From 134f86e8d5c414409631b25b8c6f0ee45fbd8631 Mon Sep 17 00:00:00 2001 From: David Walter Seikel Date: Thu, 3 Nov 2016 21:44:39 +1000 Subject: Initial update to OpenSim 0.8.2.1 source code. --- .../Physics/BulletSNPlugin/BSLinksetCompound.cs | 397 --------------------- 1 file changed, 397 deletions(-) delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs (limited to 'OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs') diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs deleted file mode 100644 index 9a977e6..0000000 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs +++ /dev/null @@ -1,397 +0,0 @@ -/* - * 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.Text; - -using OpenSim.Framework; - -using OMV = OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSNPlugin -{ - -// When a child is linked, the relationship position of the child to the parent -// is remembered so the child's world position can be recomputed when it is -// removed from the linkset. -sealed class BSLinksetCompoundInfo : BSLinksetInfo -{ - public OMV.Vector3 OffsetPos; - public OMV.Quaternion OffsetRot; - public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r) - { - OffsetPos = p; - OffsetRot = r; - } - public override void Clear() - { - OffsetPos = OMV.Vector3.Zero; - OffsetRot = OMV.Quaternion.Identity; - } - public override string ToString() - { - StringBuilder buff = new StringBuilder(); - buff.Append(""); - return buff.ToString(); - } -}; - -public sealed class BSLinksetCompound : BSLinkset -{ - private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; - - public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent) - { - } - - // For compound implimented linksets, if there are children, use compound shape for the root. - public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) - { - // Returning 'unknown' means we don't have a preference. - BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - if (IsRoot(requestor) && HasAnyChildren) - { - ret = BSPhysicsShapeType.SHAPE_COMPOUND; - } - // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret); - return ret; - } - - // When physical properties are changed the linkset needs to recalculate - // its internal properties. - public override void Refresh(BSPhysObject requestor) - { - base.Refresh(requestor); - - // Something changed so do the rebuilding thing - // ScheduleRebuild(); - } - - // Schedule a refresh to happen after all the other taint processing. - private void ScheduleRebuild(BSPhysObject requestor) - { - DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}", - requestor.LocalID, Rebuilding); - // When rebuilding, it is possible to set properties that would normally require a rebuild. - // If already rebuilding, don't request another rebuild. - if (!Rebuilding) - { - PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() - { - if (HasAnyChildren) - RecomputeLinksetCompound(); - }); - } - } - - // The object is going dynamic (physical). Do any setup necessary - // for a dynamic linkset. - // Only the state of the passed object can be modified. The rest of the linkset - // has not yet been fully constructed. - // Return 'true' if any properties updated on the passed object. - // Called at taint-time! - public override bool MakeDynamic(BSPhysObject child) - { - bool ret = false; - DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); - if (IsRoot(child)) - { - // The root is going dynamic. Make sure mass is properly set. - ScheduleRebuild(LinksetRoot); - } - else - { - // The origional prims are removed from the world as the shape of the root compound - // shape takes over. - BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION); - // We don't want collisions from the old linkset children. - BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - - child.PhysBody.collisionType = CollisionType.LinksetChild; - - ret = true; - } - return ret; - } - - // The object is going static (non-physical). Do any setup necessary for a static linkset. - // Return 'true' if any properties updated on the passed object. - // This doesn't normally happen -- OpenSim removes the objects from the physical - // world if it is a static linkset. - // Called at taint-time! - public override bool MakeStatic(BSPhysObject child) - { - bool ret = false; - DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); - if (IsRoot(child)) - { - ScheduleRebuild(LinksetRoot); - } - else - { - // The non-physical children can come back to life. - BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - - child.PhysBody.collisionType = CollisionType.LinksetChild; - - // Don't force activation so setting of DISABLE_SIMULATION can stay if used. - BulletSimAPI.Activate2(child.PhysBody.ptr, false); - ret = true; - } - return ret; - } - - public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate) - { - // The user moving a child around requires the rebuilding of the linkset compound shape - // One problem is this happens when a border is crossed -- the simulator implementation - // is to store the position into the group which causes the move of the object - // but it also means all the child positions get updated. - // What would cause an unnecessary rebuild so we make sure the linkset is in a - // region before bothering to do a rebuild. - if (!IsRoot(updated) - && !physicalUpdate - && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) - { - updated.LinksetInfo = null; - ScheduleRebuild(updated); - } - } - - // Routine called when rebuilding the body of some member of the linkset. - // Since we don't keep in world relationships, do nothing unless it's a child changing. - // Returns 'true' of something was actually removed and would need restoring - // Called at taint-time!! - public override bool RemoveBodyDependencies(BSPrim child) - { - bool ret = false; - - DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), IsRoot(child)); - - if (!IsRoot(child)) - { - // Because it is a convenient time, recompute child world position and rotation based on - // its position in the linkset. - RecomputeChildWorldPosition(child, true); - } - - // Cannot schedule a refresh/rebuild here because this routine is called when - // the linkset is being rebuilt. - // InternalRefresh(LinksetRoot); - - return ret; - } - - // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', - // this routine will restore the removed constraints. - // Called at taint-time!! - public override void