From fa696c2eb24d80462ac28ff69b497c452a2eb00d Mon Sep 17 00:00:00 2001 From: Dan Lake Date: Fri, 22 Jul 2011 10:22:21 -0700 Subject: Pass collisions and updates in pinned memory (saves marshaling). Fix folding feet by using collision normals. Add constraint specification. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 5 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 140 +++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 86 +++++++------ .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 18 ++- bin/BulletSim-x86_64.dll | Bin 0 -> 754176 bytes bin/BulletSim.dll | Bin 652800 -> 654336 bytes ...OpenSim.Region.Physics.BulletSPlugin.dll.config | 6 + bin/libBulletSim.so | Bin 1747634 -> 1734582 bytes 8 files changed, 157 insertions(+), 98 deletions(-) create mode 100755 bin/BulletSim-x86_64.dll create mode 100755 bin/OpenSim.Region.Physics.BulletSPlugin.dll.config diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index d9e236f..dbd7285 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -185,7 +185,7 @@ public class BSCharacter : PhysicsActor get { return _force; } set { _force = value; - m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); + // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); _scene.TaintedObject(delegate() { BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); @@ -411,8 +411,9 @@ public class BSCharacter : PhysicsActor _collidingGroundStep = _scene.SimulationStep; } + // throttle collisions to the rate specified in the subscription if (_subscribedEventsMs == 0) return; // don't want collisions - int nowTime = Util.EnvironmentTickCount(); + int nowTime = _scene.SimulationNowTime; if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return; _lastCollisionTime = nowTime; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 82a8803..f2ab2d9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -261,6 +261,7 @@ public sealed class BSPrim : PhysicsActor { if (_childrenPrims.Contains(child)) { + BulletSimAPI.RemoveConstraint(_scene.WorldID, child.LocalID, this.LocalID); _childrenPrims.Remove(child); child.ParentPrim = null; // the child has lost its parent RecreateGeomAndObject(); // rebuild my shape with the child removed @@ -1018,47 +1019,8 @@ public sealed class BSPrim : PhysicsActor if (IsRootOfLinkset) { // Create a linkset around this object - /* - * NOTE: the original way of creating a linkset was to create a compound hull in the - * root which consisted of the hulls of all the children. This didn't work well because - * OpenSimulator needs updates and collisions for all the children and the physics - * engine didn't create events for the children when the root hull was moved. - * This code creates the compound hull. - // If I am the root prim of a linkset, replace my physical shape with all the - // pieces of the children. - // All of the children should have called CreateGeom so they have a hull - // in the physics engine already. Here we pull together all of those hulls - // into one shape. - int totalPrimsInLinkset = _childrenPrims.Count + 1; - // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset); - ShapeData[] shapes = new ShapeData[totalPrimsInLinkset]; - FillShapeInfo(out shapes[0]); - int ii = 1; - foreach (BSPrim prim in _childrenPrims) - { - // m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID); - prim.FillShapeInfo(out shapes[ii]); - ii++; - } - BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes); - */ - // Create the linkset by putting constraints between the objects of the set so they cannot move - // relative to each other. - // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); - - // remove any constraints that might be in place - foreach (BSPrim prim in _childrenPrims) - { - BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID); - } - // create constraints between the root prim and each of the children - foreach (BSPrim prim in _childrenPrims) - { - // this is a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, OMV.Vector3.Zero, OMV.Vector3.Zero, - OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero); - } + CreateLinksetWithCompoundHull(); + // CreateLinksetWithConstraints(); } else { @@ -1070,6 +1032,73 @@ public sealed class BSPrim : PhysicsActor } } + // Create a linkset by creating a compound hull at the root prim that consists of all + // the children. + void CreateLinksetWithCompoundHull() + { + // If I am the root prim of a linkset, replace my physical shape with all the + // pieces of the children. + // All of the children should have called CreateGeom so they have a hull + // in the physics engine already. Here we