From eb0687f5af127ad6195b95965ce31346f2bc0a24 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 8 May 2013 06:02:12 -0700 Subject: vh: update BulletSim (OpenSim/Region/Physics/BulletSPlugin and DLL/SO) to ac6dcd35fb77f118fc6c3d72cb029591306c7e99 (Mon May 6 21:10:02 2013 -0400) on top of 0.7.5-postfixes. --- .../Physics/BulletSPlugin/BSActorLockAxis.cs | 187 +++++++++++++++++++++ 1 file changed, 187 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs new file mode 100755 index 0000000..8b0fdeb --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -0,0 +1,187 @@ +/* + * 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 OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorLockAxis : BSActor +{ + BSConstraint LockAxisConstraint = null; + + public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj, actorName) + { + m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID); + LockAxisConstraint = null; + } + + // 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() + { + RemoveAxisLockConstraint(); + } + + // 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},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", + m_controllingPrim.LocalID, m_controllingPrim.LockedAngularAxis, Enabled, m_controllingPrim.IsPhysicallyActive); + // If all the axis are free, we don't need to exist + if (m_controllingPrim.LockedAngularAxis == m_controllingPrim.LockedAxisFree) + { + Enabled = false; + } + + // If the object is physically active, add the axis locking constraint + if (isActive) + { + AddAxisLockConstraint(); + } + else + { + RemoveAxisLockConstraint(); + } + } + + // 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.RemoveDependencies() + public override void RemoveDependencies() + { + if (LockAxisConstraint != null) + { + // 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("BSActorLockAxis:" + ActorName, m_controllingPrim.LocalID, delegate() + { + Refresh(); + }); + } + } + + private void AddAxisLockConstraint() + { + 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(); + + 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. + + // Free to move linearly in the region + OMV.Vector3 linearLow = OMV.Vector3.Zero; + OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize; + if (m_controllingPrim.LockedLinearAxis.X != BSPhysObject.FreeAxis) + { + linearLow.X = m_controllingPrim.RawPosition.X; + linearHigh.X = m_controllingPrim.RawPosition.X; + } + if (m_controllingPrim.LockedLinearAxis.Y != BSPhysObject.FreeAxis) + { + linearLow.Y = m_controllingPrim.RawPosition.Y; + linearHigh.Y = m_controllingPrim.RawPosition.Y; + } + if (m_controllingPrim.LockedLinearAxis.Z != BSPhysObject.FreeAxis) + { + linearLow.Z = m_controllingPrim.RawPosition.Z; + linearHigh.Z = m_controllingPrim.RawPosition.Z; + } + 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.LockedAngularAxis.X != BSPhysObject.FreeAxis) + { + angularLow.X = 0f; + angularHigh.X = 0f; + } + if (m_controllingPrim.LockedAngularAxis.Y != BSPhysObject.FreeAxis) + { + angularLow.Y = 0f; + angularHigh.Y = 0f; + } + if (m_controllingPrim.LockedAngularAxis.Z != BSPhysObject.FreeAxis) + { + 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); + + // 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); + } + } + + private void RemoveAxisLockConstraint() + { + if (LockAxisConstraint != null) + { + m_physicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); + LockAxisConstraint = null; + m_physicsScene.DetailLog("{0},BSActorLockAxis.RemoveAxisLockConstraint,destroyingConstraint", m_controllingPrim.LocalID); + } + } +} +} -- cgit v1.1