From f9913b6ef7e7f18075e1e42ed5e347ce2a8b8ef5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 12 Jul 2012 11:29:45 -0700 Subject: BulletSim: Add detailed and voluminous debug logging that is enabled with an ini configuration parameter. Correct computation of relative offsets of children in a linkset. Remove a prim from any link relationship before deleting it. Minor code flow cleanups. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 52 ++++++++++++++---------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 53 ++++++++++++++++--------- 2 files changed, 65 insertions(+), 40 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 130f1ca..9b28a06 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -42,6 +42,8 @@ public sealed class BSPrim : PhysicsActor private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS PRIM]"; + private void DebugLog(string mm, params Object[] xx) { if (_scene.shouldDebugLog) m_log.DebugFormat(mm, xx); } + private IMesh _mesh; private PrimitiveBaseShape _pbs; private ShapeData.PhysicsShapeType _shapeType; @@ -86,8 +88,8 @@ public sealed class BSPrim : PhysicsActor private bool _kinematic; private float _buoyancy; - private List _childrenPrims; private BSPrim _parentPrim; + private List _childrenPrims; private int _subscribedEventsMs = 0; private int _nextCollisionOkTime = 0; @@ -148,6 +150,15 @@ public sealed class BSPrim : PhysicsActor // Undo any vehicle properties _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _scene.RemoveVehiclePrim(this); // just to make sure + + // undo any dependance with/on other objects + if (_parentPrim != null) + { + // If I'm someone's child, tell them to forget about me. + _parentPrim.RemoveChildFromLinkset(this); + _parentPrim = null; + } + _scene.TaintedObject(delegate() { // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. @@ -202,7 +213,7 @@ public sealed class BSPrim : PhysicsActor // link me to the specified parent public override void link(PhysicsActor obj) { BSPrim parent = obj as BSPrim; - // m_log.DebugFormat("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); + DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); // TODO: decide if this parent checking needs to happen at taint time if (_parentPrim == null) { @@ -225,7 +236,7 @@ public sealed class BSPrim : PhysicsActor else { // asking to reparent a prim should not happen - m_log.ErrorFormat("{0}: Reparenting a prim. ", LogHeader); + m_log.ErrorFormat("{0}: link(): Reparenting a prim. ", LogHeader); } } } @@ -236,7 +247,8 @@ public sealed class BSPrim : PhysicsActor public override void delink() { // TODO: decide if this parent checking needs to happen at taint time // Race condition here: if link() and delink() in same simulation tick, the delink will not happen - // m_log.DebugFormat("{0}: delink {1}/{2}", LogHeader, _avName, _localID); + DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, + (_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString())); if (_parentPrim != null) { _parentPrim.RemoveChildFromLinkset(this); @@ -252,8 +264,9 @@ public sealed class BSPrim : PhysicsActor { if (!_childrenPrims.Contains(child)) { + DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID); _childrenPrims.Add(child); - child.ParentPrim = this; // the child has gained a parent + child._parentPrim = this; // the child has gained a parent RecreateGeomAndObject(); // rebuild my shape with the new child added } }); @@ -269,9 +282,13 @@ public sealed class BSPrim : PhysicsActor { if (_childrenPrims.Contains(child)) { - BulletSimAPI.RemoveConstraint(_scene.WorldID, child.LocalID, this.LocalID); + DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); + if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID)) + { + m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID); + } _childrenPrims.Remove(child); - child.ParentPrim = null; // the child has lost its parent + child._parentPrim = null; // the child has lost its parent RecreateGeomAndObject(); // rebuild my shape with the child removed } else @@ -282,11 +299,6 @@ public sealed class BSPrim : PhysicsActor return; } - public BSPrim ParentPrim - { - set { _parentPrim = value; } - } - // return true if we are the root of a linkset (there are children to manage) public bool IsRootOfLinkset { @@ -981,7 +993,6 @@ public sealed class BSPrim : PhysicsActor int vi = 0; foreach (OMV.Vector3 vv in vertices) { - // m_log.DebugFormat("{0}: {1}: <{2:0.00}, {3:0.00}, {4:0.00}>", LogHeader, vi / 3, vv.X, vv.Y, vv.Z); verticesAsFloats[vi++] = vv.X; verticesAsFloats[vi++] = vv.Y; verticesAsFloats[vi++] = vv.Z; @@ -1129,7 +1140,6 @@ public sealed class BSPrim : PhysicsActor if (IsRootOfLinkset) { // Create a linkset around this object - // CreateLinksetWithCompoundHull(); CreateLinksetWithConstraints(); } else @@ -1191,33 +1201,33 @@ public sealed class BSPrim : PhysicsActor // TODO: make this more effeicient: a large linkset gets rebuilt over and over and prims are added void CreateLinksetWithConstraints() { - // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); + DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); // remove any constraints that might be in place foreach (BSPrim prim in _childrenPrims) { - // m_log.DebugFormat("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); + DebugLog("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID); } // create constraints between the root prim and each of the children foreach (BSPrim prim in _childrenPrims) { - // m_log.DebugFormat("{0}: CreateLinkset: AddConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); - // Zero motion for children so they don't interpolate prim.ZeroMotion(); // relative position normalized to the root prim - OMV.Vector3 childRelativePosition = (prim._position - this._position) * OMV.Quaternion.Inverse(this._orientation); + OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation); + OMV.Vector3 childRelativePosition = (prim._position - this._position) * invThisOrientation; // relative rotation of the child to the parent - OMV.Quaternion relativeRotation = OMV.Quaternion.Inverse(prim._orientation) * this._orientation; + OMV.Quaternion childRelativeRotation = invThisOrientation * prim._orientation; // this is a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, childRelativePosition, - relativeRotation, + childRelativeRotation, OMV.Vector3.Zero, OMV.Quaternion.Identity, OMV.Vector3.Zero, OMV.Vector3.Zero, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 417cb5f..eb1d798 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -72,6 +72,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS SCENE]"; + private void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); } + public string BulletSimVersion = "?"; private Dictionary m_avatars = new Dictionary(); @@ -147,6 +149,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters ConfigurationParameters[] m_params; GCHandle m_paramsHandle; + public bool shouldDebugLog { get; private set; } + private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; public BSScene(string identifier) @@ -209,6 +213,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_meshLOD = 8f; m_sculptLOD = 32f; + shouldDebugLog = false; m_detailedStatsStep = 0; // disabled m_maxSubSteps = 10; @@ -261,7 +266,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim); _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing); + shouldDebugLog = pConfig.GetBoolean("ShouldDebugLog", shouldDebugLog); m_detailedStatsStep = pConfig.GetInt("DetailedStatsStep", m_detailedStatsStep); + m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD); m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD); @@ -347,34 +354,42 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void RemoveAvatar(PhysicsActor actor) { // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader); - if (actor is BSCharacter) - { - ((BSCharacter)actor).Destroy(); - } - try + BSCharacter bsactor = actor as BSCharacter; + if (bsactor != null) { - lock (m_avatars) m_avatars.Remove(actor.LocalID); - } - catch (Exception e) - { - m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e); + try + { + lock (m_avatars) m_avatars.Remove(actor.LocalID); + } + catch (Exception e) + { + m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e); + } + bsactor.Destroy(); + // bsactor.dispose(); } } public override void RemovePrim(PhysicsActor prim) { - // m_log.DebugFormat("{0}: RemovePrim", LogHeader); - if (prim is BSPrim) - { - ((BSPrim)prim).Destroy(); - } - try + BSPrim bsprim = prim as BSPrim; + if (bsprim != null) { - lock (m_prims) m_prims.Remove(prim.LocalID); + m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID); + try + { + lock (m_prims) m_prims.Remove(bsprim.LocalID); + } + catch (Exception e) + { + m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e); + } + bsprim.Destroy(); + // bsprim.dispose(); } - catch (Exception e) + else { - m_log.WarnFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e); + m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader); } } -- cgit v1.1 From c400918c84fc89ff0209ee05def3bb46206ba5ee Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 12 Jul 2012 15:34:25 -0700 Subject: BulletSim: Add PID variables to physical scene. Not PIDing yet, but soon. Cleaned up code and got rid of compile warnings. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 69 ++++++------ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 116 +++++++++------------ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 13 +++ 3 files changed, 97 insertions(+), 101 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index dc0c008..09e1f0c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -41,7 +41,7 @@ public class BSCharacter : PhysicsActor private BSScene _scene; private String _avName; - private bool _stopped; + // private bool _stopped; private Vector3 _size; private Vector3 _scale; private PrimitiveBaseShape _pbs; @@ -134,9 +134,9 @@ public class BSCharacter : PhysicsActor { base.RequestPhysicsterseUpdate(); } - + // No one calls this method so I don't know what it could possibly mean public override bool Stopped { - get { return _stopped; } + get { return false; } } public override Vector3 Size { get { return _size; } @@ -391,52 +391,47 @@ public class BSCharacter : PhysicsActor _mass = _density * _avatarVolume; } - // Set to 'true' if the individual changed items should be checked - // (someday RequestPhysicsTerseUpdate() will take a bitmap of changed properties) - const bool SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES = false; - // The physics engine says that properties have updated. Update same and inform // the world that things have changed. public void UpdateProperties(EntityProperties entprop) { + /* bool changed = false; - if (SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES) { - // we assign to the local variables so the normal set action does not happen - if (_position != entprop.Position) { - _position = entprop.Position; - changed = true; - } - if (_orientation != entprop.Rotation) { - _orientation = entprop.Rotation; - changed = true; - } - if (_velocity != entprop.Velocity) { - _velocity = entprop.Velocity; - changed = true; - } - if (_acceleration != entprop.Acceleration) { - _acceleration = entprop.Acceleration; - changed = true; - } - if (_rotationalVelocity != entprop.RotationalVelocity) { - _rotationalVelocity = entprop.RotationalVelocity; - changed = true; - } - if (changed) { - // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); - // Avatar movement is not done by generating this event. There is code in the heartbeat - // loop that updates avatars. - // base.RequestPhysicsterseUpdate(); - } - } - else { + // we assign to the local variables so the normal set action does not happen + if (_position != entprop.Position) { _position = entprop.Position; + changed = true; + } + if (_orientation != entprop.Rotation) { _orientation = entprop.Rotation; + changed = true; + } + if (_velocity != entprop.Velocity) { _velocity = entprop.Velocity; + changed = true; + } + if (_acceleration != entprop.Acceleration) { _acceleration = entprop.Acceleration; + changed = true; + } + if (_rotationalVelocity != entprop.RotationalVelocity) { _rotationalVelocity = entprop.RotationalVelocity; + changed = true; + } + if (changed) { + // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); + // Avatar movement is not done by generating this event. There is code in the heartbeat + // loop that updates avatars. // base.RequestPhysicsterseUpdate(); } + */ + _position = entprop.Position; + _orientation = entprop.Rotation; + _velocity = entprop.Velocity; + _acceleration = entprop.Acceleration; + _rotationalVelocity = entprop.RotationalVelocity; + // Avatars don't report theirr changes the usual way. Changes are checked for in the heartbeat loop. + // base.RequestPhysicsterseUpdate(); } // Called by the scene when a collision with this object is reported diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 9b28a06..23b276e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -148,7 +148,7 @@ public sealed class BSPrim : PhysicsActor { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // Undo any vehicle properties - _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); + _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE, 1f); _scene.RemoveVehiclePrim(this); // just to make sure // undo any dependance with/on other objects @@ -353,7 +353,7 @@ public sealed class BSPrim : PhysicsActor } set { Vehicle type = (Vehicle)value; - _vehicle.ProcessTypeChange(type); + _vehicle.ProcessTypeChange(type, _scene.LastSimulatedTimestep); _scene.TaintedObject(delegate() { if (type == Vehicle.TYPE_NONE) @@ -371,11 +371,11 @@ public sealed class BSPrim : PhysicsActor } public override void VehicleFloatParam(int param, float value) { - _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); + _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); } public override void VehicleVectorParam(int param, OMV.Vector3 value) { - _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); + _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { @@ -1262,78 +1262,66 @@ public sealed class BSPrim : PhysicsActor const float POSITION_TOLERANCE = 0.05f; const float ACCELERATION_TOLERANCE = 0.01f; const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; - const bool SHOULD_DAMP_UPDATES = false; public void UpdateProperties(EntityProperties entprop) { + /* UpdatedProperties changed = 0; - if (SHOULD_DAMP_UPDATES) + // assign to the local variables so the normal set action does not happen + // if (_position != entprop.Position) + if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE)) { - // assign to the local variables so the normal set action does not happen - // if (_position != entprop.Position) - if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE)) - { - _position = entprop.Position; - // m_log.DebugFormat("{0}: UpdateProperties: id={1}, pos = {2}", LogHeader, LocalID, _position); - changed |= UpdatedProperties.Position; - } - // if (_orientation != entprop.Rotation) - if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE)) - { - _orientation = entprop.Rotation; - // m_log.DebugFormat("{0}: UpdateProperties: id={1}, rot = {2}", LogHeader, LocalID, _orientation); - changed |= UpdatedProperties.Rotation; - } - // if (_velocity != entprop.Velocity) - if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE)) - { - _velocity = entprop.Velocity; - // m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity); - changed |= UpdatedProperties.Velocity; - } - // if (_acceleration != entprop.Acceleration) - if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE)) - { - _acceleration = entprop.Acceleration; - // m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration); - changed |= UpdatedProperties.Acceleration; - } - // if (_rotationalVelocity != entprop.RotationalVelocity) - if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE)) - { - _rotationalVelocity = entprop.RotationalVelocity; - // m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity); - changed |= UpdatedProperties.RotationalVel; - } - if (changed != 0) - { - // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); - // Only update the position of single objects and linkset roots - if (this._parentPrim == null) - { - // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); - base.RequestPhysicsterseUpdate(); - } - } + _position = entprop.Position; + changed |= UpdatedProperties.Position; } - else + // if (_orientation != entprop.Rotation) + if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE)) { - // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. - - // Only updates only for individual prims and for the root object of a linkset. + _orientation = entprop.Rotation; + changed |= UpdatedProperties.Rotation; + } + // if (_velocity != entprop.Velocity) + if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE)) + { + _velocity = entprop.Velocity; + changed |= UpdatedProperties.Velocity; + } + // if (_acceleration != entprop.Acceleration) + if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE)) + { + _acceleration = entprop.Acceleration; + changed |= UpdatedProperties.Acceleration; + } + // if (_rotationalVelocity != entprop.RotationalVelocity) + if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE)) + { + _rotationalVelocity = entprop.RotationalVelocity; + changed |= UpdatedProperties.RotationalVel; + } + if (changed != 0) + { + // Only update the position of single objects and linkset roots if (this._parentPrim == null) { - // Assign to the local variables so the normal set action does not happen - _position = entprop.Position; - _orientation = entprop.Rotation; - _velocity = entprop.Velocity; - _acceleration = entprop.Acceleration; - _rotationalVelocity = entprop.RotationalVelocity; - // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", - // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); base.RequestPhysicsterseUpdate(); } } + */ + + // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. + // Updates only for individual prims and for the root object of a linkset. + if (this._parentPrim == null) + { + // Assign to the local variables so the normal set action does not happen + _position = entprop.Position; + _orientation = entprop.Rotation; + _velocity = entprop.Velocity; + _acceleration = entprop.Acceleration; + _rotationalVelocity = entprop.RotationalVelocity; + // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", + // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); + base.RequestPhysicsterseUpdate(); + } } // I've collided with something diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index eb1d798..150326e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -107,6 +107,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters private long m_simulationStep = 0; public long SimulationStep { get { return m_simulationStep; } } + public float LastSimulatedTimestep { get; private set; } + // A value of the time now so all the collision and update routines do not have to get their own // Set to 'now' just before all the prims and actors are called for collisions and updates private int m_simulationNowTime; @@ -123,6 +125,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes + public float PID_D { get; private set; } // derivative + public float PID_P { get; private set; } // proportional + public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero public const uint GROUNDPLANE_ID = 1; @@ -222,6 +227,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_maxUpdatesPerFrame = 2048; m_maximumObjectMass = 10000.01f; + PID_D = 2200f; + PID_P = 900f; + parms.defaultFriction = 0.5f; parms.defaultDensity = 10.000006836f; // Aluminum g/cm3 parms.defaultRestitution = 0f; @@ -278,6 +286,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame); m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass); + PID_D = pConfig.GetFloat("PIDDerivative", PID_D); + PID_P = pConfig.GetFloat("PIDProportional", PID_P); + parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction); parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity); parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution); @@ -415,6 +426,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters int collidersCount; IntPtr collidersPtr; + LastSimulatedTimestep = timeStep; + // prevent simulation until we've been initialized if (!m_initialized) return 10.0f; -- cgit v1.1 From cda67a68de11790ff7f3f19937b4d08309bc1e89 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 18 Jul 2012 08:36:41 -0700 Subject: BulletSim: Add very detailed logging to BSDynamics for vehicle debugging --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 130 ++++++++++++++------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 60 +++++++++- 3 files changed, 146 insertions(+), 45 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index eb20eb3..bef7aec 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -131,8 +131,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_type = Vehicle.TYPE_NONE; } - internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) + internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep) { + DetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: @@ -229,8 +230,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin } }//end ProcessFloatVehicleParam - internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) + internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep) { + DetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_FRICTION_TIMESCALE: @@ -265,6 +267,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) { + DetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.REFERENCE_FRAME: @@ -278,6 +281,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessVehicleFlags(int pParam, bool remove) { + DetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove); if (remove) { if (pParam == -1) @@ -434,6 +438,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessTypeChange(Vehicle pType) { + DetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); // Set Defaults For Type m_type = pType; switch (pType) @@ -594,7 +599,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); break; - } }//end SetDefaultsForType @@ -609,12 +613,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin MoveLinear(pTimestep, pParentScene); MoveAngular(pTimestep); LimitRotation(pTimestep); + DetailLog("{0},step,pos={1},force={2},velocity={3},angvel={4}", + m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); }// end Step private void MoveLinear(float pTimestep, BSScene _pParentScene) { if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant { + Vector3 origDir = m_linearMotorDirection; + Vector3 origVel = m_lastLinearVelocityVector; + // add drive to body Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector? @@ -630,9 +639,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin // decay applied velocity Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); - //Console.WriteLine("decay: " + decayfraction); m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; - //Console.WriteLine("actual: " + m_linearMotorDirection); + + DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", + m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector); } else { // requested is not significant @@ -643,63 +653,66 @@ namespace OpenSim.Region.Physics.BulletSPlugin // convert requested object velocity to world-referenced vector m_dir = m_lastLinearVelocityVector; - Quaternion rot = m_prim.Orientation; - Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object - m_dir *= rotq; // apply obj rotation to velocity vector + m_dir *= m_prim.Orientation; + + // Add the various forces into m_dir which will be our new direction vector (velocity) - // add Gravity andBuoyancy + // add Gravity and Buoyancy // KF: So far I have found no good method to combine a script-requested // .Z velocity and gravity. Therefore only 0g will used script-requested // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. Vector3 grav = Vector3.Zero; - // There is some gravity, make a gravity force vector - // that is applied after object velocity. - float objMass = m_prim.Mass; + // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - grav.Z = _pParentScene.DefaultGravity.Z * objMass * (1f - m_VehicleBuoyancy); + grav.Z = _pParentScene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy); // Preserve the current Z velocity Vector3 vel_now = m_prim.Velocity; m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity Vector3 pos = m_prim.Position; + Vector3 posChange = pos; // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); - Vector3 posChange = new Vector3(); - posChange.X = pos.X - m_lastPositionVector.X; - posChange.Y = pos.Y - m_lastPositionVector.Y; - posChange.Z = pos.Z - m_lastPositionVector.Z; double Zchange = Math.Abs(posChange.Z); if (m_BlockingEndPoint != Vector3.Zero) { + bool changed = false; if (pos.X >= (m_BlockingEndPoint.X - (float)1)) { pos.X -= posChange.X + 1; - m_prim.Position = pos; + changed = true; } if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) { pos.Y -= posChange.Y + 1; - m_prim.Position = pos; + changed = true; } if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) { pos.Z -= posChange.Z + 1; - m_prim.Position = pos; + changed = true; } if (pos.X <= 0) { pos.X += posChange.X + 1; - m_prim.Position = pos; + changed = true; } if (pos.Y <= 0) { pos.Y += posChange.Y + 1; + changed = true; + } + if (changed) + { m_prim.Position = pos; + DetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", + m_prim.LocalID, m_BlockingEndPoint, posChange, pos); } } if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y)) { pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; m_prim.Position = pos; + DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); } // Check if hovering @@ -746,6 +759,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin } } + DetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight); + // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped // m_VhoverTimescale = 0f; // time to acheive height // pTimestep is time since last frame,in secs @@ -774,12 +789,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin { grav.Z = (float)(grav.Z * 1.125); } - float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); + float terraintemp = _pParentScene.GetTerrainHeightAtXYZ(pos); float postemp = (pos.Z - terraintemp); if (postemp > 2.5f) { grav.Z = (float)(grav.Z * 1.037125); } + DetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav); //End Experimental Values } if ((m_flags & (VehicleFlag.NO_X)) != 0) @@ -803,29 +819,35 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_prim.Force = grav; - // apply friction + // Apply friction Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; + + DetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", + m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount); + } // end MoveLinear() private void MoveAngular(float pTimestep) { - /* - private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor - private int m_angularMotorApply = 0; // application frame counter - private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down) - private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate - private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate - private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate - private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body - */ + // m_angularMotorDirection // angular velocity requested by LSL motor + // m_angularMotorApply // application frame counter + // m_angularMotorVelocity // current angular motor velocity (ramps up and down) + // m_angularMotorTimescale // motor angular velocity ramp up rate + // m_angularMotorDecayTimescale // motor angular velocity decay rate + // m_angularFrictionTimescale // body angular velocity decay rate + // m_lastAngularVelocity // what was last applied to body // Get what the body is doing, this includes 'external' influences Vector3 angularVelocity = m_prim.RotationalVelocity; - // Vector3 angularVelocity = Vector3.Zero; if (m_angularMotorApply > 0) { + // Rather than snapping the angular motor velocity from the old value to + // a newly set velocity, this routine steps the value from the previous + // value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection). + // There are m_angularMotorApply steps. + Vector3 origAngularVelocity = m_angularMotorVelocity; // ramp up to new value // current velocity += error / (time to get there / step interval) // requested speed - last motor speed @@ -833,23 +855,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); + DetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", + m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); + m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected // velocity may still be acheived. } else { - // no motor recently applied, keep the body velocity - /* m_angularMotorVelocity.X = angularVelocity.X; - m_angularMotorVelocity.Y = angularVelocity.Y; - m_angularMotorVelocity.Z = angularVelocity.Z; */ - + // No motor recently applied, keep the body velocity // and decay the velocity m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); } // end motor section // Vertical attractor section Vector3 vertattr = Vector3.Zero; - if (m_verticalAttractionTimescale < 300) { float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); @@ -871,7 +891,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Error is 0 (no error) to +/- 2 (max error) // scale it by VAservo verterr = verterr * VAservo; -//if (frcount == 0) Console.WriteLine("VAerr=" + verterr); // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. @@ -884,11 +903,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin vertattr.X += bounce * angularVelocity.X; vertattr.Y += bounce * angularVelocity.Y; + DetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", + m_prim.LocalID, verterr, bounce, vertattr); + } // else vertical attractor is off - // m_lastVertAttractor = vertattr; + // m_lastVertAttractor = vertattr; // Bank section tba + // Deflection section tba // Sum velocities @@ -898,11 +921,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin { m_lastAngularVelocity.X = 0; m_lastAngularVelocity.Y = 0; + DetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); } if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. + DetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); } // apply friction @@ -912,10 +937,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Apply to the body m_prim.RotationalVelocity = m_lastAngularVelocity; + DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); + } //end MoveAngular + } //end MoveAngular internal void LimitRotation(float timestep) { - Quaternion rotq = m_prim.Orientation; // rotq = rotation of object + Quaternion rotq = m_prim.Orientation; Quaternion m_rot = rotq; bool changed = false; if (m_RollreferenceFrame != Quaternion.Identity) @@ -923,18 +951,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (rotq.X >= m_RollreferenceFrame.X) { m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2); + changed = true; } if (rotq.Y >= m_RollreferenceFrame.Y) { m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2); + changed = true; } if (rotq.X <= -m_RollreferenceFrame.X) { m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2); + changed = true; } if (rotq.Y <= -m_RollreferenceFrame.Y) { m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2); + changed = true; } changed = true; } @@ -944,8 +976,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_rot.Y = 0; changed = true; } + if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) + { + m_rot.X = 0; + m_rot.Y = 0; + changed = true; + } if (changed) m_prim.Orientation = m_rot; + + DetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot); + } + + // Invoke the detailed logger and output something if it's enabled. + private void DetailLog(string msg, params Object[] args) + { + m_prim.Scene.VehicleLogging.Write(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 23b276e..227696e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -52,6 +52,7 @@ public sealed class BSPrim : PhysicsActor private List _hulls; private BSScene _scene; + public BSScene Scene { get { return _scene; } } private String _avName; private uint _localID = 0; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 150326e..c4b4332 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -29,12 +29,13 @@ using System.Collections.Generic; using System.Runtime.InteropServices; using System.Text; using System.Threading; -using Nini.Config; -using log4net; using OpenSim.Framework; +using OpenSim.Region.CoreModules.Framework.Statistics.Logging; +using OpenSim.Region.Framework; using OpenSim.Region.Physics.Manager; +using Nini.Config; +using log4net; using OpenMetaverse; -using OpenSim.Region.Framework; // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) // Debug linkset @@ -158,6 +159,19 @@ public class BSScene : PhysicsScene, IPhysicsParameters private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; + // Sometimes you just have to log everything. + public LogWriter PhysicsLogging; + private bool m_physicsLoggingEnabled; + private string m_physicsLoggingDir; + private string m_physicsLoggingPrefix; + private int m_physicsLoggingFileMinutes; + + public LogWriter VehicleLogging; + private bool m_vehicleLoggingEnabled; + private string m_vehicleLoggingDir; + private string m_vehicleLoggingPrefix; + private int m_vehicleLoggingFileMinutes; + public BSScene(string identifier) { m_initialized = false; @@ -178,6 +192,26 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); + // Enable very detailed logging. + // By creating an empty logger when not logging, the log message invocation code + // can be left in and every call doesn't have to check for null. + if (m_physicsLoggingEnabled) + { + PhysicsLogging = new LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); + } + else + { + PhysicsLogging = new LogWriter(); + } + if (m_vehicleLoggingEnabled) + { + VehicleLogging = new LogWriter(m_vehicleLoggingDir, m_vehicleLoggingPrefix, m_vehicleLoggingFileMinutes); + } + else + { + VehicleLogging = new LogWriter(); + } + // Get the version of the DLL // TODO: this doesn't work yet. Something wrong with marshaling the returned string. // BulletSimVersion = BulletSimAPI.GetVersion(); @@ -321,6 +355,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters parms.shouldSplitSimulationIslands = ParamBoolean(pConfig, "ShouldSplitSimulationIslands", parms.shouldSplitSimulationIslands); parms.shouldEnableFrictionCaching = ParamBoolean(pConfig, "ShouldEnableFrictionCaching", parms.shouldEnableFrictionCaching); parms.numberOfSolverIterations = pConfig.GetFloat("NumberOfSolverIterations", parms.numberOfSolverIterations); + + // Very detailed logging for physics debugging + m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); + m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", "."); + m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-"); + m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); + // Very detailed logging for vehicle debugging + m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); + m_vehicleLoggingDir = pConfig.GetString("VehicleLoggingDir", "."); + m_vehicleLoggingPrefix = pConfig.GetString("VehicleLoggingPrefix", "vehicle-"); + m_vehicleLoggingFileMinutes = pConfig.GetInt("VehicleLoggingFileMinutes", 5); } } m_params[0] = parms; @@ -560,8 +605,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters }); } + // Someday we will have complex terrain with caves and tunnels + // For the moment, it's flat and convex + public float GetTerrainHeightAtXYZ(Vector3 loc) + { + return GetTerrainHeightAtXY(loc.X, loc.Y); + } + public float GetTerrainHeightAtXY(float tX, float tY) { + if (tX < 0 || tX >= Constants.RegionSize || tY < 0 || tY >= Constants.RegionSize) + return 30; return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)]; } -- cgit v1.1 From 7451bb16137fad6336fae12608ef6df92ba1a46c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 18 Jul 2012 08:49:01 -0700 Subject: BulletSim: fix compile errors from last commit. Clean up passing of physics scene into vehicle dynamics code. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 23 +++++++++++----------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 +++--- 2 files changed, 14 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index bef7aec..4c5bc85 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -57,7 +57,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin private int frcount = 0; // Used to limit dynamics debug output to // every 100th frame - // private BSScene m_parentScene = null; private BSPrim m_prim; // the prim this dynamic controller belongs to // Vehicle properties @@ -602,7 +601,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } }//end SetDefaultsForType - internal void Step(float pTimestep, BSScene pParentScene) + internal void Step(float pTimestep) { if (m_type == Vehicle.TYPE_NONE) return; @@ -610,14 +609,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (frcount > 100) frcount = 0; - MoveLinear(pTimestep, pParentScene); + MoveLinear(pTimestep); MoveAngular(pTimestep); LimitRotation(pTimestep); - DetailLog("{0},step,pos={1},force={2},velocity={3},angvel={4}", + + DetailLog("{0},step,done,pos={1},force={2},velocity={3},angvel={4}", m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); }// end Step - private void MoveLinear(float pTimestep, BSScene _pParentScene) + private void MoveLinear(float pTimestep) { if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant { @@ -664,7 +664,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 grav = Vector3.Zero; // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - grav.Z = _pParentScene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy); + grav.Z = m_prim.Scene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy); // Preserve the current Z velocity Vector3 vel_now = m_prim.Velocity; m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity @@ -708,9 +708,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_prim.LocalID, m_BlockingEndPoint, posChange, pos); } } - if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y)) + if (pos.Z < m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y)) { - pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; + pos.Z = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; m_prim.Position = pos; DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); } @@ -721,11 +721,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // We should hover, get the target height if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0) { - m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight; + m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight; } if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { - m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; + m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; } if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) { @@ -789,7 +789,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { grav.Z = (float)(grav.Z * 1.125); } - float terraintemp = _pParentScene.GetTerrainHeightAtXYZ(pos); + float terraintemp = m_prim.Scene.GetTerrainHeightAtXYZ(pos); float postemp = (pos.Z - terraintemp); if (postemp > 2.5f) { @@ -940,7 +940,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); } //end MoveAngular - } //end MoveAngular internal void LimitRotation(float timestep) { Quaternion rotq = m_prim.Orientation; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 227696e..5911897 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -149,7 +149,7 @@ public sealed class BSPrim : PhysicsActor { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // Undo any vehicle properties - _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE, 1f); + _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _scene.RemoveVehiclePrim(this); // just to make sure // undo any dependance with/on other objects @@ -354,7 +354,7 @@ public sealed class BSPrim : PhysicsActor } set { Vehicle type = (Vehicle)value; - _vehicle.ProcessTypeChange(type, _scene.LastSimulatedTimestep); + _vehicle.ProcessTypeChange(type); _scene.TaintedObject(delegate() { if (type == Vehicle.TYPE_NONE) @@ -389,7 +389,7 @@ public sealed class BSPrim : PhysicsActor // Called each simulation step to advance vehicle characteristics public void StepVehicle(float timeStep) { - _vehicle.Step(timeStep, _scene); + _vehicle.Step(timeStep); } // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more -- cgit v1.1 From ca3b6b1f90f89ab3be4a43863da81f9df0993e2f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 20 Jul 2012 14:08:29 -0700 Subject: BulletSim: more detail logging for vehicle and general physics debugging. Physical linksets are fully functional. Tweeking of the vehicle code to make it semi-work. Utilize the new API2 for some setting operations. Add GetOrientation() API call for proper reporting of children of linksets. Changes the interface between C# and C++ code so old DLLs won't work! --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 52 +++++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 168 +++++++++++++++++---- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 48 +++--- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 51 +++++++ 4 files changed, 244 insertions(+), 75 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 4c5bc85..c197e61 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -613,23 +613,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin MoveAngular(pTimestep); LimitRotation(pTimestep); - DetailLog("{0},step,done,pos={1},force={2},velocity={3},angvel={4}", + DetailLog("{0},Dynamics,done,pos={1},force={2},velocity={3},angvel={4}", m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); }// end Step private void MoveLinear(float pTimestep) { - if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant + // requested m_linearMotorDirection is significant + // if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) + if (m_linearMotorDirection.LengthSquared() > 0.0001f) { Vector3 origDir = m_linearMotorDirection; Vector3 origVel = m_lastLinearVelocityVector; // add drive to body - Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); - m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector? + // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); + Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale); + // lastLinearVelocityVector is the current body velocity vector? + // RA: Not sure what the *10 is for. A correction for pTimestep? + // m_lastLinearVelocityVector += (addAmount*10); + m_lastLinearVelocityVector += addAmount; // This will work temporarily, but we really need to compare speed on an axis // KF: Limit body velocity to applied velocity? + // Limit the velocity vector to less than the last set linear motor direction if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y)) @@ -641,19 +648,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; + /* + Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/m_linearMotorTimescale; + m_lastLinearVelocityVector += addAmount; + + float decayfraction = (1.0f - 1.0f / m_linearMotorDecayTimescale); + m_linearMotorDirection *= decayfraction; + + */ + DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector); } else - { // requested is not significant - // if what remains of applied is small, zero it. - if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f)) - m_lastLinearVelocityVector = Vector3.Zero; + { + // if what remains of applied is small, zero it. + // if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f)) + // m_lastLinearVelocityVector = Vector3.Zero; + m_linearMotorDirection = Vector3.Zero; + m_lastLinearVelocityVector = Vector3.Zero; } // convert requested object velocity to world-referenced vector - m_dir = m_lastLinearVelocityVector; - m_dir *= m_prim.Orientation; + Quaternion rotq = m_prim.Orientation; + m_dir = m_lastLinearVelocityVector * rotq; // Add the various forces into m_dir which will be our new direction vector (velocity) @@ -708,9 +726,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_prim.LocalID, m_BlockingEndPoint, posChange, pos); } } - if (pos.Z < m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y)) + + // If below the terrain, move us above the ground a little. + if (pos.Z < m_prim.Scene.GetTerrainHeightAtXYZ(pos)) { - pos.Z = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; + pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2; m_prim.Position = pos; DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); } @@ -816,8 +836,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Apply velocity m_prim.Velocity = m_dir; // apply gravity force - m_prim.Force = grav; - + // Why is this set here? The physics engine already does gravity. + // m_prim.AddForce(grav, false); + // m_prim.Force = grav; // Apply friction Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); @@ -990,7 +1011,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Invoke the detailed logger and output something if it's enabled. private void DetailLog(string msg, params Object[] args) { - m_prim.Scene.VehicleLogging.Write(msg, args); + if (m_prim.Scene.VehicleLoggingEnabled) + m_prim.Scene.PhysicsLogging.Write(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 5911897..71a4303 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -148,6 +148,7 @@ public sealed class BSPrim : PhysicsActor public void Destroy() { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); + // DetailLog("{0},Destroy", LocalID); // Undo any vehicle properties _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _scene.RemoveVehiclePrim(this); // just to make sure @@ -215,6 +216,7 @@ public sealed class BSPrim : PhysicsActor public override void link(PhysicsActor obj) { BSPrim parent = obj as BSPrim; DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); + DetailLog("{0},link,parent={1}", LocalID, obj.LocalID); // TODO: decide if this parent checking needs to happen at taint time if (_parentPrim == null) { @@ -250,6 +252,7 @@ public sealed class BSPrim : PhysicsActor // Race condition here: if link() and delink() in same simulation tick, the delink will not happen DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, (_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString())); + DetailLog("{0},delink,parent={1}", LocalID, (_parentPrim==null ? "NULL" : _parentPrim.LocalID.ToString())); if (_parentPrim != null) { _parentPrim.RemoveChildFromLinkset(this); @@ -266,6 +269,7 @@ public sealed class BSPrim : PhysicsActor if (!_childrenPrims.Contains(child)) { DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID); + DetailLog("{0},AddChildToLinkset,child={1}", LocalID, pchild.LocalID); _childrenPrims.Add(child); child._parentPrim = this; // the child has gained a parent RecreateGeomAndObject(); // rebuild my shape with the new child added @@ -284,6 +288,7 @@ public sealed class BSPrim : PhysicsActor if (_childrenPrims.Contains(child)) { DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); + DetailLog("{0},RemoveChildToLinkset,child={1}", LocalID, pchild.LocalID); if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID)) { m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID); @@ -317,20 +322,28 @@ public sealed class BSPrim : PhysicsActor base.RequestPhysicsterseUpdate(); } - public override void LockAngularMotion(OMV.Vector3 axis) { return; } + public override void LockAngularMotion(OMV.Vector3 axis) + { + DetailLog("{0},LockAngularMotion,call,axis={1}", LocalID, axis); + return; + } public override OMV.Vector3 Position { get { - // don't do the following GetObjectPosition because this function is called a zillion times + // child prims move around based on their parent. Need to get the latest location + if (_parentPrim != null) + _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + // don't do the GetObjectPosition for root elements because this function is called a zillion times // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); return _position; } set { _position = value; + // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? _scene.TaintedObject(delegate() { + DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); - // m_log.DebugFormat("{0}: setPosition: id={1}, position={2}", LogHeader, _localID, _position); }); } } @@ -343,6 +356,7 @@ public sealed class BSPrim : PhysicsActor _force = value; _scene.TaintedObject(delegate() { + DetailLog("{0},SetForce,taint,force={1}", LocalID, _force); BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); }); } @@ -354,15 +368,23 @@ public sealed class BSPrim : PhysicsActor } set { Vehicle type = (Vehicle)value; - _vehicle.ProcessTypeChange(type); _scene.TaintedObject(delegate() { + DetailLog("{0},SetVehicleType,taint,type={1}", LocalID, type); + _vehicle.ProcessTypeChange(type); if (type == Vehicle.TYPE_NONE) { _scene.RemoveVehiclePrim(this); } else { + _scene.TaintedObject(delegate() + { + // Tell the physics engine to clear state + IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); + BulletSimAPI.ClearForces2(obj); + }); + // make it so the scene will call us each tick to do vehicle things _scene.AddVehiclePrim(this); } @@ -372,21 +394,39 @@ public sealed class BSPrim : PhysicsActor } public override void VehicleFloatParam(int param, float value) { - _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); + m_log.DebugFormat("{0} VehicleFloatParam. {1} <= {2}", LogHeader, param, value); + _scene.TaintedObject(delegate() + { + _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); + }); } public override void VehicleVectorParam(int param, OMV.Vector3 value) { - _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); + m_log.DebugFormat("{0} VehicleVectorParam. {1} <= {2}", LogHeader, param, value); + _scene.TaintedObject(delegate() + { + _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); + }); } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { - _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); + m_log.DebugFormat("{0} VehicleRotationParam. {1} <= {2}", LogHeader, param, rotation); + _scene.TaintedObject(delegate() + { + _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); + }); } public override void VehicleFlags(int param, bool remove) { - _vehicle.ProcessVehicleFlags(param, remove); + m_log.DebugFormat("{0} VehicleFlags. {1}. Remove={2}", LogHeader, param, remove); + _scene.TaintedObject(delegate() + { + _vehicle.ProcessVehicleFlags(param, remove); + }); } - // Called each simulation step to advance vehicle characteristics + + // Called each simulation step to advance vehicle characteristics. + // Called from Scene when doing simulation step so we're in taint processing time. public void StepVehicle(float timeStep) { _vehicle.Step(timeStep); @@ -395,14 +435,11 @@ public sealed class BSPrim : PhysicsActor // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more public override void SetVolumeDetect(int param) { bool newValue = (param != 0); - if (_isVolumeDetect != newValue) + _isVolumeDetect = newValue; + _scene.TaintedObject(delegate() { - _isVolumeDetect = newValue; - _scene.TaintedObject(delegate() - { - SetObjectDynamic(); - }); - } + SetObjectDynamic(); + }); return; } @@ -410,9 +447,11 @@ public sealed class BSPrim : PhysicsActor public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } public override OMV.Vector3 Velocity { get { return _velocity; } - set { _velocity = value; + set { + _velocity = value; _scene.TaintedObject(delegate() { + DetailLog("{0},SetVelocity,taint,vel={1}", LocalID, _velocity); BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); }); } @@ -420,6 +459,7 @@ public sealed class BSPrim : PhysicsActor public override OMV.Vector3 Torque { get { return _torque; } set { _torque = value; + DetailLog("{0},SetTorque,call,torque={1}", LocalID, _torque); } } public override float CollisionScore { @@ -432,13 +472,21 @@ public sealed class BSPrim : PhysicsActor set { _acceleration = value; } } public override OMV.Quaternion Orientation { - get { return _orientation; } + get { + if (_parentPrim != null) + { + // children move around because tied to parent. Get a fresh value. + _orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID); + } + return _orientation; + } set { _orientation = value; - // m_log.DebugFormat("{0}: set orientation: id={1}, ori={2}", LogHeader, LocalID, _orientation); + // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? _scene.TaintedObject(delegate() { // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + DetailLog("{0},SetOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); }); } @@ -471,8 +519,9 @@ public sealed class BSPrim : PhysicsActor get { return !IsPhantom && !