From 0378baed350b846132b2f501c74bd39a2675e41d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 1 May 2013 17:15:54 -0700 Subject: BulletSim: rework LinksetCompound to work with new BSShape system. Not all working yet. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 146 ++++++--------------- 1 file changed, 40 insertions(+), 106 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index e3ce7fb..20eb871 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -35,6 +35,7 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { + /* // When a child is linked, the relationship position of the child to the parent // is remembered so the child's world position can be recomputed when it is // removed from the linkset. @@ -88,17 +89,15 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo return buff.ToString(); } }; + */ public sealed class BSLinksetCompound : BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; - private BSShape LinksetShape; - public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) : base(scene, parent) { - LinksetShape = new BSShapeNull(); } // When physical properties are changed the linkset needs to recalculate @@ -143,25 +142,11 @@ public sealed class BSLinksetCompound : BSLinkset // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. ScheduleRebuild(LinksetRoot); } - - // The origional prims are removed from the world as the shape of the root compound - // shape takes over. - m_physicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); - m_physicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION); - // We don't want collisions from the old linkset children. - m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - - child.PhysBody.collisionType = CollisionType.LinksetChild; - - ret = true; - return ret; } - // The object is going static (non-physical). Do any setup necessary for a static linkset. + // The object is going static (non-physical). We do not do anything for static linksets. // Return 'true' if any properties updated on the passed object. - // This doesn't normally happen -- OpenSim removes the objects from the physical - // world if it is a static linkset. // Called at taint-time! public override bool MakeStatic(BSPrimLinkable child) { @@ -169,19 +154,9 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); if (IsRoot(child)) { + // Schedule a rebuild to verify that the root shape is set to the real shape. ScheduleRebuild(LinksetRoot); } - else - { - // The non-physical children can come back to life. - m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); - - child.PhysBody.collisionType = CollisionType.LinksetChild; - - // Don't force activation so setting of DISABLE_SIMULATION can stay if used. - m_physicsScene.PE.Activate(child.PhysBody, false); - ret = true; - } return ret; } @@ -283,9 +258,6 @@ public sealed class BSLinksetCompound : BSLinkset if (!IsRoot(child)) { - // Because it is a convenient time, recompute child world position and rotation based on - // its position in the linkset. - RecomputeChildWorldPosition(child, true /* inTaintTime */); child.LinksetInfo = null; } @@ -296,50 +268,6 @@ public sealed class BSLinksetCompound : BSLinkset return ret; } - // When the linkset is built, the child shape is added to the compound shape relative to the - // root shape. The linkset then moves around but this does not move the actual child - // prim. The child prim's location must be recomputed based on the location of the root shape. - private void RecomputeChildWorldPosition(BSPrimLinkable child, bool inTaintTime) - { - // For the moment (20130201), disable this computation (converting the child physical addr back to - // a region address) until we have a good handle on center-of-mass offsets and what the physics - // engine moving a child actually means. - // The simulator keeps track of where children should be as the linkset moves. Setting - // the pos/rot here does not effect that knowledge as there is no good way for the - // physics engine to send the simulator an update for a child. - - /* - BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo; - if (lci != null) - { - if (inTaintTime) - { - OMV.Vector3 oldPos = child.RawPosition; - child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetFromRoot; - child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot; - DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}", - child.LocalID, oldPos, lci, child.RawPosition); - } - else - { - // TaintedObject is not used here so the raw position is set now and not at taint-time. - child.Position = LinksetRoot.RawPosition + lci.OffsetFromRoot; - child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot; - } - } - else - { - // This happens when children have been added to the linkset but the linkset - // has not been constructed yet. So like, at taint time, adding children to a linkset - // and then changing properties of the children (makePhysical, for instance) - // but the post-print action of actually