From 0f008d5f7d4a34d4f7529036f5dd83742423c42f Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Sat, 6 Apr 2013 01:44:06 +0100
Subject: When rezzing a coalesced object, check adjust position of all
components.
---
.../InventoryAccess/InventoryAccessModule.cs | 47 +++++++++++++---------
1 file changed, 27 insertions(+), 20 deletions(-)
diff --git a/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs b/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
index eaf4ce2..ebada5a 100644
--- a/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
+++ b/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
@@ -807,7 +807,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
}
}
- if (item != null && !DoPreRezWhenFromItem(remoteClient, item, objlist, pos, attachment))
+ if (item != null && !DoPreRezWhenFromItem(remoteClient, item, objlist, pos, veclist, attachment))
return null;
for (int i = 0; i < objlist.Count; i++)
@@ -905,10 +905,15 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
///
///
///
+ ///
+ /// List of vector position adjustments for a coalesced objects. For ordinary objects
+ /// this list will contain just Vector3.Zero. The order of adjustments must match the order of objlist
+ ///
///
/// true if we can processed with rezzing, false if we need to abort
private bool DoPreRezWhenFromItem(
- IClientAPI remoteClient, InventoryItemBase item, List objlist, Vector3 pos, bool isAttachment)
+ IClientAPI remoteClient, InventoryItemBase item, List objlist,
+ Vector3 pos, List veclist, bool isAttachment)
{
UUID fromUserInventoryItemId = UUID.Zero;
@@ -932,27 +937,29 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
}
int primcount = 0;
- foreach (SceneObjectGroup g in objlist)
- primcount += g.PrimCount;
-
- if (!m_Scene.Permissions.CanRezObject(
- primcount, remoteClient.AgentId, pos)
- && !isAttachment)
+ for(int i = 0; i < objlist.Count; i++)
{
- // The client operates in no fail mode. It will
- // have already removed the item from the folder
- // if it's no copy.
- // Put it back if it's not an attachment
- //
- if (((item.CurrentPermissions & (uint)PermissionMask.Copy) == 0) && (!isAttachment))
- remoteClient.SendBulkUpdateInventory(item);
+ SceneObjectGroup g = objlist[i];
+
+ if (!m_Scene.Permissions.CanRezObject(
+ g.PrimCount, remoteClient.AgentId, pos + veclist[i])
+ && !isAttachment)
+ {
+ // The client operates in no fail mode. It will
+ // have already removed the item from the folder
+ // if it's no copy.
+ // Put it back if it's not an attachment
+ //
+ if (((item.CurrentPermissions & (uint)PermissionMask.Copy) == 0) && (!isAttachment))
+ remoteClient.SendBulkUpdateInventory(item);
- ILandObject land = m_Scene.LandChannel.GetLandObject(pos.X, pos.Y);
- remoteClient.SendAlertMessage(string.Format(
- "Can't rez object '{0}' at <{1:F3}, {2:F3}, {3:F3}> on parcel '{4}' in region {5}.",
- item.Name, pos.X, pos.Y, pos.Z, land != null ? land.LandData.Name : "Unknown", m_Scene.RegionInfo.RegionName));
+ ILandObject land = m_Scene.LandChannel.GetLandObject(pos.X, pos.Y);
+ remoteClient.SendAlertMessage(string.Format(
+ "Can't rez object '{0}' at <{1:F3}, {2:F3}, {3:F3}> on parcel '{4}' in region {5}.",
+ item.Name, pos.X, pos.Y, pos.Z, land != null ? land.LandData.Name : "Unknown", m_Scene.Name));
- return false;
+ return false;
+ }
}
for (int i = 0; i < objlist.Count; i++)
--
cgit v1.1
From 7f070236f72058ba22d017048b978adea380f0a1 Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Sat, 6 Apr 2013 02:34:51 +0100
Subject: Fix taking (and rezzing) of coalesced objects in the non-root
subregions of megaregions.
This fixes the combined bounding box location for regions bigger than 256x256.
It also fixes the position on taking coalesced objects in the non-root regions, where position checks are properly done on rez instead.
It also fixes the megaregion land channel to return null if the land does not exist, which should probably also be done for the ordinary land channels rather than returning a dummy region.
Inspiration from Garmin's commit in http://opensimulator.org/mantis/view.php?id=6595. Thanks!
---
.../InventoryAccess/InventoryAccessModule.cs | 32 ++++-----
.../World/Permissions/PermissionsModule.cs | 2 +
OpenSim/Region/Framework/Scenes/Scene.cs | 12 ++--
.../RegionCombinerLargeLandChannel.cs | 83 ++++++++++++++--------
4 files changed, 76 insertions(+), 53 deletions(-)
diff --git a/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs b/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
index ebada5a..f796ec9 100644
--- a/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
+++ b/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
@@ -357,19 +357,19 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
foreach (SceneObjectGroup objectGroup in objlist)
{
- Vector3 inventoryStoredPosition = new Vector3
- (((objectGroup.AbsolutePosition.X > (int)Constants.RegionSize)
- ? 250
- : objectGroup.AbsolutePosition.X)
- ,
- (objectGroup.AbsolutePosition.Y > (int)Constants.RegionSize)
- ? 250
- : objectGroup.AbsolutePosition.Y,
- objectGroup.AbsolutePosition.Z);
-
- originalPositions[objectGroup.UUID] = objectGroup.AbsolutePosition;
-
- objectGroup.AbsolutePosition = inventoryStoredPosition;
+// Vector3 inventoryStoredPosition = new Vector3
+// (((objectGroup.AbsolutePosition.X > (int)Constants.RegionSize)
+// ? 250
+// : objectGroup.AbsolutePosition.X)
+// ,
+// (objectGroup.AbsolutePosition.Y > (int)Constants.RegionSize)
+// ? 250
+// : objectGroup.AbsolutePosition.Y,
+// objectGroup.AbsolutePosition.Z);
+//
+// originalPositions[objectGroup.UUID] = objectGroup.AbsolutePosition;
+//
+// objectGroup.AbsolutePosition = inventoryStoredPosition;
// Make sure all bits but the ones we want are clear
// on take.
@@ -397,9 +397,9 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
else
itemXml = SceneObjectSerializer.ToOriginalXmlFormat(objlist[0], !asAttachment);
- // Restore the position of each group now that it has been stored to inventory.
- foreach (SceneObjectGroup objectGroup in objlist)
- objectGroup.AbsolutePosition = originalPositions[objectGroup.UUID];
+// // Restore the position of each group now that it has been stored to inventory.
+// foreach (SceneObjectGroup objectGroup in objlist)
+// objectGroup.AbsolutePosition = originalPositions[objectGroup.UUID];
InventoryItemBase item = CreateItemForObject(action, remoteClient, objlist[0], folderID);
diff --git a/OpenSim/Region/CoreModules/World/Permissions/PermissionsModule.cs b/OpenSim/Region/CoreModules/World/Permissions/PermissionsModule.cs
index 79dd4a0..77299be 100644
--- a/OpenSim/Region/CoreModules/World/Permissions/PermissionsModule.cs
+++ b/OpenSim/Region/CoreModules/World/Permissions/PermissionsModule.cs
@@ -1453,6 +1453,8 @@ namespace OpenSim.Region.CoreModules.World.Permissions
bool permission = false;
+ m_log.DebugFormat("[PERMISSIONS MODULE]: Checking rez object at {0} in {1}", objectPosition, m_scene.Name);
+
ILandObject land = m_scene.LandChannel.GetLandObject(objectPosition.X, objectPosition.Y);
if (land == null) return false;
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index 911a3e4..f50d3cd 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -5361,12 +5361,12 @@ namespace OpenSim.Region.Framework.Scenes
List objects,
out float minX, out float maxX, out float minY, out float maxY, out float minZ, out float maxZ)
{
- minX = 256;
- maxX = -256;
- minY = 256;
- maxY = -256;
- minZ = 8192;
- maxZ = -256;
+ minX = float.MaxValue;
+ maxX = float.MinValue;
+ minY = float.MaxValue;
+ maxY = float.MinValue;
+ minZ = float.MaxValue;
+ maxZ = float.MinValue;
List offsets = new List();
diff --git a/OpenSim/Region/RegionCombinerModule/RegionCombinerLargeLandChannel.cs b/OpenSim/Region/RegionCombinerModule/RegionCombinerLargeLandChannel.cs
index b4abc1d..4bf2a82 100644
--- a/OpenSim/Region/RegionCombinerModule/RegionCombinerLargeLandChannel.cs
+++ b/OpenSim/Region/RegionCombinerModule/RegionCombinerLargeLandChannel.cs
@@ -27,6 +27,8 @@
using System;
using System.Collections.Generic;
+using System.Reflection;
+using log4net;
using OpenMetaverse;
using OpenSim.Framework;
using OpenSim.Region.Framework.Interfaces;
@@ -34,10 +36,10 @@ using OpenSim.Region.CoreModules.World.Land;
namespace OpenSim.Region.RegionCombinerModule
{
-public class RegionCombinerLargeLandChannel : ILandChannel
+ public class RegionCombinerLargeLandChannel : ILandChannel
{
- // private static readonly ILog m_log =
- // LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+// private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
+
private RegionData RegData;
private ILandChannel RootRegionLandChannel;
private readonly List RegionConnections;
@@ -75,40 +77,51 @@ public class RegionCombinerLargeLandChannel : ILandChannel
public ILandObject GetLandObject(int x, int y)
{
- //m_log.DebugFormat("[BIGLANDTESTINT]: <{0},{1}>", x, y);
-
- if (x > 0 && x <= (int)Constants.RegionSize && y > 0 && y <= (int)Constants.RegionSize)
- {
- return RootRegionLandChannel.GetLandObject(x, y);
- }
- else
- {
- int offsetX = (x / (int)Constants.RegionSize);
- int offsetY = (y / (int)Constants.RegionSize);
- offsetX *= (int)Constants.RegionSize;
- offsetY *= (int)Constants.RegionSize;
-
- foreach (RegionData regionData in RegionConnections)
- {
- if (regionData.Offset.X == offsetX && regionData.Offset.Y == offsetY)
- {
- return regionData.RegionScene.LandChannel.GetLandObject(x - offsetX, y - offsetY);
- }
- }
- ILandObject obj = new LandObject(UUID.Zero, false, RegData.RegionScene);
- obj.LandData.Name = "NO LAND";
- return obj;
- }
+ return GetLandObject((float)x, (float)y);
+
+// m_log.DebugFormat("[BIGLANDTESTINT]: <{0},{1}>", x, y);
+//
+// if (x > 0 && x <= (int)Constants.RegionSize && y > 0 && y <= (int)Constants.RegionSize)
+// {
+// return RootRegionLandChannel.GetLandObject(x, y);
+// }
+// else
+// {
+// int offsetX = (x / (int)Constants.RegionSize);
+// int offsetY = (y / (int)Constants.RegionSize);
+// offsetX *= (int)Constants.RegionSize;
+// offsetY *= (int)Constants.RegionSize;
+//
+// foreach (RegionData regionData in RegionConnections)
+// {
+// if (regionData.Offset.X == offsetX && regionData.Offset.Y == offsetY)
+// {
+// m_log.DebugFormat(
+// "[REGION COMBINER LARGE LAND CHANNEL]: Found region {0} at offset {1},{2}",
+// regionData.RegionScene.Name, offsetX, offsetY);
+//
+// return regionData.RegionScene.LandChannel.GetLandObject(x - offsetX, y - offsetY);
+// }
+// }
+// //ILandObject obj = new LandObject(UUID.Zero, false, RegData.RegionScene);
+// //obj.LandData.Name = "NO LAND";
+// //return obj;
+// }
+//
+// m_log.DebugFormat("[REGION COMBINER LARGE LAND CHANNEL]: No region found at {0},{1}, returning null", x, y);
+//
+// return null;
}
public ILandObject GetLandObject(int localID)
{
+ // XXX: Possibly should be looking in every land channel, not just the root.
return RootRegionLandChannel.GetLandObject(localID);
}
public ILandObject GetLandObject(float x, float y)
{
- //m_log.DebugFormat("[BIGLANDTESTFLOAT]: <{0},{1}>", x, y);
+// m_log.DebugFormat("[BIGLANDTESTFLOAT]: <{0},{1}>", x, y);
if (x > 0 && x <= (int)Constants.RegionSize && y > 0 && y <= (int)Constants.RegionSize)
{
@@ -125,14 +138,22 @@ public class RegionCombinerLargeLandChannel : ILandChannel
{
if (regionData.Offset.X == offsetX && regionData.Offset.Y == offsetY)
{
+// m_log.DebugFormat(
+// "[REGION COMBINER LARGE LAND CHANNEL]: Found region {0} at offset {1},{2}",
+// regionData.RegionScene.Name, offsetX, offsetY);
+
return regionData.RegionScene.LandChannel.GetLandObject(x - offsetX, y - offsetY);
}
}
- ILandObject obj = new LandObject(UUID.Zero, false, RegData.RegionScene);
- obj.LandData.Name = "NO LAND";
- return obj;
+// ILandObject obj = new LandObject(UUID.Zero, false, RegData.RegionScene);
+// obj.LandData.Name = "NO LAND";
+// return obj;
}
+
+// m_log.DebugFormat("[REGION COMBINER LARGE LAND CHANNEL]: No region found at {0},{1}, returning null", x, y);
+
+ return null;
}
public bool IsForcefulBansAllowed()
--
cgit v1.1
From c7cd077e55c2e889f61bb2e28cd3254b15e07567 Mon Sep 17 00:00:00 2001
From: Mic Bowman
Date: Sun, 7 Apr 2013 17:31:44 -0700
Subject: Optimize the number of Simian calls to get the initial presence
information for the friends list. This is a pretty big performance
improvement on login. Note that you must upgrade simian to incorporate the
corresponding GetSessions call.