_isVolumeDetect; } } - // make gravity work if the object is physical and not selected - // no locking here because only called when it is safe + // Make gravity work if the object is physical and not selected + // No locking here because only called when it is safe + // Only called at taint time so it is save to call into Bullet. private void SetObjectDynamic() { // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid); @@ -489,6 +538,7 @@ public sealed class BSPrim : PhysicsActor RecreateGeomAndObject(); } + DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, _mass); BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass); } @@ -529,11 +579,24 @@ public sealed class BSPrim : PhysicsActor set { _floatOnWater = value; } } public override OMV.Vector3 RotationalVelocity { - get { return _rotationalVelocity; } - set { _rotationalVelocity = value; + get { + /* + OMV.Vector3 pv = OMV.Vector3.Zero; + // if close to zero, report zero + // This is copied from ODE but I'm not sure why it returns zero but doesn't + // zero the property in the physics engine. + if (_rotationalVelocity.ApproxEquals(pv, 0.2f)) + return pv; + */ + + return _rotationalVelocity; + } + set { + _rotationalVelocity = value; // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); _scene.TaintedObject(delegate() { + DetailLog("{0},SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); }); } @@ -546,11 +609,13 @@ public sealed class BSPrim : PhysicsActor } public override float Buoyancy { get { return _buoyancy; } - set { _buoyancy = value; - _scene.TaintedObject(delegate() - { - BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); - }); + set { + _buoyancy = value; + _scene.TaintedObject(delegate() + { + DetailLog("{0},SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); + BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); + }); } } @@ -586,27 +651,45 @@ public sealed class BSPrim : PhysicsActor public override float APIDStrength { set { return; } } public override float APIDDamping { set { return; } } + private List m_accumulatedForces = new List(); public override void AddForce(OMV.Vector3 force, bool pushforce) { if (force.IsFinite()) { - _force.X += force.X; - _force.Y += force.Y; - _force.Z += force.Z; + // _force += force; + lock (m_accumulatedForces) + m_accumulatedForces.Add(new OMV.Vector3(force)); } else { m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); + return; } _scene.TaintedObject(delegate() { - BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); + lock (m_accumulatedForces) + { + if (m_accumulatedForces.Count > 0) + { + OMV.Vector3 fSum = OMV.Vector3.Zero; + foreach (OMV.Vector3 v in m_accumulatedForces) + { + fSum += v; + } + m_accumulatedForces.Clear(); + + DetailLog("{0},SetObjectForce,taint,force={1}", LocalID, fSum); + BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, fSum); + } + } }); } public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { + DetailLog("{0},AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); } public override void SetMomentum(OMV.Vector3 momentum) { + DetailLog("{0},SetMomentum,call,mom={1}", LocalID, momentum); } public override void SubscribeEvents(int ms) { _subscribedEventsMs = ms; @@ -931,6 +1014,7 @@ public sealed class BSPrim : PhysicsActor { // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; + DetailLog("{0},CreateGeom,sphere", LocalID); // Bullet native objects are scaled by the Bullet engine so pass the size in _scale = _size; } @@ -938,6 +1022,7 @@ public sealed class BSPrim : PhysicsActor else { // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size); + DetailLog("{0},CreateGeom,box", LocalID); _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; _scale = _size; } @@ -974,10 +1059,12 @@ public sealed class BSPrim : PhysicsActor // if this new shape is the same as last time, don't recreate the mesh if (_meshKey == newMeshKey) return; + DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, _meshKey); // Since we're recreating new, get rid of any previously generated shape if (_meshKey != 0) { // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey); + DetailLog("{0},CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey); BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); _mesh = null; _meshKey = 0; @@ -1007,6 +1094,7 @@ public sealed class BSPrim : PhysicsActor _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; // meshes are already scaled by the meshmerizer _scale = new OMV.Vector3(1f, 1f, 1f); + DetailLog("{0},CreateGeomMesh,done", LocalID); return; } @@ -1020,13 +1108,17 @@ public sealed class BSPrim : PhysicsActor // if the hull hasn't changed, don't rebuild it if (newHullKey == _hullKey) return; + DetailLog("{0},CreateGeomHull,create,key={1}", LocalID, _meshKey); + // Since we're recreating new, get rid of any previously generated shape if (_hullKey != 0) { // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey); + DetailLog("{0},CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey); BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); _hullKey = 0; _hulls.Clear(); + DetailLog("{0},CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey); BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); _mesh = null; // the mesh cannot match either _meshKey = 0; @@ -1123,6 +1215,7 @@ public sealed class BSPrim : PhysicsActor _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; // meshes are already scaled by the meshmerizer _scale = new OMV.Vector3(1f, 1f, 1f); + DetailLog("{0},CreateGeomHull,done", LocalID); return; } @@ -1310,6 +1403,7 @@ public sealed class BSPrim : PhysicsActor */ // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. + // Updates only for individual prims and for the root object of a linkset. if (this._parentPrim == null) { @@ -1319,8 +1413,12 @@ public sealed class BSPrim : PhysicsActor _velocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; + // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); + DetailLog("{0},UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); + base.RequestPhysicsterseUpdate(); } } @@ -1361,5 +1459,11 @@ public sealed class BSPrim : PhysicsActor collisionCollection.Clear(); } } + + // Invoke the detailed logger and output something if it's enabled. + private void DetailLog(string msg, params Object[] args) + { + Scene.PhysicsLogging.Write(msg, args); + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index c4b4332..9d41ce8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -30,9 +30,9 @@ using System.Runtime.InteropServices; using System.Text; using System.Threading; using OpenSim.Framework; -using OpenSim.Region.CoreModules.Framework.Statistics.Logging; using OpenSim.Region.Framework; using OpenSim.Region.Physics.Manager; +using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging; using Nini.Config; using log4net; using OpenMetaverse; @@ -45,15 +45,17 @@ using OpenMetaverse; // Compute physics FPS reasonably // Based on material, set density and friction // More efficient memory usage when passing hull information from BSPrim to BulletSim +// Move all logic out of the C++ code and into the C# code for easier future modifications. // Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? // In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) // At the moment, physical and phantom causes object to drop through the terrain // Physical phantom objects and related typing (collision options ) +// Use collision masks for collision with terrain and phantom objects // Check out llVolumeDetect. Must do something for that. // Should prim.link() and prim.delink() membership checking happen at taint time? +// changing the position and orientation of a linked prim must rebuild the constraint with the root. // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect -// Use collision masks for collision with terrain and phantom objects // Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions) // Implement LockAngularMotion // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) @@ -61,9 +63,6 @@ using OpenMetaverse; // Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet. // Add PID movement operations. What does ScenePresence.MoveToTarget do? // Check terrain size. 128 or 127? -// Multiple contact points on collision? -// See code in ode::near... calls to collision_accounting_events() -// (This might not be a problem. ODE collects all the collisions with one object in one tick.) // Raycast // namespace OpenSim.Region.Physics.BulletSPlugin @@ -160,17 +159,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; // Sometimes you just have to log everything. - public LogWriter PhysicsLogging; + public Logging.LogWriter PhysicsLogging; private bool m_physicsLoggingEnabled; private string m_physicsLoggingDir; private string m_physicsLoggingPrefix; private int m_physicsLoggingFileMinutes; - public LogWriter VehicleLogging; private bool m_vehicleLoggingEnabled; - private string m_vehicleLoggingDir; - private string m_vehicleLoggingPrefix; - private int m_vehicleLoggingFileMinutes; + public bool VehicleLoggingEnabled { get { return m_vehicleLoggingEnabled; } } public BSScene(string identifier) { @@ -197,19 +193,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters // can be left in and every call doesn't have to check for null. if (m_physicsLoggingEnabled) { - PhysicsLogging = new LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); + PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); } else { - PhysicsLogging = new LogWriter(); - } - if (m_vehicleLoggingEnabled) - { - VehicleLogging = new LogWriter(m_vehicleLoggingDir, m_vehicleLoggingPrefix, m_vehicleLoggingFileMinutes); - } - else - { - VehicleLogging = new LogWriter(); + PhysicsLogging = new Logging.LogWriter(); } // Get the version of the DLL @@ -218,11 +206,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); // if Debug, enable logging from the unmanaged code - if (m_log.IsDebugEnabled) + if (m_log.IsDebugEnabled || PhysicsLogging.Enabled) { m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); - // the handle is saved to it doesn't get freed after this call - m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); + if (PhysicsLogging.Enabled) + m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog); + else + m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); + // the handle is saved in a variable to make sure it doesn't get freed after this call BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); } @@ -363,9 +354,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); // Very detailed logging for vehicle debugging m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); - m_vehicleLoggingDir = pConfig.GetString("VehicleLoggingDir", "."); - m_vehicleLoggingPrefix = pConfig.GetString("VehicleLoggingPrefix", "vehicle-"); - m_vehicleLoggingFileMinutes = pConfig.GetInt("VehicleLoggingFileMinutes", 5); } } m_params[0] = parms; @@ -386,12 +374,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters return ret; } - // Called directly from unmanaged code so don't do much private void BulletLogger(string msg) { m_log.Debug("[BULLETS UNMANAGED]:" + msg); } + + // Called directly from unmanaged code so don't do much + private void BulletLoggerPhysLog(string msg) + { + PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg); + } public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) { @@ -532,7 +525,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters for (int ii = 0; ii < updatedEntityCount; ii++) { EntityProperties entprop = m_updateArray[ii]; - // m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position); BSPrim prim; if (m_prims.TryGetValue(entprop.ID, out prim)) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 086f0dc..babb707 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -146,6 +146,22 @@ public struct ConfigurationParameters public const float numericFalse = 0f; } +// Values used by Bullet and BulletSim to control collisions +public enum CollisionFlags : uint +{ + STATIC_OBJECT = 1 << 0, + KINEMATIC_OBJECT = 1 << 1, + NO_CONTACT_RESPONSE = 1 << 2, + CUSTOM_MATERIAL_CALLBACK = 1 << 3, + CHARACTER_OBJECT = 1 << 4, + DISABLE_VISUALIZE_OBJECT = 1 << 5, + DISABLE_SPU_COLLISION_PROCESS = 1 << 6, + // Following used by BulletSim to control collisions + VOLUME_DETECT_OBJECT = 1 << 10, + PHANTOM_OBJECT = 1 << 11, + PHYSICAL_OBJECT = 1 << 12, +}; + static class BulletSimAPI { [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -214,6 +230,9 @@ public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); public static extern Vector3 GetObjectPosition(uint WorldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Quaternion GetObjectOrientation(uint WorldID, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -268,5 +287,37 @@ public static extern void DumpBulletStatistics(); public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void SetDebugLogCallback(DebugLogCallback callback); + +// =============================================================================== +// =============================================================================== +// =============================================================================== +// A new version of the API that moves all the logic out of the C++ code and into +// the C# code. This will make modifications easier for the next person. +// This interface passes the actual pointers to the objects in the unmanaged +// address space. All the management (calls for creation/destruction/lookup) +// is done in the C# code. +// The names have a 2 tacked on. This will be removed as the code gets rebuilt +// and the old code is removed from the C# code. +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetSimHandle2(uint worldID); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr ClearForces2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags); + } } -- cgit v1.1 From b25d874afaa5a3111455b9e49a73343b3afd6f14 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 20 Jul 2012 15:34:19 -0700 Subject: BulletSim: add reference to OpenSim.Region.CoreModules in BSScene.cs attempting to fix a mono compile error. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 9d41ce8..8773485 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -31,8 +31,9 @@ using System.Text; using System.Threading; using OpenSim.Framework; using OpenSim.Region.Framework; -using OpenSim.Region.Physics.Manager; +using OpenSim.Region.CoreModules; using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging; +using OpenSim.Region.Physics.Manager; using Nini.Config; using log4net; using OpenMetaverse; -- cgit v1.1 From 73f9e14b4326042dd218abd11f72eb46339c3a29 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 09:30:28 -0700 Subject: BulletSim: improve linking to add each link individually rather than rebuilding the object each time. Makes it an O(n) operation rather than O(n\!). --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 136 ++++++++++++++----------- 1 file changed, 76 insertions(+), 60 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 71a4303..a749a97 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -149,22 +149,26 @@ public sealed class BSPrim : PhysicsActor { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // DetailLog("{0},Destroy", LocalID); + // Undo any vehicle properties _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _scene.RemoveVehiclePrim(this); // just to make sure - // undo any dependance with/on other objects - if (_parentPrim != null) - { - // If I'm someone's child, tell them to forget about me. - _parentPrim.RemoveChildFromLinkset(this); - _parentPrim = null; - } - _scene.TaintedObject(delegate() { + // undo any dependance with/on other objects + if (_parentPrim != null) + { + // If I'm someone's child, tell them to forget about me. + _parentPrim.RemoveChildFromLinkset(this); + _parentPrim = null; + } + + // make sure there are no possible children depending on me + UnlinkAllChildren(); + // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. - BulletSimAPI.DestroyObject(_scene.WorldID, _localID); + BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); }); } @@ -272,7 +276,8 @@ public sealed class BSPrim : PhysicsActor DetailLog("{0},AddChildToLinkset,child={1}", LocalID, pchild.LocalID); _childrenPrims.Add(child); child._parentPrim = this; // the child has gained a parent - RecreateGeomAndObject(); // rebuild my shape with the new child added + // RecreateGeomAndObject(); // rebuild my shape with the new child added + LinkAChildToMe(pchild); // build the physical binding between me and the child } }); return; @@ -289,13 +294,18 @@ public sealed class BSPrim : PhysicsActor { DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); DetailLog("{0},RemoveChildToLinkset,child={1}", LocalID, pchild.LocalID); - if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID)) - { - m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID); - } _childrenPrims.Remove(child); child._parentPrim = null; // the child has lost its parent - RecreateGeomAndObject(); // rebuild my shape with the child removed + if (_childrenPrims.Count == 0) + { + // if the linkset is empty, make sure all linkages have been removed + UnlinkAllChildren(); + } + else + { + // RecreateGeomAndObject(); // rebuild my shape with the child removed + UnlinkAChildFromMe(pchild); + } } else { @@ -1247,30 +1257,6 @@ public sealed class BSPrim : PhysicsActor } } - // Create a linkset by creating a compound hull at the root prim that consists of all - // the children. - // NOTE: This does not allow proper collisions with the children prims so it is not a workable solution - void CreateLinksetWithCompoundHull() - { - // If I am the root prim of a linkset, replace my physical shape with all the - // pieces of the children. - // All of the children should have called CreateGeom so they have a hull - // in the physics engine already. Here we pull together all of those hulls - // into one shape. - int totalPrimsInLinkset = _childrenPrims.Count + 1; - // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset); - ShapeData[] shapes = new ShapeData[totalPrimsInLinkset]; - FillShapeInfo(out shapes[0]); - int ii = 1; - foreach (BSPrim prim in _childrenPrims) - { - // m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID); - prim.FillShapeInfo(out shapes[ii]); - ii++; - } - BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes); - } - // Copy prim's info into the BulletSim shape description structure public void FillShapeInfo(out ShapeData shape) { @@ -1290,9 +1276,10 @@ public sealed class BSPrim : PhysicsActor shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; } + #region Linkset creation and destruction + // Create the linkset by putting constraints between the objects of the set so they cannot move // relative to each other. - // TODO: make this more effeicient: a large linkset gets rebuilt over and over and prims are added void CreateLinksetWithConstraints() { DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); @@ -1306,29 +1293,58 @@ public sealed class BSPrim : PhysicsActor // create constraints between the root prim and each of the children foreach (BSPrim prim in _childrenPrims) { - // Zero motion for children so they don't interpolate - prim.ZeroMotion(); - - // relative position normalized to the root prim - OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation); - OMV.Vector3 childRelativePosition = (prim._position - this._position) * invThisOrientation; - - // relative rotation of the child to the parent - OMV.Quaternion childRelativeRotation = invThisOrientation * prim._orientation; - - // this is a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); - BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, - childRelativePosition, - childRelativeRotation, - OMV.Vector3.Zero, - OMV.Quaternion.Identity, - OMV.Vector3.Zero, OMV.Vector3.Zero, - OMV.Vector3.Zero, OMV.Vector3.Zero); + LinkAChildToMe(prim); } } + // Create a constraint between me (root of linkset) and the passed prim (the child). + // Called at taint time! + private void LinkAChildToMe(BSPrim childPrim) + { + // Zero motion for children so they don't interpolate + childPrim.ZeroMotion(); + + // relative position normalized to the root prim + OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation); + OMV.Vector3 childRelativePosition = (childPrim._position - this._position) * invThisOrientation; + + // relative rotation of the child to the parent + OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim._orientation; + + // create a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); + DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); + BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, childPrim.LocalID, + childRelativePosition, + childRelativeRotation, + OMV.Vector3.Zero, + OMV.Quaternion.Identity, + OMV.Vector3.Zero, OMV.Vector3.Zero, + OMV.Vector3.Zero, OMV.Vector3.Zero); + } + + // Remove linkage between myself and a particular child + // Called at taint time! + private void UnlinkAChildFromMe(BSPrim childPrim) + { + DebugLog("{0}: UnlinkAChildFromMe: RemoveConstraint between root prim {1} and child prim {2}", + LogHeader, LocalID, childPrim.LocalID); + DetailLog("{0},UnlinkAChildFromMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); + BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); + } + + // Remove linkage between myself and any possible children I might have + // Called at taint time! + private void UnlinkAllChildren() + { + DebugLog("{0}: UnlinkAllChildren:", LogHeader); + DetailLog("{0},UnlinkAllChildren,taint", LocalID); + BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); + } + + #endregion // Linkset creation and destruction + // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. // No locking here because this is done when the physics engine is not simulating -- cgit v1.1 From 85c6eb7c500b708ab0a91965eca9da20b0b02e50 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 10:37:52 -0700 Subject: BulletSim: add all the new functions to BulletSimAPI. Modify ZeroMotion() to not make tainting calls and to use new API calls. