From 70d24a654b8eb0257ca927327d51bd0e47f85259 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 7 Jul 2013 05:46:24 -0700 Subject: BulletSim: rename position and orientation variables to remove the inconsistant use of Raw* and _* conventions. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 78 +++++++++----------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 84 ++++++++++------------ 3 files changed, 71 insertions(+), 95 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 5ef6992..c9e3ca0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -43,12 +43,10 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 _size; private bool _grabbed; private bool _selected; - private OMV.Vector3 _position; private float _mass; private float _avatarVolume; private float _collisionScore; private OMV.Vector3 _acceleration; - private OMV.Quaternion _orientation; private int _physicsActorType; private bool _isPhysical; private bool _flying; @@ -70,10 +68,10 @@ public sealed class BSCharacter : BSPhysObject : base(parent_scene, localID, avName, "BSCharacter") { _physicsActorType = (int)ActorTypes.Agent; - _position = pos; + RawPosition = pos; _flying = isFlying; - _orientation = OMV.Quaternion.Identity; + RawOrientation = OMV.Quaternion.Identity; RawVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; @@ -133,7 +131,7 @@ public sealed class BSCharacter : BSPhysObject PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); ZeroMotion(true); - ForcePosition = _position; + ForcePosition = RawPosition; // Set the velocity if (m_moveActor != null) @@ -272,38 +270,33 @@ public sealed class BSCharacter : BSPhysObject public override void LockAngularMotion(OMV.Vector3 axis) { return; } - public override OMV.Vector3 RawPosition - { - get { return _position; } - set { _position = value; } - } public override OMV.Vector3 Position { get { // Don't refetch the position because this function is called a zillion times - // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); - return _position; + // RawPosition = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); + return RawPosition; } set { - _position = value; + RawPosition = value; PhysScene.TaintedObject("BSCharacter.setPosition", delegate() { - DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); PositionSanityCheck(); - ForcePosition = _position; + ForcePosition = RawPosition; }); } } public override OMV.Vector3 ForcePosition { get { - _position = PhysScene.PE.GetPosition(PhysBody); - return _position; + RawPosition = PhysScene.PE.GetPosition(PhysBody); + return RawPosition; } set { - _position = value; + RawPosition = value; if (PhysBody.HasPhysicalBody) { - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } } @@ -331,16 +324,16 @@ public sealed class BSCharacter : BSPhysObject float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); if (Position.Z < terrainHeight) { - DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, _position, terrainHeight); - _position.Z = terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters; + DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight); + RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters); ret = true; } if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition); if (Position.Z < waterHeight) { - _position.Z = waterHeight; + RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, waterHeight); ret = true; } } @@ -360,8 +353,8 @@ public sealed class BSCharacter : BSPhysObject // just assign to "Position" because of potential call loops. PhysScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() { - DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - ForcePosition = _position; + DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); + ForcePosition = RawPosition; }); ret = true; } @@ -466,19 +459,14 @@ public sealed class BSCharacter : BSPhysObject get { return _acceleration; } set { _acceleration = value; } } - public override OMV.Quaternion RawOrientation - { - get { return _orientation; } - set { _orientation = value; } - } public override OMV.Quaternion Orientation { - get { return _orientation; } + get { return RawOrientation; } set { // Orientation is set zillions of times when an avatar is walking. It's like // the viewer doesn't trust us. - if (_orientation != value) + if (RawOrientation != value) { - _orientation = value; + RawOrientation = value; PhysScene.TaintedObject("BSCharacter.setOrientation", delegate() { // Bullet assumes we know what we are doing when forcing orientation @@ -486,10 +474,10 @@ public sealed class BSCharacter : BSPhysObject // This forces rotation to be only around the Z axis and doesn't change any of the other axis. // This keeps us from flipping the capsule over which the veiwer does not understand. float