---
.../SimianGrid/SimianPresenceServiceConnector.cs | 193 +++++++++------------
1 file changed, 83 insertions(+), 110 deletions(-)
diff --git a/OpenSim/Services/Connectors/SimianGrid/SimianPresenceServiceConnector.cs b/OpenSim/Services/Connectors/SimianGrid/SimianPresenceServiceConnector.cs
index 854bea4..7bb06fb 100644
--- a/OpenSim/Services/Connectors/SimianGrid/SimianPresenceServiceConnector.cs
+++ b/OpenSim/Services/Connectors/SimianGrid/SimianPresenceServiceConnector.cs
@@ -137,10 +137,11 @@ namespace OpenSim.Services.Connectors.SimianGrid
userID, sessionID, secureSessionID);
NameValueCollection requestArgs = new NameValueCollection
- {
- { "RequestMethod", "AddSession" },
- { "UserID", userID.ToString() }
- };
+ {
+ { "RequestMethod", "AddSession" },
+ { "UserID", userID.ToString() }
+ };
+
if (sessionID != UUID.Zero)
{
requestArgs["SessionID"] = sessionID.ToString();
@@ -158,13 +159,13 @@ namespace OpenSim.Services.Connectors.SimianGrid
public bool LogoutAgent(UUID sessionID)
{
-// m_log.InfoFormat("[SIMIAN PRESENCE CONNECTOR]: Logout requested for agent with sessionID " + sessionID);
+ // m_log.InfoFormat("[SIMIAN PRESENCE CONNECTOR]: Logout requested for agent with sessionID " + sessionID);
NameValueCollection requestArgs = new NameValueCollection
- {
- { "RequestMethod", "RemoveSession" },
- { "SessionID", sessionID.ToString() }
- };
+ {
+ { "RequestMethod", "RemoveSession" },
+ { "SessionID", sessionID.ToString() }
+ };
OSDMap response = WebUtil.PostToService(m_serverUrl, requestArgs);
bool success = response["Success"].AsBoolean();
@@ -177,13 +178,13 @@ namespace OpenSim.Services.Connectors.SimianGrid
public bool LogoutRegionAgents(UUID regionID)
{
-// m_log.InfoFormat("[SIMIAN PRESENCE CONNECTOR]: Logout requested for all agents in region " + regionID);
+ // m_log.InfoFormat("[SIMIAN PRESENCE CONNECTOR]: Logout requested for all agents in region " + regionID);
NameValueCollection requestArgs = new NameValueCollection
- {
- { "RequestMethod", "RemoveSessions" },
- { "SceneID", regionID.ToString() }
- };
+ {
+ { "RequestMethod", "RemoveSessions" },
+ { "SceneID", regionID.ToString() }
+ };
OSDMap response = WebUtil.PostToService(m_serverUrl, requestArgs);
bool success = response["Success"].AsBoolean();
@@ -202,49 +203,46 @@ namespace OpenSim.Services.Connectors.SimianGrid
public PresenceInfo GetAgent(UUID sessionID)
{
-// m_log.DebugFormat("[SIMIAN PRESENCE CONNECTOR]: Requesting session data for agent with sessionID " + sessionID);
-
- NameValueCollection requestArgs = new NameValueCollection
- {
- { "RequestMethod", "GetSession" },
- { "SessionID", sessionID.ToString() }
- };
-
- OSDMap sessionResponse = WebUtil.PostToService(m_serverUrl, requestArgs);
- if (sessionResponse["Success"].AsBoolean())
+ OSDMap sessionResponse = GetSessionDataFromSessionID(sessionID);
+ if (sessionResponse == null)
{
- UUID userID = sessionResponse["UserID"].AsUUID();
- m_log.DebugFormat("[SIMIAN PRESENCE CONNECTOR]: Requesting user data for " + userID);
-
- requestArgs = new NameValueCollection
- {
- { "RequestMethod", "GetUser" },
- { "UserID", userID.ToString() }
- };
-
- OSDMap userResponse = WebUtil.PostToService(m_serverUrl, requestArgs);
- if (userResponse["Success"].AsBoolean())
- return ResponseToPresenceInfo(sessionResponse, userResponse);
- else
- m_log.Warn("[SIMIAN PRESENCE CONNECTOR]: Failed to retrieve user data for " + userID + ": " + userResponse["Message"].AsString());
+ m_log.WarnFormat("[SIMIAN PRESENCE CONNECTOR]: Failed to retrieve session {0}: {1}",sessionID.ToString(),sessionResponse["Message"].AsString());
+ return null;
}
- else
+
+ UUID userID = sessionResponse["UserID"].AsUUID();
+ OSDMap userResponse = GetUserData(userID);
+ if (userResponse == null)
{
- m_log.Warn("[SIMIAN PRESENCE CONNECTOR]: Failed to retrieve session " + sessionID + ": " + sessionResponse["Message"].AsString());
+ m_log.WarnFormat("[SIMIAN PRESENCE CONNECTOR]: Failed to retrieve user data for {0}: {1}",userID.ToString(),userResponse["Message"].AsString());
+ return null;
}
- return null;
+ return ResponseToPresenceInfo(sessionResponse);
}
public PresenceInfo[] GetAgents(string[] userIDs)
{
- List presences = new List(userIDs.Length);
+ List presences = new List();
- for (int i = 0; i < userIDs.Length; i++)
+ NameValueCollection requestArgs = new NameValueCollection
+ {
+ { "RequestMethod", "GetSessions" },
+ { "UserIDList", String.Join(",",userIDs) }
+ };
+
+ OSDMap sessionListResponse = WebUtil.PostToService(m_serverUrl, requestArgs);
+ if (! sessionListResponse["Success"].AsBoolean())
{
- UUID userID;
- if (UUID.TryParse(userIDs[i], out userID) && userID != UUID.Zero)
- presences.AddRange(GetSessions(userID));
+ m_log.WarnFormat("[SIMIAN PRESENCE CONNECTOR]: Failed to retrieve sessions: {0}",sessionListResponse["Message"].AsString());
+ return null;
+ }
+
+ OSDArray sessionList = sessionListResponse["Sessions"] as OSDArray;
+ for (int i = 0; i < sessionList.Count; i++)
+ {
+ OSDMap sessionInfo = sessionList[i] as OSDMap;
+ presences.Add(ResponseToPresenceInfo(sessionInfo));
}
return presences.ToArray();
@@ -262,7 +260,7 @@ namespace OpenSim.Services.Connectors.SimianGrid
public bool LoggedOut(string userID, UUID sessionID, UUID regionID, Vector3 lastPosition, Vector3 lastLookAt)
{
-// m_log.DebugFormat("[SIMIAN PRESENCE CONNECTOR]: Logging out user " + userID);
+ // m_log.DebugFormat("[SIMIAN PRESENCE CONNECTOR]: Logging out user " + userID);
// Remove the session to mark this user offline
if (!LogoutAgent(sessionID))
@@ -270,11 +268,11 @@ namespace OpenSim.Services.Connectors.SimianGrid
// Save our last position as user data
NameValueCollection requestArgs = new NameValueCollection
- {
- { "RequestMethod", "AddUserData" },
- { "UserID", userID.ToString() },
- { "LastLocation", SerializeLocation(regionID, lastPosition, lastLookAt) }
- };
+ {
+ { "RequestMethod", "AddUserData" },
+ { "UserID", userID.ToString() },
+ { "LastLocation", SerializeLocation(regionID, lastPosition, lastLookAt) }
+ };
OSDMap response = WebUtil.PostToService(m_serverUrl, requestArgs);
bool success = response["Success"].AsBoolean();
@@ -287,14 +285,14 @@ namespace OpenSim.Services.Connectors.SimianGrid
public bool SetHome(string userID, UUID regionID, Vector3 position, Vector3 lookAt)
{
-// m_log.DebugFormat("[SIMIAN PRESENCE CONNECTOR]: Setting home location for user " + userID);
+ // m_log.DebugFormat("[SIMIAN PRESENCE CONNECTOR]: Setting home location for user " + userID);
NameValueCollection requestArgs = new NameValueCollection
- {
- { "RequestMethod", "AddUserData" },
- { "UserID", userID.ToString() },
- { "HomeLocation", SerializeLocation(regionID, position, lookAt) }
- };
+ {
+ { "RequestMethod", "AddUserData" },
+ { "UserID", userID.ToString() },
+ { "HomeLocation", SerializeLocation(regionID, position, lookAt) }
+ };
OSDMap response = WebUtil.PostToService(m_serverUrl, requestArgs);
bool success = response["Success"].AsBoolean();
@@ -312,23 +310,14 @@ namespace OpenSim.Services.Connectors.SimianGrid
public GridUserInfo GetGridUserInfo(string user)
{
-// m_log.DebugFormat("[SIMIAN PRESENCE CONNECTOR]: Requesting session data for agent " + user);
+ // m_log.DebugFormat("[SIMIAN PRESENCE CONNECTOR]: Requesting session data for agent " + user);
UUID userID = new UUID(user);
-// m_log.DebugFormat("[SIMIAN PRESENCE CONNECTOR]: Requesting user data for " + userID);
-
- NameValueCollection requestArgs = new NameValueCollection
- {
- { "RequestMethod", "GetUser" },
- { "UserID", userID.ToString() }
- };
-
- OSDMap userResponse = WebUtil.PostToService(m_serverUrl, requestArgs);
- if (userResponse["Success"].AsBoolean())
+ OSDMap userResponse = GetUserData(userID);
+ if (userResponse != null)
return ResponseToGridUserInfo(userResponse);
- else
- m_log.Warn("[SIMIAN PRESENCE CONNECTOR]: Failed to retrieve user data for " + userID + ": " + userResponse["Message"].AsString());
+ m_log.WarnFormat("[SIMIAN PRESENCE CONNECTOR]: Failed to retrieve user data for {0}: {1}",userID,userResponse["Message"].AsString());
return null;
}
@@ -338,65 +327,49 @@ namespace OpenSim.Services.Connectors.SimianGrid
private OSDMap GetUserData(UUID userID)
{
-// m_log.DebugFormat("[SIMIAN PRESENCE CONNECTOR]: Requesting user data for " + userID);
+ // m_log.DebugFormat("[SIMIAN PRESENCE CONNECTOR]: Requesting user data for " + userID);
NameValueCollection requestArgs = new NameValueCollection
- {
- { "RequestMethod", "GetUser" },
- { "UserID", userID.ToString() }
- };
+ {
+ { "RequestMethod", "GetUser" },
+ { "UserID", userID.ToString() }
+ };
OSDMap response = WebUtil.PostToService(m_serverUrl, requestArgs);
if (response["Success"].AsBoolean() && response["User"] is OSDMap)
return response;
- else
- m_log.Warn("[SIMIAN PRESENCE CONNECTOR]: Failed to retrieve user data for " + userID + ": " + response["Message"].AsString());
+ m_log.WarnFormat("[SIMIAN PRESENCE CONNECTOR]: Failed to retrieve user data for {0}; {1}",userID.ToString(),response["Message"].AsString());
return null;
}
- private List GetSessions(UUID userID)
+ private OSDMap GetSessionDataFromSessionID(UUID sessionID)
{
- List presences = new List(1);
-
- OSDMap userResponse = GetUserData(userID);
- if (userResponse != null)
- {
-// m_log.DebugFormat("[SIMIAN PRESENCE CONNECTOR]: Requesting sessions for " + userID);
-
- NameValueCollection requestArgs = new NameValueCollection
+ NameValueCollection requestArgs = new NameValueCollection
{
- { "RequestMethod", "GetSession" },
- { "UserID", userID.ToString() }
+ { "RequestMethod", "GetSession" },
+ { "SessionID", sessionID.ToString() }
};
- OSDMap response = WebUtil.PostToService(m_serverUrl, requestArgs);
- if (response["Success"].AsBoolean())
- {
- PresenceInfo presence = ResponseToPresenceInfo(response, userResponse);
- if (presence != null)
- presences.Add(presence);
- }
-// else
-// {
-// m_log.Debug("[SIMIAN PRESENCE CONNECTOR]: No session returned for " + userID + ": " + response["Message"].AsString());
-// }
- }
+ OSDMap response = WebUtil.PostToService(m_serverUrl, requestArgs);
+ if (response["Success"].AsBoolean())
+ return response;
- return presences;
+ m_log.WarnFormat("[SIMIAN PRESENCE CONNECTOR]: Failed to retrieve session data for {0}; {1}",sessionID.ToString(),response["Message"].AsString());
+ return null;
}
private bool UpdateSession(UUID sessionID, UUID regionID, Vector3 lastPosition, Vector3 lastLookAt)
{
// Save our current location as session data
NameValueCollection requestArgs = new NameValueCollection
- {
- { "RequestMethod", "UpdateSession" },
- { "SessionID", sessionID.ToString() },
- { "SceneID", regionID.ToString() },
- { "ScenePosition", lastPosition.ToString() },
- { "SceneLookAt", lastLookAt.ToString() }
- };
+ {
+ { "RequestMethod", "UpdateSession" },
+ { "SessionID", sessionID.ToString() },
+ { "SceneID", regionID.ToString() },
+ { "ScenePosition", lastPosition.ToString() },
+ { "SceneLookAt", lastLookAt.ToString() }
+ };
OSDMap response = WebUtil.PostToService(m_serverUrl, requestArgs);
bool success = response["Success"].AsBoolean();
@@ -407,7 +380,7 @@ namespace OpenSim.Services.Connectors.SimianGrid
return success;
}
- private PresenceInfo ResponseToPresenceInfo(OSDMap sessionResponse, OSDMap userResponse)
+ private PresenceInfo ResponseToPresenceInfo(OSDMap sessionResponse)
{
if (sessionResponse == null)
return null;
--
cgit v1.1
From fe16dc09da3f2736fad5a9e792f5f81098b5f9a1 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 7 Apr 2013 08:27:49 -0700
Subject: BulletSim: complete movement of physical object action code out of
the physical object and into actors for setForce, setTorque, hover, lock axis
and avatar move.
---
.../Physics/BulletSPlugin/BSActorAvatarMove.cs | 287 +++++++++++++++++++
.../Region/Physics/BulletSPlugin/BSActorHover.cs | 176 ++++++++++++
.../Physics/BulletSPlugin/BSActorLockAxis.cs | 4 +-
.../Physics/BulletSPlugin/BSActorMoveToTarget.cs | 156 +++++++++++
.../Physics/BulletSPlugin/BSActorSetForce.cs | 137 +++++++++
.../Physics/BulletSPlugin/BSActorSetTorque.cs | 138 +++++++++
OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 12 +-
.../Region/Physics/BulletSPlugin/BSCharacter.cs | 268 +++---------------
.../Region/Physics/BulletSPlugin/BSPhysObject.cs | 226 ++++++---------
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 307 ++++-----------------
.../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 3 +-
11 files changed, 1078 insertions(+), 636 deletions(-)
create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
new file mode 100755
index 0000000..634a898
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
@@ -0,0 +1,287 @@
+/*
+ * 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.Linq;
+using System.Text;
+
+using OpenSim.Region.Physics.Manager;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSActorAvatarMove : BSActor
+{
+ BSVMotor m_velocityMotor;
+
+ public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName)
+ : base(physicsScene, pObj, actorName)
+ {
+ m_velocityMotor = null;
+ m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID);
+ }
+
+ // BSActor.isActive
+ public override bool isActive
+ {
+ get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
+ }
+
+ // Release any connections and resources used by the actor.
+ // BSActor.Dispose()
+ public override void Dispose()
+ {
+ Enabled = false;
+ }
+
+ // Called when physical parameters (properties set in Bullet) need to be re-applied.
+ // Called at taint-time.
+ // BSActor.Refresh()
+ public override void Refresh()
+ {
+ m_physicsScene.DetailLog("{0},BSActorAvatarMove,refresh", m_controllingPrim.LocalID);
+
+ // If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
+ if (m_controllingPrim.RawForce == OMV.Vector3.Zero)
+ {
+ m_physicsScene.DetailLog("{0},BSActorAvatarMove,refresh,notAvatarMove,removing={1}", m_controllingPrim.LocalID, ActorName);
+ m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
+ return;
+ }
+
+ // If the object is physically active, add the hoverer prestep action
+ if (isActive)
+ {
+ ActivateAvatarMove();
+ }
+ else
+ {
+ DeactivateAvatarMove();
+ }
+ }
+
+ // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
+ // Register a prestep action to restore physical requirements before the next simulation step.
+ // Called at taint-time.
+ // BSActor.RemoveBodyDependencies()
+ public override void RemoveBodyDependencies()
+ {
+ // Nothing to do for the hoverer since it is all software at pre-step action time.
+ }
+
+ public void SetVelocityAndTarget(OMV.Vector3 vel, OMV.Vector3 targ, bool inTaintTime)
+ {
+ m_physicsScene.TaintedObject(inTaintTime, "BSActorAvatarMove.setVelocityAndTarget", delegate()
+ {
+ m_velocityMotor.Reset();
+ m_velocityMotor.SetTarget(targ);
+ m_velocityMotor.SetCurrent(vel);
+ m_velocityMotor.Enabled = true;
+ });
+ }
+
+ // If a hover motor has not been created, create one and start the hovering.
+ private void ActivateAvatarMove()
+ {
+ if (m_velocityMotor == null)
+ {
+ // Infinite decay and timescale values so motor only changes current to target values.
+ m_velocityMotor = new BSVMotor("BSCharacter.Velocity",
+ 0.2f, // time scale
+ BSMotor.Infinite, // decay time scale
+ BSMotor.InfiniteVector, // friction timescale
+ 1f // efficiency
+ );
+ // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+
+ m_physicsScene.BeforeStep += Mover;
+ }
+ }
+
+ private void DeactivateAvatarMove()
+ {
+ if (m_velocityMotor != null)
+ {
+ m_physicsScene.BeforeStep -= Mover;
+ m_velocityMotor = null;
+ }
+ }
+
+ // Called just before the simulation step. Update the vertical position for hoverness.
+ private void Mover(float timeStep)
+ {
+ // Don't do movement while the object is selected.
+ if (!isActive)
+ return;
+
+ // TODO: Decide if the step parameters should be changed depending on the avatar's
+ // state (flying, colliding, ...). There is code in ODE to do this.
+
+ // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity
+ // specified for the avatar is the one that should be used. For falling, if the avatar
+ // is not flying and is not colliding then it is presumed to be falling and the Z
+ // component is not fooled with (thus allowing gravity to do its thing).
+ // When the avatar is standing, though, the user has specified a velocity of zero and
+ // the avatar should be standing. But if the avatar is pushed by something in the world
+ // (raising elevator platform, moving vehicle, ...) the avatar should be allowed to
+ // move. Thus, the velocity cannot be forced to zero. The problem is that small velocity
+ // errors can creap in and the avatar will slowly float off in some direction.
+ // So, the problem is that, when an avatar is standing, we cannot tell creaping error
+ // from real pushing.
+ // The code below uses whether the collider is static or moving to decide whether to zero motion.
+
+ m_velocityMotor.Step(timeStep);
+ m_controllingPrim.IsStationary = false;
+
+ // If we're not supposed to be moving, make sure things are zero.
+ if (m_velocityMotor.ErrorIsZero() && m_velocityMotor.TargetValue == OMV.Vector3.Zero)
+ {
+ // The avatar shouldn't be moving
+ m_velocityMotor.Zero();
+
+ if (m_controllingPrim.IsColliding)
+ {
+ // If we are colliding with a stationary object, presume we're standing and don't move around
+ if (!m_controllingPrim.ColliderIsMoving)
+ {
+ m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", m_controllingPrim.LocalID);
+ m_controllingPrim.IsStationary = true;
+ m_controllingPrim.ZeroMotion(true /* inTaintTime */);
+ }
+
+ // Standing has more friction on the ground
+ if (m_controllingPrim.Friction != BSParam.AvatarStandingFriction)
+ {
+ m_controllingPrim.Friction = BSParam.AvatarStandingFriction;
+ m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction);
+ }
+ }
+ else
+ {
+ if (m_controllingPrim.Flying)
+ {
+ // Flying and not collising and velocity nearly zero.
+ m_controllingPrim.ZeroMotion(true /* inTaintTime */);
+ }
+ }
+
+ m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}",
+ m_controllingPrim.LocalID, m_velocityMotor.TargetValue, m_controllingPrim.IsColliding);
+ }
+ else
+ {
+ // Supposed to be moving.
+ OMV.Vector3 stepVelocity = m_velocityMotor.CurrentValue;
+
+ if (m_controllingPrim.Friction != BSParam.AvatarFriction)
+ {
+ // Probably starting up walking. Set friction to moving friction.
+ m_controllingPrim.Friction = BSParam.AvatarFriction;
+ m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction);
+ }
+
+ // If falling, we keep the world's downward vector no matter what the other axis specify.
+ // The check for RawVelocity.Z < 0 makes jumping work (temporary upward force).
+ if (!m_controllingPrim.Flying && !m_controllingPrim.IsColliding)
+ {
+ if (m_controllingPrim.RawVelocity.Z < 0)
+ stepVelocity.Z = m_controllingPrim.RawVelocity.Z;
+ // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
+ }
+
+ // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
+ OMV.Vector3 moveForce = (stepVelocity - m_controllingPrim.RawVelocity) * m_controllingPrim.Mass;
+
+ // Should we check for move force being small and forcing velocity to zero?
+
+ // Add special movement force to allow avatars to walk up stepped surfaces.
+ moveForce += WalkUpStairs();
+
+ m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}",
+ m_controllingPrim.LocalID, stepVelocity, m_controllingPrim.RawVelocity, m_controllingPrim.Mass, moveForce);
+ m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, moveForce);
+ }
+ }
+
+ // Decide if the character is colliding with a low object and compute a force to pop the
+ // avatar up so it can walk up and over the low objects.
+ private OMV.Vector3 WalkUpStairs()
+ {
+ OMV.Vector3 ret = OMV.Vector3.Zero;
+
+ // This test is done if moving forward, not flying and is colliding with something.
+ // DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}",
+ // LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count);
+ if (m_controllingPrim.IsColliding && !m_controllingPrim.Flying && m_controllingPrim.TargetVelocitySpeed > 0.1f /* && ForwardSpeed < 0.1f */)
+ {
+ // The range near the character's feet where we will consider stairs
+ float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) + 0.05f;
+ float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight;
+
+ // Look for a collision point that is near the character's feet and is oriented the same as the charactor is
+ foreach (KeyValuePair kvp in m_controllingPrim.CollisionsLastTick.m_objCollisionList)
+ {
+ // Don't care about collisions with the terrain
+ if (kvp.Key > m_physicsScene.TerrainManager.HighestTerrainID)
+ {
+ OMV.Vector3 touchPosition = kvp.Value.Position;
+ // DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}",
+ // LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition);
+ if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax)
+ {
+ // This contact is within the 'near the feet' range.