pull together all of those hulls + // into one shape. + int totalPrimsInLinkset = _childrenPrims.Count + 1; + // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset); + ShapeData[] shapes = new ShapeData[totalPrimsInLinkset]; + FillShapeInfo(out shapes[0]); + int ii = 1; + foreach (BSPrim prim in _childrenPrims) + { + // m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID); + prim.FillShapeInfo(out shapes[ii]); + ii++; + } + BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes); + } + + // Create the linkset by putting constraints between the objects of the set so they cannot move + // relative to each other. + void CreateLinksetWithConstraints() + { + // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); + + // remove any constraints that might be in place + foreach (BSPrim prim in _childrenPrims) + { + // m_log.DebugFormat("{0}: CreateObject: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); + BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID); + } + // create constraints between the root prim and each of the children + foreach (BSPrim prim in _childrenPrims) + { + // this is a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + // m_log.DebugFormat("{0}: CreateObject: AddConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); + + // relative position normalized to the root prim + OMV.Vector3 childRelativePosition = (prim._position - this._position) * OMV.Quaternion.Inverse(this._orientation); + // OMV.Quaternion relativeRotation = OMV.Quaternion.Identity; + + // rotation is pointing up the vector between the object centers + OMV.Quaternion relativeRotation = OMV.Quaternion.CreateFromAxisAngle(childRelativePosition, 0f); + + /* // the logic for relative rotation from http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6391 + OMV.Vector3 rrn = childRelativePosition; + rrn.Normalize(); + rrn /= rrn.X; + OMV.Matrix4 rotmat = new OMV.Matrix4(rrn.X, rrn.Y, rrn.Z, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1); + OMV.Quaternion relativeRotation = OMV.Quaternion.CreateFromRotationMatrix(rotmat); + */ + + BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, + childRelativePosition / 2, + relativeRotation, + -childRelativePosition / 2, + relativeRotation, + OMV.Vector3.Zero, OMV.Vector3.Zero, + OMV.Vector3.Zero, OMV.Vector3.Zero); + } + } + // Copy prim's info into the BulletSim shape description structure public void FillShapeInfo(out ShapeData shape) { @@ -1118,50 +1147,53 @@ public sealed class BSPrim : PhysicsActor // The physics engine says that properties have updated. Update same and inform // the world that things have changed. // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate() - private int UpPropPosition = 1 << 0; - private int UpPropRotation = 1 << 1; - private int UpPropVelocity = 1 << 2; - private int UpPropAcceleration = 1 << 3; - private int UpPropAngularVel = 1 << 4; + enum UpdatedProperties { + Position = 1 << 0, + Rotation = 1 << 1, + Velocity = 1 << 2, + Acceleration = 1 << 3, + AngularVel = 1 << 4 + } public void UpdateProperties(EntityProperties entprop) { - int changed = 0; + UpdatedProperties changed = 0; // assign to the local variables so the normal set action does not happen if (_position != entprop.Position) { _position = entprop.Position; // m_log.DebugFormat("{0}: UpdateProperties: position = {1}", LogHeader, _position); - changed |= UpPropPosition; + changed |= UpdatedProperties.Position; } if (_orientation != entprop.Rotation) { _orientation = entprop.Rotation; // m_log.DebugFormat("{0}: UpdateProperties: rotation = {1}", LogHeader, _orientation); - changed |= UpPropRotation; + changed |= UpdatedProperties.Rotation; } if (_velocity != entprop.Velocity) { _velocity = entprop.Velocity; // m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity); - changed |= UpPropVelocity; + changed |= UpdatedProperties.Velocity; } if (_acceleration != entprop.Acceleration) { _acceleration = entprop.Acceleration; // m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration); - changed |= UpPropAcceleration; + changed |= UpdatedProperties.Acceleration; } if (_rotationalVelocity != entprop.AngularVelocity) { _rotationalVelocity = entprop.AngularVelocity; // m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity); - changed |= UpPropAngularVel; + changed |= UpdatedProperties.AngularVel; } if (changed != 0) { // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); - base.RequestPhysicsterseUpdate(); + if (this._parentPrim == null) + base.RequestPhysicsterseUpdate(); } } @@ -1178,7 +1210,7 @@ public sealed class BSPrim : PhysicsActor if (_subscribedEventsMs == 