From 8fa83cf43045401ee02321e0fb1191402db5bb05 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 26 Oct 2012 13:49:57 -0700 Subject: BulletSim: Add activations after vehicle properties change. Problem was the vehicle was going to sleep while waiting for commands. Make AddAngularForce work the same way as AddForce -- accumulates values and pushes them once into Bullet. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 74 +++++++++++++++++++++----- 1 file changed, 62 insertions(+), 12 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 39d20dc..44937df 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -242,8 +242,8 @@ public sealed class BSPrim : BSPhysObject _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; - // Zero some other properties directly into the physics engine - BulletSimAPI.ClearForces2(BSBody.ptr); + // Zero some other properties in the physics engine + BulletSimAPI.ClearAllForces2(BSBody.ptr); } public override void LockAngularMotion(OMV.Vector3 axis) @@ -275,6 +275,7 @@ public sealed class BSPrim : BSPhysObject { // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + ActivateIfPhysical(false); }); } } @@ -287,6 +288,7 @@ public sealed class BSPrim : BSPhysObject _position = value; PositionSanityCheck(); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + ActivateIfPhysical(false); } } @@ -401,6 +403,7 @@ public sealed class BSPrim : BSPhysObject // Done at taint time so we're sure the physics engine is not using the variables // Vehicle code changes the parameters for this vehicle type. _vehicle.ProcessTypeChange(type); + ActivateIfPhysical(false); }); } } @@ -409,6 +412,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); + ActivateIfPhysical(false); }); } public override void VehicleVectorParam(int param, OMV.Vector3 value) @@ -416,6 +420,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); + ActivateIfPhysical(false); }); } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) @@ -423,6 +428,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); + ActivateIfPhysical(false); }); } public override void VehicleFlags(int param, bool remove) @@ -540,6 +546,8 @@ public sealed class BSPrim : BSPhysObject { // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); SetObjectDynamic(true); + // whether phys-to-static or static-to-phys, the object is not moving. + ZeroMotion(); }); } } @@ -623,7 +631,7 @@ public sealed class BSPrim : BSPhysObject // Become a Bullet 'static' object type CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement - BulletSimAPI.ClearAllForces2(BSBody.ptr); + ZeroMotion(); // Center of mass is at the center of the object BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation); // Mass is zero which disables a bunch of physics stuff in Bullet @@ -634,7 +642,7 @@ public sealed class BSPrim : BSPhysObject if (PhysicsScene.Params.ccdMotionThreshold > 0f) { BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } // There can be special things needed for implementing linksets Linkset.MakeStatic(this); @@ -656,14 +664,14 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 - BulletSimAPI.ClearAllForces2(BSBody.ptr); + // Since this can be called multiple times, only zero forces when becoming physical + // BulletSimAPI.ClearAllForces2(BSBody.ptr); // For good measure, make sure the transform is set through to the motion state BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); // A dynamic object has mass - IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); - OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); + OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, Mass); BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); @@ -671,7 +679,7 @@ public sealed class BSPrim : BSPhysObject if (PhysicsScene.Params.ccdMotionThreshold > 0f) { BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } // Various values for simulation limits @@ -721,6 +729,15 @@ public sealed 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) + BulletSimAPI.Activate2(BSBody.ptr, forceIt); + } + // Turn on or off the flag controlling whether collision events are returned to the simulator. private void EnableCollisions(bool wantsCollisionEvents) { @@ -901,8 +918,7 @@ public sealed class BSPrim : BSPhysObject } m_accumulatedForces.Clear(); } - // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); - // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. + DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum); if (fSum != OMV.Vector3.Zero) BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); }; @@ -912,9 +928,43 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation); } + private List m_accumulatedAngularForces = new List(); public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { - // DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); - // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); + AddAngularForce(force, pushforce, false); + } + public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) + { + if (force.IsFinite()) + { + // _force += force; + lock (m_accumulatedAngularForces) + m_accumulatedAngularForces.Add(new OMV.Vector3(force)); + } + else + { + m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); + return; + } + BSScene.TaintCallback addAngularForceOperation = delegate() + { + OMV.Vector3 fSum = OMV.Vector3.Zero; + lock (m_accumulatedAngularForces) + { + // Sum the accumulated additional forces for one big force to apply once. + foreach (OMV.Vector3 v in m_accumulatedAngularForces) + { + fSum += v; + } + m_accumulatedAngularForces.Clear(); + } + // DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum); + if (fSum != OMV.Vector3.Zero) + BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum); + }; + if (inTaintTime) + addAngularForceOperation(); + else + PhysicsScene.TaintedObject("BSPrim.AddForce", addAngularForceOperation); } public override void SetMomentum(OMV.Vector3 momentum) { // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); -- cgit v1.1