+ // The normal should be our contact point to the object so it is pointing away
+ // thus the difference between our facing orientation and the normal should be small.
+ OMV.Vector3 directionFacing = OMV.Vector3.UnitX * m_controllingPrim.RawOrientation;
+ OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal);
+ float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal));
+ if (diff < BSParam.AvatarStepApproachFactor)
+ {
+ // Found the stairs contact point. Push up a little to raise the character.
+ float upForce = (touchPosition.Z - nearFeetHeightMin) * m_controllingPrim.Mass * BSParam.AvatarStepForceFactor;
+ ret = new OMV.Vector3(0f, 0f, upForce);
+
+ // Also move the avatar up for the new height
+ OMV.Vector3 displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight / 2f);
+ m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement;
+ }
+ m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},faceDir={3},norm={4},diff={5},ret={6}",
+ m_controllingPrim.LocalID, touchPosition, nearFeetHeightMin, directionFacing, touchNormal, diff, ret);
+ }
+ }
+ }
+ }
+
+ return ret;
+ }
+
+}
+}
+
+
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
new file mode 100755
index 0000000..8dd3700
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
@@ -0,0 +1,176 @@
+/*
+ * 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.Linq;
+using System.Text;
+
+using OpenSim.Region.Physics.Manager;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSActorHover : BSActor
+{
+ private BSFMotor m_hoverMotor;
+
+ public BSActorHover(BSScene physicsScene, BSPhysObject pObj, string actorName)
+ : base(physicsScene, pObj, actorName)
+ {
+ m_hoverMotor = null;
+ m_physicsScene.DetailLog("{0},BSActorHover,constructor", m_controllingPrim.LocalID);
+ }
+
+ // BSActor.isActive
+ public override bool isActive
+ {
+ get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
+ }
+
+ // Release any connections and resources used by the actor.
+ // BSActor.Dispose()
+ public override void Dispose()
+ {
+ Enabled = false;
+ }
+
+ // Called when physical parameters (properties set in Bullet) need to be re-applied.
+ // Called at taint-time.
+ // BSActor.Refresh()
+ public override void Refresh()
+ {
+ m_physicsScene.DetailLog("{0},BSActorHover,refresh", m_controllingPrim.LocalID);
+
+ // If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
+ if (!m_controllingPrim.HoverActive)
+ {
+ m_physicsScene.DetailLog("{0},BSActorHover,refresh,notHovering,removing={1}", m_controllingPrim.LocalID, ActorName);
+ m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
+ return;
+ }
+
+ // If the object is physically active, add the hoverer prestep action
+ if (isActive)
+ {
+ ActivateHover();
+ }
+ else
+ {
+ DeactivateHover();
+ }
+ }
+
+ // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
+ // Register a prestep action to restore physical requirements before the next simulation step.
+ // Called at taint-time.
+ // BSActor.RemoveBodyDependencies()
+ public override void RemoveBodyDependencies()
+ {
+ // Nothing to do for the hoverer since it is all software at pre-step action time.
+ }
+
+ // If a hover motor has not been created, create one and start the hovering.
+ private void ActivateHover()
+ {
+ if (m_hoverMotor == null)
+ {
+ // Turning the target on
+ m_hoverMotor = new BSFMotor("BSActorHover",
+ m_controllingPrim.HoverTau, // timeScale
+ BSMotor.Infinite, // decay time scale
+ BSMotor.Infinite, // friction timescale
+ 1f // efficiency
+ );
+ m_hoverMotor.SetTarget(ComputeCurrentHoverHeight());
+ m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z);
+ m_hoverMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
+
+ m_physicsScene.BeforeStep += Hoverer;
+ }
+ }
+
+ private void DeactivateHover()
+ {
+ if (m_hoverMotor != null)
+ {
+ m_physicsScene.BeforeStep -= Hoverer;
+ m_hoverMotor = null;
+ }
+ }
+
+ // Called just before the simulation step. Update the vertical position for hoverness.
+ private void Hoverer(float timeStep)
+ {
+ // Don't do hovering while the object is selected.
+ if (!isActive)
+ return;
+
+ m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z);
+ m_hoverMotor.SetTarget(ComputeCurrentHoverHeight());
+ float targetHeight = m_hoverMotor.Step(timeStep);
+
+ // 'targetHeight' is where we'd like the Z of the prim to be at this moment.
+ // Compute the amount of force to push us there.
+ float moveForce = (targetHeight - m_controllingPrim.RawPosition.Z) * m_controllingPrim.RawMass;
+ // Undo anything the object thinks it's doing at the moment
+ moveForce = -m_controllingPrim.RawVelocity.Z * m_controllingPrim.Mass;
+
+ m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, new OMV.Vector3(0f, 0f, moveForce));
+ m_physicsScene.DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}",
+ m_controllingPrim.LocalID, targetHeight, moveForce, m_controllingPrim.RawMass);
+ }
+
+ // Based on current position, determine what we should be hovering at now.
+ // Must recompute often. What if we walked offa cliff>
+ private float ComputeCurrentHoverHeight()
+ {
+ float ret = m_controllingPrim.HoverHeight;
+ float groundHeight = m_physicsScene.TerrainManager.GetTerrainHeightAtXYZ(m_controllingPrim.RawPosition);
+
+ switch (m_controllingPrim.HoverType)
+ {
+ case PIDHoverType.Ground:
+ ret = groundHeight + m_controllingPrim.HoverHeight;
+ break;
+ case PIDHoverType.GroundAndWater:
+ float waterHeight = m_physicsScene.TerrainManager.GetWaterLevelAtXYZ(m_controllingPrim.RawPosition);
+ if (groundHeight > waterHeight)
+ {
+ ret = groundHeight + m_controllingPrim.HoverHeight;
+ }
+ else
+ {
+ ret = waterHeight + m_controllingPrim.HoverHeight;
+ }
+ break;
+ }
+ return ret;
+ }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
index 7219617..c40a499 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
@@ -40,7 +40,7 @@ public class BSActorLockAxis : BSActor
BSConstraint LockAxisConstraint = null;
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
- : base(physicsScene, pObj,actorName)
+ : base(physicsScene, pObj, actorName)
{
m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
LockAxisConstraint = null;
@@ -99,7 +99,7 @@ public class BSActorLockAxis : BSActor
// If a constraint is set up, remove it from the physical scene
RemoveAxisLockConstraint();
// Schedule a call before the next simulation step to restore the constraint.
- m_physicsScene.PostTaintObject(m_controllingPrim.LockedAxisActorName, m_controllingPrim.LocalID, delegate()
+ m_physicsScene.PostTaintObject("BSActorLockAxis:" + ActorName, m_controllingPrim.LocalID, delegate()
{
Refresh();
});
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
new file mode 100755
index 0000000..3517ef2
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
@@ -0,0 +1,156 @@
+/*
+ * 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.Linq;
+using System.Text;
+
+using OpenSim.Region.Physics.Manager;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSActorMoveToTarget : BSActor
+{
+ private BSVMotor m_targetMotor;
+
+ public BSActorMoveToTarget(BSScene physicsScene, BSPhysObject pObj, string actorName)
+ : base(physicsScene, pObj, actorName)
+ {
+ m_targetMotor = null;
+ m_physicsScene.DetailLog("{0},BSActorMoveToTarget,constructor", m_controllingPrim.LocalID);
+ }
+
+ // BSActor.isActive
+ public override bool isActive
+ {
+ get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
+ }
+
+ // Release any connections and resources used by the actor.
+ // BSActor.Dispose()
+ public override void Dispose()
+ {
+ Enabled = false;
+ }
+
+ // Called when physical parameters (properties set in Bullet) need to be re-applied.
+ // Called at taint-time.
+ // BSActor.Refresh()
+ public override void Refresh()
+ {
+ m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh", m_controllingPrim.LocalID);
+
+ // If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
+ if (!m_controllingPrim.HoverActive)
+ {
+ m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,notMoveToTarget,removing={1}", m_controllingPrim.LocalID, ActorName);
+ m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
+ return;
+ }
+
+ // If the object is physically active, add the hoverer prestep action
+ if (isActive)
+ {
+ ActivateMoveToTarget();
+ }
+ else
+ {
+ DeactivateMoveToTarget();
+ }
+ }
+
+ // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
+ // Register a prestep action to restore physical requirements before the next simulation step.
+ // Called at taint-time.
+ // BSActor.RemoveBodyDependencies()
+ public override void RemoveBodyDependencies()
+ {
+ // Nothing to do for the hoverer since it is all software at pre-step action time.
+ }
+
+ // If a hover motor has not been created, create one and start the hovering.
+ private void ActivateMoveToTarget()
+ {
+ if (m_targetMotor == null)
+ {
+ // We're taking over after this.
+ m_controllingPrim.ZeroMotion(true);
+
+ m_targetMotor = new BSVMotor("BSPrim.PIDTarget",
+ m_controllingPrim.MoveToTargetTau, // timeScale
+ BSMotor.Infinite, // decay time scale
+ BSMotor.InfiniteVector, // friction timescale
+ 1f // efficiency
+ );
+ m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
+ m_targetMotor.SetTarget(m_controllingPrim.MoveToTargetTarget);
+ m_targetMotor.SetCurrent(m_controllingPrim.RawPosition);
+
+ m_physicsScene.BeforeStep += Mover;
+ }
+ }
+
+ private void DeactivateMoveToTarget()
+ {
+ if (m_targetMotor != null)
+ {
+ m_physicsScene.BeforeStep -= Mover;
+ m_targetMotor = null;
+ }
+ }
+
+ // Called just before the simulation step. Update the vertical position for hoverness.
+ private void Mover(float timeStep)
+ {
+ // Don't do hovering while the object is selected.
+ if (!isActive)
+ return;
+
+ OMV.Vector3 origPosition = m_controllingPrim.RawPosition; // DEBUG DEBUG (for printout below)
+
+ // 'movePosition' is where we'd like the prim to be at this moment.
+ OMV.Vector3 movePosition = m_controllingPrim.RawPosition + m_targetMotor.Step(timeStep);
+
+ // If we are very close to our target, turn off the movement motor.
+ if (m_targetMotor.ErrorIsZero())
+ {
+ m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
+ m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
+ m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
+ m_targetMotor.Enabled = false;
+ }
+ else
+ {
+ m_controllingPrim.ForcePosition = movePosition;
+ }
+ m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition);
+ }
+}
+}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
new file mode 100755
index 0000000..d942490
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
@@ -0,0 +1,137 @@
+/*
+ * 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.Linq;
+using System.Text;
+
+using OpenSim.Region.Physics.Manager;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSActorSetForce : BSActor
+{
+ BSFMotor m_forceMotor;
+
+ public BSActorSetForce(BSScene physicsScene, BSPhysObject pObj, string actorName)
+ : base(physicsScene, pObj, actorName)
+ {
+ m_forceMotor = null;
+ m_physicsScene.DetailLog("{0},BSActorSetForce,constructor", m_controllingPrim.LocalID);
+ }
+
+ // BSActor.isActive
+ public override bool isActive
+ {
+ get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
+ }
+
+ // Release any connections and resources used by the actor.
+ // BSActor.Dispose()
+ public override void Dispose()
+ {
+ Enabled = false;
+ }
+
+ // Called when physical parameters (properties set in Bullet) need to be re-applied.
+ // Called at taint-time.
+ // BSActor.Refresh()
+ public override void Refresh()
+ {
+ m_physicsScene.DetailLog("{0},BSActorSetForce,refresh", m_controllingPrim.LocalID);
+
+ // If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
+ if (m_controllingPrim.RawForce == OMV.Vector3.Zero)
+ {
+ m_physicsScene.DetailLog("{0},BSActorSetForce,refresh,notSetForce,removing={1}", m_controllingPrim.LocalID, ActorName);
+ m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
+ return;
+ }
+
+ // If the object is physically active, add the hoverer prestep action
+ if (isActive)
+ {
+ ActivateSetForce();
+ }
+ else
+ {
+ DeactivateSetForce();
+ }
+ }
+
+ // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
+ // Register a prestep action to restore physical requirements before the next simulation step.
+ // Called at taint-time.
+ // BSActor.RemoveBodyDependencies()
+ public override void RemoveBodyDependencies()
+ {
+ // Nothing to do for the hoverer since it is all software at pre-step action time.
+ }
+
+ // If a hover motor has not been created, create one and start the hovering.
+ private void ActivateSetForce()
+ {
+ if (m_forceMotor == null)
+ {
+ // A fake motor that might be used someday
+ m_forceMotor = new BSFMotor("setForce", 1f, 1f, 1f, 1f);
+
+ m_physicsScene.BeforeStep += Mover;
+ }
+ }
+
+ private void DeactivateSetForce()
+ {
+ if (m_forceMotor != null)
+ {
+ m_physicsScene.BeforeStep -= Mover;
+ m_forceMotor = null;
+ }
+ }
+
+ // Called just before the simulation step. Update the vertical position for hoverness.
+ private void Mover(float timeStep)
+ {
+ // Don't do force while the object is selected.
+ if (!isActive)
+ return;
+
+ m_physicsScene.DetailLog("{0},BSActorSetForce,preStep,force={1}", m_controllingPrim.LocalID, m_controllingPrim.RawForce);
+ if (m_controllingPrim.PhysBody.HasPhysicalBody)
+ {
+ m_physicsScene.PE.ApplyCentralForce(m_controllingPrim.PhysBody, m_controllingPrim.RawForce);
+ m_controllingPrim.ActivateIfPhysical(false);
+ }
+
+ // TODO:
+ }
+}
+}
+
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
new file mode 100755
index 0000000..e0f719f
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
@@ -0,0 +1,138 @@
+/*
+ * 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.Linq;
+using System.Text;
+
+using OpenSim.Region.Physics.Manager;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSActorSetTorque : BSActor
+{
+ BSFMotor m_torqueMotor;
+
+ public BSActorSetTorque(BSScene physicsScene, BSPhysObject pObj, string actorName)
+ : base(physicsScene, pObj, actorName)
+ {
+ m_torqueMotor = null;
+ m_physicsScene.DetailLog("{0},BSActorSetTorque,constructor", m_controllingPrim.LocalID);
+ }
+
+ // BSActor.isActive
+ public override bool isActive
+ {
+ get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
+ }
+
+ // Release any connections and resources used by the actor.
+ // BSActor.Dispose()
+ public override void Dispose()
+ {
+ Enabled = false;
+ }
+
+ // Called when physical parameters (properties set in Bullet) need to be re-applied.
+ // Called at taint-time.
+ // BSActor.Refresh()
+ public override void Refresh()
+ {
+ m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh", m_controllingPrim.LocalID);
+
+ // If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
+ if (m_controllingPrim.RawTorque == OMV.Vector3.Zero)
+ {
+ m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh,notSetTorque,removing={1}", m_controllingPrim.LocalID, ActorName);
+ m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
+ return;
+ }
+
+ // If the object is physically active, add the hoverer prestep action
+ if (isActive)
+ {
+ ActivateSetTorque();
+ }
+ else
+ {
+ DeactivateSetTorque();
+ }
+ }
+
+ // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
+ // Register a prestep action to restore physical requirements before the next simulation step.
+ // Called at taint-time.
+ // BSActor.RemoveBodyDependencies()
+ public override void RemoveBodyDependencies()
+ {
+ // Nothing to do for the hoverer since it is all software at pre-step action time.
+ }
+
+ // If a hover motor has not been created, create one and start the hovering.
+ private void ActivateSetTorque()
+ {
+ if (m_torqueMotor == null)
+ {
+ // A fake motor that might be used someday
+ m_torqueMotor = new BSFMotor("setTorque", 1f, 1f, 1f, 1f);
+
+ m_physicsScene.BeforeStep += Mover;
+ }
+ }
+
+ private void DeactivateSetTorque()
+ {
+ if (m_torqueMotor != null)
+ {
+ m_physicsScene.BeforeStep -= Mover;
+ m_torqueMotor = null;
+ }
+ }
+
+ // Called just before the simulation step. Update the vertical position for hoverness.
+ private void Mover(float timeStep)
+ {
+ // Don't do force while the object is selected.
+ if (!isActive)
+ return;
+
+ m_physicsScene.DetailLog("{0},BSActorSetTorque,preStep,force={1}", m_controllingPrim.LocalID, m_controllingPrim.RawTorque);
+ if (m_controllingPrim.PhysBody.HasPhysicalBody)
+ {
+ m_controllingPrim.AddAngularForce(m_controllingPrim.RawTorque, false, true);
+ m_controllingPrim.ActivateIfPhysical(false);
+ }
+
+ // TODO:
+ }
+}
+}
+
+
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
index 5a19ba4..fb4d452 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
@@ -32,12 +32,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSActorCollection
{
- private BSScene PhysicsScene { get; set; }
+ private BSScene m_physicsScene { get; set; }
private Dictionary m_actors;
public BSActorCollection(BSScene physicsScene)
{
- PhysicsScene = physicsScene;
+ m_physicsScene = physicsScene;
m_actors = new Dictionary();
}
public void Add(string name, BSActor actor)
@@ -61,6 +61,10 @@ public class BSActorCollection
Release();
m_actors.Clear();
}
+ public void Dispose()
+ {
+ Clear();
+ }
public bool HasActor(string name)
{
return m_actors.ContainsKey(name);
@@ -71,6 +75,10 @@ public class BSActorCollection
act(kvp.Value);
}
+ public void Enable(bool enabl)
+ {
+ ForEachActor(a => a.Enable(enabl));
+ }
public void Release()
{
ForEachActor(a => a.Dispose());
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 25be416..09c9b16 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -46,9 +46,6 @@ public sealed class BSCharacter : BSPhysObject
private OMV.Vector3 _position;
private float _mass;
private float _avatarVolume;
- private OMV.Vector3 _force;
- private OMV.Vector3 _velocity;
- private OMV.Vector3 _torque;
private float _collisionScore;
private OMV.Vector3 _acceleration;
private OMV.Quaternion _orientation;
@@ -61,17 +58,13 @@ public sealed class BSCharacter : BSPhysObject
private OMV.Vector3 _rotationalVelocity;
private bool _kinematic;
private float _buoyancy;
- private bool _isStationaryStanding; // true is standing on a stationary object
- private BSVMotor _velocityMotor;
+ private BSActorAvatarMove m_moveActor;
+ private const string AvatarMoveActorName = "BSCharacter.AvatarMove";
private OMV.Vector3 _PIDTarget;
private bool _usePID;
private float _PIDTau;
- private bool _useHoverPID;
- private float _PIDHoverHeight;
- private PIDHoverType _PIDHoverType;
- private float _PIDHoverTao;
public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
: base(parent_scene, localID, avName, "BSCharacter")
@@ -81,11 +74,10 @@ public sealed class BSCharacter : BSPhysObject
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
- _velocity = OMV.Vector3.Zero;
+ RawVelocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
Friction = BSParam.AvatarStandingFriction;
Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor;
- _isStationaryStanding = false;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.
