From 214bae14799c05c12595b067ff2eb0e2e5b4eeb2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 17 May 2013 14:43:53 -0700 Subject: BulletSim: fix BulletSim crashing if there is no [BulletSim] section in any INI file. Update TODO list. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 6 ++++++ OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 14 ++++++-------- 2 files changed, 12 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 3f407ce..9ed2d06 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -268,6 +268,12 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Do any replacements in the parameters m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName); } + else + { + BulletEngineName = "BulletUnmanaged"; + m_physicsLoggingEnabled = false; + VehicleLoggingEnabled = false; + } // The material characteristics. BSMaterials.InitializeFromDefaults(Params); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 5792ae6..df1da63 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,16 +1,12 @@ -PROBLEMS TO LOOK INTO +CURRENT PROBLEMS TO FIX AND/OR LOOK AT ================================================= -Nebadon vehicle ride, get up, ride again. Second time vehicle does not act correctly. +Script changing rotation of child prim while vehicle moving (eg turning wheel) causes + the wheel to appear to jump back. Looks like sending position from previous update. +Vehicle ride, get up, ride again. Second time vehicle does not act correctly. Have to rez new vehicle and delete the old to fix situation. Hitting RESET on Nebadon's vehicle while riding causes vehicle to get into odd position state where it will not settle onto ground properly, etc Two of Nebadon vehicles in a sim max the CPU. This is new. -A sitting, active vehicle bobs up and down a small amount. - -CURRENT PRIORITIES -================================================= -Use the HACD convex hull routine in Bullet rather than the C# version. - Speed up hullifying large meshes. Enable vehicle border crossings (at least as poorly as ODE) Terrain skirts Avatar created in previous region and not new region when crossing border @@ -361,4 +357,6 @@ Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. Nebadon vehicles turning funny in arena (DONE) Lock axis (DONE 20130401) Terrain detail: double terrain mesh detail (DONE) +Use the HACD convex hull routine in Bullet rather than the C# version. + Speed up hullifying large meshes. (DONE) -- cgit v1.1 From fa8f5bafb225624fe4a0df88acf1f4c227632fe0 Mon Sep 17 00:00:00 2001 From: dahlia Date: Sat, 18 May 2013 01:23:09 -0700 Subject: add prototype code to decode convex hulls from mesh assets. Please do not use yet; the interface will be defined in a later commit. --- OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 131 +++++++++++++++++++++----- 1 file changed, 110 insertions(+), 21 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index 2d102de..825e622 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -79,6 +79,8 @@ namespace OpenSim.Region.Physics.Meshing private float minSizeForComplexMesh = 0.2f; // prims with all dimensions smaller than this will have a bounding box mesh + private List> mConvexHulls = null; + private Dictionary m_uniqueMeshes = new Dictionary(); public Meshmerizer(IConfigSource config) @@ -363,6 +365,57 @@ namespace OpenSim.Region.Physics.Meshing else if (map.ContainsKey("high_lod")) physicsParms = (OSDMap)map["high_lod"]; // if all else fails, use highest LOD display mesh and hope it works :) + if (map.ContainsKey("physics_convex")) + { // pull this out also in case physics engine can use it + try + { + OSDMap convexBlock = (OSDMap)map["physics_convex"]; + if (convexBlock.ContainsKey("HullList")) + { + byte[] hullList = convexBlock["HullList"].AsBinary(); + Vector3 min = new Vector3(-0.5f, -0.5f, -0.5f); + if (convexBlock.ContainsKey("Min")) min = convexBlock["Min"].AsVector3(); + Vector3 max = new Vector3(0.5f, 0.5f, 0.5f); + if (convexBlock.ContainsKey("Max")) max = convexBlock["Max"].AsVector3(); + + // decompress and decode hull points + byte[] posBytes = DecompressOsd(convexBlock["Positions"].AsBinary()).AsBinary(); + + List> hulls = new List>(); + int posNdx = 0; + + foreach (byte cnt in hullList) + { + int count = cnt == 0 ? 