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 13 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 132 ++++++++++++++++++++- 2 files changed, 139 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a749a97..29ddddd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -324,11 +324,20 @@ public sealed class BSPrim : PhysicsActor // Set motion values to zero. // Do it to the properties so the values get set in the physics engine. // Push the setting of the values to the viewer. + // Called at taint time! private void ZeroMotion() { - Velocity = OMV.Vector3.Zero; + _velocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; - RotationalVelocity = OMV.Vector3.Zero; + _rotationalVelocity = OMV.Vector3.Zero; + + IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); + BulletSimAPI.SetVelocity2(obj, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(obj, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolation2(obj, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(obj); + + // make sure this new information is pushed to the client base.RequestPhysicsterseUpdate(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index babb707..54a8cfd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -291,13 +291,14 @@ public static extern void SetDebugLogCallback(DebugLogCallback callback); // =============================================================================== // =============================================================================== // =============================================================================== -// A new version of the API that moves all the logic out of the C++ code and into +// A new version of the API that enables moving all the logic out of the C++ code and into // the C# code. This will make modifications easier for the next person. // This interface passes the actual pointers to the objects in the unmanaged // address space. All the management (calls for creation/destruction/lookup) // is done in the C# code. -// The names have a 2 tacked on. This will be removed as the code gets rebuilt -// and the old code is removed from the C# code. +// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt +// and the old code is removed. + [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetSimHandle2(uint worldID); @@ -307,8 +308,101 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id); +// =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr ClearForces2(IntPtr obj); +public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, + int maxCollisions, IntPtr collisionArray, + int maxUpdates, IntPtr updateArray); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateParameter2(IntPtr sim, uint localID, String parm, float value); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetHeightmap2(IntPtr sim, float[] heightmap); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Shutdown2(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int PhysicsStep2(IntPtr sim, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, + out IntPtr updatedEntitiesPtr, + out int collidersCount, + out IntPtr collidersPtr); + +/* +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateMesh2(IntPtr sim, int indicesCount, int* indices, int verticesCount, float* vertices ); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool BuildHull2(IntPtr sim, IntPtr mesh); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ReleaseHull2(IntPtr sim, IntPtr mesh); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyMesh2(IntPtr sim, IntPtr mesh); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); +*/ + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetPosition2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Quaternion GetOrientation2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetDeactivationTime2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetFriction2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetRestitution2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags); @@ -319,5 +413,35 @@ public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateInertiaTensor2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetGravity2(IntPtr obj, Vector3 val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr ClearForces2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetMargin2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyObject2(IntPtr world, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpPhysicsStatistics2(IntPtr sim); + } } -- cgit v1.1 From 8a574395c7626f0aef596cbb928e0b4139ebab12 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 13:48:40 -0700 Subject: BulletSim: add Dispose() code to free up resources and close log files. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 8773485..7cc3fe3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -630,6 +630,27 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void Dispose() { // m_log.DebugFormat("{0}: Dispose()", LogHeader); + + // make sure no stepping happens while we're deleting stuff + m_initialized = false; + + foreach (KeyValuePair kvp in m_avatars) + { + kvp.Value.Destroy(); + } + m_avatars.Clear(); + + foreach (KeyValuePair kvp in m_prims) + { + kvp.Value.Destroy(); + } + m_prims.Clear(); + + // Anything left in the unmanaged code should be cleaned out + BulletSimAPI.Shutdown(WorldID); + + // Not logging any more + PhysicsLogging.Close(); } public override Dictionary GetTopColliders() -- cgit v1.1 From dda681515b31e528ae01954a583cd7a7b4e94987 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 13:49:31 -0700 Subject: BulletSim: small optimizations for link and unlink code --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 20 ++++++++------------ 1 file changed, 8 insertions(+), 12 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 29ddddd..b49b8d9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -293,7 +293,7 @@ public sealed class BSPrim : PhysicsActor if (_childrenPrims.Contains(child)) { DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); - DetailLog("{0},RemoveChildToLinkset,child={1}", LocalID, pchild.LocalID); + DetailLog("{0},RemoveChildFromLinkset,child={1}", LocalID, pchild.LocalID); _childrenPrims.Remove(child); child._parentPrim = null; // the child has lost its parent if (_childrenPrims.Count == 0) @@ -331,14 +331,12 @@ public sealed class BSPrim : PhysicsActor _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; + // Zero some other properties directly into the physics engine IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); BulletSimAPI.SetVelocity2(obj, OMV.Vector3.Zero); BulletSimAPI.SetAngularVelocity2(obj, OMV.Vector3.Zero); BulletSimAPI.SetInterpolation2(obj, OMV.Vector3.Zero, OMV.Vector3.Zero); BulletSimAPI.ClearForces2(obj); - - // make sure this new information is pushed to the client - base.RequestPhysicsterseUpdate(); } public override void LockAngularMotion(OMV.Vector3 axis) @@ -1253,7 +1251,7 @@ public sealed class BSPrim : PhysicsActor if (IsRootOfLinkset) { // Create a linkset around this object - CreateLinksetWithConstraints(); + CreateLinkset(); } else { @@ -1289,16 +1287,14 @@ public sealed class BSPrim : PhysicsActor // Create the linkset by putting constraints between the objects of the set so they cannot move // relative to each other. - void CreateLinksetWithConstraints() + void CreateLinkset() { DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); // remove any constraints that might be in place - foreach (BSPrim prim in _childrenPrims) - { - DebugLog("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); - BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID); - } + DebugLog("{0}: CreateLinkset: RemoveConstraints between me and any children", LogHeader, LocalID); + BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); + // create constraints between the root prim and each of the children foreach (BSPrim prim in _childrenPrims) { @@ -1430,7 +1426,7 @@ public sealed class BSPrim : PhysicsActor // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. // Updates only for individual prims and for the root object of a linkset. - if (this._parentPrim == null) + if (_parentPrim == null) { // Assign to the local variables so the normal set action does not happen _position = entprop.Position; -- cgit v1.1 From bf6547be01afbd7f79eea19013cfd068ad87837f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 16:31:12 -0700 Subject: BulletSim: change how prim mass is saved so it is always calculated but zero is given if not physical. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 43 ++++++++++++++------------ 1 file changed, 23 insertions(+), 20 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b49b8d9..a19d6d7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -133,10 +133,7 @@ public sealed class BSPrim : PhysicsActor _parentPrim = null; // not a child or a parent _vehicle = new BSDynamics(this); // add vehicleness _childrenPrims = new List(); - if (_isPhysical) - _mass = CalculateMass(); - else - _mass = 0f; + _mass = CalculateMass(); // do the actual object creation at taint time _scene.TaintedObject(delegate() { @@ -181,8 +178,8 @@ public sealed class BSPrim : PhysicsActor _size = value; _scene.TaintedObject(delegate() { - if (_isPhysical) _mass = CalculateMass(); // changing size changes the mass - BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, _mass, _isPhysical); + _mass = CalculateMass(); // changing size changes the mass + BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, Mass, IsPhysical); RecreateGeomAndObject(); }); } @@ -192,7 +189,7 @@ public sealed class BSPrim : PhysicsActor _pbs = value; _scene.TaintedObject(delegate() { - if (_isPhysical) _mass = CalculateMass(); // changing the shape changes the mass + _mass = CalculateMass(); // changing the shape changes the mass RecreateGeomAndObject(); }); } @@ -278,6 +275,8 @@ public sealed class BSPrim : PhysicsActor child._parentPrim = this; // the child has gained a parent // RecreateGeomAndObject(); // rebuild my shape with the new child added LinkAChildToMe(pchild); // build the physical binding between me and the child + + _mass = CalculateMass(); } }); return; @@ -306,6 +305,8 @@ public sealed class BSPrim : PhysicsActor // RecreateGeomAndObject(); // rebuild my shape with the child removed UnlinkAChildFromMe(pchild); } + + _mass = CalculateMass(); } else { @@ -364,9 +365,17 @@ public sealed class BSPrim : PhysicsActor }); } } + + // Return the effective mass of the object. Non-physical objects do not have mass. public override float Mass { - get { return _mass; } + get { + if (IsPhysical) + return _mass; + else + return 0f; + } } + public override OMV.Vector3 Force { get { return _force; } set { @@ -446,7 +455,8 @@ public sealed class BSPrim : PhysicsActor // Called from Scene when doing simulation step so we're in taint processing time. public void StepVehicle(float timeStep) { - _vehicle.Step(timeStep); + if (IsPhysical) + _vehicle.Step(timeStep); } // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more @@ -543,20 +553,13 @@ public sealed class BSPrim : PhysicsActor { // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid); // non-physical things work best with a mass of zero - if (IsStatic) - { - _mass = 0f; - } - else + if (!IsStatic) { _mass = CalculateMass(); - // If it's dynamic, make sure the hull has been created for it - // This shouldn't do much work if the object had previously been built RecreateGeomAndObject(); - } - DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, _mass); - BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass); + DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, Mass); + BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), Mass); } // prims don't fly @@ -1273,7 +1276,7 @@ public sealed class BSPrim : PhysicsActor shape.Rotation = _orientation; shape.Velocity = _velocity; shape.Scale = _scale; - shape.Mass = _isPhysical ? _mass : 0f; + shape.Mass = Mass; shape.Buoyancy = _buoyancy; shape.HullKey = _hullKey; shape.MeshKey = _meshKey; -- cgit v1.1 From 5707e171f4c231b58ff683d49fee55e4ccbb317f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 10:33:36 -0700 Subject: BulletSim: Move constraint tracking from C++ code to C# code for more flexibility. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 53 +++++++++++++++------- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 48 +++++++++++++++++++- 2 files changed, 83 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a19d6d7..ff87955 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -97,6 +97,9 @@ public sealed class BSPrim : PhysicsActor long _collidingStep; long _collidingGroundStep; + private BulletBody m_body; + public BulletBody Body { get { return m_body; } } + private BSDynamics _vehicle; private OMV.Vector3 _PIDTarget; @@ -138,6 +141,11 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject(delegate() { RecreateGeomAndObject(); + + // Get the pointer to the physical body for this object. + // At the moment, we're still letting BulletSim manage the creation and destruction + // of the object. Someday we'll move that into the C# code. + m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); }); } @@ -161,7 +169,7 @@ public sealed class BSPrim : PhysicsActor _parentPrim = null; } - // make sure there are no possible children depending on me + // make sure there are no other prims are linked to me UnlinkAllChildren(); // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. @@ -333,11 +341,11 @@ public sealed class BSPrim : PhysicsActor _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); - BulletSimAPI.SetVelocity2(obj, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(obj, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolation2(obj, OMV.Vector3.Zero, OMV.Vector3.Zero); - BulletSimAPI.ClearForces2(obj); + BulletBody obj = new BulletBody(LocalID, BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID)); + BulletSimAPI.SetVelocity2(obj.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(obj.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolation2(obj.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(obj.Ptr); } public override void LockAngularMotion(OMV.Vector3 axis) @@ -383,7 +391,8 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject(delegate() { DetailLog("{0},SetForce,taint,force={1}", LocalID, _force); - BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); + // BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); + BulletSimAPI.SetObjectForce2(Body.Ptr, _force); }); } } @@ -407,8 +416,7 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject(delegate() { // Tell the physics engine to clear state - IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); - BulletSimAPI.ClearForces2(obj); + BulletSimAPI.ClearForces2(this.Body.Ptr); }); // make it so the scene will call us each tick to do vehicle things @@ -420,7 +428,6 @@ public sealed class BSPrim : PhysicsActor } public override void VehicleFloatParam(int param, float value) { - m_log.DebugFormat("{0} VehicleFloatParam. {1} <= {2}", LogHeader, param, value); _scene.TaintedObject(delegate() { _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); @@ -428,7 +435,6 @@ public sealed class BSPrim : PhysicsActor } public override void VehicleVectorParam(int param, OMV.Vector3 value) { - m_log.DebugFormat("{0} VehicleVectorParam. {1} <= {2}", LogHeader, param, value); _scene.TaintedObject(delegate() { _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); @@ -436,7 +442,6 @@ public sealed class BSPrim : PhysicsActor } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { - m_log.DebugFormat("{0} VehicleRotationParam. {1} <= {2}", LogHeader, param, rotation); _scene.TaintedObject(delegate() { _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); @@ -444,7 +449,6 @@ public sealed class BSPrim : PhysicsActor } public override void VehicleFlags(int param, bool remove) { - m_log.DebugFormat("{0} VehicleFlags. {1}. Remove={2}", LogHeader, param, remove); _scene.TaintedObject(delegate() { _vehicle.ProcessVehicleFlags(param, remove); @@ -1296,7 +1300,7 @@ public sealed class BSPrim : PhysicsActor // remove any constraints that might be in place DebugLog("{0}: CreateLinkset: RemoveConstraints between me and any children", LogHeader, LocalID); - BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); + UnlinkAllChildren(); // create constraints between the root prim and each of the children foreach (BSPrim prim in _childrenPrims) @@ -1323,6 +1327,7 @@ public sealed class BSPrim : PhysicsActor // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); + /* BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, childPrim.LocalID, childRelativePosition, childRelativeRotation, @@ -1330,6 +1335,20 @@ public sealed class BSPrim : PhysicsActor OMV.Quaternion.Identity, OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero); + */ + // BSConstraint constrain = new BSConstraint(_scene.World, this.Body, childPrim.Body, + BSConstraint constrain = _scene.Constraints.CreateConstraint( + _scene.World, this.Body, childPrim.Body, + childRelativePosition, + childRelativeRotation, + OMV.Vector3.Zero, + OMV.Quaternion.Identity); + constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); + constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); + + // tweek the constraint to increase stability + constrain.UseFrameOffset(true); + constrain.TranslationalLimitMotor(true, 5f, 0.1f); } // Remove linkage between myself and a particular child @@ -1339,7 +1358,8 @@ public sealed class BSPrim : PhysicsActor DebugLog("{0}: UnlinkAChildFromMe: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); DetailLog("{0},UnlinkAChildFromMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); - BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); + // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); + _scene.Constraints.RemoveAndDestroyConstraint(this.Body, childPrim.Body); } // Remove linkage between myself and any possible children I might have @@ -1348,7 +1368,8 @@ public sealed class BSPrim : PhysicsActor { DebugLog("{0}: UnlinkAllChildren:", LogHeader); DetailLog("{0},UnlinkAllChildren,taint", LocalID); - BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); + _scene.Constraints.RemoveAndDestroyConstraint(this.Body); + // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); } #endregion // Linkset creation and destruction diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 54a8cfd..89fd9b7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -32,6 +32,28 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { +// Classes to allow some type checking for the API +public struct BulletSim +{ + public BulletSim(uint id, IntPtr xx) { ID = id; Ptr = xx; } + public IntPtr Ptr; + public uint ID; +} + +public struct BulletBody +{ + public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; } + public IntPtr Ptr; + public uint ID; +} + +public struct BulletConstraint +{ + public BulletConstraint(IntPtr xx) { Ptr = xx; } + public IntPtr Ptr; +} + +// =============================================================================== [StructLayout(LayoutKind.Sequential)] public struct ConvexHull { @@ -142,6 +164,11 @@ public struct ConfigurationParameters public float shouldEnableFrictionCaching; public float numberOfSolverIterations; + public float linkConstraintUseFrameOffset; + public float linkConstraintEnableTransMotor; + public float linkConstraintTransMotorMaxVel; + public float linkConstraintTransMotorMaxForce; + public const float numericTrue = 1f; public const float numericFalse = 0f; } @@ -162,6 +189,7 @@ public enum CollisionFlags : uint PHYSICAL_OBJECT = 1 << 12, }; +// =============================================================================== static class BulletSimAPI { [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -214,6 +242,7 @@ public static extern bool CreateObject(uint worldID, ShapeData shapeData); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas); +/* Remove old functionality [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void AddConstraint(uint worldID, uint id1, uint id2, Vector3 frame1, Quaternion frame1rot, @@ -225,6 +254,7 @@ public static extern bool RemoveConstraintByID(uint worldID, uint id1); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2); + */ [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern Vector3 GetObjectPosition(uint WorldID, uint id); @@ -350,8 +380,22 @@ public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, Vector3 frame1loc, Quaternion frame1rot, - Vector3 frame2loc, Quaternion frame2rot, - Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); + Vector3 frame2loc, Quaternion frame2rot); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UseFrameOffset2(IntPtr constrain, float enable); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool CalculateTransforms2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); -- cgit v1.1 From 2d05e16f7e934fc7a986696605950dd9a618d044 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 10:34:51 -0700 Subject: BulletSim: Add C# classes for storing and tracking constraints. --- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 123 ++++++++++++++ .../BulletSPlugin/BSConstraintCollection.cs | 178 +++++++++++++++++++++ 2 files changed, 301 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs new file mode 100755 index 0000000..ced8565 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -0,0 +1,123 @@ +/* + * 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 OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public class BSConstraint : IDisposable +{ + private BulletSim m_world; + private BulletBody m_body1; + private BulletBody m_body2; + private BulletConstraint m_constraint; + private bool m_enabled = false; + + public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot + ) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + /* + BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, + frame1, frame1rot, + frame2, frame2rot, + linearLow, linearHigh, + angularLow, angularHigh + ); + */ + m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, + frame1, frame1rot, + frame2, frame2rot)); + m_enabled = true; + } + + public void Dispose() + { + if (m_enabled) + { + // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); + BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); + m_enabled = false; + } + } + + public BulletBody Body1 { get { return m_body1; } } + public BulletBody Body2 { get { return m_body2; } } + + public bool SetLinearLimits(Vector3 low, Vector3 high) + { + bool ret = false; + if (m_enabled) + ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); + return ret; + } + + public bool SetAngularLimits(Vector3 low, Vector3 high) + { + bool ret = false; + if (m_enabled) + ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); + return ret; + } + + public bool UseFrameOffset(bool useOffset) + { + bool ret = false; + float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); + return ret; + } + + public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) + { + bool ret = false; + float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); + return ret; + } + + public bool CalculateTransforms() + { + bool ret = false; + if (m_enabled) + { + BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); + ret = true; + } + return ret; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs new file mode 100755 index 0000000..6c66c5c --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -0,0 +1,178 @@ +/* + * 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 log4net; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public class BSConstraintCollection : IDisposable +{ + // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); + // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; + + delegate bool ConstraintAction(BSConstraint constrain); + + private List m_constraints; + private BulletSim m_world; + + public BSConstraintCollection(BulletSim world) + { + m_world = world; + m_constraints = new List(); + } + + public void Dispose() + { + this.Clear(); + } + + public void Clear() + { + foreach (BSConstraint cons in m_constraints) + { + cons.Dispose(); + } + m_constraints.Clear(); + } + + public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot) + { + BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot); + + this.AddConstraint(constrain); + return constrain; + } + + public bool AddConstraint(BSConstraint cons) + { + // There is only one constraint between any bodies. Remove any old just to make sure. + RemoveAndDestroyConstraint(cons.Body1, cons.Body2); + + m_constraints.Add(cons); + + return true; + } + + // Get the constraint between two bodies. There can be only one the way we're using them. + public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint) + { + bool found = false; + BSConstraint foundConstraint = null; + + uint lookingID1 = body1.ID; + uint lookingID2 = body2.ID; + ForEachConstraint(delegate(BSConstraint constrain) + { + if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) + || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) + { + foundConstraint = constrain; + found = true; + } + return found; + }); + returnConstraint = foundConstraint; + return found; + } + + public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) + { + // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID); + + bool ret = false; + BSConstraint constrain; + + if (this.TryGetConstraint(body1, body2, out constrain)) + { + // remove the constraint from our collection + m_constraints.Remove(constrain); + // tell the engine that all its structures need to be freed + constrain.Dispose(); + // we destroyed something + ret = true; + } + + return ret; + } + + public bool RemoveAndDestroyConstraint(BulletBody body1) + { + // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); + + List toRemove = new List(); + uint lookingID = body1.ID; + ForEachConstraint(delegate(BSConstraint constrain) + { + if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) + { + toRemove.Add(constrain); + } + return false; + }); + lock (m_constraints) + { + foreach (BSConstraint constrain in toRemove) + { + m_constraints.Remove(constrain); + constrain.Dispose(); + } + } + return (toRemove.Count > 0); + } + + public bool RecalculateAllConstraints() + { + foreach (BSConstraint constrain in m_constraints) + { + constrain.CalculateTransforms(); + } + return true; + } + + // Lock the constraint list and loop through it. + // The constraint action returns 'true' if it wants the loop aborted. + private void ForEachConstraint(ConstraintAction action) + { + lock (m_constraints) + { + foreach (BSConstraint constrain in m_constraints) + { + if (action(constrain)) + break; + } + } + } + + +} +} -- cgit v1.1 From bf6529db320bc7ab3fe292e3b7288c8f71636f6e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 10:35:34 -0700 Subject: BulletSim: Redo parameter specification so only one place has to change to have a parameter show up in the ini file and command line. Will make it much easier for the next person. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 626 ++++++++++++++---------- 1 file changed, 378 insertions(+), 248 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7cc3fe3..07a377b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -103,6 +103,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters get { return m_sculptLOD; } } + private BulletSim m_worldSim; + public BulletSim World + { + get { return m_worldSim; } + } + private BSConstraintCollection m_constraintCollection; + public BSConstraintCollection Constraints + { + get { return m_constraintCollection; } + } + private int m_maxSubSteps; private float m_fixedTimeStep; private long m_simulationStep = 0; @@ -229,6 +240,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); + // Initialization to support the transition to a new API which puts most of the logic + // into the C# code so it is easier to modify and add to. + m_worldSim = new BulletSim(m_worldID, BulletSimAPI.GetSimHandle2(m_worldID)); + m_constraintCollection = new BSConstraintCollection(World); + m_initialized = true; } @@ -237,116 +253,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters private void GetInitialParameterValues(IConfigSource config) { ConfigurationParameters parms = new ConfigurationParameters(); + m_params[0] = parms; - _meshSculptedPrim = true; // mesh sculpted prims - _forceSimplePrimMeshing = false; // use complex meshing if called for - - m_meshLOD = 8f; - m_sculptLOD = 32f; - - shouldDebugLog = false; - m_detailedStatsStep = 0; // disabled - - m_maxSubSteps = 10; - m_fixedTimeStep = 1f / 60f; - m_maxCollisionsPerFrame = 2048; - m_maxUpdatesPerFrame = 2048; - m_maximumObjectMass = 10000.01f; - - PID_D = 2200f; - PID_P = 900f; - - parms.defaultFriction = 0.5f; - parms.defaultDensity = 10.000006836f; // Aluminum g/cm3 - parms.defaultRestitution = 0f; - parms.collisionMargin = 0.0f; - parms.gravity = -9.80665f; - - parms.linearDamping = 0.0f; - parms.angularDamping = 0.0f; - parms.deactivationTime = 0.2f; - parms.linearSleepingThreshold = 0.8f; - parms.angularSleepingThreshold = 1.0f; - parms.ccdMotionThreshold = 0.0f; // set to zero to disable - parms.ccdSweptSphereRadius = 0.0f; - parms.contactProcessingThreshold = 0.1f; - - parms.terrainFriction = 0.5f; - parms.terrainHitFraction = 0.8f; - parms.terrainRestitution = 0f; - parms.avatarFriction = 0.5f; - parms.avatarRestitution = 0.0f; - parms.avatarDensity = 60f; - parms.avatarCapsuleRadius = 0.37f; - parms.avatarCapsuleHeight = 1.5f; // 2.140599f - parms.avatarContactProcessingThreshold = 0.1f; - - parms.maxPersistantManifoldPoolSize = 0f; - parms.shouldDisableContactPoolDynamicAllocation = ConfigurationParameters.numericTrue; - parms.shouldForceUpdateAllAabbs = ConfigurationParameters.numericFalse; - parms.shouldRandomizeSolverOrder = ConfigurationParameters.numericFalse; - parms.shouldSplitSimulationIslands = ConfigurationParameters.numericFalse; - parms.shouldEnableFrictionCaching = ConfigurationParameters.numericFalse; - parms.numberOfSolverIterations = 0f; // means use default + SetParameterDefaultValues(); if (config != null) { // If there are specifications in the ini file, use those values - // WHEN ADDING OR UPDATING THIS SECTION, BE SURE TO UPDATE OpenSimDefaults.ini - // ALSO REMEMBER TO UPDATE THE RUNTIME SETTING OF THE PARAMETERS. IConfig pConfig = config.Configs["BulletSim"]; if (pConfig != null) { - _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim); - _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing); - - shouldDebugLog = pConfig.GetBoolean("ShouldDebugLog", shouldDebugLog); - m_detailedStatsStep = pConfig.GetInt("DetailedStatsStep", m_detailedStatsStep); - - m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD); - m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD); - - m_maxSubSteps = pConfig.GetInt("MaxSubSteps", m_maxSubSteps); - m_fixedTimeStep = pConfig.GetFloat("FixedTimeStep", m_fixedTimeStep); - m_maxCollisionsPerFrame = pConfig.GetInt("MaxCollisionsPerFrame", m_maxCollisionsPerFrame); - m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame); - m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass); - - PID_D = pConfig.GetFloat("PIDDerivative", PID_D); - PID_P = pConfig.GetFloat("PIDProportional", PID_P); - - parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction); - parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity); - parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution); - parms.collisionMargin = pConfig.GetFloat("CollisionMargin", parms.collisionMargin); - parms.gravity = pConfig.GetFloat("Gravity", parms.gravity); - - parms.linearDamping = pConfig.GetFloat("LinearDamping", parms.linearDamping); - parms.angularDamping = pConfig.GetFloat("AngularDamping", parms.angularDamping); - parms.deactivationTime = pConfig.GetFloat("DeactivationTime", parms.deactivationTime); - parms.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold", parms.linearSleepingThreshold); - parms.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", parms.angularSleepingThreshold); - parms.ccdMotionThreshold = pConfig.GetFloat("CcdMotionThreshold", parms.ccdMotionThreshold); - parms.ccdSweptSphereRadius = pConfig.GetFloat("CcdSweptSphereRadius", parms.ccdSweptSphereRadius); - parms.contactProcessingThreshold = pConfig.GetFloat("ContactProcessingThreshold", parms.contactProcessingThreshold); - - parms.terrainFriction = pConfig.GetFloat("TerrainFriction", parms.terrainFriction); - parms.terrainHitFraction = pConfig.GetFloat("TerrainHitFraction", parms.terrainHitFraction); - parms.terrainRestitution = pConfig.GetFloat("TerrainRestitution", parms.terrainRestitution); - parms.avatarFriction = pConfig.GetFloat("AvatarFriction", parms.avatarFriction); - parms.avatarRestitution = pConfig.GetFloat("AvatarRestitution", parms.avatarRestitution); - parms.avatarDensity = pConfig.GetFloat("AvatarDensity", parms.avatarDensity); - parms.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", parms.avatarCapsuleRadius); - parms.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", parms.avatarCapsuleHeight); - parms.avatarContactProcessingThreshold = pConfig.GetFloat("AvatarContactProcessingThreshold", parms.avatarContactProcessingThreshold); - - parms.maxPersistantManifoldPoolSize = pConfig.GetFloat("MaxPersistantManifoldPoolSize", parms.maxPersistantManifoldPoolSize); - parms.shouldDisableContactPoolDynamicAllocation = ParamBoolean(pConfig, "ShouldDisableContactPoolDynamicAllocation", parms.shouldDisableContactPoolDynamicAllocation); - parms.shouldForceUpdateAllAabbs = ParamBoolean(pConfig, "ShouldForceUpdateAllAabbs", parms.shouldForceUpdateAllAabbs); - parms.shouldRandomizeSolverOrder = ParamBoolean(pConfig, "ShouldRandomizeSolverOrder", parms.shouldRandomizeSolverOrder); - parms.shouldSplitSimulationIslands = ParamBoolean(pConfig, "ShouldSplitSimulationIslands", parms.shouldSplitSimulationIslands); - parms.shouldEnableFrictionCaching = ParamBoolean(pConfig, "ShouldEnableFrictionCaching", parms.shouldEnableFrictionCaching); - parms.numberOfSolverIterations = pConfig.GetFloat("NumberOfSolverIterations", parms.numberOfSolverIterations); + SetParameterConfigurationValues(pConfig); // Very detailed logging for physics debugging m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); @@ -357,7 +274,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); } } - m_params[0] = parms; } // A helper function that handles a true/false parameter and returns the proper float number encoding @@ -634,6 +550,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters // make sure no stepping happens while we're deleting stuff m_initialized = false; + if (m_constraintCollection != null) + { + m_constraintCollection.Dispose(); + m_constraintCollection = null; + } + foreach (KeyValuePair kvp in m_avatars) { kvp.Value.Destroy(); @@ -776,10 +698,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // The calls to the PhysicsActors can't directly call into the physics engine - // because it might be busy. We we delay changes to a known time. + // because it might be busy. We delay changes to a known time. // We rely on C#'s closure to save and restore the context for the delegate. public void TaintedObject(TaintCallback callback) { + if (!m_initialized) return; + lock (_taintLock) _taintedObjects.Add(callback); return; @@ -853,61 +777,350 @@ public class BSScene : PhysicsScene, IPhysicsParameters } #endregion Vehicles - #region Runtime settable parameters - public static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[] + #region Parameters + + delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); + delegate float ParamGet(BSScene scene); + delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); + + private struct ParameterDefn { - new PhysParameterEntry("MeshLOD", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)"), - new PhysParameterEntry("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)"), - new PhysParameterEntry("MaxSubStep", "In simulation step, maximum number of substeps"), - new PhysParameterEntry("FixedTimeStep", "In simulation step, seconds of one substep (1/60)"), - new PhysParameterEntry("MaxObjectMass", "Maximum object mass (10000.01)"), - new PhysParameterEntry("DetailedStats", "Frames between outputting detailed phys stats. Zero is off"), - - new PhysParameterEntry("DefaultFriction", "Friction factor used on new objects"), - new PhysParameterEntry("DefaultDensity", "Density for new objects" ), - new PhysParameterEntry("DefaultRestitution", "Bouncyness of an object" ), - // new PhysParameterEntry("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!!)" ), - new PhysParameterEntry("Gravity", "Vertical force of gravity (negative means down)" ), - - new PhysParameterEntry("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)" ), - new PhysParameterEntry("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)" ), - new PhysParameterEntry("DeactivationTime", "Seconds before considering an object potentially static" ), - new PhysParameterEntry("LinearSleepingThreshold", "Seconds to measure linear movement before considering static" ), - new PhysParameterEntry("AngularSleepingThreshold", "Seconds to measure angular movement before considering static" ), - new PhysParameterEntry("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ), - new PhysParameterEntry("CcdSweptSphereRadius", "Continuious collision detection test radius" ), - new PhysParameterEntry("ContactProcessingThreshold", "Distance between contacts before doing collision check" ), - // Can only change the following at initialization time. Change the INI file and reboot. - new PhysParameterEntry("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default)"), - new PhysParameterEntry("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count"), - new PhysParameterEntry("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step"), - new PhysParameterEntry("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction"), - new PhysParameterEntry("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands"), - new PhysParameterEntry("ShouldEnableFrictionCaching", "Enable friction computation caching"), - new PhysParameterEntry("NumberOfSolverIterations", "Number of internal iterations (0 means default)"), - - new PhysParameterEntry("Friction", "Set friction parameter for a specific object" ), - new PhysParameterEntry("Restitution", "Set restitution parameter for a specific object" ), - - new PhysParameterEntry("Friction", "Set friction parameter for a specific object" ), - new PhysParameterEntry("Restitution", "Set restitution parameter for a specific object" ), - - new PhysParameterEntry("TerrainFriction", "Factor to reduce movement against terrain surface" ), - new PhysParameterEntry("TerrainHitFraction", "Distance to measure hit collisions" ), - new PhysParameterEntry("TerrainRestitution", "Bouncyness" ), - new PhysParameterEntry("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation." ), - new PhysParameterEntry("AvatarDensity", "Density of an avatar. Changed on avatar recreation." ), - new PhysParameterEntry("AvatarRestitution", "Bouncyness. Changed on avatar recreation." ), - new PhysParameterEntry("AvatarCapsuleRadius", "Radius of space around an avatar" ), - new PhysParameterEntry("AvatarCapsuleHeight", "Default height of space around avatar" ), - new PhysParameterEntry("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions") + public string name; + public string desc; + public float defaultValue; + public ParamUser userParam; + public ParamGet getter; + public ParamSet setter; + public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) + { + name = n; + desc = d; + defaultValue = v; + userParam = u; + getter = g; + setter = s; + } + } + + // List of all of the externally visible parameters. + // For each parameter, this table maps a text name to getter and setters. + // A ParameterDefn() takes the following parameters: + // -- the text name of the parameter. This is used for console input and ini file. + // -- a short text description of the parameter. This shows up in the console listing. + // -- a delegate for fetching the parameter from the ini file. + // Should handle fetching the right type from the ini file and converting it. + // -- a delegate for getting the value as a float + // -- a delegate for setting the value from a float + // + // To add a new variable, it is best to find an existing definition and copy it. + private ParameterDefn[] ParameterDefinitions = + { + new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { s._meshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); }, + (s) => { return s.NumericBool(s._meshSculptedPrim); }, + (s,p,l,v) => { s._meshSculptedPrim = s.BoolNumeric(v); } ), + new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s._forceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, + (s) => { return s.NumericBool(s._forceSimplePrimMeshing); }, + (s,p,l,v) => { s._forceSimplePrimMeshing = s.BoolNumeric(v); } ), + + new ParameterDefn("MeshLOD", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", + 8f, + (s,cf,p,v) => { s.m_meshLOD = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_meshLOD; }, + (s,p,l,v) => { s.m_meshLOD = (int)v; } ), + new ParameterDefn("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", + 32, + (s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_sculptLOD; }, + (s,p,l,v) => { s.m_sculptLOD = (int)v; } ), + + new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps", + 10f, + (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_maxSubSteps; }, + (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ), + new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)", + 1f / 60f, + (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); }, + (s) => { return (float)s.m_fixedTimeStep; }, + (s,p,l,v) => { s.m_fixedTimeStep = v; } ), + new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", + 2048f, + (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_maxCollisionsPerFrame; }, + (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ), + new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame", + 8000f, + (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_maxUpdatesPerFrame; }, + (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ), + new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", + 10000.01f, + (s,cf,p,v) => { s.m_maximumObjectMass = cf.GetFloat(p, v); }, + (s) => { return (float)s.m_maximumObjectMass; }, + (s,p,l,v) => { s.m_maximumObjectMass = v; } ), + + new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", + 2200f, + (s,cf,p,v) => { s.PID_D = cf.GetFloat(p, v); }, + (s) => { return (float)s.PID_D; }, + (s,p,l,v) => { s.PID_D = v; } ), + new ParameterDefn("PID_P", "Parameteric factor for motion smoothing", + 900f, + (s,cf,p,v) => { s.PID_P = cf.GetFloat(p, v); }, + (s) => { return (float)s.PID_P; }, + (s,p,l,v) => { s.PID_P = v; } ), + + new ParameterDefn("DefaultFriction", "Friction factor used on new objects", + 0.5f, + (s,cf,p,v) => { s.m_params[0].defaultFriction = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].defaultFriction; }, + (s,p,l,v) => { s.m_params[0].defaultFriction = v; } ), + new ParameterDefn("DefaultDensity", "Density for new objects" , + 10.000006836f, // Aluminum g/cm3 + (s,cf,p,v) => { s.m_params[0].defaultDensity = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].defaultDensity; }, + (s,p,l,v) => { s.m_params[0].defaultDensity = v; } ), + new ParameterDefn("DefaultRestitution", "Bouncyness of an object" , + 0f, + (s,cf,p,v) => { s.m_params[0].defaultRestitution = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].defaultRestitution; }, + (s,p,l,v) => { s.m_params[0].defaultRestitution = v; } ), + new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", + 0f, + (s,cf,p,v) => { s.m_params[0].collisionMargin = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].collisionMargin; }, + (s,p,l,v) => { s.m_params[0].collisionMargin = v; } ), + new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)", + -9.80665f, + (s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].gravity; }, + (s,p,l,v) => { s.m_params[0].gravity = v; s.TaintedUpdateParameter(p,l,v); } ), + + + new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", + 0f, + (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].linearDamping; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].linearDamping, p, l, v); } ), + new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", + 0f, + (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].angularDamping; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].angularDamping, p, l, v); } ), + new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", + 0.2f, + (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].deactivationTime; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].deactivationTime, p, l, v); } ), + new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", + 0.8f, + (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].linearSleepingThreshold; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ), + new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", + 1.0f, + (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].angularSleepingThreshold; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ), + new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , + 0f, // set to zero to disable + (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].ccdMotionThreshold; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ), + new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , + 0f, + (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].ccdSweptSphereRadius; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ), + new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , + 0.1f, + (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].contactProcessingThreshold; }, + (s,p,l,v) => { s.UpdateParameterPrims(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ), + + new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , + 0.5f, + (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].terrainFriction; }, + (s,p,l,v) => { s.m_params[0].terrainFriction = v; s.TaintedUpdateParameter(p,l,v); } ), + new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , + 0.8f, + (s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].terrainHitFraction; }, + (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; s.TaintedUpdateParameter(p,l,v); } ), + new ParameterDefn("TerrainRestitution", "Bouncyness" , + 0f, + (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].terrainRestitution; }, + (s,p,l,v) => { s.m_params[0].terrainRestitution = v; s.TaintedUpdateParameter(p,l,v); } ), + new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", + 0.5f, + (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarFriction; }, + (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarFriction, p, l, v); } ), + new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", + 60f, + (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarDensity; }, + (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarDensity, p, l, v); } ), + new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", + 0f, + (s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarRestitution; }, + (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarRestitution, p, l, v); } ), + new ParameterDefn("AvatarCapsuleRadius", "Radius of space around an avatar", + 0.37f, + (s,cf,p,v) => { s.m_params[0].avatarCapsuleRadius = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarCapsuleRadius; }, + (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarCapsuleRadius, p, l, v); } ), + new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar", + 1.5f, + (s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarCapsuleHeight; }, + (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ), + new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", + 0.1f, + (s,cf,p,v) => { s.m_params[0].avatarContactProcessingThreshold = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].avatarContactProcessingThreshold; }, + (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ), + + + new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default)", + 0f, // zero to disable + (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; }, + (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ), + new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].shouldDisableContactPoolDynamicAllocation; }, + (s,p,l,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = v; } ), + new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.m_params[0].shouldForceUpdateAllAabbs = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].shouldForceUpdateAllAabbs; }, + (s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ), + new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].shouldRandomizeSolverOrder; }, + (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ), + new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].shouldSplitSimulationIslands; }, + (s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ), + new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.m_params[0].shouldEnableFrictionCaching = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].shouldEnableFrictionCaching; }, + (s,p,l,v) => { s.m_params[0].shouldEnableFrictionCaching = v; } ), + new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)", + 0f, // zero says use Bullet default + (s,cf,p,v) => { s.m_params[0].numberOfSolverIterations = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].numberOfSolverIterations; }, + (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ), + + new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)", + 0f, + (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); }, + (s) => { return (float)s.m_detailedStatsStep; }, + (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), + new ParameterDefn("ShouldDebugLog", "Enables detailed DEBUG log statements", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.shouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); }, + (s) => { return