@@ -99,7 +91,12 @@ public sealed class BSCharacter : BSPhysObject
// set _avatarVolume and _mass based on capsule size, _density and Scale
ComputeAvatarVolumeAndMass();
- SetupMovementMotor();
+ // The avatar's movement is controlled by this motor that speeds up and slows down
+ // the avatar seeking to reach the motor's target speed.
+ // This motor runs as a prestep action for the avatar so it will keep the avatar
+ // standing as well as moving. Destruction of the avatar will destroy the pre-step action.
+ m_moveActor = new BSActorAvatarMove(PhysicsScene, this, AvatarMoveActorName);
+ PhysicalActors.Add(AvatarMoveActorName, m_moveActor);
DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, Density, _avatarVolume, RawMass);
@@ -139,10 +136,10 @@ public sealed class BSCharacter : BSPhysObject
ForcePosition = _position;
// Set the velocity
- _velocityMotor.Reset();
- _velocityMotor.SetTarget(_velocity);
- _velocityMotor.SetCurrent(_velocity);
- ForceVelocity = _velocity;
+ if (m_moveActor != null)
+ m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false);
+
+ ForceVelocity = RawVelocity;
// This will enable or disable the flying buoyancy of the avatar.
// Needs to be reset especially when an avatar is recreated after crossing a region boundry.
@@ -176,162 +173,6 @@ public sealed class BSCharacter : BSPhysObject
PhysBody.ApplyCollisionMask(PhysicsScene);
}
- // The avatar's movement is controlled by this motor that speeds up and slows down
- // the avatar seeking to reach the motor's target speed.
- // This motor runs as a prestep action for the avatar so it will keep the avatar
- // standing as well as moving. Destruction of the avatar will destroy the pre-step action.
- private void SetupMovementMotor()
- {
- // Infinite decay and timescale values so motor only changes current to target values.
- _velocityMotor = new BSVMotor("BSCharacter.Velocity",
- 0.2f, // time scale
- BSMotor.Infinite, // decay time scale
- BSMotor.InfiniteVector, // friction timescale
- 1f // efficiency
- );
- // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
-
- RegisterPreStepAction("BSCharactor.Movement", LocalID, delegate(float timeStep)
- {
- // TODO: Decide if the step parameters should be changed depending on the avatar's
- // state (flying, colliding, ...). There is code in ODE to do this.
-
- // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity
- // specified for the avatar is the one that should be used. For falling, if the avatar
- // is not flying and is not colliding then it is presumed to be falling and the Z
- // component is not fooled with (thus allowing gravity to do its thing).
- // When the avatar is standing, though, the user has specified a velocity of zero and
- // the avatar should be standing. But if the avatar is pushed by something in the world
- // (raising elevator platform, moving vehicle, ...) the avatar should be allowed to
- // move. Thus, the velocity cannot be forced to zero. The problem is that small velocity
- // errors can creap in and the avatar will slowly float off in some direction.
- // So, the problem is that, when an avatar is standing, we cannot tell creaping error
- // from real pushing.
- // The code below uses whether the collider is static or moving to decide whether to zero motion.
-
- _velocityMotor.Step(timeStep);
- _isStationaryStanding = false;
-
- // If we're not supposed to be moving, make sure things are zero.
- if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero)
- {
- // The avatar shouldn't be moving
- _velocityMotor.Zero();
-
- if (IsColliding)
- {
- // If we are colliding with a stationary object, presume we're standing and don't move around
- if (!ColliderIsMoving)
- {
- DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID);
- _isStationaryStanding = true;
- ZeroMotion(true /* inTaintTime */);
- }
-
- // Standing has more friction on the ground
- if (Friction != BSParam.AvatarStandingFriction)
- {
- Friction = BSParam.AvatarStandingFriction;
- PhysicsScene.PE.SetFriction(PhysBody, Friction);
- }
- }
- else
- {
- if (Flying)
- {
- // Flying and not collising and velocity nearly zero.
- ZeroMotion(true /* inTaintTime */);
- }
- }
-
- DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding);
- }
- else
- {
- // Supposed to be moving.
- OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue;
-
- if (Friction != BSParam.AvatarFriction)
- {
- // Probably starting up walking. Set friction to moving friction.
- Friction = BSParam.AvatarFriction;
- PhysicsScene.PE.SetFriction(PhysBody, Friction);
- }
-
- // If falling, we keep the world's downward vector no matter what the other axis specify.
- // The check for _velocity.Z < 0 makes jumping work (temporary upward force).
- if (!Flying && !IsColliding)
- {
- if (_velocity.Z < 0)
- stepVelocity.Z = _velocity.Z;
- // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
- }
-
- // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
- OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass;
-
- // Should we check for move force being small and forcing velocity to zero?
-
- // Add special movement force to allow avatars to walk up stepped surfaces.
- moveForce += WalkUpStairs();
-
- DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
- PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
- }
- });
- }
-
- // Decide if the character is colliding with a low object and compute a force to pop the
- // avatar up so it can walk up and over the low objects.
- private OMV.Vector3 WalkUpStairs()
- {
- OMV.Vector3 ret = OMV.Vector3.Zero;
-
- // This test is done if moving forward, not flying and is colliding with something.
- // DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}",
- // LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count);
- if (IsColliding && !Flying && TargetVelocitySpeed > 0.1f /* && ForwardSpeed < 0.1f */)
- {
- // The range near the character's feet where we will consider stairs
- float nearFeetHeightMin = RawPosition.Z - (Size.Z / 2f) + 0.05f;
- float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight;
-
- // Look for a collision point that is near the character's feet and is oriented the same as the charactor is
- foreach (KeyValuePair kvp in CollisionsLastTick.m_objCollisionList)
- {
- // Don't care about collisions with the terrain
- if (kvp.Key > PhysicsScene.TerrainManager.HighestTerrainID)
- {
- OMV.Vector3 touchPosition = kvp.Value.Position;
- // DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}",
- // LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition);
- if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax)
- {
- // This contact is within the 'near the feet' range.
- // The normal should be our contact point to the object so it is pointing away
- // thus the difference between our facing orientation and the normal should be small.
- OMV.Vector3 directionFacing = OMV.Vector3.UnitX * RawOrientation;
- OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal);
- float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal));
- if (diff < BSParam.AvatarStepApproachFactor)
- {
- // Found the stairs contact point. Push up a little to raise the character.
- float upForce = (touchPosition.Z - nearFeetHeightMin) * Mass * BSParam.AvatarStepForceFactor;
- ret = new OMV.Vector3(0f, 0f, upForce);
-
- // Also move the avatar up for the new height
- OMV.Vector3 displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight / 2f);
- ForcePosition = RawPosition + displacement;
- }
- DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},faceDir={3},norm={4},diff={5},ret={6}",
- LocalID, touchPosition, nearFeetHeightMin, directionFacing, touchNormal, diff, ret);
- }
- }
- }
- }
-
- return ret;
- }
public override void RequestPhysicsterseUpdate()
{
@@ -403,7 +244,7 @@ public sealed class BSCharacter : BSPhysObject
// Called at taint time!
public override void ZeroMotion(bool inTaintTime)
{
- _velocity = OMV.Vector3.Zero;
+ RawVelocity = OMV.Vector3.Zero;
_acceleration = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
@@ -542,15 +383,15 @@ public sealed class BSCharacter : BSPhysObject
}
public override OMV.Vector3 Force {
- get { return _force; }
+ get { return RawForce; }
set {
- _force = value;
+ RawForce = value;
// m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
{
- DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
+ DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce);
if (PhysBody.HasPhysicalBody)
- PhysicsScene.PE.SetObjectForce(PhysBody, _force);
+ PhysicsScene.PE.SetObjectForce(PhysBody, RawForce);
});
}
}
@@ -573,7 +414,7 @@ public sealed class BSCharacter : BSPhysObject
{
get
{
- return m_targetVelocity;
+ return base.m_targetVelocity;
}
set
{
@@ -583,51 +424,39 @@ public sealed class BSCharacter : BSPhysObject
if (_setAlwaysRun)
targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 0f);
- PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
- {
- _velocityMotor.Reset();
- _velocityMotor.SetTarget(targetVel);
- _velocityMotor.SetCurrent(_velocity);
- _velocityMotor.Enabled = true;
- });
+ if (m_moveActor != null)
+ m_moveActor.SetVelocityAndTarget(RawVelocity, targetVel, false /* inTaintTime */);
}
}
- public override OMV.Vector3 RawVelocity
- {
- get { return _velocity; }
- set { _velocity = value; }
- }
// Directly setting velocity means this is what the user really wants now.
public override OMV.Vector3 Velocity {
- get { return _velocity; }
+ get { return RawVelocity; }
set {
- _velocity = value;
- // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
+ RawVelocity = value;
+ // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, RawVelocity);
PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
{
- _velocityMotor.Reset();
- _velocityMotor.SetCurrent(_velocity);
- _velocityMotor.SetTarget(_velocity);
- _velocityMotor.Enabled = false;
+ if (m_moveActor != null)
+ m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, true /* inTaintTime */);
- DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
- ForceVelocity = _velocity;
+ DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, RawVelocity);
+ ForceVelocity = RawVelocity;
});
}
}
public override OMV.Vector3 ForceVelocity {
- get { return _velocity; }
+ get { return RawVelocity; }
set {
PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
- _velocity = value;
- PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
+ RawVelocity = value;
+ PhysicsScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
PhysicsScene.PE.Activate(PhysBody, true);
}
}
public override OMV.Vector3 Torque {
- get { return _torque; }
- set { _torque = value;
+ get { return RawTorque; }
+ set { RawTorque = value;
}
}
public override float CollisionScore {
@@ -783,27 +612,6 @@ public sealed class BSCharacter : BSPhysObject
set { _PIDTau = value; }
}
- // Used for llSetHoverHeight and maybe vehicle height
- // Hover Height will override MoveTo target's Z
- public override bool PIDHoverActive {
- set { _useHoverPID = value; }
- }
- public override float PIDHoverHeight {
- set { _PIDHoverHeight = value; }
- }
- public override PIDHoverType PIDHoverType {
- set { _PIDHoverType = value; }
- }
- public override float PIDHoverTau {
- set { _PIDHoverTao = value; }
- }
-
- // For RotLookAt
- public override OMV.Quaternion APIDTarget { set { return; } }
- public override bool APIDActive { set { return; } }
- public override float APIDStrength { set { return; } }
- public override float APIDDamping { set { return; } }
-
public override void AddForce(OMV.Vector3 force, bool pushforce)
{
// Since this force is being applied in only one step, make this a force per second.
@@ -833,7 +641,7 @@ public sealed class BSCharacter : BSPhysObject
}
}
- public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
+ public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
}
public override void SetMomentum(OMV.Vector3 momentum) {
}
@@ -887,7 +695,7 @@ public sealed class BSCharacter : BSPhysObject
public override void UpdateProperties(EntityProperties entprop)
{
// Don't change position if standing on a stationary object.
- if (!_isStationaryStanding)
+ if (!IsStationary)
_position = entprop.Position;
_orientation = entprop.Rotation;
@@ -896,8 +704,8 @@ public sealed class BSCharacter : BSPhysObject
// and will send agent updates to the clients if velocity changes by more than
// 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
// extra updates.
- if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f))
- _velocity = entprop.Velocity;
+ if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f))
+ RawVelocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
@@ -920,7 +728,7 @@ 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, _velocity, _acceleration, _rotationalVelocity);
+ LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity);
}
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 98ea833..644bc7e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -43,7 +43,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
* VariableName: used by the simulator and performs taint operations, etc
* RawVariableName: direct reference to the BulletSim storage for the variable value
* ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
- * The last two (and certainly the last one) should be referenced only in taint-time.
+ * The last one should only be referenced in taint-time.
*/
/*
@@ -84,6 +84,7 @@ public abstract class BSPhysObject : PhysicsActor
// Initialize variables kept in base.
GravModifier = 1.0f;
Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
+ HoverActive = false;
// We don't have any physical representation yet.
PhysBody = new BulletBody(localID);
@@ -110,11 +111,10 @@ public abstract class BSPhysObject : PhysicsActor
// Tell the object to clean up.
public virtual void Destroy()
{
- UnRegisterAllPreStepActions();
- UnRegisterAllPostStepActions();
+ PhysicalActors.Enable(false);
PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate()
{
- PhysicalActors.Release();
+ PhysicalActors.Dispose();
});
}
@@ -203,15 +203,48 @@ public abstract class BSPhysObject : PhysicsActor
public abstract OMV.Quaternion RawOrientation { get; set; }
public abstract OMV.Quaternion ForceOrientation { get; set; }
- public abstract OMV.Vector3 RawVelocity { get; set; }
+ public OMV.Vector3 RawVelocity { get; set; }
public abstract OMV.Vector3 ForceVelocity { get; set; }
+ public OMV.Vector3 RawForce { get; set; }
+ public OMV.Vector3 RawTorque { get; set; }
+ public override void AddAngularForce(OMV.Vector3 force, bool pushforce)
+ {
+ AddAngularForce(force, pushforce, false);
+ }
+ public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
+
public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
public abstract float ForceBuoyancy { get; set; }
public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
+ public override bool PIDActive { set { MoveToTargetActive = value; } }
+ public override OMV.Vector3 PIDTarget { set { MoveToTargetTarget = value; } }
+ public override float PIDTau { set { MoveToTargetTau = value; } }
+
+ public bool MoveToTargetActive { get; set; }
+ public OMV.Vector3 MoveToTargetTarget { get; set; }
+ public float MoveToTargetTau { get; set; }
+
+ // Used for llSetHoverHeight and maybe vehicle height. Hover Height will override MoveTo target's Z
+ public override bool PIDHoverActive { set { HoverActive = value; } }
+ public override float PIDHoverHeight { set { HoverHeight = value; } }
+ public override PIDHoverType PIDHoverType { set { HoverType = value; } }
+ public override float PIDHoverTau { set { HoverTau = value; } }
+
+ public bool HoverActive { get; set; }
+ public float HoverHeight { get; set; }
+ public PIDHoverType HoverType { get; set; }
+ public float HoverTau { get; set; }
+
+ // For RotLookAt
+ public override OMV.Quaternion APIDTarget { set { return; } }
+ public override bool APIDActive { set { return; } }
+ public override float APIDStrength { set { return; } }
+ public override float APIDDamping { set { return; } }
+
// The current velocity forward
public virtual float ForwardSpeed
{
@@ -237,7 +270,44 @@ public abstract class BSPhysObject : PhysicsActor
public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free
- public readonly String LockedAxisActorName = "BSPrim.LockedAxis";
+
+ // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
+ // they need waking up when parameters are changed.
+ // Called in taint-time!!
+ public void ActivateIfPhysical(bool forceIt)
+ {
+ if (IsPhysical && PhysBody.HasPhysicalBody)
+ PhysicsScene.PE.Activate(PhysBody, forceIt);
+ }
+
+ // 'actors' act on the physical object to change or constrain its motion. These can range from
+ // hovering to complex vehicle motion.
+ public delegate BSActor CreateActor();
+ public void CreateRemoveActor(bool createRemove, string actorName, bool inTaintTime, CreateActor creator)
+ {
+ if (createRemove)
+ {
+ PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate()
+ {
+ if (!PhysicalActors.HasActor(actorName))
+ {
+ DetailLog("{0},BSPrim.CreateRemoveActor,taint,registerActor,a={1}", LocalID, actorName);
+ PhysicalActors.Add(actorName, creator());
+ }
+ });
+ }
+ else
+ {
+ PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate()
+ {
+ if (PhysicalActors.HasActor(actorName))
+ {
+ DetailLog("{0},BSPrim.CreateRemoveActor,taint,unregisterActor,a={1}", LocalID, actorName);
+ PhysicalActors.RemoveAndRelease(actorName);
+ }
+ });
+ }
+ }
#region Collisions
@@ -255,7 +325,9 @@ public abstract class BSPhysObject : PhysicsActor
protected CollisionFlags CurrentCollisionFlags { get; set; }
// On a collision, check the collider and remember if the last collider was moving
// Used to modify the standing of avatars (avatars on stationary things stand still)
- protected bool ColliderIsMoving;
+ public bool ColliderIsMoving;
+ // Used by BSCharacter to manage standing (and not slipping)
+ public bool IsStationary;
// Count of collisions for this object
protected long CollisionAccumulation { get; set; }
@@ -293,7 +365,7 @@ public abstract class BSPhysObject : PhysicsActor
protected CollisionEventUpdate CollisionCollection;
// Remember collisions from last tick for fancy collision based actions
// (like a BSCharacter walking up stairs).
- protected CollisionEventUpdate CollisionsLastTick;
+ public CollisionEventUpdate CollisionsLastTick;
// The simulation step is telling this object about a collision.
// Return 'true' if a collision was processed and should be sent up.
@@ -424,104 +496,6 @@ public abstract class BSPhysObject : PhysicsActor
public BSActorCollection PhysicalActors;
- // There are some actions that must be performed for a physical object before each simulation step.
- // These actions are optional so, rather than scanning all the physical objects and asking them
- // if they have anything to do, a physical object registers for an event call before the step is performed.
- // This bookkeeping makes it easy to add, remove and clean up after all these registrations.
