape on the object. BulletShape fillinShape = - BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_SPHERE, shapeData, ShapeData.FixedShapeKey.KEY_SPHERE); + BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_BOX, shapeData, ShapeData.FixedShapeKey.KEY_BOX); return fillinShape; } 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 // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new // terrain shape is created and added to the body. // This call is most often used to update the heightMap and parameters of the terrain. - // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when - // calling this routine from initialization or taint-time routines) or whether to delay - // all the unmanaged activities to taint-time. + // (The above does suggest that some simplification/refactoring is in order.) private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) { DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}", -- cgit v1.1 From 36bfd3667c44f7cd4e66e880c45c34903ed34842 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 22 Oct 2012 22:22:48 -0700 Subject: BulletSim: remove chatty debug message. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 8401c69..38ab3de 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1356,7 +1356,7 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); - BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG + // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG base.RequestPhysicsterseUpdate(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 48ee6f6..e686f2f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1334,7 +1334,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // Add the Flush() if debugging crashes to get all the messages written out. // PhysicsLogging.Flush(); } - // used to fill in the LocalID when there isn't one + // Used to fill in the LocalID when there isn't one. It's the correct number of characters. public const string DetailLogZero = "0000000000"; } -- cgit v1.1 From b49f8a377b9ac542096a0bc8ad30b11942c27413 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 23 Oct 2012 08:02:26 -0700 Subject: BulletSim: minor change to insure avatar body recreation when shape changes. --- OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index b1833c5..d9427e1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -338,6 +338,7 @@ public class BSShapeCollection : IDisposable ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape); + ret = true; haveShape = true; } // If the prim attributes are simple, this could be a simple Bullet native shape @@ -411,15 +412,14 @@ public class BSShapeCollection : IDisposable ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey, ShapeDestructionCallback shapeCallback) { + // release any previous shape + DereferenceShape(prim.BSShape, true, shapeCallback); shapeData.Type = shapeType; // Bullet native objects are scaled by the Bullet engine so pass the size in prim.Scale = shapeData.Size; shapeData.Scale = shapeData.Size; - // release any previous shape - DereferenceShape(prim.BSShape, true, shapeCallback); - BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey); // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. -- cgit v1.1 From b6fc5bad000e7e7af992e7f29eeb2de9f716fcc4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 23 Oct 2012 17:30:43 -0700 Subject: BulletSim: fix problem with avatars sinking into the ground. Change terrain activation state to DISABLE_SIMULATION for better performance. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 27 ++++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 3 +-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 4 ++-- .../Physics/BulletSPlugin/BSTerrainManager.cs | 4 ++-- 4 files changed, 23 insertions(+), 15 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 07dd613..a041ba8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -105,7 +105,7 @@ public class BSCharacter : BSPhysObject shapeData.Position = _position; shapeData.Rotation = _orientation; shapeData.Velocity = _velocity; - shapeData.Size = Scale; + shapeData.Size = Scale; // capsule is a native shape but scale is not just <1,1,1> shapeData.Scale = Scale; shapeData.Mass = _mass; shapeData.Buoyancy = _buoyancy; @@ -144,7 +144,9 @@ public class BSCharacter : BSPhysObject ForcePosition = _position; // Set the velocity and compute the proper friction ForceVelocity = _velocity; + BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution); + BulletSimAPI.SetMargin2(BSShape.ptr, PhysicsScene.Params.collisionMargin); BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); if (PhysicsScene.Params.ccdMotionThreshold > 0f) @@ -156,11 +158,15 @@ public class BSCharacter : BSPhysObject OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); + // Make so capsule does not fall over + BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); + // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION); BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); // Do this after the object has been added to the world @@ -175,11 +181,13 @@ public class BSCharacter : BSPhysObject } // No one calls this method so I don't know what it could possibly