s.NumericBool(s.shouldDebugLog); }, + (s,p,l,v) => { s.shouldDebugLog = s.BoolNumeric(v); } ), }; + // Convert a boolean to our numeric true and false values + protected float NumericBool(bool b) + { + return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse); + } + + // Convert numeric true and false values to a boolean + protected bool BoolNumeric(float b) + { + return (b == ConfigurationParameters.numericTrue ? true : false); + } + + // Search through the parameter definitions and return the matching + // ParameterDefn structure. + // Case does not matter as names are compared after converting to lower case. + // Returns 'false' if the parameter is not found. + private bool TryGetParameter(string paramName, out ParameterDefn defn) + { + bool ret = false; + ParameterDefn foundDefn = new ParameterDefn(); + string pName = paramName.ToLower(); + + foreach (ParameterDefn parm in ParameterDefinitions) + { + if (pName == parm.name.ToLower()) + { + foundDefn = parm; + ret = true; + break; + } + } + defn = foundDefn; + return ret; + } + + // Pass through the settable parameters and set the default values + private void SetParameterDefaultValues() + { + foreach (ParameterDefn parm in ParameterDefinitions) + { + parm.setter(this, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue); + } + } + + // Get user set values out of the ini file. + private void SetParameterConfigurationValues(IConfig cfg) + { + foreach (ParameterDefn parm in ParameterDefinitions) + { + parm.userParam(this, cfg, parm.name, parm.defaultValue); + } + } + + private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1]; + + private void BuildParameterTable() + { + if (SettableParameters.Length < ParameterDefinitions.Length) + { + + List entries = new List(); + for (int ii = 0; ii < ParameterDefinitions.Length; ii++) + { + ParameterDefn pd = ParameterDefinitions[ii]; + entries.Add(new PhysParameterEntry(pd.name, pd.desc)); + } + + // make the list in alphabetical order for estetic reasons + entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2) + { + return ppe1.name.CompareTo(ppe2.name); + }); + + SettableParameters = entries.ToArray(); + } + } + + #region IPhysicsParameters // Get the list of parameters this physics engine supports public PhysParameterEntry[] GetParameterList() { + BuildParameterTable(); return SettableParameters; } @@ -919,63 +1132,18 @@ public class BSScene : PhysicsScene, IPhysicsParameters // value activated ('terrainFriction' for instance). public bool SetPhysicsParameter(string parm, float val, uint localID) { - bool ret = true; - string lparm = parm.ToLower(); - switch (lparm) + bool ret = false; + ParameterDefn theParam; + if (TryGetParameter(parm, out theParam)) { - case "detailedstats": m_detailedStatsStep = (int)val; break; - - case "meshlod": m_meshLOD = (int)val; break; - case "sculptlod": m_sculptLOD = (int)val; break; - case "maxsubstep": m_maxSubSteps = (int)val; break; - case "fixedtimestep": m_fixedTimeStep = val; break; - case "maxobjectmass": m_maximumObjectMass = val; break; - - case "defaultfriction": m_params[0].defaultFriction = val; break; - case "defaultdensity": m_params[0].defaultDensity = val; break; - case "defaultrestitution": m_params[0].defaultRestitution = val; break; - case "collisionmargin": m_params[0].collisionMargin = val; break; - case "gravity": m_params[0].gravity = val; TaintedUpdateParameter(lparm, localID, val); break; - - case "lineardamping": UpdateParameterPrims(ref m_params[0].linearDamping, lparm, localID, val); break; - case "angulardamping": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break; - case "deactivationtime": UpdateParameterPrims(ref m_params[0].deactivationTime, lparm, localID, val); break; - case "linearsleepingthreshold": UpdateParameterPrims(ref m_params[0].linearSleepingThreshold, lparm, localID, val); break; - case "angularsleepingthreshold": UpdateParameterPrims(ref m_params[0].angularDamping, lparm, localID, val); break; - case "ccdmotionthreshold": UpdateParameterPrims(ref m_params[0].ccdMotionThreshold, lparm, localID, val); break; - case "ccdsweptsphereradius": UpdateParameterPrims(ref m_params[0].ccdSweptSphereRadius, lparm, localID, val); break; - case "contactprocessingthreshold": UpdateParameterPrims(ref m_params[0].contactProcessingThreshold, lparm, localID, val); break; - // the following are used only at initialization time so setting them makes no sense - // case "maxPersistantmanifoldpoolSize": m_params[0].maxPersistantManifoldPoolSize = val; break; - // case "shoulddisablecontactpooldynamicallocation": m_params[0].shouldDisableContactPoolDynamicAllocation = val; break; - // case "shouldforceupdateallaabbs": m_params[0].shouldForceUpdateAllAabbs = val; break; - // case "shouldrandomizesolverorder": m_params[0].shouldRandomizeSolverOrder = val; break; - // case "shouldsplitsimulationislands": m_params[0].shouldSplitSimulationIslands = val; break; - // case "shouldenablefrictioncaching": m_params[0].shouldEnableFrictionCaching = val; break; - // case "numberofsolveriterations": m_params[0].numberOfSolverIterations = val; break; - - case "friction": TaintedUpdateParameter(lparm, localID, val); break; - case "restitution": TaintedUpdateParameter(lparm, localID, val); break; - - // set a terrain physical feature and cause terrain to be recalculated - case "terrainfriction": m_params[0].terrainFriction = val; TaintedUpdateParameter("terrain", 0, val); break; - case "terrainhitfraction": m_params[0].terrainHitFraction = val; TaintedUpdateParameter("terrain", 0, val); break; - case "terrainrestitution": m_params[0].terrainRestitution = val; TaintedUpdateParameter("terrain", 0, val); break; - // set an avatar physical feature and cause avatar(s) to be recalculated - case "avatarfriction": UpdateParameterAvatars(ref m_params[0].avatarFriction, "avatar", localID, val); break; - case "avatardensity": UpdateParameterAvatars(ref m_params[0].avatarDensity, "avatar", localID, val); break; - case "avatarrestitution": UpdateParameterAvatars(ref m_params[0].avatarRestitution, "avatar", localID, val); break; - case "avatarcapsuleradius": UpdateParameterAvatars(ref m_params[0].avatarCapsuleRadius, "avatar", localID, val); break; - case "avatarcapsuleheight": UpdateParameterAvatars(ref m_params[0].avatarCapsuleHeight, "avatar", localID, val); break; - case "avatarcontactprocessingthreshold": UpdateParameterAvatars(ref m_params[0].avatarContactProcessingThreshold, "avatar", localID, val); break; - - default: ret = false; break; + theParam.setter(this, parm, localID, val); + ret = true; } return ret; } // check to see if we are updating a parameter for a particular or all of the prims - private void UpdateParameterPrims(ref float loc, string parm, uint localID, float val) + protected void UpdateParameterPrims(ref float loc, string parm, uint localID, float val) { List operateOn; lock (m_prims) operateOn = new List(m_prims.Keys); @@ -983,7 +1151,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // check to see if we are updating a parameter for a particular or all of the avatars - private void UpdateParameterAvatars(ref float loc, string parm, uint localID, float val) + protected void UpdateParameterAvatars(ref float loc, string parm, uint localID, float val) { List operateOn; lock (m_avatars) operateOn = new List(m_avatars.Keys); @@ -994,7 +1162,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters // If the local ID is APPLY_TO_NONE, just change the default value // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs // If the localID is a specific object, apply the parameter change to only that object - private void UpdateParameterSet(List lIDs, ref float defaultLoc, string parm, uint localID, float val) + protected void UpdateParameterSet(List lIDs, ref float defaultLoc, string parm, uint localID, float val) { switch (localID) { @@ -1021,7 +1189,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters } // schedule the actual updating of the paramter to when the phys engine is not busy - private void TaintedUpdateParameter(string parm, uint localID, float val) + protected void TaintedUpdateParameter(string parm, uint localID, float val) { uint xlocalID = localID; string xparm = parm.ToLower(); @@ -1036,50 +1204,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters public bool GetPhysicsParameter(string parm, out float value) { float val = 0f; - bool ret = true; - switch (parm.ToLower()) + bool ret = false; + ParameterDefn theParam; + if (TryGetParameter(parm, out theParam)) { - case "detailedstats": val = (int)m_detailedStatsStep; break; - case "meshlod": val = (float)m_meshLOD; break; - case "sculptlod": val = (float)m_sculptLOD; break; - case "maxsubstep": val = (float)m_maxSubSteps; break; - case "fixedtimestep": val = m_fixedTimeStep; break; - case "maxobjectmass": val = m_maximumObjectMass; break; - - case "defaultfriction": val = m_params[0].defaultFriction; break; - case "defaultdensity": val = m_params[0].defaultDensity; break; - case "defaultrestitution": val = m_params[0].defaultRestitution; break; - case "collisionmargin": val = m_params[0].collisionMargin; break; - case "gravity": val = m_params[0].gravity; break; - - case "lineardamping": val = m_params[0].linearDamping; break; - case "angulardamping": val = m_params[0].angularDamping; break; - case "deactivationtime": val = m_params[0].deactivationTime; break; - case "linearsleepingthreshold": val = m_params[0].linearSleepingThreshold; break; - case "angularsleepingthreshold": val = m_params[0].angularDamping; break; - case "ccdmotionthreshold": val = m_params[0].ccdMotionThreshold; break; - case "ccdsweptsphereradius": val = m_params[0].ccdSweptSphereRadius; break; - case "contactprocessingthreshold": val = m_params[0].contactProcessingThreshold; break; - case "maxPersistantmanifoldpoolSize": val = m_params[0].maxPersistantManifoldPoolSize; break; - case "shoulddisablecontactpooldynamicallocation": val = m_params[0].shouldDisableContactPoolDynamicAllocation; break; - case "shouldforceupdateallaabbs": val = m_params[0].shouldForceUpdateAllAabbs; break; - case "shouldrandomizesolverorder": val = m_params[0].shouldRandomizeSolverOrder; break; - case "shouldsplitsimulationislands": val = m_params[0].shouldSplitSimulationIslands; break; - case "shouldenablefrictioncaching": val = m_params[0].shouldEnableFrictionCaching; break; - case "numberofsolveriterations": val = m_params[0].numberOfSolverIterations; break; - - case "terrainfriction": val = m_params[0].terrainFriction; break; - case "terrainhitfraction": val = m_params[0].terrainHitFraction; break; - case "terrainrestitution": val = m_params[0].terrainRestitution; break; - - case "avatarfriction": val = m_params[0].avatarFriction; break; - case "avatardensity": val = m_params[0].avatarDensity; break; - case "avatarrestitution": val = m_params[0].avatarRestitution; break; - case "avatarcapsuleradius": val = m_params[0].avatarCapsuleRadius; break; - case "avatarcapsuleheight": val = m_params[0].avatarCapsuleHeight; break; - case "avatarcontactprocessingthreshold": val = m_params[0].avatarContactProcessingThreshold; break; - default: ret = false; break; - + val = theParam.getter(this); + ret = true; } value = val; return ret; -- cgit v1.1 From 75f7721b0c954f8dc0bbaac6c333aba52e275ea2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 10:42:02 -0700 Subject: BulletSim: small change to use the pointer to the bullet object for zeroing forces. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index ff87955..6c8ae2e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -169,7 +169,7 @@ public sealed class BSPrim : PhysicsActor _parentPrim = null; } - // make sure there are no other prims are linked to me + // make sure there are no other prims linked to me UnlinkAllChildren(); // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. @@ -341,11 +341,10 @@ public sealed class BSPrim : PhysicsActor _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - BulletBody obj = new BulletBody(LocalID, BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID)); - BulletSimAPI.SetVelocity2(obj.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(obj.Ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolation2(obj.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); - BulletSimAPI.ClearForces2(obj.Ptr); + BulletSimAPI.SetVelocity2(Body.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(Body.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolation2(Body.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(Body.Ptr); } public override void LockAngularMotion(OMV.Vector3 axis) -- cgit v1.1 From d7add2940a38437e748ca74163bbf37acecfa04c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 14:52:17 -0700 Subject: BulletSim: add parameters for setting linkset constraint factors --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 24 +++++++++--------------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 25 +++++++++++++++++++++++-- 2 files changed, 32 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6c8ae2e..3be28e3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1295,10 +1295,9 @@ public sealed class BSPrim : PhysicsActor // relative to each other. void CreateLinkset() { - DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); + // DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); // remove any constraints that might be in place - DebugLog("{0}: CreateLinkset: RemoveConstraints between me and any children", LogHeader, LocalID); UnlinkAllChildren(); // create constraints between the root prim and each of the children @@ -1324,18 +1323,8 @@ public sealed class BSPrim : PhysicsActor // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); + // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); - /* - BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, childPrim.LocalID, - childRelativePosition, - childRelativeRotation, - OMV.Vector3.Zero, - OMV.Quaternion.Identity, - OMV.Vector3.Zero, OMV.Vector3.Zero, - OMV.Vector3.Zero, OMV.Vector3.Zero); - */ - // BSConstraint constrain = new BSConstraint(_scene.World, this.Body, childPrim.Body, BSConstraint constrain = _scene.Constraints.CreateConstraint( _scene.World, this.Body, childPrim.Body, childRelativePosition, @@ -1346,8 +1335,13 @@ public sealed class BSPrim : PhysicsActor constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); // tweek the constraint to increase stability - constrain.UseFrameOffset(true); - constrain.TranslationalLimitMotor(true, 5f, 0.1f); + constrain.UseFrameOffset(_scene.BoolNumeric(_scene.Params.linkConstraintUseFrameOffset)); + if (_scene.BoolNumeric(_scene.Params.linkConstraintEnableTransMotor)) + { + constrain.TranslationalLimitMotor(true, + _scene.Params.linkConstraintTransMotorMaxVel, + _scene.Params.linkConstraintTransMotorMaxForce); + } } // Remove linkage between myself and a particular child diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 07a377b..a1587a8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1025,6 +1025,27 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s) => { return s.m_params[0].numberOfSolverIterations; }, (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ), + new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].linkConstraintUseFrameOffset; }, + (s,p,l,v) => { s.m_params[0].linkConstraintUseFrameOffset = v; } ), + new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", + ConfigurationParameters.numericTrue, + (s,cf,p,v) => { s.m_params[0].linkConstraintEnableTransMotor = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, + (s) => { return s.m_params[0].linkConstraintEnableTransMotor; }, + (s,p,l,v) => { s.m_params[0].linkConstraintEnableTransMotor = v; } ), + new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints", + 5.0f, + (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].linkConstraintTransMotorMaxVel; }, + (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = v; } ), + new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints", + 0.1f, + (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, + (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), + new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)", 0f, (s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); }, @@ -1039,13 +1060,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters }; // Convert a boolean to our numeric true and false values - protected float NumericBool(bool b) + public float NumericBool(bool b) { return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse); } // Convert numeric true and false values to a boolean - protected bool BoolNumeric(float b) + public bool BoolNumeric(float b) { return (b == ConfigurationParameters.numericTrue ? true : false); } -- cgit v1.1 From 0a4c080e63d3159f4943a164a2085cc6a41fac80 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 14:59:00 -0700 Subject: BulletSim: fix line endings in newly added files (Is it DOS or is it UNIX? Only it's hairdresser knows for sure) --- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 246 +++++++------- .../BulletSPlugin/BSConstraintCollection.cs | 356 ++++++++++----------- 2 files changed, 301 insertions(+), 301 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index ced8565..1966395 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -1,123 +1,123 @@ -/* - * 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 OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ - -public class BSConstraint : IDisposable -{ - private BulletSim m_world; - private BulletBody m_body1; - private BulletBody m_body2; - private BulletConstraint m_constraint; - private bool m_enabled = false; - - public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, - Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot - ) - { - m_world = world; - m_body1 = obj1; - m_body2 = obj2; - /* - BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, - frame1, frame1rot, - frame2, frame2rot, - linearLow, linearHigh, - angularLow, angularHigh - ); - */ - m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, - frame1, frame1rot, - frame2, frame2rot)); - m_enabled = true; - } - - public void Dispose() - { - if (m_enabled) - { - // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); - BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); - m_enabled = false; - } - } - - public BulletBody Body1 { get { return m_body1; } } - public BulletBody Body2 { get { return m_body2; } } - - public bool SetLinearLimits(Vector3 low, Vector3 high) - { - bool ret = false; - if (m_enabled) - ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); - return ret; - } - - public bool SetAngularLimits(Vector3 low, Vector3 high) - { - bool ret = false; - if (m_enabled) - ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); - return ret; - } - - public bool UseFrameOffset(bool useOffset) - { - bool ret = false; - float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; - if (m_enabled) - ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); - return ret; - } - - public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) - { - bool ret = false; - float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; - if (m_enabled) - ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); - return ret; - } - - public bool CalculateTransforms() - { - bool ret = false; - if (m_enabled) - { - BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); - ret = true; - } - return ret; - } -} -} +/* + * 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 OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public class BSConstraint : IDisposable +{ + private BulletSim m_world; + private BulletBody m_body1; + private BulletBody m_body2; + private BulletConstraint m_constraint; + private bool m_enabled = false; + + public BSConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot + ) + { + m_world = world; + m_body1 = obj1; + m_body2 = obj2; + /* + BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, + frame1, frame1rot, + frame2, frame2rot, + linearLow, linearHigh, + angularLow, angularHigh + ); + */ + m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, + frame1, frame1rot, + frame2, frame2rot)); + m_enabled = true; + } + + public void Dispose() + { + if (m_enabled) + { + // BulletSimAPI.RemoveConstraint(m_world.ID, m_body1.ID, m_body2.ID); + BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr); + m_enabled = false; + } + } + + public BulletBody Body1 { get { return m_body1; } } + public BulletBody Body2 { get { return m_body2; } } + + public bool SetLinearLimits(Vector3 low, Vector3 high) + { + bool ret = false; + if (m_enabled) + ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high); + return ret; + } + + public bool SetAngularLimits(Vector3 low, Vector3 high) + { + bool ret = false; + if (m_enabled) + ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high); + return ret; + } + + public bool UseFrameOffset(bool useOffset) + { + bool ret = false; + float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff); + return ret; + } + + public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce) + { + bool ret = false; + float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse; + if (m_enabled) + ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce); + return ret; + } + + public bool CalculateTransforms() + { + bool ret = false; + if (m_enabled) + { + BulletSimAPI.CalculateTransforms2(m_constraint.Ptr); + ret = true; + } + return ret; + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index 6c66c5c..a2650fb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -1,178 +1,178 @@ -/* - * 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 log4net; -using OpenMetaverse; - -namespace OpenSim.Region.Physics.BulletSPlugin -{ - -public class BSConstraintCollection : IDisposable -{ - // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); - // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; - - delegate bool ConstraintAction(BSConstraint constrain); - - private List m_constraints; - private BulletSim m_world; - - public BSConstraintCollection(BulletSim world) - { - m_world = world; - m_constraints = new List(); - } - - public void Dispose() - { - this.Clear(); - } - - public void Clear() - { - foreach (BSConstraint cons in m_constraints) - { - cons.Dispose(); - } - m_constraints.Clear(); - } - - public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, - Vector3 frame1, Quaternion frame1rot, - Vector3 frame2, Quaternion frame2rot) - { - BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot); - - this.AddConstraint(constrain); - return constrain; - } - - public bool AddConstraint(BSConstraint cons) - { - // There is only one constraint between any bodies. Remove any old just to make sure. - RemoveAndDestroyConstraint(cons.Body1, cons.Body2); - - m_constraints.Add(cons); - - return true; - } - - // Get the constraint between two bodies. There can be only one the way we're using them. - public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint) - { - bool found = false; - BSConstraint foundConstraint = null; - - uint lookingID1 = body1.ID; - uint lookingID2 = body2.ID; - ForEachConstraint(delegate(BSConstraint constrain) - { - if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) - || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) - { - foundConstraint = constrain; - found = true; - } - return found; - }); - returnConstraint = foundConstraint; - return found; - } - - public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) - { - // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID); - - bool ret = false; - BSConstraint constrain; - - if (this.TryGetConstraint(body1, body2, out constrain)) - { - // remove the constraint from our collection - m_constraints.Remove(constrain); - // tell the engine that all its structures need to be freed - constrain.Dispose(); - // we destroyed something - ret = true; - } - - return ret; - } - - public bool RemoveAndDestroyConstraint(BulletBody body1) - { - // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); - - List toRemove = new List(); - uint lookingID = body1.ID; - ForEachConstraint(delegate(BSConstraint constrain) - { - if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) - { - toRemove.Add(constrain); - } - return false; - }); - lock (m_constraints) - { - foreach (BSConstraint constrain in toRemove) - { - m_constraints.Remove(constrain); - constrain.Dispose(); - } - } - return (toRemove.Count > 0); - } - - public bool RecalculateAllConstraints() - { - foreach (BSConstraint constrain in m_constraints) - { - constrain.CalculateTransforms(); - } - return true; - } - - // Lock the constraint list and loop through it. - // The constraint action returns 'true' if it wants the loop aborted. - private void ForEachConstraint(ConstraintAction action) - { - lock (m_constraints) - { - foreach (BSConstraint constrain in m_constraints) - { - if (action(constrain)) - break; - } - } - } - - -} -} +/* + * 