- private Dictionary RegisteredPrestepActions = new Dictionary();
- private Dictionary RegisteredPoststepActions = new Dictionary();
- protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
- {
- string identifier = op + "-" + id.ToString();
-
- lock (RegisteredPrestepActions)
- {
- // Clean out any existing action
- UnRegisterPreStepAction(op, id);
- RegisteredPrestepActions[identifier] = actn;
- PhysicsScene.BeforeStep += actn;
- }
- DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
- }
-
- // Unregister a pre step action. Safe to call if the action has not been registered.
- // Returns 'true' if an action was actually removed
- protected bool UnRegisterPreStepAction(string op, uint id)
- {
- string identifier = op + "-" + id.ToString();
- bool removed = false;
- lock (RegisteredPrestepActions)
- {
- if (RegisteredPrestepActions.ContainsKey(identifier))
- {
- PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier];
- RegisteredPrestepActions.Remove(identifier);
- removed = true;
- }
- }
- DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
- return removed;
- }
-
- protected void UnRegisterAllPreStepActions()
- {
- lock (RegisteredPrestepActions)
- {
- foreach (KeyValuePair kvp in RegisteredPrestepActions)
- {
- PhysicsScene.BeforeStep -= kvp.Value;
- }
- RegisteredPrestepActions.Clear();
- }
- DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
- }
-
- protected void RegisterPostStepAction(string op, uint id, BSScene.PostStepAction actn)
- {
- string identifier = op + "-" + id.ToString();
-
- lock (RegisteredPoststepActions)
- {
- // Clean out any existing action
- UnRegisterPostStepAction(op, id);
- RegisteredPoststepActions[identifier] = actn;
- PhysicsScene.AfterStep += actn;
- }
- DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier);
- }
-
- // Unregister a pre step action. Safe to call if the action has not been registered.
- // Returns 'true' if an action was actually removed.
- protected bool UnRegisterPostStepAction(string op, uint id)
- {
- string identifier = op + "-" + id.ToString();
- bool removed = false;
- lock (RegisteredPoststepActions)
- {
- if (RegisteredPoststepActions.ContainsKey(identifier))
- {
- PhysicsScene.AfterStep -= RegisteredPoststepActions[identifier];
- RegisteredPoststepActions.Remove(identifier);
- removed = true;
- }
- }
- DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed);
- return removed;
- }
-
- protected void UnRegisterAllPostStepActions()
- {
- lock (RegisteredPoststepActions)
- {
- foreach (KeyValuePair kvp in RegisteredPoststepActions)
- {
- PhysicsScene.AfterStep -= kvp.Value;
- }
- RegisteredPoststepActions.Clear();
- }
- DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID);
- }
-
// When an update to the physical properties happens, this event is fired to let
// different actors to modify the update before it is passed around
public delegate void PreUpdatePropertyAction(ref EntityProperties entprop);
@@ -533,46 +507,6 @@ public abstract class BSPhysObject : PhysicsActor
actions(ref entprop);
}
- private Dictionary RegisteredPreUpdatePropertyActions = new Dictionary();
- public void RegisterPreUpdatePropertyAction(string identifier, PreUpdatePropertyAction actn)
- {
- lock (RegisteredPreUpdatePropertyActions)
- {
- // Clean out any existing action
- UnRegisterPreUpdatePropertyAction(identifier);
- RegisteredPreUpdatePropertyActions[identifier] = actn;
- OnPreUpdateProperty += actn;
- }
- DetailLog("{0},BSPhysObject.RegisterPreUpdatePropertyAction,id={1}", LocalID, identifier);
- }
- public bool UnRegisterPreUpdatePropertyAction(string identifier)
- {
- bool removed = false;
- lock (RegisteredPreUpdatePropertyActions)
- {
- if (RegisteredPreUpdatePropertyActions.ContainsKey(identifier))
- {
- OnPreUpdateProperty -= RegisteredPreUpdatePropertyActions[identifier];
- RegisteredPreUpdatePropertyActions.Remove(identifier);
- removed = true;
- }
- }
- DetailLog("{0},BSPhysObject.UnRegisterPreUpdatePropertyAction,id={1},removed={2}", LocalID, identifier, removed);
- return removed;
- }
- public void UnRegisterAllPreUpdatePropertyActions()
- {
- lock (RegisteredPreUpdatePropertyActions)
- {
- foreach (KeyValuePair kvp in RegisteredPreUpdatePropertyActions)
- {
- OnPreUpdateProperty -= kvp.Value;
- }
- RegisteredPreUpdatePropertyActions.Clear();
- }
- DetailLog("{0},BSPhysObject.UnRegisterAllPreUpdatePropertyAction,", LocalID);
- }
-
#endregion // Per Simulation Step actions
// High performance detailed logging routine used by the physical objects.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e56276a..71fea59 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -55,9 +55,6 @@ public class BSPrim : BSPhysObject
private OMV.Vector3 _position;
private float _mass; // the mass of this object
- private OMV.Vector3 _force;
- private OMV.Vector3 _velocity;
- private OMV.Vector3 _torque;
private OMV.Vector3 _acceleration;
private OMV.Quaternion _orientation;
private int _physicsActorType;
@@ -73,16 +70,13 @@ public class BSPrim : BSPhysObject
private int CrossingFailures { get; set; }
public BSDynamics VehicleActor;
- public string VehicleActorName = "BasicVehicle";
+ public const string VehicleActorName = "BasicVehicle";
- private BSVMotor _targetMotor;
- private OMV.Vector3 _PIDTarget;
- private float _PIDTau;
-
- private BSFMotor _hoverMotor;
- private float _PIDHoverHeight;
- private PIDHoverType _PIDHoverType;
- private float _PIDHoverTau;
+ public const string HoverActorName = "HoverActor";
+ public const String LockedAxisActorName = "BSPrim.LockedAxis";
+ public const string MoveToTargetActorName = "MoveToTargetActor";
+ public const string SetForceActorName = "SetForceActor";
+ public const string SetTorqueActorName = "SetTorqueActor";
public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
@@ -95,7 +89,7 @@ public class BSPrim : BSPhysObject
Scale = size; // prims are the size the user wants them to be (different for BSCharactes).
_orientation = rotation;
_buoyancy = 0f;
- _velocity = OMV.Vector3.Zero;
+ RawVelocity = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
BaseShape = pbs;
_isPhysical = pisPhysical;
@@ -233,7 +227,7 @@ public class BSPrim : BSPhysObject
// Called at taint time!
public override void ZeroMotion(bool inTaintTime)
{
- _velocity = OMV.Vector3.Zero;
+ RawVelocity = OMV.Vector3.Zero;
_acceleration = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
@@ -270,19 +264,17 @@ public class BSPrim : BSPhysObject
if (axis.Z != 1) locking.Z = 0f;
LockedAxis = locking;
- if (LockedAxis != LockedAxisFree)
+ CreateRemoveActor(LockedAxis != LockedAxisFree /* creatActor */, LockedAxisActorName, false /* inTaintTime */, delegate()
{
- PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate()
- {
- // If there is not already an axis locker, make one
- if (!PhysicalActors.HasActor(LockedAxisActorName))
- {
- DetailLog("{0},BSPrim.LockAngularMotion,taint,registeringLockAxisActor", LocalID);
- PhysicalActors.Add(LockedAxisActorName, new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName));
- }
- UpdatePhysicalParameters();
- });
- }
+ return new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName);
+ });
+
+ // Update parameters so the new actor's Refresh() action is called at the right time.
+ PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate()
+ {
+ UpdatePhysicalParameters();
+ });
+
return;
}
@@ -407,9 +399,9 @@ public class BSPrim : BSPhysObject
ZeroMotion(inTaintTime);
ret = true;
}
- if (_velocity.LengthSquared() > BSParam.MaxLinearVelocity)
+ if (RawVelocity.LengthSquared() > BSParam.MaxLinearVelocity)
{
- _velocity = Util.ClampV(_velocity, BSParam.MaxLinearVelocity);
+ RawVelocity = Util.ClampV(RawVelocity, BSParam.MaxLinearVelocity);
ret = true;
}
if (_rotationalVelocity.LengthSquared() > BSParam.MaxAngularVelocitySquared)
@@ -506,35 +498,13 @@ public class BSPrim : BSPhysObject
}
public override OMV.Vector3 Force {
- get { return _force; }
+ get { return RawForce; }
set {
- _force = value;
- if (_force != OMV.Vector3.Zero)
- {
- // If the force is non-zero, it must be reapplied each tick because
- // Bullet clears the forces applied last frame.
- RegisterPreStepAction("BSPrim.setForce", LocalID,
- delegate(float timeStep)
- {
- if (!IsPhysicallyActive || _force == OMV.Vector3.Zero)
- {
- UnRegisterPreStepAction("BSPrim.setForce", LocalID);
- return;
- }
-
- DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
- if (PhysBody.HasPhysicalBody)
- {
- PhysicsScene.PE.ApplyCentralForce(PhysBody, _force);
- ActivateIfPhysical(false);
- }
- }
- );
- }
- else
+ RawForce = value;
+ CreateRemoveActor(RawForce == OMV.Vector3.Zero, SetForceActorName, false /* inTaintTime */, delegate()
{
- UnRegisterPreStepAction("BSPrim.setForce", LocalID);
- }
+ return new BSActorSetForce(PhysicsScene, this, SetForceActorName);
+ });
}
}
@@ -670,62 +640,39 @@ public class BSPrim : BSPhysObject
}
}
}
- public override OMV.Vector3 RawVelocity
- {
- get { return _velocity; }
- set { _velocity = value; }
- }
public override OMV.Vector3 Velocity {
- get { return _velocity; }
+ get { return RawVelocity; }
set {
- _velocity = value;
+ RawVelocity = value;
PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
{
- // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
- ForceVelocity = _velocity;
+ // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, RawVelocity);
+ ForceVelocity = RawVelocity;
});
}
}
public override OMV.Vector3 ForceVelocity {
- get { return _velocity; }
+ get { return RawVelocity; }
set {
PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
- _velocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
+ RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
if (PhysBody.HasPhysicalBody)
{
- DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, _velocity);
- PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
+ DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, RawVelocity);
+ PhysicsScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
ActivateIfPhysical(false);
}
}
}
public override OMV.Vector3 Torque {
- get { return _torque; }
+ get { return RawTorque; }
set {
- _torque = value;
- if (_torque != OMV.Vector3.Zero)
+ RawTorque = value;
+ CreateRemoveActor(RawTorque == OMV.Vector3.Zero, SetTorqueActorName, false /* inTaintTime */, delegate()
{
- // If the torque is non-zero, it must be reapplied each tick because
- // Bullet clears the forces applied last frame.
- RegisterPreStepAction("BSPrim.setTorque", LocalID,
- delegate(float timeStep)
- {
- if (!IsPhysicallyActive || _torque == OMV.Vector3.Zero)
- {
- UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
- return;
- }
-
- if (PhysBody.HasPhysicalBody)
- AddAngularForce(_torque, false, true);
- }
- );
- }
- else
- {
- UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
- }
+ return new BSActorSetTorque(PhysicsScene, this, SetTorqueActorName);
+ });
// DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
}
}
@@ -909,7 +856,7 @@ public class BSPrim : BSPhysObject
// For good measure, make sure the transform is set through to the motion state
ForcePosition = _position;
- ForceVelocity = _velocity;
+ ForceVelocity = RawVelocity;
ForceRotationalVelocity = _rotationalVelocity;
// A dynamic object has mass
@@ -966,15 +913,6 @@ public class BSPrim : BSPhysObject
}
}
- // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
- // they need waking up when parameters are changed.
- // Called in taint-time!!
- private void ActivateIfPhysical(bool forceIt)
- {
- if (IsPhysical && PhysBody.HasPhysicalBody)
- PhysicsScene.PE.Activate(PhysBody, forceIt);
- }
-
// Turn on or off the flag controlling whether collision events are returned to the simulator.
private void EnableCollisions(bool wantsCollisionEvents)
{
@@ -1096,78 +1034,13 @@ public class BSPrim : BSPhysObject
}
}
- // Used for MoveTo
- public override OMV.Vector3 PIDTarget {
- set
- {
- // TODO: add a sanity check -- don't move more than a region or something like that.
- _PIDTarget = value;
- }
- }
- public override float PIDTau {
- set { _PIDTau = value; }
- }
public override bool PIDActive {
set {
- if (value)
- {
- // We're taking over after this.
- ZeroMotion(true);
-
- _targetMotor = new BSVMotor("BSPrim.PIDTarget",
- _PIDTau, // timeScale
- BSMotor.Infinite, // decay time scale
- BSMotor.InfiniteVector, // friction timescale
- 1f // efficiency
- );
- _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
- _targetMotor.SetTarget(_PIDTarget);
- _targetMotor.SetCurrent(RawPosition);
- /*
- _targetMotor = new BSPIDVMotor("BSPrim.PIDTarget");
- _targetMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
-
- _targetMotor.SetTarget(_PIDTarget);
- _targetMotor.SetCurrent(RawPosition);
- _targetMotor.TimeScale = _PIDTau;
- _targetMotor.Efficiency = 1f;
- */
-
- RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep)
- {
- if (!IsPhysicallyActive)
- {
- UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
- return;
- }
-
- OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below)
-
- // 'movePosition' is where we'd like the prim to be at this moment.
- OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep);
-
- // If we are very close to our target, turn off the movement motor.
- if (_targetMotor.ErrorIsZero())
- {
- DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
- LocalID, movePosition, RawPosition, Mass);
- ForcePosition = _targetMotor.TargetValue;
- _targetMotor.Enabled = false;
- }
- else
- {
- _position = movePosition;
- PositionSanityCheck(true /* intaintTime */);
- ForcePosition = _position;
- }
- DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition);
- });
- }
- else
+ base.MoveToTargetActive = value;
+ CreateRemoveActor(MoveToTargetActive, MoveToTargetActorName, false /* inTaintTime */, delegate()
{
- // Stop any targetting
- UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
- }
+ return new BSActorMoveToTarget(PhysicsScene, this, MoveToTargetActorName);
+ });
}
}
@@ -1175,88 +1048,14 @@ public class BSPrim : BSPhysObject
// Hover Height will override MoveTo target's Z
public override bool PIDHoverActive {
set {
- if (value)
- {
- // Turning the target on
- _hoverMotor = new BSFMotor("BSPrim.Hover",
- _PIDHoverTau, // timeScale
- BSMotor.Infinite, // decay time scale
- BSMotor.Infinite, // friction timescale
- 1f // efficiency
- );
- _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
- _hoverMotor.SetCurrent(RawPosition.Z);
- _hoverMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
-
- RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
- {
- // Don't do hovering while the object is selected.
- if (!IsPhysicallyActive)
- return;
-
- _hoverMotor.SetCurrent(RawPosition.Z);
- _hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
- float targetHeight = _hoverMotor.Step(timeStep);
-
- // 'targetHeight' is where we'd like the Z of the prim to be at this moment.
- // Compute the amount of force to push us there.
- float moveForce = (targetHeight - RawPosition.Z) * Mass;
- // Undo anything the object thinks it's doing at the moment
- moveForce = -RawVelocity.Z * Mass;
-
- PhysicsScene.PE.ApplyCentralImpulse(PhysBody, new OMV.Vector3(0f, 0f, moveForce));
- DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", LocalID, targetHeight, moveForce, Mass);
- });
- }
- else
+ base.HoverActive = value;
+ CreateRemoveActor(HoverActive /* creatActor */, HoverActorName, false /* inTaintTime */, delegate()
{
- UnRegisterPreStepAction("BSPrim.Hover", LocalID);
- }
- }
- }
- public override float PIDHoverHeight {
- set { _PIDHoverHeight = value; }
- }
- public override PIDHoverType PIDHoverType {
- set { _PIDHoverType = value; }
- }
- public override float PIDHoverTau {
- set { _PIDHoverTau = value; }
- }
- // Based on current position, determine what we should be hovering at now.
- // Must recompute often. What if we walked offa cliff>
- private float ComputeCurrentPIDHoverHeight()
- {
- float ret = _PIDHoverHeight;
- float groundHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
-
- switch (_PIDHoverType)
- {
- case PIDHoverType.Ground:
- ret = groundHeight + _PIDHoverHeight;
- break;
- case PIDHoverType.GroundAndWater:
- float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition);
- if (groundHeight > waterHeight)
- {
- ret = groundHeight + _PIDHoverHeight;
- }
- else
- {
- ret = waterHeight + _PIDHoverHeight;
- }
- break;
+ return new BSActorHover(PhysicsScene, this, HoverActorName);
+ });
}
- return ret;
}
-
- // For RotLookAt
- public override OMV.Quaternion APIDTarget { set { return; } }
- public override bool APIDActive { set { return; } }
- public override float APIDStrength { set { return; } }
- public override float APIDDamping { set { return; } }
-
public override void AddForce(OMV.Vector3 force, bool pushforce) {
// Per documentation, max force is limited.
OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
@@ -1324,10 +1123,8 @@ public class BSPrim : BSPhysObject
}
}
- public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
- AddAngularForce(force, pushforce, false);
- }
- public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
+ // BSPhysObject.AddAngularForce()
+ public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
{
if (force.IsFinite())
{
@@ -1694,8 +1491,8 @@ public class BSPrim : BSPhysObject
_orientation = 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(_velocity, BSParam.UpdateVelocityChangeThreshold))
- _velocity = entprop.Velocity;
+ if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold))
+ RawVelocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
@@ -1705,7 +1502,7 @@ public class BSPrim : BSPhysObject
if (PositionSanityCheck(true /* inTaintTime */ ))
{
entprop.Position = _position;
- entprop.Velocity = _velocity;
+ entprop.Velocity = RawVelocity;
entprop.RotationalVelocity = _rotationalVelocity;
entprop.Acceleration = _acceleration;
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 8a15abe..a0131c7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -6,7 +6,6 @@ Enable vehicle border crossings (at least as poorly as ODE)
Terrain skirts
Avatar created in previous region and not new region when crossing border
Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
-Lock axis
Deleting a linkset while standing on the root will leave the physical shape of the root behind.
Not sure if it is because standing on it. Done with large prim linksets.
Linkset child rotations.