oRoll, oPitch, oYaw; - _orientation.GetEulerAngles(out oRoll, out oPitch, out oYaw); + RawOrientation.GetEulerAngles(out oRoll, out oPitch, out oYaw); OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw); // DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}", - // LocalID, _orientation, OMV.Vector3.UnitX * _orientation, + // LocalID, RawOrientation, OMV.Vector3.UnitX * RawOrientation, // trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation); ForceOrientation = trimmedOrientation; }); @@ -501,16 +489,16 @@ public sealed class BSCharacter : BSPhysObject { get { - _orientation = PhysScene.PE.GetOrientation(PhysBody); - return _orientation; + RawOrientation = PhysScene.PE.GetOrientation(PhysBody); + return RawOrientation; } set { - _orientation = value; + RawOrientation = value; if (PhysBody.HasPhysicalBody) { - // _position = PhysicsScene.PE.GetPosition(BSBody); - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + // RawPosition = PhysicsScene.PE.GetPosition(BSBody); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } } @@ -723,9 +711,9 @@ public sealed class BSCharacter : BSPhysObject { // Don't change position if standing on a stationary object. if (!IsStationary) - _position = entprop.Position; + RawPosition = entprop.Position; - _orientation = entprop.Rotation; + RawOrientation = entprop.Rotation; // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar // and will send agent updates to the clients if velocity changes by more than @@ -740,8 +728,8 @@ public sealed class BSCharacter : BSPhysObject // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. if (PositionSanityCheck(true)) { - DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, _position); - entprop.Position = _position; + DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, RawPosition); + entprop.Position = RawPosition; } // remember the current and last set values @@ -755,7 +743,7 @@ public sealed class BSCharacter : BSPhysObject // base.RequestPhysicsterseUpdate(); DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", - LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity); + LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 738e2d0..a41eaf8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -197,10 +197,10 @@ public abstract class BSPhysObject : PhysicsActor // Update the physical location and motion of the object. Called with data from Bullet. public abstract void UpdateProperties(EntityProperties entprop); - public abstract OMV.Vector3 RawPosition { get; set; } + public virtual OMV.Vector3 RawPosition { get; set; } public abstract OMV.Vector3 ForcePosition { get; set; } - public abstract OMV.Quaternion RawOrientation { get; set; } + public virtual OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } public OMV.Vector3 RawVelocity { get; set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index ce4c3da..d43448e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -51,12 +51,8 @@ public class BSPrim : BSPhysObject private bool _isSelected; private bool _isVolumeDetect; - // _position is what the simulator thinks the positions of the prim is. - private OMV.Vector3 _position; - private float _mass; // the mass of this object private OMV.Vector3 _acceleration; - private OMV.Quaternion _orientation; private int _physicsActorType; private bool _isPhysical; private bool _flying; @@ -88,10 +84,10 @@ public class BSPrim : BSPhysObject { // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); _physicsActorType = (int)ActorTypes.Prim; - _position = pos; + RawPosition = pos; _size = size; Scale = size; // prims are the size the user wants them to be (different for BSCharactes). - _orientation = rotation; + RawOrientation = rotation; _buoyancy = 0f; RawVelocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; @@ -270,46 +266,42 @@ public class BSPrim : BSPhysObject return; } - public override OMV.Vector3 RawPosition - { - get { return _position; } - set { _position = value; } - } public override OMV.Vector3 Position { get { // don't do the GetObjectPosition for root elements because this function is called a zillion times. - // _position = ForcePosition; - return _position; + // RawPosition = ForcePosition; + return RawPosition; } set { // If the position must be forced into the physics engine, use ForcePosition. // All positions are given in world positions. - if (_position == value) + if (RawPosition == value) { - DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); return; } - _position = value; + RawPosition = value; PositionSanityCheck(false); PhysScene.TaintedObject("BSPrim.setPosition", delegate() { - DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - ForcePosition = _position; + DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); + ForcePosition = RawPosition; }); } } + // NOTE: overloaded by BSPrimDisplaced to handle offset for center-of-gravity. public override OMV.Vector3 ForcePosition { get { - _position = PhysScene.PE.GetPosition(PhysBody); - return _position; + RawPosition = PhysScene.PE.GetPosition(PhysBody); + return RawPosition; } set { - _position = value; + RawPosition = value; if (PhysBody.HasPhysicalBody) { - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); ActivateIfPhysical(false); } } @@ -343,10 +335,10 @@ public class BSPrim : BSPhysObject float targetHeight = terrainHeight + (Size.Z / 2f); // If the object is below ground it just has to be moved up because pushing will // not get it through the terrain - _position.Z = targetHeight; + RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, targetHeight); if (inTaintTime) { - ForcePosition = _position; + ForcePosition = RawPosition; } // If we are throwing the object around, zero its other forces ZeroMotion(inTaintTime); @@ -355,7 +347,7 @@ public class BSPrim : BSPhysObject if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition); // TODO: a floating motor so object will bob in the water if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f) { @@ -364,7 +356,7 @@ public class BSPrim : BSPhysObject // Apply upforce and overcome gravity. OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity; - DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); + DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, RawPosition, upForce, correctionForce); AddForce(correctionForce, false, inTaintTime); ret = true; } @@ -383,11 +375,11 @@ public class BSPrim : BSPhysObject uint wayOutThere = Constants.RegionSize * Constants.RegionSize; // There have been instances of objects getting thrown way out of bounds and crashing // the border crossing code. - if ( _position.X < -Constants.RegionSize || _position.X > wayOutThere - || _position.Y < -Constants.RegionSize || _position.Y > wayOutThere - || _position.Z < -Constants.RegionSize || _position.Z > wayOutThere) + if ( RawPosition.X < -Constants.RegionSize || RawPosition.X > wayOutThere + || RawPosition.Y < -Constants.RegionSize || RawPosition.Y > wayOutThere + || RawPosition.Z < -Constants.RegionSize || RawPosition.Z > wayOutThere) { - _position = new OMV.Vector3(10, 10, 50); + RawPosition = new OMV.Vector3(10, 10, 50); ZeroMotion(inTaintTime); ret = true; } @@ -713,23 +705,19 @@ public class BSPrim : BSPhysObject get { return _acceleration; } set { _acceleration = value; } } - public override OMV.Quaternion RawOrientation - { - get { return _orientation; } - set { _orientation = value; } - } + public override OMV.Quaternion Orientation { get { - return _orientation; + return RawOrientation; } set { - if (_orientation == value) + if (RawOrientation == value) return; - _orientation = value; + RawOrientation = value; PhysScene.TaintedObject("BSPrim.setOrientation", delegate() { - ForceOrientation = _orientation; + ForceOrientation = RawOrientation; }); } } @@ -738,14 +726,14 @@ public class BSPrim : BSPhysObject { get { - _orientation = PhysScene.PE.GetOrientation(PhysBody); - return _orientation; + RawOrientation = PhysScene.PE.GetOrientation(PhysBody); + return RawOrientation; } set { - _orientation = value; + RawOrientation = value; if (PhysBody.HasPhysicalBody) - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } public override int PhysicsActorType { @@ -889,7 +877,7 @@ public class BSPrim : BSPhysObject // PhysicsScene.PE.ClearAllForces(BSBody); // For good measure, make sure the transform is set through to the motion state - ForcePosition = _position; + ForcePosition = RawPosition; ForceVelocity = RawVelocity; ForceRotationalVelocity = _rotationalVelocity; @@ -1543,8 +1531,8 @@ public class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG // Assign directly to the local variables so the normal set actions do not happen - _position = entprop.Position; - _orientation = entprop.Rotation; + RawPosition = entprop.Position; + RawOrientation = entprop.Rotation; // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be // very sensitive to velocity changes. if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold)) @@ -1557,13 +1545,13 @@ public class BSPrim : BSPhysObject // The sanity check can change the velocity and/or position. if (PositionSanityCheck(true /* inTaintTime */ )) { - entprop.Position = _position; + entprop.Position = RawPosition; entprop.Velocity = RawVelocity; entprop.RotationalVelocity = _rotationalVelocity; entprop.Acceleration = _acceleration; } - OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG + OMV.Vector3 direction = OMV.Vector3.UnitX * RawOrientation; // DEBUG DEBUG DEBUG DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction); // remember the current and last set values -- cgit v1.1