mean public override bool Stopped { get { return false; } } + public override OMV.Vector3 Size { get { // Avatar capsule size is kept in the scale parameter. - return _size; + // return _size; + return new OMV.Vector3(Scale.X * 2f, Scale.Y * 2f, Scale.Z); } set { @@ -199,7 +207,9 @@ public class BSCharacter : BSPhysObject } } + public override OMV.Vector3 Scale { get; set; } + public override PrimitiveBaseShape Shape { set { BaseShape = value; } @@ -264,7 +274,7 @@ public class BSCharacter : BSPhysObject // Check that the current position is sane and, if not, modify the position to make it so. - // Check for being below terrain and being out of bounds. + // Check for being below terrain or on water. // Returns 'true' of the position was made sane by some action. private bool PositionSanityCheck() { @@ -335,7 +345,7 @@ public class BSCharacter : BSPhysObject } // Avatars don't do vehicles - public override int VehicleType { get { return 0; } set { return; } } + public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } } public override void VehicleFloatParam(int param, float value) { } public override void VehicleVectorParam(int param, OMV.Vector3 value) {} public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { } @@ -588,9 +598,8 @@ public class BSCharacter : BSPhysObject newScale.X = PhysicsScene.Params.avatarCapsuleRadius; newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; - // From the total height, remote the capsule half spheres that are at each end - newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y); - // newScale.Z = (size.Z * 2f); + // From the total height, remove the capsule half spheres that are at each end + newScale.Z = size.Z- (newScale.X + newScale.Y); Scale = newScale; } @@ -636,7 +645,7 @@ public class BSCharacter : BSPhysObject BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel); } - // Tell the linkset about this + // Tell the linkset about value changes Linkset.UpdateProperties(this); // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e686f2f..db0c99e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -692,7 +692,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters { if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process { - // swizzle a new list into the list location so we can process what's there int taintCount = m_taintsToProcessPerStep; TaintCallbackEntry oneCallback = new TaintCallbackEntry(); while (_taintedObjects.Count > 0 && taintCount-- > 0) @@ -711,7 +710,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters { try { - DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG + DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); oneCallback.callback(); } catch (Exception e) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index d9427e1..30fa50a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -443,7 +443,8 @@ public class BSShapeCollection : IDisposable if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { newShape = new BulletShape( - BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, nativeShapeData.Scale), shapeType); + BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, nativeShapeData.Scale) + , shapeType); DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale); } else @@ -790,7 +791,6 @@ public class BSShapeCollection : IDisposable // If the collisionObject is not the correct type for solidness, rebuild what's there mustRebuild = true; } - } if (mustRebuild || forceRebuild) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index ae267e3..880859a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -333,8 +333,8 @@ public class BSTerrainManager // Make sure the new shape is processed. // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); - BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING); - // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING); + BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); m_terrainModified = true; }; -- cgit v1.1 From de47646c3de1fd56df71b700c817e67663e8a751 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 23 Oct 2012 17:34:14 -0700 Subject: BulletSim: update binaries with small change that insures that manual position/rotation setting results in an update event. --- bin/lib32/BulletSim.dll | Bin 598016 -> 598016 bytes bin/lib32/libBulletSim.so | Bin 2772750 -> 2772770 bytes bin/lib64/BulletSim.dll | Bin 764416 -> 764416 bytes bin/lib64/libBulletSim.so | Bin 3031835 -> 3031859 bytes 4 files changed, 0 insertions(+), 0 deletions(-) diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll index f976efe..fbc83e6 100755 Binary files a/bin/lib32/BulletSim.dll and b/bin/lib32/BulletSim.dll differ diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so index a00bc3a..65d3805 100755 Binary files a/bin/lib32/libBulletSim.so and b/bin/lib32/libBulletSim.so differ diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll index acaa9c8..936368a 100755 Binary files a/bin/lib64/BulletSim.dll and b/bin/lib64/BulletSim.dll differ diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so index 996ea21..82fbad6 100755 Binary files a/bin/lib64/libBulletSim.so and b/bin/lib64/libBulletSim.so differ -- cgit v1.1