@@ -344,3 +343,5 @@ Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
Verify that angular motion specified around Z moves in the vehicle coordinates.
DONE 20130120: BulletSim properly applies force in vehicle relative coordinates.
Nebadon vehicles turning funny in arena (DONE)
+Lock axis (DONE 20130401)
+
--
cgit v1.1
From a7a1b8b7e9269b446e3396a35153b00942c1e35b Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 7 Apr 2013 14:05:35 -0700
Subject: BulletSim: clean up actor code so routines use the same coding
pattern. Fix a few enabling problems.
---
.../Physics/BulletSPlugin/BSActorAvatarMove.cs | 22 ++---
.../Region/Physics/BulletSPlugin/BSActorHover.cs | 6 +-
.../Physics/BulletSPlugin/BSActorLockAxis.cs | 105 ++++++++++-----------
.../Physics/BulletSPlugin/BSActorMoveToTarget.cs | 12 +--
.../Physics/BulletSPlugin/BSActorSetForce.cs | 2 +-
.../Physics/BulletSPlugin/BSActorSetTorque.cs | 4 +-
OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 49 +++++++---
.../Region/Physics/BulletSPlugin/BSCharacter.cs | 3 +
.../Region/Physics/BulletSPlugin/BSPhysObject.cs | 35 +++----
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 22 ++---
10 files changed, 137 insertions(+), 123 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
index 634a898..8416740 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
@@ -67,14 +67,6 @@ public class BSActorAvatarMove : BSActor
{
m_physicsScene.DetailLog("{0},BSActorAvatarMove,refresh", m_controllingPrim.LocalID);
- // If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
- if (m_controllingPrim.RawForce == OMV.Vector3.Zero)
- {
- m_physicsScene.DetailLog("{0},BSActorAvatarMove,refresh,notAvatarMove,removing={1}", m_controllingPrim.LocalID, ActorName);
- m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
- return;
- }
-
// If the object is physically active, add the hoverer prestep action
if (isActive)
{
@@ -95,14 +87,19 @@ public class BSActorAvatarMove : BSActor
// Nothing to do for the hoverer since it is all software at pre-step action time.
}
+ // Usually called when target velocity changes to set the current velocity and the target
+ // into the movement motor.
public void SetVelocityAndTarget(OMV.Vector3 vel, OMV.Vector3 targ, bool inTaintTime)
{
m_physicsScene.TaintedObject(inTaintTime, "BSActorAvatarMove.setVelocityAndTarget", delegate()
{
- m_velocityMotor.Reset();
- m_velocityMotor.SetTarget(targ);
- m_velocityMotor.SetCurrent(vel);
- m_velocityMotor.Enabled = true;
+ if (m_velocityMotor != null)
+ {
+ m_velocityMotor.Reset();
+ m_velocityMotor.SetTarget(targ);
+ m_velocityMotor.SetCurrent(vel);
+ m_velocityMotor.Enabled = true;
+ }
});
}
@@ -119,6 +116,7 @@ public class BSActorAvatarMove : BSActor
1f // efficiency
);
// _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
+ SetVelocityAndTarget(m_controllingPrim.RawVelocity, m_controllingPrim.TargetVelocity, true /* inTaintTime */);
m_physicsScene.BeforeStep += Mover;
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
index 8dd3700..e8310df 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
@@ -67,12 +67,10 @@ public class BSActorHover : BSActor
{
m_physicsScene.DetailLog("{0},BSActorHover,refresh", m_controllingPrim.LocalID);
- // If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
+ // If not active any more, turn me off
if (!m_controllingPrim.HoverActive)
{
- m_physicsScene.DetailLog("{0},BSActorHover,refresh,notHovering,removing={1}", m_controllingPrim.LocalID, ActorName);
- m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
- return;
+ SetEnabled(false);
}
// If the object is physically active, add the hoverer prestep action
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
index c40a499..09ee32b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
@@ -36,7 +36,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSActorLockAxis : BSActor
{
- bool TryExperimentalLockAxisCode = true;
BSConstraint LockAxisConstraint = null;
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
@@ -69,18 +68,13 @@ public class BSActorLockAxis : BSActor
// If all the axis are free, we don't need to exist
if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree)
{
- m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,allAxisFree,removing={1}", m_controllingPrim.LocalID, ActorName);
- m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
- return;
+ Enabled = false;
}
+
// If the object is physically active, add the axis locking constraint
- if (Enabled
- && m_controllingPrim.IsPhysicallyActive
- && TryExperimentalLockAxisCode
- && m_controllingPrim.LockedAxis != m_controllingPrim.LockedAxisFree)
+ if (isActive)
{
- if (LockAxisConstraint == null)
- AddAxisLockConstraint();
+ AddAxisLockConstraint();
}
else
{
@@ -108,58 +102,61 @@ public class BSActorLockAxis : BSActor
private void AddAxisLockConstraint()
{
- // Lock that axis by creating a 6DOF constraint that has one end in the world and
- // the other in the object.
- // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
- // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
+ if (LockAxisConstraint == null)
+ {
+ // Lock that axis by creating a 6DOF constraint that has one end in the world and
+ // the other in the object.
+ // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
+ // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
- // Remove any existing axis constraint (just to be sure)
- RemoveAxisLockConstraint();
+ // Remove any existing axis constraint (just to be sure)
+ RemoveAxisLockConstraint();
- BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
- OMV.Vector3.Zero, OMV.Quaternion.Identity,
- false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
- LockAxisConstraint = axisConstrainer;
- m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
+ BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
+ OMV.Vector3.Zero, OMV.Quaternion.Identity,
+ false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
+ LockAxisConstraint = axisConstrainer;
+ m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
- // The constraint is tied to the world and oriented to the prim.
+ // The constraint is tied to the world and oriented to the prim.
- // Free to move linearly in the region
- OMV.Vector3 linearLow = OMV.Vector3.Zero;
- OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize;
- axisConstrainer.SetLinearLimits(linearLow, linearHigh);
+ // Free to move linearly in the region
+ OMV.Vector3 linearLow = OMV.Vector3.Zero;
+ OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize;
+ axisConstrainer.SetLinearLimits(linearLow, linearHigh);
- // Angular with some axis locked
- float fPI = (float)Math.PI;
- OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI);
- OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI);
- if (m_controllingPrim.LockedAxis.X != 1f)
- {
- angularLow.X = 0f;
- angularHigh.X = 0f;
- }
- if (m_controllingPrim.LockedAxis.Y != 1f)
- {
- angularLow.Y = 0f;
- angularHigh.Y = 0f;
- }
- if (m_controllingPrim.LockedAxis.Z != 1f)
- {
- angularLow.Z = 0f;
- angularHigh.Z = 0f;
- }
- if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh))
- {
- m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID);
- }
+ // Angular with some axis locked
+ float fPI = (float)Math.PI;
+ OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI);
+ OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI);
+ if (m_controllingPrim.LockedAxis.X != 1f)
+ {
+ angularLow.X = 0f;
+ angularHigh.X = 0f;
+ }
+ if (m_controllingPrim.LockedAxis.Y != 1f)
+ {
+ angularLow.Y = 0f;
+ angularHigh.Y = 0f;
+ }
+ if (m_controllingPrim.LockedAxis.Z != 1f)
+ {
+ angularLow.Z = 0f;
+ angularHigh.Z = 0f;
+ }
+ if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh))
+ {
+ m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID);
+ }
- m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
- m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
+ m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
+ m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
- // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
- axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
+ // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
+ axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
- axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
+ axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
+ }
}
private void RemoveAxisLockConstraint()
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
index 3517ef2..16c2b14 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
@@ -67,15 +67,12 @@ public class BSActorMoveToTarget : BSActor
{
m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh", m_controllingPrim.LocalID);
- // If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
- if (!m_controllingPrim.HoverActive)
+ // If not active any more...
+ if (!m_controllingPrim.MoveToTargetActive)
{
- m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,notMoveToTarget,removing={1}", m_controllingPrim.LocalID, ActorName);
- m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
- return;
+ Enabled = false;
}
- // If the object is physically active, add the hoverer prestep action
if (isActive)
{
ActivateMoveToTarget();
@@ -92,7 +89,7 @@ public class BSActorMoveToTarget : BSActor
// BSActor.RemoveBodyDependencies()
public override void RemoveBodyDependencies()
{
- // Nothing to do for the hoverer since it is all software at pre-step action time.
+ // Nothing to do for the moveToTarget since it is all software at pre-step action time.
}
// If a hover motor has not been created, create one and start the hovering.
@@ -144,7 +141,6 @@ public class BSActorMoveToTarget : BSActor
m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
- m_targetMotor.Enabled = false;
}
else
{
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
index d942490..3ad138d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
@@ -71,7 +71,7 @@ public class BSActorSetForce : BSActor
if (m_controllingPrim.RawForce == OMV.Vector3.Zero)
{
m_physicsScene.DetailLog("{0},BSActorSetForce,refresh,notSetForce,removing={1}", m_controllingPrim.LocalID, ActorName);
- m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
+ Enabled = false;
return;
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
index e0f719f..159a3a8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
@@ -70,8 +70,8 @@ public class BSActorSetTorque : BSActor
// If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
if (m_controllingPrim.RawTorque == OMV.Vector3.Zero)
{
- m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh,notSetTorque,removing={1}", m_controllingPrim.LocalID, ActorName);
- m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
+ m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh,notSetTorque,disabling={1}", m_controllingPrim.LocalID, ActorName);
+ Enabled = false;
return;
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
index fb4d452..12a8817 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
@@ -42,24 +42,36 @@ public class BSActorCollection
}
public void Add(string name, BSActor actor)
{
- m_actors[name] = actor;
+ lock (m_actors)
+ {
+ if (!m_actors.ContainsKey(name))
+ {
+ m_actors[name] = actor;
+ }
+ }
}
public bool RemoveAndRelease(string name)
{
bool ret = false;
- if (m_actors.ContainsKey(name))
+ lock (m_actors)
{
- BSActor beingRemoved = m_actors[name];
- beingRemoved.Dispose();
- m_actors.Remove(name);
- ret = true;
+ if (m_actors.ContainsKey(name))
+ {
+ BSActor beingRemoved = m_actors[name];
+ m_actors.Remove(name);
+ beingRemoved.Dispose();
+ ret = true;
+ }
}
return ret;
}
public void Clear()
{
- Release();
- m_actors.Clear();
+ lock (m_actors)
+ {
+ Release();
+ m_actors.Clear();
+ }
}
public void Dispose()
{
@@ -69,15 +81,22 @@ public class BSActorCollection
{
return m_actors.ContainsKey(name);
}
+ public bool TryGetActor(string actorName, out BSActor theActor)
+ {
+ return m_actors.TryGetValue(actorName, out theActor);
+ }
public void ForEachActor(Action act)
{
- foreach (KeyValuePair kvp in m_actors)
- act(kvp.Value);
+ lock (m_actors)
+ {
+ foreach (KeyValuePair kvp in m_actors)
+ act(kvp.Value);
+ }
}
public void Enable(bool enabl)
{
- ForEachActor(a => a.Enable(enabl));
+ ForEachActor(a => a.SetEnabled(enabl));
}
public void Release()
{
@@ -106,7 +125,7 @@ public abstract class BSActor
{
protected BSScene m_physicsScene { get; private set; }
protected BSPhysObject m_controllingPrim { get; private set; }
- protected bool Enabled { get; set; }
+ public virtual bool Enabled { get; set; }
public string ActorName { get; private set; }
public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
@@ -122,8 +141,10 @@ public abstract class BSActor
{
get { return Enabled; }
}
- // Turn the actor on an off.
- public virtual void Enable(bool setEnabled)
+
+ // Turn the actor on an off. Only used by ActorCollection to set all enabled/disabled.
+ // Anyone else should assign true/false to 'Enabled'.
+ public void SetEnabled(bool setEnabled)
{
Enabled = setEnabled;
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 09c9b16..a0d58d3 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -160,6 +160,9 @@ public sealed class BSCharacter : BSPhysObject
// Make so capsule does not fall over
PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero);
+ // The avatar mover sets some parameters.
+ PhysicalActors.Refresh();
+
PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 644bc7e..64bf395 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -282,30 +282,31 @@ public abstract class BSPhysObject : PhysicsActor
// 'actors' act on the physical object to change or constrain its motion. These can range from
// hovering to complex vehicle motion.
+ // May be called at non-taint time as this just adds the actor to the action list and the real
+ // work is done during the simulation step.
+ // Note that, if the actor is already in the list and we are disabling same, the actor is just left
+ // in the list disabled.
public delegate BSActor CreateActor();
- public void CreateRemoveActor(bool createRemove, string actorName, bool inTaintTime, CreateActor creator)
+ public void EnableActor(bool enableActor, string actorName, CreateActor creator)
{
- if (createRemove)
+ lock (PhysicalActors)
{
- PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate()
+ BSActor theActor;
+ if (PhysicalActors.TryGetActor(actorName, out theActor))
{
- if (!PhysicalActors.HasActor(actorName))
- {
- DetailLog("{0},BSPrim.CreateRemoveActor,taint,registerActor,a={1}", LocalID, actorName);
- PhysicalActors.Add(actorName, creator());
- }
- });
- }
- else
- {
- PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate()
+ // The actor already exists so just turn it on or off
+ theActor.Enabled = enableActor;
+ }
+ else
{
- if (PhysicalActors.HasActor(actorName))
+ // The actor does not exist. If it should, create it.
+ if (enableActor)
{
- DetailLog("{0},BSPrim.CreateRemoveActor,taint,unregisterActor,a={1}", LocalID, actorName);
- PhysicalActors.RemoveAndRelease(actorName);
+ theActor = creator();
+ PhysicalActors.Add(actorName, theActor);
+ theActor.Enabled = true;
}
- });
+ }
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 71fea59..16c7a90 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -95,6 +95,7 @@ public class BSPrim : BSPhysObject
_isPhysical = pisPhysical;
_isVolumeDetect = false;
+ // We keep a handle to the vehicle actor so we can set vehicle parameters later.
VehicleActor = new BSDynamics(PhysicsScene, this, VehicleActorName);
PhysicalActors.Add(VehicleActorName, VehicleActor);
@@ -264,7 +265,7 @@ public class BSPrim : BSPhysObject
if (axis.Z != 1) locking.Z = 0f;
LockedAxis = locking;
- CreateRemoveActor(LockedAxis != LockedAxisFree /* creatActor */, LockedAxisActorName, false /* inTaintTime */, delegate()
+ EnableActor(LockedAxis != LockedAxisFree, LockedAxisActorName, delegate()
{
return new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName);
});
@@ -501,7 +502,7 @@ public class BSPrim : BSPhysObject
get { return RawForce; }
set {
RawForce = value;
- CreateRemoveActor(RawForce == OMV.Vector3.Zero, SetForceActorName, false /* inTaintTime */, delegate()
+ EnableActor(RawForce != OMV.Vector3.Zero, SetForceActorName, delegate()
{
return new BSActorSetForce(PhysicsScene, this, SetForceActorName);
});
@@ -510,14 +511,13 @@ public class BSPrim : BSPhysObject
public override int VehicleType {
get {
- return (int)VehicleActor.Type; // if we are a vehicle, return that type
+ return (int)VehicleActor.Type;
}
set {
Vehicle type = (Vehicle)value;
PhysicsScene.TaintedObject("setVehicleType", delegate()
{
- // 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.
VehicleActor.ProcessTypeChange(type);
ActivateIfPhysical(false);
@@ -669,11 +669,11 @@ public class BSPrim : BSPhysObject
get { return RawTorque; }
set {
RawTorque = value;
- CreateRemoveActor(RawTorque == OMV.Vector3.Zero, SetTorqueActorName, false /* inTaintTime */, delegate()
+ EnableActor(RawTorque != OMV.Vector3.Zero, SetTorqueActorName, delegate()
{
return new BSActorSetTorque(PhysicsScene, this, SetTorqueActorName);
});
- // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
+ DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, RawTorque);
}
}
public override OMV.Vector3 Acceleration {
@@ -786,7 +786,6 @@ public class BSPrim : BSPhysObject
MakeDynamic(IsStatic);
// Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
- VehicleActor.Refresh();
PhysicalActors.Refresh();
// Arrange for collision events if the simulator wants them
@@ -1037,7 +1036,7 @@ public class BSPrim : BSPhysObject
public override bool PIDActive {
set {
base.MoveToTargetActive = value;
- CreateRemoveActor(MoveToTargetActive, MoveToTargetActorName, false /* inTaintTime */, delegate()
+ EnableActor(MoveToTargetActive, MoveToTargetActorName, delegate()
{
return new BSActorMoveToTarget(PhysicsScene, this, MoveToTargetActorName);
});
@@ -1049,7 +1048,7 @@ public class BSPrim : BSPhysObject
public override bool PIDHoverActive {
set {
base.HoverActive = value;
- CreateRemoveActor(HoverActive /* creatActor */, HoverActorName, false /* inTaintTime */, delegate()
+ EnableActor(HoverActive, HoverActorName, delegate()
{
return new BSActorHover(PhysicsScene, this, HoverActorName);
});
@@ -1458,7 +1457,7 @@ public class BSPrim : BSPhysObject
{
// Create the correct physical representation for this type of object.
// Updates base.PhysBody and base.PhysShape with the new information.
- // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
+ // Ignore 'forceRebuild'. 'GetBodyAndShape' makes the right choices and changes of necessary.
PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, null, delegate(BulletBody dBody)
{
// Called if the current prim body is about to be destroyed.
@@ -1472,9 +1471,9 @@ public class BSPrim : BSPhysObject
return;
}
+ // Called at taint-time
protected virtual void RemoveBodyDependencies()
{
- VehicleActor.RemoveBodyDependencies();
PhysicalActors.RemoveBodyDependencies();
}
@@ -1482,6 +1481,7 @@ public class BSPrim : BSPhysObject
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
+ // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
TriggerPreUpdatePropertyAction(ref entprop);
// DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
--
cgit v1.1
From 99f39836a1879a807bb7d6bf5bf793c3a99584c4 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 8 Apr 2013 06:27:01 -0700
Subject: BulletSim: moving comments around. No functional change.