256 : cnt; + List hull = new List(); + + for (int i = 0; i < cnt; i++) + { + ushort uX = Utils.BytesToUInt16(posBytes, posNdx); posNdx += 2; + ushort uY = Utils.BytesToUInt16(posBytes, posNdx); posNdx += 2; + ushort uZ = Utils.BytesToUInt16(posBytes, posNdx); posNdx += 2; + + Vector3 pos = new Vector3( + Utils.UInt16ToFloat(uX, min.X, max.X) * size.X, + Utils.UInt16ToFloat(uY, min.Y, max.Y) * size.Y, + Utils.UInt16ToFloat(uZ, min.Z, max.Z) * size.Z + ); + + hull.Add(pos); + } + + hulls.Add(hull); + } + + mConvexHulls = hulls; + } + } + catch (Exception e) + { + m_log.WarnFormat("[MESH]: exception decoding convex block: {0}", e.Message); + } + } + if (physicsParms == null) { m_log.WarnFormat("[MESH]: No recognized physics mesh found in mesh asset for {0}", primName); @@ -381,27 +434,7 @@ namespace OpenSim.Region.Physics.Meshing // byte[] decompressed = new byte[physSize * 5]; try { - using (MemoryStream inMs = new MemoryStream(meshBytes)) - { - using (MemoryStream outMs = new MemoryStream()) - { - using (ZOutputStream zOut = new ZOutputStream(outMs)) - { - byte[] readBuffer = new byte[2048]; - int readLen = 0; - while ((readLen = inMs.Read(readBuffer, 0, readBuffer.Length)) > 0) - { - zOut.Write(readBuffer, 0, readLen); - } - zOut.Flush(); - outMs.Seek(0, SeekOrigin.Begin); - - byte[] decompressedBuf = outMs.GetBuffer(); - - decodedMeshOsd = OSDParser.DeserializeLLSDBinary(decompressedBuf); - } - } - } + decodedMeshOsd = DecompressOsd(meshBytes); } catch (Exception e) { @@ -428,6 +461,41 @@ namespace OpenSim.Region.Physics.Meshing return true; } + + /// + /// decompresses a gzipped OSD object + /// + /// the OSD object + /// + /// + private static OSD DecompressOsd(byte[] meshBytes) + { + OSD decodedOsd = null; + + using (MemoryStream inMs = new MemoryStream(meshBytes)) + { + using (MemoryStream outMs = new MemoryStream()) + { + using (ZOutputStream zOut = new ZOutputStream(outMs)) + { + byte[] readBuffer = new byte[2048]; + int readLen = 0; + while ((readLen = inMs.Read(readBuffer, 0, readBuffer.Length)) > 0) + { + zOut.Write(readBuffer, 0, readLen); + } + zOut.Flush(); + outMs.Seek(0, SeekOrigin.Begin); + + byte[] decompressedBuf = outMs.GetBuffer(); + + decodedOsd = OSDParser.DeserializeLLSDBinary(decompressedBuf); + } + } + } + return decodedOsd; + } + /// /// Generate the co-ords and faces necessary to construct a mesh from the sculpt data the accompanies a prim. /// @@ -704,6 +772,27 @@ namespace OpenSim.Region.Physics.Meshing return true; } + /// + /// temporary prototype code - please do not use until the interface has been finalized! + /// + /// value to scale the hull points by + /// a list of hulls if they exist and have been successfully decoded, otherwise null + public List> GetConvexHulls(Vector3 size) + { + if (mConvexHulls == null) + return null; + + List> hulls = new List>(); + foreach (var hull in mConvexHulls) + { + List verts = new List(); + foreach (var vert in hull) + verts.Add(vert * size); + } + + return hulls; + } + public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod) { return CreateMesh(primName, primShape, size, lod, false, true); -- cgit v1.1 From 477bee6468f35ca9264fc8f752a9124e32503901 Mon Sep 17 00:00:00 2001 From: dahlia Date: Sat, 18 May 2013 11:15:05 -0700 Subject: remove duplicate hull scaling --- OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index 825e622..a57146c 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -396,9 +396,9 @@ namespace OpenSim.Region.Physics.Meshing ushort uZ = Utils.BytesToUInt16(posBytes, posNdx); posNdx += 2; Vector3 pos = new Vector3( - Utils.UInt16ToFloat(uX, min.X, max.X) * size.X, - Utils.UInt16ToFloat(uY, min.Y, max.Y) * size.Y, - Utils.UInt16ToFloat(uZ, min.Z, max.Z) * size.Z + Utils.UInt16ToFloat(uX, min.X, max.X), + Utils.UInt16ToFloat(uY, min.Y, max.Y), + Utils.UInt16ToFloat(uZ, min.Z, max.Z) ); hull.Add(pos); -- cgit v1.1 From e65d1e459eb875cb2d0d5f9aa6042c640daa19fd Mon Sep 17 00:00:00 2001 From: dahlia Date: Sat, 18 May 2013 13:11:22 -0700 Subject: fix error in hull point indexing --- OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index a57146c..79edc12 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -389,7 +389,7 @@ namespace OpenSim.Region.Physics.Meshing int count = cnt == 0 ? 