0) return; // nothing in the object is waiting for collision events // throttle the collisions to the number of milliseconds specified in the subscription - int nowTime = Util.EnvironmentTickCount(); + int nowTime = _scene.SimulationNowTime; if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return; _lastCollisionTime = nowTime; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index beffd21..062945f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -38,9 +38,7 @@ using OpenSim.Region.Framework; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) // Fix folding up feet -// Fix terrain. Only flat terrain works. Terrain with shape is oriented wrong? Origined wrong? // Parameterize BulletSim. Pass a structure of parameters to the C++ code. Capsule size, friction, ... -// Shift drag duplication of objects does not work // Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) // Test sculpties // Compute physics FPS reasonably @@ -82,6 +80,19 @@ public class BSScene : PhysicsScene private long m_simulationStep = 0; public long SimulationStep { get { return m_simulationStep; } } + // A value of the time now so all the collision and update routines do not have to get their own + // Set to 'now' just before all the prims and actors are called for collisions and updates + private int m_simulationNowTime; + public int SimulationNowTime { get { return m_simulationNowTime; } } + + private int m_maxCollisionsPerFrame = 2048; + private CollisionDesc[] m_collisionArray; + private GCHandle m_collisionArrayPinnedHandle; + + private int m_maxUpdatesPerFrame = 2048; + private EntityProperties[] m_updateArray; + private GCHandle m_updateArrayPinnedHandle; + private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes public float maximumMassObject = 10000.01f; @@ -129,8 +140,19 @@ public class BSScene : PhysicsScene _taintedObjects = new List(); mesher = meshmerizer; + // The bounding box for the simulated world + Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f); + + // Allocate pinned memory to pass back object property updates and collisions from simulation step + m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame]; + m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned); + m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; + m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); + // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); - m_worldID = BulletSimAPI.Initialize(new Vector3(Constants.RegionSize, Constants.RegionSize, 4096f)); + m_worldID = BulletSimAPI.Initialize(worldExtent, + m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), + m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); } // Called directly from unmanaged code so don't do much @@ -188,19 +210,7 @@ public class BSScene : PhysicsScene } public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, - Vector3 size, Quaternion rotation) // deprecated - { - return null; - } - public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position, - Vector3 size, Quaternion rotation, bool isPhysical) - { - m_log.ErrorFormat("{0}: CALL TO AddPrimShape in BSScene. NOT IMPLEMENTED", LogHeader); - return null; - } - - public override PhysicsActor AddPrimShape(uint localID, string primName, PrimitiveBaseShape pbs, Vector3 position, - Vector3 size, Quaternion rotation, bool isPhysical) + Vector3 size, Quaternion rotation, bool isPhysical, uint localID) { // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName); IMesh mesh = null; @@ -225,10 +235,8 @@ public class BSScene : PhysicsScene { int updatedEntityCount; IntPtr updatedEntitiesPtr; - IntPtr[] updatedEntities; int collidersCount; IntPtr collidersPtr; - int[] colliders; // should be uint but Marshal.Copy does not have that overload // update the prim states while we know the physics engine is not busy ProcessTaints(); @@ -242,32 +250,33 @@ public class BSScene : PhysicsScene int numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); - // if there were collisions, they show up here + // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in + + // Get a value for 'now' so all the collision and update routines don't have to get their own + m_simulationNowTime = Util.EnvironmentTickCount(); + + // If there were collisions, process them by sending the event to the prim. + // Collisions must be processed before updates. if (collidersCount > 0) { - colliders = new int[collidersCount]; - Marshal.Copy(collidersPtr, colliders, 0, collidersCount); - for (int ii = 0; ii < collidersCount; ii+=2) + for (int ii = 0; ii < collidersCount; ii++) { - uint cA = (uint)colliders[ii]; - uint cB = (uint)colliders[ii+1]; - SendCollision(cA, cB); - SendCollision(cB, cA); + uint cA = m_collisionArray[ii].aID; + uint cB = m_collisionArray[ii].bID; + Vector3 point = m_collisionArray[ii].point; + Vector3 normal = m_collisionArray[ii].normal; + SendCollision(cA, cB, point, normal, 0.01f); + SendCollision(cB, cA, point, -normal, 0.01f); } } - // if any of the objects had updated properties, they are returned in the updatedEntity structure - // TODO: figure out how to pass all of the EntityProperties structures in one marshal call. + // If any of the objects had updated properties, tell the object it has been changed by the physics engine if (updatedEntityCount > 0) { - updatedEntities = new IntPtr[updatedEntityCount]; - // fetch all the pointers to all the EntityProperties structures for these updates - Marshal.Copy(updatedEntitiesPtr, updatedEntities, 0, updatedEntityCount); for (int ii = 0; ii < updatedEntityCount; ii++) { - IntPtr updatePointer = updatedEntities[ii]; - EntityProperties entprop = (EntityProperties)Marshal.PtrToStructure(updatePointer, typeof(EntityProperties)); - // m_log.DebugFormat("{0}: entprop: id={1}, pos={2}", LogHeader, entprop.ID, entprop.Position); + EntityProperties entprop = m_updateArray[ii]; + // m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position); BSCharacter actor; if (m_avatars.TryGetValue(entprop.ID, out actor)) { @@ -282,12 +291,12 @@ public class BSScene : PhysicsScene } } - // fps calculation wrong. This calculation returns about 1 in normal operation. + // fps calculation wrong. This calculation always returns about 1 in normal operation. return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f; } // Something has collided - private void SendCollision(uint localID, uint collidingWith) + private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penitration) { if (localID == TERRAIN_ID || localID == GROUNDPLANE_ID) { @@ -303,12 +312,12 @@ public class BSScene : PhysicsScene BSPrim prim; if (m_prims.TryGetValue(localID, out prim)) { - prim.Collide(collidingWith, type, Vector3.Zero, Vector3.UnitZ, 0.01f); + prim.Collide(collidingWith, type, collidePoint, collideNormal, 0.01f); return; } BSCharacter actor; if (m_avatars.TryGetValue(localID, out actor)) { - actor.Collide(collidingWith, type, Vector3.Zero, Vector3.UnitZ, 0.01f); + actor.Collide(collidingWith, type, collidePoint, collideNormal, 0.01f); return; } return; @@ -317,7 +326,6 @@ public class BSScene : PhysicsScene public override void GetResults() { } public override void SetTerrain(float[] heightMap) { - m_log.DebugFormat("{0}: SetTerrain", LogHeader); m_heightMap = heightMap; this.TaintedObject(delegate() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index b2bc0d7..ace8158 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -78,7 +78,13 @@ public struct RaycastHit public float Fraction; public Vector3 Normal; } - +public struct CollisionDesc +{ + public uint aID; + public uint bID; + public Vector3 point; + public Vector3 normal; +} public struct EntityProperties { public uint ID; @@ -92,7 +98,8 @@ public struct EntityProperties static class BulletSimAPI { [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern uint Initialize(Vector3 maxPosition); +public static extern uint Initialize(Vector3 maxPosition, int maxCollisions, IntPtr collisionArray, + int maxUpdates, IntPtr updateArray); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetHeightmap(uint worldID, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap); @@ -124,7 +131,12 @@ public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void AddConstraint(uint worldID, uint id1, uint id2, - Vector3 frame1, Vector3 frame2, Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot, + Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool RemoveConstraintByID(uint worldID, uint id1); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); diff --git a/bin/BulletSim-x86_64.dll b/bin/BulletSim-x86_64.dll new file mode 100755 index 0000000..6370984 Binary files /dev/null and b/bin/BulletSim-x86_64.dll differ diff --git a/bin/BulletSim.dll b/bin/BulletSim.dll index 2e6501c..2918130 100755 Binary files a/bin/BulletSim.dll and b/bin/BulletSim.dll differ diff --git a/bin/OpenSim.Region.Physics.BulletSPlugin.dll.config b/bin/OpenSim.Region.Physics.BulletSPlugin.dll.config new file mode 100755 index 0000000..e521493 --- /dev/null +++ b/bin/OpenSim.Region.Physics.BulletSPlugin.dll.config @@ -0,0 +1,6 @@ + + + + + + diff --git a/bin/libBulletSim.so b/bin/libBulletSim.so index 537a5e2..56c4103 100755 Binary files a/bin/libBulletSim.so and b/bin/libBulletSim.so differ -- cgit v1.1