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 log4net; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public class BSConstraintCollection : IDisposable +{ + // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); + // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; + + delegate bool ConstraintAction(BSConstraint constrain); + + private List m_constraints; + private BulletSim m_world; + + public BSConstraintCollection(BulletSim world) + { + m_world = world; + m_constraints = new List(); + } + + public void Dispose() + { + this.Clear(); + } + + public void Clear() + { + foreach (BSConstraint cons in m_constraints) + { + cons.Dispose(); + } + m_constraints.Clear(); + } + + public BSConstraint CreateConstraint(BulletSim world, BulletBody obj1, BulletBody obj2, + Vector3 frame1, Quaternion frame1rot, + Vector3 frame2, Quaternion frame2rot) + { + BSConstraint constrain = new BSConstraint(world, obj1, obj2, frame1, frame1rot, frame2, frame2rot); + + this.AddConstraint(constrain); + return constrain; + } + + public bool AddConstraint(BSConstraint cons) + { + // There is only one constraint between any bodies. Remove any old just to make sure. + RemoveAndDestroyConstraint(cons.Body1, cons.Body2); + + m_constraints.Add(cons); + + return true; + } + + // Get the constraint between two bodies. There can be only one the way we're using them. + public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint) + { + bool found = false; + BSConstraint foundConstraint = null; + + uint lookingID1 = body1.ID; + uint lookingID2 = body2.ID; + ForEachConstraint(delegate(BSConstraint constrain) + { + if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2) + || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1)) + { + foundConstraint = constrain; + found = true; + } + return found; + }); + returnConstraint = foundConstraint; + return found; + } + + public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) + { + // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID); + + bool ret = false; + BSConstraint constrain; + + if (this.TryGetConstraint(body1, body2, out constrain)) + { + // remove the constraint from our collection + m_constraints.Remove(constrain); + // tell the engine that all its structures need to be freed + constrain.Dispose(); + // we destroyed something + ret = true; + } + + return ret; + } + + public bool RemoveAndDestroyConstraint(BulletBody body1) + { + // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); + + List toRemove = new List(); + uint lookingID = body1.ID; + ForEachConstraint(delegate(BSConstraint constrain) + { + if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID) + { + toRemove.Add(constrain); + } + return false; + }); + lock (m_constraints) + { + foreach (BSConstraint constrain in toRemove) + { + m_constraints.Remove(constrain); + constrain.Dispose(); + } + } + return (toRemove.Count > 0); + } + + public bool RecalculateAllConstraints() + { + foreach (BSConstraint constrain in m_constraints) + { + constrain.CalculateTransforms(); + } + return true; + } + + // Lock the constraint list and loop through it. + // The constraint action returns 'true' if it wants the loop aborted. + private void ForEachConstraint(ConstraintAction action) + { + lock (m_constraints) + { + foreach (BSConstraint constrain in m_constraints) + { + if (action(constrain)) + break; + } + } + } + + +} +} -- cgit v1.1 From 9ca1075e7e7fd1dea92a99a2d54fdc98c3389ccb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 25 Jul 2012 16:21:14 -0700 Subject: BulletSim: remove unused, commented out code in BSConstraint --- OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 8 -------- 1 file changed, 8 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 1966395..fbb9e21 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -48,14 +48,6 @@ public class BSConstraint : IDisposable m_world = world; m_body1 = obj1; m_body2 = obj2; - /* - BulletSimAPI.AddConstraint(world.ID, m_body1.ID, m_body2.ID, - frame1, frame1rot, - frame2, frame2rot, - linearLow, linearHigh, - angularLow, angularHigh - ); - */ m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, frame1, frame1rot, frame2, frame2rot)); -- cgit v1.1 From 7d30637d51c64a582cc55d41546af8f0cfc889ba Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 26 Jul 2012 14:54:57 -0700 Subject: BulletSim: refactor all the linkset logic out of the prim class and into its own class. The BulletSim data structures track individual prims as linksets of 1 so most of the prim code is not different between a linked and unlinked object. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 308 +++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 327 ++++++--------------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 7 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 2 +- 4 files changed, 409 insertions(+), 235 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs new file mode 100755 index 0000000..a1027ee --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -0,0 +1,308 @@ +/* + * 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 OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSLinkset +{ + private static string LogHeader = "[BULLETSIM LINKSET]"; + + private BSPrim m_linksetRoot; + public BSPrim Root { get { return m_linksetRoot; } } + + private BSScene m_scene; + + private List m_children; + + // We lock the diddling of linkset classes to prevent any badness. + // This locks the modification of the instances of this class. Changes + // to the physical representation is done via the tainting mechenism. + private object m_linksetActivityLock = new Object(); + + // We keep the prim's mass in the linkset structure since it could be dependent on other prims + private float m_mass; + public float Mass + { + get + { + m_mass = ComputeLinksetMass(); + return m_mass; + } + } + + public OMV.Vector3 CenterOfMass + { + get { return ComputeLinksetCenterOfMass(); } + } + + public OMV.Vector3 GeometricCenter + { + get { return ComputeLinksetGeometricCenter(); } + } + + public BSLinkset(BSScene scene, BSPrim parent) + { + // A simple linkset of one (no children) + m_scene = scene; + m_linksetRoot = parent; + m_children = new List(); + m_mass = parent.MassRaw; + } + + // Link to a linkset where the child knows the parent. + // Parent changing should not happen so do some sanity checking. + // We return the parent's linkset so the child can track it's membership. + public BSLinkset AddMeToLinkset(BSPrim child, BSPrim parent) + { + lock (m_linksetActivityLock) + { + parent.Linkset.AddChildToLinkset(child); + } + return parent.Linkset; + } + + public BSLinkset RemoveMeFromLinkset(BSPrim child) + { + lock (m_linksetActivityLock) + { + if (IsRoot(child)) + { + // if root of linkset, take the linkset apart + while (m_children.Count > 0) + { + // Note that we don't do a foreach because the remove routine + // takes it out of the list. + RemoveChildFromLinkset(m_children[0]); + } + m_children.Clear(); // just to make sure + } + else + { + // Just removing a child from an existing linkset + RemoveChildFromLinkset(child); + } + } + + // The child is down to a linkset of just itself + return new BSLinkset(m_scene, child); + } + + // An existing linkset had one of its members rebuilt or something. + // Undo all the physical linking and rebuild the physical linkset. + public bool RefreshLinkset(BSPrim requestor) + { + return true; + } + + + // Return 'true' if the passed object is the root object of this linkset + public bool IsRoot(BSPrim requestor) + { + return (requestor.LocalID == m_linksetRoot.LocalID); + } + + // Return 'true' if this linkset has any children (more than the root member) + public bool HasAnyChildren { get { return (m_children.Count > 0); } } + + // Return 'true' if this child is in this linkset + public bool HasChild(BSPrim child) + { + bool ret = false; + foreach (BSPrim bp in m_children) + { + if (child.LocalID == bp.LocalID) + { + ret = true; + break; + } + } + return ret; + } + + private float ComputeLinksetMass() + { + float mass = m_linksetRoot.Mass; + foreach (BSPrim bp in m_children) + { + mass += bp.Mass; + } + return mass; + } + + private OMV.Vector3 ComputeLinksetCenterOfMass() + { + OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw; + float totalMass = m_linksetRoot.MassRaw; + + foreach (BSPrim bp in m_children) + { + com += bp.Position * bp.MassRaw; + totalMass += bp.MassRaw; + } + com /= totalMass; + + return com; + } + + private OMV.Vector3 ComputeLinksetGeometricCenter() + { + OMV.Vector3 com = m_linksetRoot.Position; + + foreach (BSPrim bp in m_children) + { + com += bp.Position * bp.MassRaw; + } + com /= m_children.Count + 1; + + return com; + } + + // I am the root of a linkset and a new child is being added + public void AddChildToLinkset(BSPrim pchild) + { + BSPrim child = pchild; + if (!HasChild(child)) + { + m_children.Add(child); + + m_scene.TaintedObject(delegate() + { + DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID); + DetailLog("{0},AddChildToLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID); + PhysicallyLinkAChildToRoot(pchild); // build the physical binding between me and the child + }); + } + return; + } + + // I am the root of a linkset and one of my children is being removed. + // Safe to call even if the child is not really in my linkset. + public void RemoveChildFromLinkset(BSPrim pchild) + { + BSPrim child = pchild; + + if (m_children.Remove(child)) + { + m_scene.TaintedObject(delegate() + { + DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); + DetailLog("{0},RemoveChildFromLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID); + + if (m_children.Count == 0) + { + // if the linkset is empty, make sure all linkages have been removed + PhysicallyUnlinkAllChildrenFromRoot(); + } + else + { + PhysicallyUnlinkAChildFromRoot(pchild); + } + }); + } + else + { + // This will happen if we remove the root of the linkset first. Non-fatal occurance. + // m_scene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); + } + return; + } + + // Create a constraint between me (root of linkset) and the passed prim (the child). + // Called at taint time! + private void PhysicallyLinkAChildToRoot(BSPrim childPrim) + { + // Zero motion for children so they don't interpolate + childPrim.ZeroMotion(); + + // relative position normalized to the root prim + OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(m_linksetRoot.Orientation); + OMV.Vector3 childRelativePosition = (childPrim.Position - m_linksetRoot.Position) * invThisOrientation; + + // relative rotation of the child to the parent + OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation; + + // create a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); + DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); + BSConstraint constrain = m_scene.Constraints.CreateConstraint( + m_scene.World, m_linksetRoot.Body, childPrim.Body, + childRelativePosition, + childRelativeRotation, + OMV.Vector3.Zero, + OMV.Quaternion.Identity); + constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); + constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); + + // tweek the constraint to increase stability + constrain.UseFrameOffset(m_scene.BoolNumeric(m_scene.Params.linkConstraintUseFrameOffset)); + constrain.TranslationalLimitMotor(m_scene.BoolNumeric(m_scene.Params.linkConstraintEnableTransMotor), + m_scene.Params.linkConstraintTransMotorMaxVel, + m_scene.Params.linkConstraintTransMotorMaxForce); + + } + + // Remove linkage between myself and a particular child + // Called at taint time! + private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim) + { + DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}", + LogHeader, m_linksetRoot.LocalID, childPrim.LocalID); + DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); + // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); + m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body); + } + + // Remove linkage between myself and any possible children I might have + // Called at taint time! + private void PhysicallyUnlinkAllChildrenFromRoot() + { + // DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader); + DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID); + m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body); + // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); + } + + // Invoke the detailed logger and output something if it's enabled. + private void DebugLog(string msg, params Object[] args) + { + m_scene.Logger.DebugFormat(msg, args); + } + + // Invoke the detailed logger and output something if it's enabled. + private void DetailLog(string msg, params Object[] args) + { + m_scene.PhysicsLogging.Write(msg, args); + } + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 3be28e3..d604f9c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -66,7 +66,7 @@ public sealed class BSPrim : PhysicsActor private bool _isSelected; private bool _isVolumeDetect; private OMV.Vector3 _position; - private float _mass; + private float _mass; // the mass of this object private float _density; private OMV.Vector3 _force; private OMV.Vector3 _velocity; @@ -89,8 +89,13 @@ public sealed class BSPrim : PhysicsActor private bool _kinematic; private float _buoyancy; - private BSPrim _parentPrim; - private List _childrenPrims; + // Membership in a linkset is controlled by this class. + private BSLinkset _linkset; + public BSLinkset Linkset + { + get { return _linkset; } + set { _linkset = value; } + } private int _subscribedEventsMs = 0; private int _nextCollisionOkTime = 0; @@ -133,9 +138,8 @@ public sealed class BSPrim : PhysicsActor _friction = _scene.Params.defaultFriction; // TODO: compute based on object material _density = _scene.Params.defaultDensity; // TODO: compute based on object material _restitution = _scene.Params.defaultRestitution; - _parentPrim = null; // not a child or a parent + _linkset = new BSLinkset(_scene, this); // a linkset of one _vehicle = new BSDynamics(this); // add vehicleness - _childrenPrims = new List(); _mass = CalculateMass(); // do the actual object creation at taint time _scene.TaintedObject(delegate() @@ -161,16 +165,8 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject(delegate() { - // undo any dependance with/on other objects - if (_parentPrim != null) - { - // If I'm someone's child, tell them to forget about me. - _parentPrim.RemoveChildFromLinkset(this); - _parentPrim = null; - } - - // make sure there are no other prims linked to me - UnlinkAllChildren(); + // Undo any links between me and any other object + _linkset = _linkset.RemoveMeFromLinkset(this); // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); @@ -187,7 +183,7 @@ public sealed class BSPrim : PhysicsActor _scene.TaintedObject(delegate() { _mass = CalculateMass(); // changing size changes the mass - BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, Mass, IsPhysical); + BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); RecreateGeomAndObject(); }); } @@ -226,32 +222,8 @@ public sealed class BSPrim : PhysicsActor BSPrim parent = obj as BSPrim; DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); DetailLog("{0},link,parent={1}", LocalID, obj.LocalID); - // TODO: decide if this parent checking needs to happen at taint time - if (_parentPrim == null) - { - if (parent != null) - { - // I don't have a parent so I am joining a linkset - parent.AddChildToLinkset(this); - } - } - else - { - // I already have a parent, is parenting changing? - if (parent != _parentPrim) - { - if (parent == null) - { - // we are being removed from a linkset - _parentPrim.RemoveChildFromLinkset(this); - } - else - { - // asking to reparent a prim should not happen - m_log.ErrorFormat("{0}: link(): Reparenting a prim. ", LogHeader); - } - } - } + + _linkset = _linkset.AddMeToLinkset(this, parent); return; } @@ -260,81 +232,18 @@ public sealed class BSPrim : PhysicsActor // TODO: decide if this parent checking needs to happen at taint time // Race condition here: if link() and delink() in same simulation tick, the delink will not happen DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID, - (_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString())); - DetailLog("{0},delink,parent={1}", LocalID, (_parentPrim==null ? "NULL" : _parentPrim.LocalID.ToString())); - if (_parentPrim != null) - { - _parentPrim.RemoveChildFromLinkset(this); - } - return; - } + _linkset.Root._avName+"/"+_linkset.Root.LocalID.ToString()); + DetailLog("{0},delink,parent={1}", LocalID, _linkset.Root.LocalID.ToString()); - // I am the root of a linkset and a new child is being added - public void AddChildToLinkset(BSPrim pchild) - { - BSPrim child = pchild; - _scene.TaintedObject(delegate() - { - if (!_childrenPrims.Contains(child)) - { - DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID); - DetailLog("{0},AddChildToLinkset,child={1}", LocalID, pchild.LocalID); - _childrenPrims.Add(child); - child._parentPrim = this; // the child has gained a parent - // RecreateGeomAndObject(); // rebuild my shape with the new child added - LinkAChildToMe(pchild); // build the physical binding between me and the child - - _mass = CalculateMass(); - } - }); - return; - } - - // I am the root of a linkset and one of my children is being removed. - // Safe to call even if the child is not really in my linkset. - public void RemoveChildFromLinkset(BSPrim pchild) - { - BSPrim child = pchild; - _scene.TaintedObject(delegate() - { - if (_childrenPrims.Contains(child)) - { - DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); - DetailLog("{0},RemoveChildFromLinkset,child={1}", LocalID, pchild.LocalID); - _childrenPrims.Remove(child); - child._parentPrim = null; // the child has lost its parent - if (_childrenPrims.Count == 0) - { - // if the linkset is empty, make sure all linkages have been removed - UnlinkAllChildren(); - } - else - { - // RecreateGeomAndObject(); // rebuild my shape with the child removed - UnlinkAChildFromMe(pchild); - } - - _mass = CalculateMass(); - } - else - { - m_log.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset"); - } - }); - return; - } - - // return true if we are the root of a linkset (there are children to manage) - public bool IsRootOfLinkset - { - get { return (_parentPrim == null && _childrenPrims.Count != 0); } + _linkset.RemoveMeFromLinkset(this); + return; } // Set motion values to zero. // Do it to the properties so the values get set in the physics engine. // Push the setting of the values to the viewer. // Called at taint time! - private void ZeroMotion() + public void ZeroMotion() { _velocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; @@ -355,9 +264,10 @@ public sealed class BSPrim : PhysicsActor public override OMV.Vector3 Position { get { - // child prims move around based on their parent. Need to get the latest location - if (_parentPrim != null) + if (!_linkset.IsRoot(this)) + // child prims move around based on their parent. Need to get the latest location _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); + // don't do the GetObjectPosition for root elements because this function is called a zillion times // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); return _position; @@ -373,16 +283,31 @@ public sealed class BSPrim : PhysicsActor } } - // Return the effective mass of the object. Non-physical objects do not have mass. - public override float Mass { - get { - if (IsPhysical) - return _mass; - else - return 0f; + // Return the effective mass of the object. + // If there are multiple items in the linkset, add them together for the root + public override float Mass + { + get + { + return _linkset.Mass; } } + // used when we only want this prim's mass and not the linkset thing + public float MassRaw { get { return _mass; } } + + // Is this used? + public override OMV.Vector3 CenterOfMass + { + get { return _linkset.CenterOfMass; } + } + + // Is this used? + public override OMV.Vector3 GeometricCenter + { + get { return _linkset.GeometricCenter; } + } + public override OMV.Vector3 Force { get { return _force; } set { @@ -473,8 +398,6 @@ public sealed class BSPrim : PhysicsActor return; } - public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } } - public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } public override OMV.Vector3 Velocity { get { return _velocity; } set { @@ -503,9 +426,9 @@ public sealed class BSPrim : PhysicsActor } public override OMV.Quaternion Orientation { get { - if (_parentPrim != null) + if (!_linkset.IsRoot(this)) { - // children move around because tied to parent. Get a fresh value. + // Children move around because tied to parent. Get a fresh value. _orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID); } return _orientation; @@ -555,14 +478,16 @@ public sealed class BSPrim : PhysicsActor private void SetObjectDynamic() { // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid); - // non-physical things work best with a mass of zero - if (!IsStatic) - { - _mass = CalculateMass(); - RecreateGeomAndObject(); - } - DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, Mass); - BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), Mass); + + RecreateGeomAndObject(); + + float mass = _mass; + // Bullet wants static objects have a mass of zero + if (IsStatic) + mass = 0f; + + DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass); + BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); } // prims don't fly @@ -1004,6 +929,9 @@ public sealed class BSPrim : PhysicsActor returnMass = _density * volume; + /* + * This change means each object keeps its own mass and the Mass property + * will return the sum if we're part of a linkset. if (IsRootOfLinkset) { foreach (BSPrim prim in _childrenPrims) @@ -1011,6 +939,7 @@ public sealed class BSPrim : PhysicsActor returnMass += prim.CalculateMass(); } } + */ if (returnMass <= 0) returnMass = 0.0001f; @@ -1026,9 +955,11 @@ public sealed class BSPrim : PhysicsActor // The objects needs a hull if it's physical otherwise a mesh is enough // No locking here because this is done when we know physics is not simulating // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used - private void CreateGeom(bool forceRebuild) + // Returns 'true' if the geometry was rebuilt + private bool CreateGeom(bool forceRebuild) { // the mesher thought this was too simple to mesh. Use a native Bullet collision shape. + bool ret = false; if (!