---
OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs | 2 +-
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 10 +---------
OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 9 +++++++++
3 files changed, 11 insertions(+), 10 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
index 159a3a8..7a791ec 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
@@ -65,7 +65,7 @@ public class BSActorSetTorque : BSActor
// BSActor.Refresh()
public override void Refresh()
{
- m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh", m_controllingPrim.LocalID);
+ m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh,torque={1}", m_controllingPrim.LocalID, m_controllingPrim.RawTorque);
// If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
if (m_controllingPrim.RawTorque == OMV.Vector3.Zero)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 16c7a90..3423d2e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1514,16 +1514,8 @@ public class BSPrim : BSPhysObject
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
+ // Note that BSPrim can be overloaded by BSPrimLinkable which controls updates from root and children prims.
base.RequestPhysicsterseUpdate();
- /*
- else
- {
- // For debugging, report the movement of children
- DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
- LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
- entprop.Acceleration, entprop.RotationalVelocity);
- }
- */
}
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index d65d407..28242d4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -163,6 +163,15 @@ public class BSPrimLinkable : BSPrimDisplaced
// TODO: this will have to change when linksets are articulated.
base.UpdateProperties(entprop);
}
+ /*
+ else
+ {
+ // For debugging, report the movement of children
+ DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
+ LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
+ entprop.Acceleration, entprop.RotationalVelocity);
+ }
+ */
// The linkset might like to know about changing locations
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
}
--
cgit v1.1
From f68b963596e7df2c28761af4584b4dcb17d550eb Mon Sep 17 00:00:00 2001
From: Jon Cundill
Date: Sun, 7 Apr 2013 12:31:49 +0100
Subject: fixed bullet config for osx
Signed-off-by: Robert Adams
---
bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config | 2 ++
1 file changed, 2 insertions(+)
diff --git a/bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config b/bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config
index 1bc7e41..2763525 100755
--- a/bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config
+++ b/bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config
@@ -1,6 +1,8 @@
+
+
--
cgit v1.1
From 4d2203ff5298ffe40902ce018c1be1b4096c936d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 8 Apr 2013 09:15:20 -0700
Subject: BulletSim: Add dylib for BulletSim and add he who figured out
building BulletSim on a Mac to the CONTRIBUTORS file.
---
CONTRIBUTORS.txt | 1 +
bin/lib32/libBulletSim.dylib | Bin 0 -> 1181656 bytes
2 files changed, 1 insertion(+)
create mode 100755 bin/lib32/libBulletSim.dylib
diff --git a/CONTRIBUTORS.txt b/CONTRIBUTORS.txt
index 8ff55df..36b17be 100644
--- a/CONTRIBUTORS.txt
+++ b/CONTRIBUTORS.txt
@@ -101,6 +101,7 @@ what it is today.
* jhurliman
* John R Sohn (XenReborn)
* jonc
+* Jon Cundill
* Junta Kohime
* Kayne
* Kevin Cozens
diff --git a/bin/lib32/libBulletSim.dylib b/bin/lib32/libBulletSim.dylib
new file mode 100755
index 0000000..02f8a7f
Binary files /dev/null and b/bin/lib32/libBulletSim.dylib differ
--
cgit v1.1
From 8e04c752fc2bc1f27fce224d2aec3ea72edbc2cc Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Tue, 9 Apr 2013 22:38:47 +0100
Subject: If OpenSimulator is writing a PID file and finds the file already
present on startup, logging an error since this is commonly due to an unclean
shutdown.
Unclean shutdown can cause constantly moving objects to disappear if an OAR has just been loaded and they have not reached persistence time threshold, among other problems.
---
OpenSim/Framework/Servers/ServerBase.cs | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/OpenSim/Framework/Servers/ServerBase.cs b/OpenSim/Framework/Servers/ServerBase.cs
index 657444c..2c4a687 100644
--- a/OpenSim/Framework/Servers/ServerBase.cs
+++ b/OpenSim/Framework/Servers/ServerBase.cs
@@ -76,6 +76,11 @@ namespace OpenSim.Framework.Servers
protected void CreatePIDFile(string path)
{
+ if (File.Exists(path))
+ m_log.ErrorFormat(
+ "[SERVER BASE]: Previous pid file {0} still exists on startup. Possibly previously unclean shutdown.",
+ path);
+
try
{
string pidstring = System.Diagnostics.Process.GetCurrentProcess().Id.ToString();
--
cgit v1.1
From 8690a08881d41c285dd830b4b1646eb116ad098d Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Tue, 9 Apr 2013 23:02:11 +0100
Subject: minor: Log an exception if we aren't able to delete a script state
file rather than simply ignoring it.
This should never normally happen but if it does then it can be valuable diagonstic information.
---
OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs | 7 ++++++-
1 file changed, 6 insertions(+), 1 deletion(-)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs b/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
index bf19a42..1e6db43 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Instance/ScriptInstance.cs
@@ -520,8 +520,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
{
File.Delete(savedState);
}
- catch(Exception)
+ catch (Exception e)
{
+ m_log.Warn(
+ string.Format(
+ "[SCRIPT INSTANCE]: Could not delete script state {0} for script {1} (id {2}) in part {3} (id {4}) in object {5} in {6}. Exception ",
+ ScriptTask.Name, ScriptTask.ItemID, Part.Name, Part.UUID, Part.ParentGroup.Name, Engine.World.Name),
+ e);
}
}
--
cgit v1.1
From 659c741ff5a3d13b4462d3ce906c6785bb296322 Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Tue, 9 Apr 2013 23:15:01 +0100
Subject: Add more notes to async_call_method relating to
UnsafeQueueUserWorkItem
UnsafeQueueUserWorkItem is so called because it allows the calling code to escalate its security privileges.
However, since we must already trust this code anyway in OpenSimulator this is not an issue.
---
bin/OpenSimDefaults.ini | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/bin/OpenSimDefaults.ini b/bin/OpenSimDefaults.ini
index 1d2c0cf..28c1db2 100644
--- a/bin/OpenSimDefaults.ini
+++ b/bin/OpenSimDefaults.ini
@@ -43,9 +43,14 @@
; Sets the method that OpenSim will use to fire asynchronous
; events. Valid values are UnsafeQueueUserWorkItem,
; QueueUserWorkItem, BeginInvoke, SmartThreadPool, and Thread.
+ ;
; SmartThreadPool is reported to work well on Mono/Linux, but
; UnsafeQueueUserWorkItem has been benchmarked with better
; performance on .NET/Windows
+ ;
+ ; UnsafeQueueUserWorkItem refers to the fact that the code creating the event could elevate its security
+ ; privileges. However, as calling code is trusted anyway this is safe (if you set
+ ; TrustedBinaries = true in the [XEngine] section then you already have to trust that incoming code for other reasons).
async_call_method = SmartThreadPool
; Max threads to allocate on the FireAndForget thread pool
--
cgit v1.1
From 06068444e2486cb761d266c6831c54fc27d7d5c2 Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Tue, 9 Apr 2013 23:21:13 +0100
Subject: Comment out rez perms logging I accidentally left in at 7f07023 (Sat
Apr 6 02:34:51 2013)
---
OpenSim/Region/CoreModules/World/Permissions/PermissionsModule.cs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/OpenSim/Region/CoreModules/World/Permissions/PermissionsModule.cs b/OpenSim/Region/CoreModules/World/Permissions/PermissionsModule.cs
index 77299be..f8e93e1 100644
--- a/OpenSim/Region/CoreModules/World/Permissions/PermissionsModule.cs
+++ b/OpenSim/Region/CoreModules/World/Permissions/PermissionsModule.cs
@@ -1453,7 +1453,7 @@ namespace OpenSim.Region.CoreModules.World.Permissions
bool permission = false;
- m_log.DebugFormat("[PERMISSIONS MODULE]: Checking rez object at {0} in {1}", objectPosition, m_scene.Name);
+// m_log.DebugFormat("[PERMISSIONS MODULE]: Checking rez object at {0} in {1}", objectPosition, m_scene.Name);
ILandObject land = m_scene.LandChannel.GetLandObject(objectPosition.X, objectPosition.Y);
if (land == null) return false;
--
cgit v1.1
From e20b0d5695dc583d161b39fa26bfd56e63c7b30e Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Wed, 10 Apr 2013 00:03:37 +0100
Subject: minor: Make exceptions thrown by MySQLAssetData more consistent.
---
OpenSim/Data/MySQL/MySQLAssetData.cs | 29 +++++++++++++++++++----------
1 file changed, 19 insertions(+), 10 deletions(-)
diff --git a/OpenSim/Data/MySQL/MySQLAssetData.cs b/OpenSim/Data/MySQL/MySQLAssetData.cs
index cf80b3d..21362b9 100644
--- a/OpenSim/Data/MySQL/MySQLAssetData.cs
+++ b/OpenSim/Data/MySQL/MySQLAssetData.cs
@@ -142,7 +142,8 @@ namespace OpenSim.Data.MySQL
}
catch (Exception e)
{
- m_log.Error("[ASSETS DB]: MySql failure fetching asset " + assetID + ": " + e.Message);
+ m_log.Error(
+ string.Format("[ASSETS DB]: MySql failure fetching asset {0}. Exception ", assetID), e);
}
}
}
@@ -209,8 +210,11 @@ namespace OpenSim.Data.MySQL
}
catch (Exception e)
{
- m_log.ErrorFormat("[ASSET DB]: MySQL failure creating asset {0} with name \"{1}\". Error: {2}",
- asset.FullID, asset.Name, e.Message);
+ m_log.Error(
+ string.Format(
+ "[ASSET DB]: MySQL failure creating asset {0} with name {1}. Exception ",
+ asset.FullID, asset.Name)
+ , e);
}
}
}
@@ -241,10 +245,11 @@ namespace OpenSim.Data.MySQL
}
catch (Exception e)
{
- m_log.ErrorFormat(
- "[ASSETS DB]: " +
- "MySql failure updating access_time for asset {0} with name {1}" + Environment.NewLine + e.ToString()
- + Environment.NewLine + "Attempting reconnection", asset.FullID, asset.Name);
+ m_log.Error(
+ string.Format(
+ "[ASSETS DB]: Failure updating access_time for asset {0} with name {1}. Exception ",
+ asset.FullID, asset.Name),
+ e);
}
}
}
@@ -284,8 +289,8 @@ namespace OpenSim.Data.MySQL
}
catch (Exception e)
{
- m_log.ErrorFormat(
- "[ASSETS DB]: MySql failure fetching asset {0}" + Environment.NewLine + e.ToString(), uuid);
+ m_log.Error(
+ string.Format("[ASSETS DB]: MySql failure fetching asset {0}. Exception ", uuid), e);
}
}
}
@@ -344,7 +349,11 @@ namespace OpenSim.Data.MySQL
}
catch (Exception e)
{
- m_log.Error("[ASSETS DB]: MySql failure fetching asset set" + Environment.NewLine + e.ToString());
+ m_log.Error(
+ string.Format(
+ "[ASSETS DB]: MySql failure fetching asset set from {0}, count {1}. Exception ",
+ start, count),
+ e);
}
}
}
--
cgit v1.1
From 29e28f4b84677fa1e1b138d0ede610c55add12f2 Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Wed, 10 Apr 2013 00:05:03 +0100
Subject: minor: remove mono compiler warnings in InventoryAccessModule
---
.../CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs b/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
index f796ec9..e0009bb 100644
--- a/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
+++ b/OpenSim/Region/CoreModules/Framework/InventoryAccess/InventoryAccessModule.cs
@@ -353,7 +353,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
bool asAttachment)
{
CoalescedSceneObjects coa = new CoalescedSceneObjects(UUID.Zero);
- Dictionary originalPositions = new Dictionary();
+// Dictionary originalPositions = new Dictionary();
foreach (SceneObjectGroup objectGroup in objlist)
{
@@ -936,8 +936,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
}
}
- int primcount = 0;
- for(int i = 0; i < objlist.Count; i++)
+ for (int i = 0; i < objlist.Count; i++)
{
SceneObjectGroup g = objlist[i];
--
cgit v1.1
From 148e46563f9f95e43a460780592deceed3dd5d14 Mon Sep 17 00:00:00 2001
From: Justin Clark-Casey (justincc)
Date: Wed, 10 Apr 2013 00:07:58 +0100
Subject: minor: fix mono compiler warning in ScriptsHttpRequests.cs
---
OpenSim/Region/CoreModules/Scripting/HttpRequest/ScriptsHttpRequests.cs | 1 -
1 file changed, 1 deletion(-)
diff --git a/OpenSim/Region/CoreModules/Scripting/HttpRequest/ScriptsHttpRequests.cs b/OpenSim/Region/CoreModules/Scripting/HttpRequest/ScriptsHttpRequests.cs
index ebf56cd..6793fc8 100644
--- a/OpenSim/Region/CoreModules/Scripting/HttpRequest/ScriptsHttpRequests.cs
+++ b/OpenSim/Region/CoreModules/Scripting/HttpRequest/ScriptsHttpRequests.cs
@@ -395,7 +395,6 @@ namespace OpenSim.Region.CoreModules.Scripting.HttpRequest
//public bool HttpVerboseThrottle = true; // not implemented
public List HttpCustomHeaders = null;
public bool HttpPragmaNoCache = true;
- private Thread httpThread;
// Request info
private UUID _itemID;
--
cgit v1.1
From 17fd075f39df71d628db08b7c280150f231f8a26 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 9 Apr 2013 11:55:29 -0700
Subject: BulletSim: fix problem where large sets of mega-regions weren't
registering all the terrain with the base region.
---
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index cd15850..5240ad8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -213,13 +213,13 @@ public sealed class BSTerrainManager : IDisposable
});
}
- // Another region is calling this region passing a terrain.
+ // Another region is calling this region and passing a terrain.
// A region that is not the mega-region root will pass its terrain to the root region so the root region
// physics engine will have all the terrains.
private void AddMegaRegionChildTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
{
// Since we are called by another region's thread, the action must be rescheduled onto our processing thread.
- PhysicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + m_worldOffset.ToString(), 0, delegate()
+ PhysicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + minCoords.ToString(), id, delegate()
{
UpdateTerrain(id, heightMap, minCoords, maxCoords);
});
@@ -306,7 +306,7 @@ public sealed class BSTerrainManager : IDisposable
newTerrainID = ++m_terrainCount;
DetailLog("{0},BSTerrainManager.UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
- BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
+ BSScene.DetailLogZero, newTerrainID, minCoords, maxCoords);
BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
m_terrains.Add(terrainRegionBase, newTerrainPhys);
--
cgit v1.1
From 59135c9a31875dc514b3ea2fe14021571807701d Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 9 Apr 2013 16:32:54 -0700
Subject: BulletSim: add Bullet HACD library invocation. Turned off by default
as not totally debugged. Updated DLLs and SOs with more debugged HACD library
code.
---
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 53 ++++-
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 +
.../Physics/BulletSPlugin/BSShapeCollection.cs | 223 ++++++++++++---------
bin/lib32/BulletSim.dll | Bin 570880 -> 1008640 bytes
bin/lib32/libBulletSim.so | Bin 1762207 -> 2093987 bytes
bin/lib64/BulletSim.dll | Bin 721920 -> 1140224 bytes
bin/lib64/libBulletSim.so | Bin 1920169 -> 2258808 bytes
7 files changed, 183 insertions(+), 94 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 385ed9e..06df85e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -86,6 +86,7 @@ public static class BSParam
public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects
public static bool ShouldRemoveZeroWidthTriangles { get; private set; }
+ public static bool ShouldUseBulletHACD { get; set; }
public static float TerrainImplementation { get; private set; }
public static int TerrainMeshMagnification { get; private set; }
@@ -149,6 +150,15 @@ public static class BSParam
public static float CSHullVolumeConservationThresholdPercent { get; private set; }
public static int CSHullMaxVertices { get; private set; }
public static float CSHullMaxSkinWidth { get; private set; }
+ public static float BHullMaxVerticesPerHull { get; private set; } // 100
+ public static float BHullMinClusters { get; private set; } // 2
+ public static float BHullCompacityWeight { get; private set; } // 0.1
+ public static float BHullVolumeWeight { get; private set; } // 0.0
+ public static float BHullConcavity { get; private set; } // 100
+ public static bool BHullAddExtraDistPoints { get; private set; } // false
+ public static bool BHullAddNeighboursDistPoints { get; private set; } // false
+ public static bool BHullAddFacesPoints { get; private set; } // false
+ public static bool BHullShouldAdjustCollisionMargin { get; private set; } // false
// Linkset implementation parameters
public static float LinksetImplementation { get; private set; }
@@ -325,6 +335,10 @@ public static class BSParam
true,
(s) => { return ShouldRemoveZeroWidthTriangles; },
(s,v) => { ShouldRemoveZeroWidthTriangles = v; } ),
+ new ParameterDefn("ShouldUseBulletHACD", "If true, use the Bullet version of HACD",
+ false,
+ (s) => { return ShouldUseBulletHACD; },
+ (s,v) => { ShouldUseBulletHACD = v; } ),
new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions",
5,
@@ -663,10 +677,47 @@ public static class BSParam
(s) => { return CSHullMaxVertices; },
(s,v) => { CSHullMaxVertices = v; } ),
new ParameterDefn("CSHullMaxSkinWidth", "CS impl: skin width to apply to output hulls.",
- 0,
+ 0f,
(s) => { return CSHullMaxSkinWidth; },
(s,v) => { CSHullMaxSkinWidth = v; } ),
+ new ParameterDefn("BHullMaxVerticesPerHull", "Bullet impl: max number of vertices per created hull",
+ 100f,
+ (s) => { return BHullMaxVerticesPerHull; },
+ (s,v) => { BHullMaxVerticesPerHull = v; } ),
+ new ParameterDefn("BHullMinClusters", "Bullet impl: minimum number of hulls to create per mesh",
+ 2f,
+ (s) => { return BHullMinClusters; },
+ (s,v) => { BHullMinClusters = v; } ),
+ new ParameterDefn("BHullCompacityWeight", "Bullet impl: weight factor for how compact to make hulls",
+ 2f,
+ (s) => { return BHullCompacityWeight; },
+ (s,v) => { BHullCompacityWeight = v; } ),
+ new ParameterDefn("BHullVolumeWeight", "Bullet impl: weight factor for volume in created hull",
+ 0.1f,
+ (s) => { return BHullVolumeWeight; },
+ (s,v) => { BHullVolumeWeight = v; } ),
+ new ParameterDefn("BHullConcavity", "Bullet impl: weight factor for how convex a created hull can be",
+ 100f,
+ (s) => { return BHullConcavity; },
+ (s,v) => { BHullConcavity = v; } ),
+ new ParameterDefn("BHullAddExtraDistPoints", "Bullet impl: whether to add extra vertices for long distance vectors",
+ false,
+ (s) => { return BHullAddExtraDistPoints; },
+ (s,v) => { BHullAddExtraDistPoints = v; } ),
+ new ParameterDefn("BHullAddNeighboursDistPoints", "Bullet impl: whether to add extra vertices between neighbor hulls",
+ false,
+ (s) => { return BHullAddNeighboursDistPoints; },
+ (s,v) => { BHullAddNeighboursDistPoints = v; } ),
+ new ParameterDefn("BHullAddFacesPoints", "Bullet impl: whether to add extra vertices to break up hull faces",
+ false,
+ (s) => { return BHullAddFacesPoints; },
+ (s,v) => { BHullAddFacesPoints = v; } ),
+ new ParameterDefn("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin",
+ false,
+ (s) => { return BHullShouldAdjustCollisionMargin; },
+ (s,v) => { BHullShouldAdjustCollisionMargin = v; } ),
+
new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
(float)BSLinkset.LinksetImplementation.Compound,
(s) => { return LinksetImplementation; },
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 9818b05..8e05b58 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -316,6 +316,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
break;
case "bulletxna":
ret = new BSAPIXNA(engineName, this);
+ BSParam.ShouldUseBulletHACD = false;
break;
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index b6ac23d..bfa69b2 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -720,7 +720,7 @@ public sealed class BSShapeCollection : IDisposable
// Remove usage of the previous shape.