rebuilding the linkset has not yet happened. - // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}", - // LogHeader, child.LocalID); - DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID); - } - */ - } - // ================================================================ // Add a new child to the linkset. @@ -372,7 +300,6 @@ public sealed class BSLinksetCompound : BSLinkset child.LocalID, child.PhysBody.AddrString); // Cause the child's body to be rebuilt and thus restored to normal operation - RecomputeChildWorldPosition(child, false); child.LinksetInfo = null; child.ForceBodyShapeRebuild(false); @@ -399,26 +326,27 @@ public sealed class BSLinksetCompound : BSLinkset private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting private void RecomputeLinksetCompound() { - if (!LinksetRoot.IsPhysicallyActive) - { - // There is no reason to build all this physical stuff for a non-physical linkset - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); - return; - } - try { - // This replaces the physical shape of the root prim with a compound shape made up of the root - // shape and all the children. + Rebuilding = true; + + // No matter what is being done, force the root prim's PhysBody and PhysShape to get set + // to what they should be as if the root was not in a linkset. + // Not that bad since we only get into this routine if there are children in the linkset and + // something has been updated/changed. + LinksetRoot.ForceBodyShapeRebuild(true); - // RootPrim.PhysShape is the shape of the root prim. - // Here we build the compound shape made up of all the children. + // There is no reason to build all this physical stuff for a non-physical linkset. + if (!LinksetRoot.IsPhysicallyActive) + { + // Clean up any old linkset shape and make sure the root shape is set to the root object. + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); - // Free up any shape we'd previously built. - LinksetShape.Dereference(m_physicsScene); + return; // Note the 'finally' clause at the botton which will get executed. + } // Get a new compound shape to build the linkset shape in. - LinksetShape = BSShapeCompound.GetReference(m_physicsScene); + BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene); // The center of mass for the linkset is the geometric center of the group. // Compute a displacement for each component so it is relative to the center-of-mass. @@ -445,35 +373,41 @@ public sealed class BSLinksetCompound : BSLinkset int memberIndex = 1; ForEachMember(delegate(BSPrimLinkable cPrim) { - if (IsRoot(cPrim)) - { - cPrim.LinksetChildIndex = 0; - } - else - { - cPrim.LinksetChildIndex = memberIndex; - } + // Root shape is always index zero. + cPrim.LinksetChildIndex = IsRoot(cPrim) ? 0 : memberIndex; + // Get a reference to the shape of the child and add that shape to the linkset compound shape BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; - m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1}cShape={2},offPos={3},offRot={4}", + m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", LinksetRoot.LocalID, memberIndex, cPrim.PhysShape, offsetPos, offsetRot); + // Since we are borrowing the shape of the child, disable the origional child body + if (!IsRoot(cPrim)) + { + m_physicsScene.PE.AddToCollisionFlags(cPrim.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + m_physicsScene.PE.ForceActivationState(cPrim.PhysBody, ActivationState.DISABLE_SIMULATION); + // We don't want collisions from the old linkset children. + m_physicsScene.PE.RemoveFromCollisionFlags(cPrim.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + cPrim.PhysBody.collisionType = CollisionType.LinksetChild; + } + memberIndex++; return false; // 'false' says to move onto the next child in the list }); - // Sneak the built compound shape in as the shape of the root prim. - // Note this doesn't touch the root prim's PhysShape so be sure the manage the difference. + // Replace the root shape with the built compound shape. // Object removed and added to world to get collision cache rebuilt for new shape. + LinksetRoot.PhysShape.Dereference(m_physicsScene); + LinksetRoot.PhysShape = linksetShape; m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody); - m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); + m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, linksetShape.physShapeInfo); m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}", - LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetShape); + LinksetRoot.LocalID, LinksetRoot.PhysBody, linksetShape); // With all of the linkset packed into the root prim, it has the mass of everyone. LinksetMass = ComputeLinksetMass(); @@ -494,7 +428,7 @@ public sealed class BSLinksetCompound : BSLinkset } // See that the Aabb surrounds the new shape - m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetShape.physShapeInfo); + m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo); } } } \ No newline at end of file -- cgit v1.1