_scene.NeedsMeshing(_pbs)) { if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) @@ -1036,18 +967,26 @@ public sealed class BSPrim : PhysicsActor if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) { // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); - _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; - DetailLog("{0},CreateGeom,sphere", LocalID); - // Bullet native objects are scaled by the Bullet engine so pass the size in - _scale = _size; + if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE) + { + DetailLog("{0},CreateGeom,sphere", LocalID); + _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; + ret = true; + // Bullet native objects are scaled by the Bullet engine so pass the size in + _scale = _size; + } } } else { // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size); - DetailLog("{0},CreateGeom,box", LocalID); - _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; - _scale = _size; + if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX) + { + DetailLog("{0},CreateGeom,box", LocalID); + _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; + ret = true; + _scale = _size; + } } } else @@ -1059,6 +998,7 @@ public sealed class BSPrim : PhysicsActor // physical objects require a hull for interaction. // This will create the mesh if it doesn't already exist CreateGeomHull(); + ret = true; } } else @@ -1067,9 +1007,11 @@ public sealed class BSPrim : PhysicsActor { // Static (non-physical) objects only need a mesh for bumping into CreateGeomMesh(); + ret = true; } } } + return ret; } // No locking here because this is done when we know physics is not simulating @@ -1254,20 +1196,18 @@ public sealed class BSPrim : PhysicsActor // No locking here because this is done when the physics engine is not simulating private void CreateObject() { - if (IsRootOfLinkset) - { - // Create a linkset around this object - CreateLinkset(); - } - else - { - // simple object - // the mesh or hull must have already been created in Bullet - ShapeData shape; - FillShapeInfo(out shape); - // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type); - BulletSimAPI.CreateObject(_scene.WorldID, shape); - } + // this routine is called when objects are rebuilt. + + // the mesh or hull must have already been created in Bullet + ShapeData shape; + FillShapeInfo(out shape); + // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type); + BulletSimAPI.CreateObject(_scene.WorldID, shape); + // the CreateObject() may have recreated the rigid body. Make sure we have the latest. + m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID); + + // The root object could have been recreated. Make sure everything linksety is up to date. + _linkset.RefreshLinkset(this); } // Copy prim's info into the BulletSim shape description structure @@ -1279,7 +1219,7 @@ public sealed class BSPrim : PhysicsActor shape.Rotation = _orientation; shape.Velocity = _velocity; shape.Scale = _scale; - shape.Mass = Mass; + shape.Mass = _isPhysical ? _mass : 0f; shape.Buoyancy = _buoyancy; shape.HullKey = _hullKey; shape.MeshKey = _meshKey; @@ -1289,83 +1229,6 @@ public sealed class BSPrim : PhysicsActor shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; } - #region Linkset creation and destruction - - // Create the linkset by putting constraints between the objects of the set so they cannot move - // relative to each other. - void CreateLinkset() - { - // DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); - - // remove any constraints that might be in place - UnlinkAllChildren(); - - // create constraints between the root prim and each of the children - foreach (BSPrim prim in _childrenPrims) - { - LinkAChildToMe(prim); - } - } - - // Create a constraint between me (root of linkset) and the passed prim (the child). - // Called at taint time! - private void LinkAChildToMe(BSPrim childPrim) - { - // Zero motion for children so they don't interpolate - childPrim.ZeroMotion(); - - // relative position normalized to the root prim - OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation); - OMV.Vector3 childRelativePosition = (childPrim._position - this._position) * invThisOrientation; - - // relative rotation of the child to the parent - OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim._orientation; - - // create a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - // DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); - DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); - BSConstraint constrain = _scene.Constraints.CreateConstraint( - _scene.World, this.Body, childPrim.Body, - childRelativePosition, - childRelativeRotation, - OMV.Vector3.Zero, - OMV.Quaternion.Identity); - constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); - constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); - - // tweek the constraint to increase stability - constrain.UseFrameOffset(_scene.BoolNumeric(_scene.Params.linkConstraintUseFrameOffset)); - if (_scene.BoolNumeric(_scene.Params.linkConstraintEnableTransMotor)) - { - constrain.TranslationalLimitMotor(true, - _scene.Params.linkConstraintTransMotorMaxVel, - _scene.Params.linkConstraintTransMotorMaxForce); - } - } - - // Remove linkage between myself and a particular child - // Called at taint time! - private void UnlinkAChildFromMe(BSPrim childPrim) - { - DebugLog("{0}: UnlinkAChildFromMe: RemoveConstraint between root prim {1} and child prim {2}", - LogHeader, LocalID, childPrim.LocalID); - DetailLog("{0},UnlinkAChildFromMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); - // BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); - _scene.Constraints.RemoveAndDestroyConstraint(this.Body, childPrim.Body); - } - - // Remove linkage between myself and any possible children I might have - // Called at taint time! - private void UnlinkAllChildren() - { - DebugLog("{0}: UnlinkAllChildren:", LogHeader); - DetailLog("{0},UnlinkAllChildren,taint", LocalID); - _scene.Constraints.RemoveAndDestroyConstraint(this.Body); - // BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); - } - - #endregion // Linkset creation and destruction // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. @@ -1443,7 +1306,7 @@ public sealed class BSPrim : PhysicsActor // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. // Updates only for individual prims and for the root object of a linkset. - if (_parentPrim == null) + if (_linkset.IsRoot(this)) { // Assign to the local variables so the normal set action does not happen _position = entprop.Position; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index a1587a8..c6d622b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -73,7 +73,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS SCENE]"; - private void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); } + public void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); } public string BulletSimVersion = "?"; @@ -87,6 +87,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters private uint m_worldID; public uint WorldID { get { return m_worldID; } } + // let my minuions use my logger + public ILog Logger { get { return m_log; } } + private bool m_initialized = false; private int m_detailedStatsStep = 0; @@ -1026,7 +1029,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ), new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", - ConfigurationParameters.numericTrue, + ConfigurationParameters.numericFalse, (s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, (s) => { return s.m_params[0].linkConstraintUseFrameOffset; }, (s,p,l,v) => { s.m_params[0].linkConstraintUseFrameOffset = v; } ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 89fd9b7..65e3145 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -239,10 +239,10 @@ public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CreateObject(uint worldID, ShapeData shapeData); +/* Remove old functionality [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas); -/* Remove old functionality [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void AddConstraint(uint worldID, uint id1, uint id2, Vector3 frame1, Quaternion frame1rot, -- cgit v1.1 From ce812c88ccc9226167b049e49296892943409e3f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 26 Jul 2012 15:24:53 -0700 Subject: BulletSim: fix a recursive loop when fetching the mass of the root of a linkset. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 6 +++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index a1027ee..3bc2100 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -50,7 +50,7 @@ public class BSLinkset // We keep the prim's mass in the linkset structure since it could be dependent on other prims private float m_mass; - public float Mass + public float LinksetMass { get { @@ -150,10 +150,10 @@ public class BSLinkset private float ComputeLinksetMass() { - float mass = m_linksetRoot.Mass; + float mass = m_linksetRoot.MassRaw; foreach (BSPrim bp in m_children) { - mass += bp.Mass; + mass += bp.MassRaw; } return mass; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d604f9c..7590d93 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -289,7 +289,7 @@ public sealed class BSPrim : PhysicsActor { get { - return _linkset.Mass; + return _linkset.LinksetMass; } } -- cgit v1.1 From 50dbb9ffe480b08f13f7bebb8259193dc00f88dd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 31 Jul 2012 09:23:05 -0700 Subject: BulletSim: add parameters and API calls for setting ERP and CFM. Set ERP and CFM in linkset constraints. Reorder rebuilding of object bodies so they are not rebuilt everytime something is linked and unlinked. --- .../Region/Physics/BulletSPlugin/BSConstraint.cs | 12 ++++- .../BulletSPlugin/BSConstraintCollection.cs | 8 +++- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 56 +++++++++++++++++++--- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 38 ++++++++++----- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 34 ++++++++++++- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 45 +++++++++++++---- 6 files changed, 164 insertions(+), 29 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index fbb9e21..07f5a21 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -50,7 +50,8 @@ public class BSConstraint : IDisposable m_body2 = obj2; m_constraint = new BulletConstraint(BulletSimAPI.CreateConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr, frame1, frame1rot, - frame2, frame2rot)); + frame2, frame2rot, + true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/)); m_enabled = true; } @@ -83,6 +84,15 @@ public class BSConstraint : IDisposable return ret; } + public bool SetCFMAndERP(float cfm, float erp) + { + bool ret = false; + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); + BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); + return ret; + } + public bool UseFrameOffset(bool useOffset) { bool ret = false; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index a2650fb..c88e645 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -83,7 +83,8 @@ public class BSConstraintCollection : IDisposable return true; } - // Get the constraint between two bodies. There can be only one the way we're using them. + // Get the constraint between two bodies. There can be only one. + // Return 'true' if a constraint was found. public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint) { bool found = false; @@ -105,6 +106,9 @@ public class BSConstraintCollection : IDisposable return found; } + // Remove any constraint between the passed bodies. + // Presumed there is only one such constraint possible. + // Return 'true' if a constraint was found and destroyed. public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2) { // return BulletSimAPI.RemoveConstraint(m_world.ID, obj1.ID, obj2.ID); @@ -125,6 +129,8 @@ public class BSConstraintCollection : IDisposable return ret; } + // Remove all constraints that reference the passed body. + // Return 'true' if any constraints were destroyed. public bool RemoveAndDestroyConstraint(BulletBody body1) { // return BulletSimAPI.RemoveConstraintByID(m_world.ID, obj.ID); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 3bc2100..6f8430c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -117,10 +117,50 @@ public class BSLinkset } // An existing linkset had one of its members rebuilt or something. - // Undo all the physical linking and rebuild the physical linkset. - public bool RefreshLinkset(BSPrim requestor) + // Go through the linkset and rebuild the pointers to the bodies of the linkset members. + public BSLinkset RefreshLinkset(BSPrim requestor) { - return true; + BSLinkset ret = requestor.Linkset; + + lock (m_linksetActivityLock) + { + System.IntPtr aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, m_linksetRoot.LocalID); + if (aPtr == System.IntPtr.Zero) + { + // That's odd. We can't find the root of the linkset. + // The linkset is somehow dead. The requestor is now a member of a linkset of one. + DetailLog("{0},RefreshLinkset.RemoveRoot,child={1}", m_linksetRoot.LocalID, m_linksetRoot.LocalID); + ret = RemoveMeFromLinkset(m_linksetRoot); + } + else + { + // Reconstruct the pointer to the body of the linkset root. + DetailLog("{0},RefreshLinkset.RebuildRoot,rootID={1},ptr={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, aPtr); + m_linksetRoot.Body = new BulletBody(m_linksetRoot.LocalID, aPtr); + + List toRemove = new List(); + foreach (BSPrim bsp in m_children) + { + aPtr = BulletSimAPI.GetBodyHandle2(m_scene.World.Ptr, bsp.LocalID); + if (aPtr == System.IntPtr.Zero) + { + toRemove.Add(bsp); + } + else + { + // Reconstruct the pointer to the body of the linkset root. + DetailLog("{0},RefreshLinkset.RebuildChild,rootID={1},ptr={2}", bsp.LocalID, m_linksetRoot.LocalID, aPtr); + bsp.Body = new BulletBody(bsp.LocalID, aPtr); + } + } + foreach (BSPrim bsp in toRemove) + { + RemoveChildFromLinkset(bsp); + } + } + } + + return ret; } @@ -256,10 +296,13 @@ public class BSLinkset DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); BSConstraint constrain = m_scene.Constraints.CreateConstraint( m_scene.World, m_linksetRoot.Body, childPrim.Body, - childRelativePosition, - childRelativeRotation, + // childRelativePosition, + // childRelativeRotation, + OMV.Vector3.Zero, + OMV.Quaternion.Identity, OMV.Vector3.Zero, - OMV.Quaternion.Identity); + OMV.Quaternion.Identity + ); constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); @@ -268,6 +311,7 @@ public class BSLinkset constrain.TranslationalLimitMotor(m_scene.BoolNumeric(m_scene.Params.linkConstraintEnableTransMotor), m_scene.Params.linkConstraintTransMotorMaxVel, m_scene.Params.linkConstraintTransMotorMaxForce); + constrain.SetCFMAndERP(m_scene.Params.linkConstraintCFM, m_scene.Params.linkConstraintERP); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 7590d93..50d11e6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -103,7 +103,10 @@ public sealed class BSPrim : PhysicsActor long _collidingGroundStep; private BulletBody m_body; - public BulletBody Body { get { return m_body; } } + public BulletBody Body { + get { return m_body; } + set { m_body = value; } + } private BSDynamics _vehicle; @@ -477,9 +480,11 @@ public sealed class BSPrim : PhysicsActor // Only called at taint time so it is save to call into Bullet. private void SetObjectDynamic() { - // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid); - - RecreateGeomAndObject(); + // RA: remove this for the moment. + // The problem is that dynamic objects are hulls so if we are becoming physical + // the shape has to be checked and possibly built. + // Maybe a VerifyCorrectPhysicalShape() routine? + // RecreateGeomAndObject(); float mass = _mass; // Bullet wants static objects have a mass of zero @@ -971,21 +976,23 @@ public sealed class BSPrim : PhysicsActor { DetailLog("{0},CreateGeom,sphere", LocalID); _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; - ret = true; // Bullet native objects are scaled by the Bullet engine so pass the size in _scale = _size; + // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? + ret = true; } } } else { - // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size); + // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX) { DetailLog("{0},CreateGeom,box", LocalID); _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; - ret = true; _scale = _size; + // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? + ret = true; } } } @@ -1203,11 +1210,9 @@ public sealed class BSPrim : PhysicsActor FillShapeInfo(out shape); // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type); BulletSimAPI.CreateObject(_scene.WorldID, shape); + // the CreateObject() may have recreated the rigid body. Make sure we have the latest. m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID); - - // The root object could have been recreated. Make sure everything linksety is up to date. - _linkset.RefreshLinkset(this); } // Copy prim's info into the BulletSim shape description structure @@ -1236,8 +1241,8 @@ public sealed class BSPrim : PhysicsActor private void RecreateGeomAndObject() { // m_log.DebugFormat("{0}: RecreateGeomAndObject. lID={1}", LogHeader, _localID); - CreateGeom(true); - CreateObject(); + if (CreateGeom(true)) + CreateObject(); return; } @@ -1322,6 +1327,15 @@ public sealed class BSPrim : PhysicsActor base.RequestPhysicsterseUpdate(); } + /* + else + { + // For debugging, we can also report the movement of children + DetailLog("{0},UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", + LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, + entprop.Acceleration, entprop.RotationalVelocity); + } + */ } // I've collided with something diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index c6d622b..28d5cb5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -315,6 +315,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying) { // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName); + + if (!m_initialized) return null; + BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying); lock (m_avatars) m_avatars.Add(localID, actor); return actor; @@ -323,6 +326,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void RemoveAvatar(PhysicsActor actor) { // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader); + + if (!m_initialized) return; + BSCharacter bsactor = actor as BSCharacter; if (bsactor != null) { @@ -341,6 +347,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void RemovePrim(PhysicsActor prim) { + if (!m_initialized) return; + BSPrim bsprim = prim as BSPrim; if (bsprim != null) { @@ -366,6 +374,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters Vector3 size, Quaternion rotation, bool isPhysical, uint localID) { // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName); + + if (!m_initialized) return null; + BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); lock (m_prims) m_prims.Add(localID, prim); return prim; @@ -807,6 +818,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters // List of all of the externally visible parameters. // For each parameter, this table maps a text name to getter and setters. + // To add a new externally referencable/settable parameter, add the paramter storage + // location somewhere in the program and make an entry in this table with the + // getters and setters. + // To add a new variable, it is easiest to find an existing definition and copy it. + // Parameter values are floats. Booleans are converted to a floating value. + // // A ParameterDefn() takes the following parameters: // -- the text name of the parameter. This is used for console input and ini file. // -- a short text description of the parameter. This shows up in the console listing. @@ -815,7 +832,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters // -- a delegate for getting the value as a float // -- a delegate for setting the value from a float // - // To add a new variable, it is best to find an existing definition and copy it. + // The single letter parameters for the delegates are: + // s = BSScene + // p = string parameter name + // l = localID of referenced object + // v = float value + // cf = parameter configuration class (for fetching values from ini file) private ParameterDefn[] ParameterDefinitions = { new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", @@ -1048,6 +1070,16 @@ public class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), + new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=none, 1=all. Default=0", + 0.0f, + (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].linkConstraintCFM; }, + (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), + new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2", + 0.2f, + (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); }, + (s) => { return s.m_params[0].linkConstraintERP; }, + (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)", 0f, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 65e3145..fe705cc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -66,13 +66,14 @@ public struct ShapeData { public enum PhysicsShapeType { - SHAPE_AVATAR = 0, - SHAPE_BOX = 1, - SHAPE_CONE = 2, - SHAPE_CYLINDER = 3, - SHAPE_SPHERE = 4, - SHAPE_MESH = 5, - SHAPE_HULL = 6 + SHAPE_UNKNOWN = 0, + SHAPE_AVATAR = 1, + SHAPE_BOX = 2, + SHAPE_CONE = 3, + SHAPE_CYLINDER = 4, + SHAPE_SPHERE = 5, + SHAPE_MESH = 6, + SHAPE_HULL = 7 }; public uint ID; public PhysicsShapeType Type; @@ -168,6 +169,8 @@ public struct ConfigurationParameters public float linkConstraintEnableTransMotor; public float linkConstraintTransMotorMaxVel; public float linkConstraintTransMotorMaxForce; + public float linkConstraintERP; + public float linkConstraintCFM; public const float numericTrue = 1f; public const float numericFalse = 0f; @@ -189,6 +192,28 @@ public enum CollisionFlags : uint PHYSICAL_OBJECT = 1 << 12, }; +// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 +// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2. +public enum ConstraintParams : int +{ + BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730 + BT_CONSTRAINT_STOP_ERP, + BT_CONSTRAINT_CFM, + BT_CONSTRAINT_STOP_CFM, +}; +public enum ConstraintParamAxis : int +{ + AXIS_LINEAR_X = 0, + AXIS_LINEAR_Y, + AXIS_LINEAR_Z, + AXIS_ANGULAR_X, + AXIS_ANGULAR_Y, + AXIS_ANGULAR_Z, + AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls + AXIS_ANGULAR_ALL, + AXIS_ALL +}; + // =============================================================================== static class BulletSimAPI { @@ -380,7 +405,8 @@ public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, Vector3 frame1loc, Quaternion frame1rot, - Vector3 frame2loc, Quaternion frame2rot); + Vector3 frame2loc, Quaternion frame2rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi); @@ -398,6 +424,9 @@ public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enabl public static extern bool CalculateTransforms2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetConstraintParam2(IntPtr constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -- cgit v1.1 From e38d26a2dc35ce7bf904c58200912a65c05aa39d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 31 Jul 2012 11:32:26 -0700 Subject: BulletSim: change boolean parameters in the shape data from int's to float's to be consistant with parameter data structure --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 ++++++-- OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | 10 +++++----- 2 files changed, 11 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 50d11e6..758acdc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -187,6 +187,7 @@ public sealed class BSPrim : PhysicsActor { _mass = CalculateMass(); // changing size changes the mass BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); + DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); RecreateGeomAndObject(); }); } @@ -1201,7 +1202,8 @@ public sealed class BSPrim : PhysicsActor // Create an object in Bullet if it has not already been created // No locking here because this is done when the physics engine is not simulating - private void CreateObject() + // Returns 'true' if an object was actually created. + private bool CreateObject() { // this routine is called when objects are rebuilt. @@ -1209,10 +1211,12 @@ public sealed class BSPrim : PhysicsActor ShapeData shape; FillShapeInfo(out shape); // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type); - BulletSimAPI.CreateObject(_scene.WorldID, shape); + bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); // the CreateObject() may have recreated the rigid body. Make sure we have the latest. m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID); + + return ret; } // Copy prim's info into the BulletSim shape description structure diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index fe705cc..0ffbc94 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -87,12 +87,12 @@ public struct ShapeData public System.UInt64 MeshKey; public float Friction; public float Restitution; - public int Collidable; - public int Static; // true if a static object. Otherwise gravity, etc. + public float Collidable; // true of things bump into this + public float Static; // true if a static object. Otherwise gravity, etc. - // note that bools are passed as ints since bool size changes by language and architecture - public const int numericTrue = 1; - public const int numericFalse = 0; + // note that bools are passed as floats since bool size changes by language and architecture + public const float numericTrue = 1f; + public const float numericFalse = 0f; } [StructLayout(LayoutKind.Sequential)] public struct SweepHit -- cgit v1.1 From c51ef38e2d867d63d2d32b1a7d284033e60d9952 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 31 Jul 2012 16:22:50 -0700 Subject: BulletSim: fix problem where resizing a primary shape (cube or sphere) would not rebuild the physics mesh. Update the DLLs and SOs to latest version. --- OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 ++---- 2 files changed, 3 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 07f5a21..ea3093a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -86,7 +86,7 @@ public class BSConstraint : IDisposable public bool SetCFMAndERP(float cfm, float erp) { - bool ret = false; + bool ret = true; BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL); BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL); BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 758acdc..a4ab702 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -973,7 +973,7 @@ public sealed class BSPrim : PhysicsActor if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) { // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); - if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE) + if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) { DetailLog("{0},CreateGeom,sphere", LocalID); _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; @@ -987,7 +987,7 @@ public sealed class BSPrim : PhysicsActor else { // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); - if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX) + if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)) { DetailLog("{0},CreateGeom,box", LocalID); _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; @@ -1331,7 +1331,6 @@ public sealed class BSPrim : PhysicsActor base.RequestPhysicsterseUpdate(); } - /* else { // For debugging, we can also report the movement of children @@ -1339,7 +1338,6 @@ public sealed class BSPrim : PhysicsActor LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, entprop.Acceleration, entprop.RotationalVelocity); } - */ } // I've collided with something -- cgit v1.1