DereferenceShape(prim.PhysShape, shapeCallback);
- newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
+ newShape = CreatePhysicalHull(prim, newHullKey, prim.BaseShape, prim.Size, lod);
// It might not have been created if we're waiting for an asset.
newShape = VerifyMeshCreated(newShape, prim);
@@ -731,7 +731,7 @@ public sealed class BSShapeCollection : IDisposable
}
List m_hulls;
- private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
+ private BulletShape CreatePhysicalHull(BSPhysObject prim, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
BulletShape newShape = new BulletShape();
@@ -745,116 +745,153 @@ public sealed class BSShapeCollection : IDisposable
}
else
{
- // Build a new hull in the physical world.
- // Pass true for physicalness as this prevents the creation of bounding box which is not needed
- IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
- if (meshData != null)
+ if (BSParam.ShouldUseBulletHACD)
{
-
- int[] indices = meshData.getIndexListAsInt();
- List vertices = meshData.getVertexList();
-
- //format conversion from IMesh format to DecompDesc format
- List convIndices = new List();
- List convVertices = new List();
- for (int ii = 0; ii < indices.GetLength(0); ii++)
+ DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID);
+ MeshDesc meshDesc;
+ if (!Meshes.TryGetValue(newHullKey, out meshDesc))
{
- convIndices.Add(indices[ii]);
+ // That's odd because the mesh should have been created before the hull
+ // but, since it doesn't exist, create it.
+ newShape = CreatePhysicalMesh(prim, newHullKey, prim.BaseShape, prim.Size, lod);
+ DetailLog("{0},BSShapeCollection.CreatePhysicalHull,noMeshBuiltNew,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
+
+ if (newShape.HasPhysicalShape)
+ {
+ ReferenceShape(newShape);
+ Meshes.TryGetValue(newHullKey, out meshDesc);
+ }
}
- foreach (OMV.Vector3 vv in vertices)
+ if (meshDesc.shape.HasPhysicalShape)
{
- convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
+ HACDParams parms;
+ parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull;
+ parms.minClusters = BSParam.BHullMinClusters;
+ parms.compacityWeight = BSParam.BHullCompacityWeight;
+ parms.volumeWeight = BSParam.BHullVolumeWeight;
+ parms.concavity = BSParam.BHullConcavity;
+ parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints);
+ parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints);
+ parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints);
+ parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin);
+
+ DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape);
+ newShape = PhysicsScene.PE.BuildHullShapeFromMesh(PhysicsScene.World, meshDesc.shape, parms);
+ DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
}
-
- uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit;
- if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes)
+ DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
+ }
+ if (!newShape.HasPhysicalShape)
+ {
+ // Build a new hull in the physical world.
+ // Pass true for physicalness as this prevents the creation of bounding box which is not needed
+ IMesh meshData = PhysicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */);
+ if (meshData != null)
{
- // Simple primitive shapes we know are convex so they are better implemented with
- // fewer hulls.
- // Check for simple shape (prim without cuts) and reduce split parameter if so.
- if (PrimHasNoCuts(pbs))
+ int[] indices = meshData.getIndexListAsInt();
+ List vertices = meshData.getVertexList();
+
+ //format conversion from IMesh format to DecompDesc format
+ List convIndices = new List();
+ List convVertices = new List();
+ for (int ii = 0; ii < indices.GetLength(0); ii++)
{
- maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes;
+ convIndices.Add(indices[ii]);
+ }
+ foreach (OMV.Vector3 vv in vertices)
+ {
+ convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
}
- }
- // setup and do convex hull conversion
- m_hulls = new List();
- DecompDesc dcomp = new DecompDesc();
- dcomp.mIndices = convIndices;
- dcomp.mVertices = convVertices;
- dcomp.mDepth = maxDepthSplit;
- dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent;
- dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent;
- dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices;
- dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth;
- ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
- // create the hull into the _hulls variable
- convexBuilder.process(dcomp);
-
- DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}",
- BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count);
-
- // Convert the vertices and indices for passing to unmanaged.
- // The hull information is passed as a large floating point array.
- // The format is:
- // convHulls[0] = number of hulls
- // convHulls[1] = number of vertices in first hull
- // convHulls[2] = hull centroid X coordinate
- // convHulls[3] = hull centroid Y coordinate
- // convHulls[4] = hull centroid Z coordinate
- // convHulls[5] = first hull vertex X
- // convHulls[6] = first hull vertex Y
- // convHulls[7] = first hull vertex Z
- // convHulls[8] = second hull vertex X
- // ...
- // convHulls[n] = number of vertices in second hull
- // convHulls[n+1] = second hull centroid X coordinate
- // ...
- //
- // TODO: is is very inefficient. Someday change the convex hull generator to return
- // data structures that do not need to be converted in order to pass to Bullet.
- // And maybe put the values directly into pinned memory rather than marshaling.
- int hullCount = m_hulls.Count;
- int totalVertices = 1; // include one for the count of the hulls
- foreach (ConvexResult cr in m_hulls)
- {
- totalVertices += 4; // add four for the vertex count and centroid
- totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
- }
- float[] convHulls = new float[totalVertices];
+ uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit;
+ if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes)
+ {
+ // Simple primitive shapes we know are convex so they are better implemented with
+ // fewer hulls.
+ // Check for simple shape (prim without cuts) and reduce split parameter if so.
+ if (PrimHasNoCuts(pbs))
+ {
+ maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes;
+ }
+ }
- convHulls[0] = (float)hullCount;
- int jj = 1;
- foreach (ConvexResult cr in m_hulls)
- {
- // copy vertices for index access
- float3[] verts = new float3[cr.HullVertices.Count];
- int kk = 0;
- foreach (float3 ff in cr.HullVertices)
+ // setup and do convex hull conversion
+ m_hulls = new List();
+ DecompDesc dcomp = new DecompDesc();
+ dcomp.mIndices = convIndices;
+ dcomp.mVertices = convVertices;
+ dcomp.mDepth = maxDepthSplit;
+ dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent;
+ dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent;
+ dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices;
+ dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth;
+ ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
+ // create the hull into the _hulls variable
+ convexBuilder.process(dcomp);
+
+ DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}",
+ BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count);
+
+ // Convert the vertices and indices for passing to unmanaged.
+ // The hull information is passed as a large floating point array.
+ // The format is:
+ // convHulls[0] = number of hulls
+ // convHulls[1] = number of vertices in first hull
+ // convHulls[2] = hull centroid X coordinate
+ // convHulls[3] = hull centroid Y coordinate
+ // convHulls[4] = hull centroid Z coordinate
+ // convHulls[5] = first hull vertex X
+ // convHulls[6] = first hull vertex Y
+ // convHulls[7] = first hull vertex Z
+ // convHulls[8] = second hull vertex X
+ // ...
+ // convHulls[n] = number of vertices in second hull
+ // convHulls[n+1] = second hull centroid X coordinate
+ // ...
+ //
+ // TODO: is is very inefficient. Someday change the convex hull generator to return
+ // data structures that do not need to be converted in order to pass to Bullet.
+ // And maybe put the values directly into pinned memory rather than marshaling.
+ int hullCount = m_hulls.Count;
+ int totalVertices = 1; // include one for the count of the hulls
+ foreach (ConvexResult cr in m_hulls)
{
- verts[kk++] = ff;
+ totalVertices += 4; // add four for the vertex count and centroid
+ totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
}
+ float[] convHulls = new float[totalVertices];
- // add to the array one hull's worth of data
- convHulls[jj++] = cr.HullIndices.Count;
- convHulls[jj++] = 0f; // centroid x,y,z
- convHulls[jj++] = 0f;
- convHulls[jj++] = 0f;
- foreach (int ind in cr.HullIndices)
+ convHulls[0] = (float)hullCount;
+ int jj = 1;
+ foreach (ConvexResult cr in m_hulls)
{
- convHulls[jj++] = verts[ind].x;
- convHulls[jj++] = verts[ind].y;
- convHulls[jj++] = verts[ind].z;
+ // copy vertices for index access
+ float3[] verts = new float3[cr.HullVertices.Count];
+ int kk = 0;
+ foreach (float3 ff in cr.HullVertices)
+ {
+ verts[kk++] = ff;
+ }
+
+ // add to the array one hull's worth of data
+ convHulls[jj++] = cr.HullIndices.Count;
+ convHulls[jj++] = 0f; // centroid x,y,z
+ convHulls[jj++] = 0f;
+ convHulls[jj++] = 0f;
+ foreach (int ind in cr.HullIndices)
+ {
+ convHulls[jj++] = verts[ind].x;
+ convHulls[jj++] = verts[ind].y;
+ convHulls[jj++] = verts[ind].z;
+ }
}
+ // create the hull data structure in Bullet
+ newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls);
}
- // create the hull data structure in Bullet
- newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls);
}
+ newShape.shapeKey = newHullKey;
}
- newShape.shapeKey = newHullKey;
-
return newShape;
}
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index 5432813..618d4bd 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 286d930..e3b40fb 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 dca7116..491ac22 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 b63feb3..a8ad533 100755
Binary files a/bin/lib64/libBulletSim.so and b/bin/lib64/libBulletSim.so differ
--
cgit v1.1
From 9cc41d511872fcd74a074ab484db2b981f3f5676 Mon Sep 17 00:00:00 2001
From: Vegaslon
Date: Tue, 9 Apr 2013 17:23:50 -0400
Subject: Another algorithm for AngularVerticalAttraction. This one Takes into
account all rotations before it and makes the corrections more close to the
time that sl does.
Signed-off-by: Robert Adams
---
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 23 ++++++++++++++++++++++
1 file changed, 23 insertions(+)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 0fd1f73..723be0b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1358,6 +1358,28 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// If vertical attaction timescale is reasonable
if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
{
+ //Another formula to try got from :
+ //http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html
+ Vector3 VehicleUpAxis = Vector3.UnitZ *VehicleOrientation;
+ //Flipping what was originally a timescale into a speed variable and then multiplying it by 2 since only computing half
+ //the distance between the angles.
+ float VerticalAttractionSpeed=(1/m_verticalAttractionTimescale)*2.0f;
+ //making a prediction of where the up axis will be when this is applied rather then where it is now this makes for a smoother
+ //adjustment and less fighting between the various forces
+ Vector3 predictedUp = VehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
+ //this is only half the distance to the target so it will take 2 seconds to complete the turn.
+ Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
+ //Scaling vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
+ Vector3 vertContributionV=torqueVector * VerticalAttractionSpeed *VerticalAttractionSpeed;
+ VehicleRotationalVelocity += vertContributionV;
+ VDetailLog("{0}, MoveAngular,verticalAttraction,UpAxis={1},PredictedUp={2},torqueVector={3},contrib={4}",
+ ControllingPrim.LocalID,
+ VehicleUpAxis,
+ predictedUp,
+ torqueVector,
+ vertContributionV);
+ //=====================================================================
+ /*
// Possible solution derived from a discussion at:
// http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no
@@ -1392,6 +1414,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
differenceAngle,
correctionRotation,
vertContributionV);
+ */
// ===================================================================
/*
--
cgit v1.1
From b53713cdda3c4e49913a6a82239da35d62f74e68 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 9 Apr 2013 17:14:15 -0700
Subject: BulletSim: some formatting changes.
---
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 27 ++++++++++++++--------
1 file changed, 17 insertions(+), 10 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 723be0b..612c68b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1360,19 +1360,26 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
//Another formula to try got from :
//http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html
- Vector3 VehicleUpAxis = Vector3.UnitZ *VehicleOrientation;
- //Flipping what was originally a timescale into a speed variable and then multiplying it by 2 since only computing half
- //the distance between the angles.
- float VerticalAttractionSpeed=(1/m_verticalAttractionTimescale)*2.0f;
- //making a prediction of where the up axis will be when this is applied rather then where it is now this makes for a smoother
- //adjustment and less fighting between the various forces
+
+ Vector3 VehicleUpAxis = Vector3.UnitZ * VehicleOrientation;
+
+ // Flipping what was originally a timescale into a speed variable and then multiplying it by 2
+ // since only computing half the distance between the angles.
+ float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
+
+ // Make a prediction of where the up axis will be when this is applied rather then where it is now as
+ // this makes for a smoother adjustment and less fighting between the various forces.
Vector3 predictedUp = VehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
- //this is only half the distance to the target so it will take 2 seconds to complete the turn.
+
+ // This is only half the distance to the target so it will take 2 seconds to complete the turn.
Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
- //Scaling vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
- Vector3 vertContributionV=torqueVector * VerticalAttractionSpeed *VerticalAttractionSpeed;
+
+ // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
+ Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed;
+
VehicleRotationalVelocity += vertContributionV;
- VDetailLog("{0}, MoveAngular,verticalAttraction,UpAxis={1},PredictedUp={2},torqueVector={3},contrib={4}",
+
+ VDetailLog("{0}, MoveAngular,verticalAttraction,UpAxis={1},PredictedUp={2},torqueVector={3},contrib={4}",
ControllingPrim.LocalID,
VehicleUpAxis,
predictedUp,
--
cgit v1.1
From 5f2cbfc0fd27198f8f05f4a9a4e2908d8b11752e Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Tue, 9 Apr 2013 17:53:18 -0700
Subject: BulletSim: fixing problems with llMoveToTarget. Not all fixed yet.
---
OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs | 2 +-
.../Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs | 16 +++++++++++-----
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 6 ++++++
3 files changed, 18 insertions(+), 6 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
index e8310df..92ace66 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
@@ -50,7 +50,7 @@ public class BSActorHover : BSActor
// BSActor.isActive
public override bool isActive
{
- get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
+ get { return Enabled; }
}
// Release any connections and resources used by the actor.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
index 16c2b14..56aacc5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
@@ -50,7 +50,7 @@ public class BSActorMoveToTarget : BSActor
// BSActor.isActive
public override bool isActive
{
- get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
+ get { return Enabled; }
}
// Release any connections and resources used by the actor.
@@ -65,7 +65,9 @@ public class BSActorMoveToTarget : BSActor
// BSActor.Refresh()
public override void Refresh()
{
- m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh", m_controllingPrim.LocalID);
+ m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,enabled={1},active={2},target={3},tau={4}",
+ m_controllingPrim.LocalID, Enabled, m_controllingPrim.MoveToTargetActive,
+ m_controllingPrim.MoveToTargetTarget, m_controllingPrim.MoveToTargetTau );
// If not active any more...
if (!m_controllingPrim.MoveToTargetActive)
@@ -100,7 +102,7 @@ public class BSActorMoveToTarget : BSActor
// We're taking over after this.
m_controllingPrim.ZeroMotion(true);
- m_targetMotor = new BSVMotor("BSPrim.PIDTarget",
+ m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate",
m_controllingPrim.MoveToTargetTau, // timeScale
BSMotor.Infinite, // decay time scale
BSMotor.InfiniteVector, // friction timescale
@@ -138,15 +140,19 @@ public class BSActorMoveToTarget : BSActor
// If we are very close to our target, turn off the movement motor.
if (m_targetMotor.ErrorIsZero())
{
- m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
+ m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}",
m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
+ // Setting the position does not cause the physics engine to generate a property update. Force it.
+ m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
}
else
{
m_controllingPrim.ForcePosition = movePosition;
+ // Setting the position does not cause the physics engine to generate a property update. Force it.
+ m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
}
- m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition);
+ m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition);
}
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 64bf395..98eb4ca 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -295,6 +295,7 @@ public abstract class BSPhysObject : PhysicsActor
if (PhysicalActors.TryGetActor(actorName, out theActor))
{
// The actor already exists so just turn it on or off
+ DetailLog("{0},BSPhysObject.EnableActor,enablingExistingActor,name={1},enable={2}", LocalID, actorName, enableActor);
theActor.Enabled = enableActor;
}
else
@@ -302,10 +303,15 @@ public abstract class BSPhysObject : PhysicsActor
// The actor does not exist. If it should, create it.
if (enableActor)
{
+ DetailLog("{0},BSPhysObject.EnableActor,creatingActor,name={1}", LocalID, actorName);
theActor = creator();
PhysicalActors.Add(actorName, theActor);
theActor.Enabled = true;
}
+ else
+ {
+ DetailLog("{0},BSPhysObject.EnableActor,notCreatingActorSinceNotEnabled,name={1}", LocalID, actorName);
+ }
}
}
}
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cgit v1.1