From 33617e09a185be68ceeaaba0fe9b7b2e6068124d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 1 Oct 2012 11:54:35 -0700 Subject: BulletSim: impliment FloatOnWater OS function. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 41 +++++++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 77 ++++++++++++++++++++-- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 8 +-- 3 files changed, 104 insertions(+), 22 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index b88ec3c..5cf8953 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -234,6 +234,15 @@ public class BSCharacter : BSPhysObject _position.Z = terrainHeight + 2.0f; ret = true; } + if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) == 0) + { + float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); + if (Position.Z < waterHeight) + { + _position.Z = waterHeight; + ret = true; + } + } // TODO: check for out of bounds return ret; @@ -242,18 +251,22 @@ public class BSCharacter : BSPhysObject // A version of the sanity check that also makes sure a new position value is // pushed back to the physics engine. This routine would be used by anyone // who is not already pushing the value. - private bool PositionSanityCheck2() + private bool PositionSanityCheck2(bool atTaintTime) { bool ret = false; if (PositionSanityCheck()) { // The new position value must be pushed into the physics engine but we can't // just assign to "Position" because of potential call loops. - PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate() + BSScene.TaintCallback sanityOperation = delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); - }); + }; + if (atTaintTime) + sanityOperation(); + else + PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation); ret = true; } return ret; @@ -378,7 +391,16 @@ public class BSCharacter : BSPhysObject set { _collidingObj = value; } } public override bool FloatOnWater { - set { _floatOnWater = value; } + set { + _floatOnWater = value; + PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() + { + if (_floatOnWater) + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + else + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + }); + } } public override OMV.Vector3 RotationalVelocity { get { return _rotationalVelocity; } @@ -493,15 +515,14 @@ public class BSCharacter : BSPhysObject _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; + // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. + PositionSanityCheck2(true); + // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); - // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. - PositionSanityCheck2(); - - float heightHere = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug - DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}", - LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere); + DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e54bf75..e37a4a0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -267,6 +267,7 @@ public sealed class BSPrim : BSPhysObject set { _position = value; // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? + PositionSanityCheck(); PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); @@ -275,6 +276,63 @@ public sealed class BSPrim : 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. + // Returns 'true' of the position was made sane by some action. + 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? + /* + float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); + if (Position.Z < terrainHeight) + { + DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); + _position.Z = terrainHeight + 2.0f; + ret = true; + } + */ + if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) + { + float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); + if (Position.Z < waterHeight) + { + _position.Z = waterHeight; + ret = true; + } + } + + // TODO: check for out of bounds + return ret; + } + + // A version of the sanity check that also makes sure a new position value is + // pushed back to the physics engine. This routine would be used by anyone + // who is not already pushing the value. + private bool PositionSanityCheck2(bool atTaintTime) + { + bool ret = false; + if (PositionSanityCheck()) + { + // The new position value must be pushed into the physics engine but we can't + // just assign to "Position" because of potential call loops. + BSScene.TaintCallback sanityOperation = delegate() + { + DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); + BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); + }; + if (atTaintTime) + sanityOperation(); + else + PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation); + + ret = true; + } + return ret; + } + // Return the effective mass of the object. // If there are multiple items in the linkset, add them together for the root public override float Mass @@ -481,11 +539,10 @@ public sealed class BSPrim : BSPhysObject // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); - // Set up the object physicalness (does gravity and collisions move this object) MakeDynamic(IsStatic); - // Do any vehicle stuff + // Update vehicle specific parameters _vehicle.Refresh(); // Arrange for collision events if the simulator wants them @@ -556,7 +613,6 @@ public sealed class BSPrim : BSPhysObject // A dynamic object has mass IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); - // OMV.Vector3 inertia = OMV.Vector3.Zero; BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); @@ -566,7 +622,7 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); - // There can be special things needed for implementing linksets. + // There might be special things needed for implementing linksets. Linkset.MakeDynamic(this); // Force activation of the object so Bullet will act on it. @@ -656,7 +712,16 @@ public sealed class BSPrim : BSPhysObject } } public override bool FloatOnWater { - set { _floatOnWater = value; } + set { + _floatOnWater = value; + PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() + { + if (_floatOnWater) + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + else + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + }); + } } public override OMV.Vector3 RotationalVelocity { get { @@ -1198,6 +1263,8 @@ public sealed class BSPrim : BSPhysObject _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; + PositionSanityCheck2(true); + DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 1125d7e..d49e5f3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -344,10 +344,7 @@ public enum CollisionFlags : uint CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, // Following used by BulletSim to control collisions BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, - // BS_VOLUME_DETECT_OBJECT = 1 << 11, - // BS_PHANTOM_OBJECT = 1 << 12, - // BS_PHYSICAL_OBJECT = 1 << 13, - // BS_TERRAIN_OBJECT = 1 << 14, + BS_FLOATS_ON_WATER = 1 << 11, BS_NONE = 0, BS_ALL = 0xFFFFFFFF, @@ -356,9 +353,6 @@ public enum CollisionFlags : uint BS_ACTIVE = CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE - // | BS_VOLUME_DETECT_OBJECT - // | BS_PHANTOM_OBJECT - // | BS_PHYSICAL_OBJECT, }; // Values for collisions groups and masks -- cgit v1.1