RestoreBodyDependencies(BSPrim child) - { - } - - // When the linkset is built, the child shape is added to the compound shape relative to the - // root shape. The linkset then moves around but this does not move the actual child - // prim. The child prim's location must be recomputed based on the location of the root shape. - private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) - { - BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo; - if (lci != null) - { - if (inTaintTime) - { - OMV.Vector3 oldPos = child.RawPosition; - child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos; - child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot; - DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}", - child.LocalID, oldPos, lci, child.RawPosition); - } - else - { - // TaintedObject is not used here so the raw position is set now and not at taint-time. - child.Position = LinksetRoot.RawPosition + lci.OffsetPos; - child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot; - } - } - else - { - // This happens when children have been added to the linkset but the linkset - // has not been constructed yet. So like, at taint time, adding children to a linkset - // and then changing properties of the children (makePhysical, for instance) - // but the post-print action of actually rebuilding the linkset has not yet happened. - // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}", - // LogHeader, child.LocalID); - DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID); - } - } - - // ================================================================ - - // Add a new child to the linkset. - // Called while LinkActivity is locked. - protected override void AddChildToLinkset(BSPhysObject child) - { - if (!HasChild(child)) - { - m_children.Add(child); - - DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); - - // Rebuild the compound shape with the new child shape included - ScheduleRebuild(child); - } - return; - } - - // Remove the specified child from the linkset. - // Safe to call even if the child is not really in the linkset. - protected override void RemoveChildFromLinkset(BSPhysObject child) - { - if (m_children.Remove(child)) - { - DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", - child.LocalID, - LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), - child.LocalID, child.PhysBody.ptr.ToString()); - - // Cause the child's body to be rebuilt and thus restored to normal operation - RecomputeChildWorldPosition(child, false); - child.ForceBodyShapeRebuild(false); - - if (!HasAnyChildren) - { - // The linkset is now empty. The root needs rebuilding. - LinksetRoot.ForceBodyShapeRebuild(false); - } - else - { - // Rebuild the compound shape with the child removed - ScheduleRebuild(child); - } - } - return; - } - - // Called before the simulation step to make sure the compound based linkset - // is all initialized. - // Constraint linksets are rebuilt every time. - // Note that this works for rebuilding just the root after a linkset is taken apart. - // Called at taint time!! - private void RecomputeLinksetCompound() - { - try - { - // Suppress rebuilding while rebuilding - Rebuilding = true; - - // Cause the root shape to be rebuilt as a compound object with just the root in it - LinksetRoot.ForceBodyShapeRebuild(true); - - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", - LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); - - // Add a shape for each of the other children in the linkset - ForEachMember(delegate(BSPhysObject cPrim) - { - if (!IsRoot(cPrim)) - { - // Compute the displacement of the child from the root of the linkset. - // This info is saved in the child prim so the relationship does not - // change over time and the new child position can be computed - // when the linkset is being disassembled (the linkset may have moved). - BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; - if (lci == null) - { - // Each child position and rotation is given relative to the root. - OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); - OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; - OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; - - // Save relative position for recomputing child's world position after moving linkset. - lci = new BSLinksetCompoundInfo(displacementPos, displacementRot); - cPrim.LinksetInfo = lci; - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); - } - - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", - LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); - - if (cPrim.PhysShape.isNativeShape) - { - // A native shape is turning into a hull collision shape because native - // shapes are not shared so we have to hullify it so it will be tracked - // and freed at the correct time. This also solves the scaling problem - // (native shapes scaled but hull/meshes are assumed to not be). - // TODO: decide of the native shape can just be used in the compound shape. - // Use call to CreateGeomNonSpecial(). - BulletShape saveShape = cPrim.PhysShape; - cPrim.PhysShape.Clear(); // Don't let the create free the child's shape - // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null); - PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); - BulletShape newShape = cPrim.PhysShape; - cPrim.PhysShape = saveShape; - BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot); - } - else - { - // For the shared shapes (meshes and hulls), just use the shape in the child. - // The reference count added here will be decremented when the compound shape - // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced). - if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape)) - { - PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", - LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); - } - BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot); - } - } - return false; // 'false' says to move onto the next child in the list - }); - - // With all of the linkset packed into the root prim, it has the mass of everyone. - LinksetMass = LinksetMass; - LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); - } - finally - { - Rebuilding = false; - } - - BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr); - - // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets. - // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, - // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); - - } -} -} \ No newline at end of file -- cgit v1.1