256 : cnt; List hull = new List(); - for (int i = 0; i < cnt; i++) + for (int i = 0; i < count; i++) { ushort uX = Utils.BytesToUInt16(posBytes, posNdx); posNdx += 2; ushort uY = Utils.BytesToUInt16(posBytes, posNdx); posNdx += 2; -- cgit v1.1 From 9de3979f5b91ae4bf9b05b89ec59999c43514f90 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 17 May 2013 21:17:54 -0700 Subject: BulletSim: add gImpact shape type. Add logic to use gImpact shape for prims that have cuts or holes. Default logic to 'off' as it needs debugging. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 15 +++ OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 11 +- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 5 + OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 + OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 + .../Physics/BulletSPlugin/BSShapeCollection.cs | 15 ++- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 130 +++++++++++++++++++-- 7 files changed, 167 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 231f0f8..12a0c17 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -251,6 +251,16 @@ public override BulletShape CreateMeshShape(BulletWorld world, BSPhysicsShapeType.SHAPE_MESH); } +public override BulletShape CreateGImpactShape(BulletWorld world, + int indicesCount, int[] indices, + int verticesCount, float[] vertices) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + return new BulletShapeUnman( + BSAPICPP.CreateGImpactShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices), + BSPhysicsShapeType.SHAPE_GIMPACT); +} + public override BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls) { BulletWorldUnman worldu = world as BulletWorldUnman; @@ -1426,6 +1436,11 @@ public static extern IntPtr CreateMeshShape2(IntPtr world, int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateGImpactShape2(IntPtr world, + int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices, + int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices ); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateHullShape2(IntPtr world, int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 59780ae..6db5f5e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -1475,7 +1475,7 @@ private sealed class BulletConstraintXNA : BulletConstraint ret = BSPhysicsShapeType.SHAPE_UNKNOWN; break; case BroadphaseNativeTypes.CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_MESH; + ret = BSPhysicsShapeType.SHAPE_CONVEXHULL; break; case BroadphaseNativeTypes.CONVEX_HULL_SHAPE_PROXYTYPE: ret = BSPhysicsShapeType.SHAPE_HULL; @@ -1503,7 +1503,7 @@ private sealed class BulletConstraintXNA : BulletConstraint ret = BSPhysicsShapeType.SHAPE_CONE; break; case BroadphaseNativeTypes.CONVEX_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_UNKNOWN; + ret = BSPhysicsShapeType.SHAPE_CONVEXHULL; break; case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE: ret = BSPhysicsShapeType.SHAPE_CYLINDER; @@ -1547,7 +1547,7 @@ private sealed class BulletConstraintXNA : BulletConstraint break; ///Used for GIMPACT Trimesh integration case BroadphaseNativeTypes.GIMPACT_SHAPE_PROXYTYPE: - ret = BSPhysicsShapeType.SHAPE_MESH; + ret = BSPhysicsShapeType.SHAPE_GIMPACT; break; ///Multimaterial mesh case BroadphaseNativeTypes.MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE: @@ -1820,6 +1820,11 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletShapeXNA(meshShape, BSPhysicsShapeType.SHAPE_MESH); } + public override BulletShape CreateGImpactShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) + { + // TODO: + return null; + } public static void DumpRaw(ObjectArrayindices, ObjectArray vertices, int pIndicesCount,int pVerticesCount ) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 3378c93..6cdc112 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -71,6 +71,7 @@ public enum BSPhysicsShapeType SHAPE_HEIGHTMAP = 23, SHAPE_AVATAR = 24, SHAPE_CONVEXHULL= 25, + SHAPE_GIMPACT = 26, }; // The native shapes have predefined shape hash keys @@ -321,6 +322,10 @@ public abstract BulletShape CreateMeshShape(BulletWorld world, int indicesCount, int[] indices, int verticesCount, float[] vertices ); +public abstract BulletShape CreateGImpactShape(BulletWorld world, + int indicesCount, int[] indices, + int verticesCount, float[] vertices ); + public abstract BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index d33292f..9a9e527 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -89,6 +89,7 @@ public static class BSParam public static bool ShouldRemoveZeroWidthTriangles { get; private set; } public static bool ShouldUseBulletHACD { get; set; } public static bool ShouldUseSingleConvexHullForPrims { get; set; } + public static bool ShouldUseGImpactShapeForPrims { get; set; } public static float TerrainImplementation { get; set; } public static int TerrainMeshMagnification { get; private set; } @@ -369,6 +370,8 @@ public static class BSParam false ), new ParameterDefn("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims", true ), + new ParameterDefn("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists", + false ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", 5 ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 9ed2d06..39f5b0a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -328,6 +328,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters BSParam.ShouldUseBulletHACD = false; m_log.InfoFormat("{0} Disabling ShouldUseSingleConvexHullForPrims", LogHeader); BSParam.ShouldUseSingleConvexHullForPrims = false; + m_log.InfoFormat("{0} Disabling ShouldUseGImpactShapeForPrims", LogHeader); + BSParam.ShouldUseGImpactShapeForPrims = false; m_log.InfoFormat("{0} Setting terrain implimentation to Heightmap", LogHeader); BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap; break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 64aaa15..32bbc8f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -230,6 +230,7 @@ public sealed class BSShapeCollection : IDisposable BSShape potentialHull = null; PrimitiveBaseShape pbs = prim.BaseShape; + // Use a simple, one section convex shape for prims that are probably convex (no cuts or twists) if (BSParam.ShouldUseSingleConvexHullForPrims && pbs != null && !pbs.SculptEntry @@ -238,7 +239,17 @@ public sealed class BSShapeCollection : IDisposable { potentialHull = BSShapeConvexHull.GetReference(m_physicsScene, false /* forceRebuild */, prim); } - else + // Use the GImpact shape if it is a prim that has some concaveness + if (potentialHull == null + && BSParam.ShouldUseGImpactShapeForPrims + && pbs != null + && !pbs.SculptEntry + ) + { + potentialHull = BSShapeGImpact.GetReference(m_physicsScene, false /* forceRebuild */, prim); + } + // If not any of the simple cases, just make a hull + if (potentialHull == null) { potentialHull = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim); } @@ -261,7 +272,7 @@ public sealed class BSShapeCollection : IDisposable } else { - // Update prim.BSShape to reference a mesh of this shape. + // Non-physical objects should be just meshes. BSShape potentialMesh = BSShapeMesh.GetReference(m_physicsScene, false /*forceRebuild*/, prim); // If the current shape is not what is on the prim at the moment, time to change. if (!prim.PhysShape.HasPhysicalShape diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 72d039b..0152233 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -422,9 +422,22 @@ public class BSShapeMesh : BSShape outMesh = foundDesc; return ret; } + + public delegate BulletShape CreateShapeCall(BulletWorld world, int indicesCount, int[] indices, int verticesCount, float[] vertices ); private BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { + return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod, + (w, iC, i, vC, v) => physicsScene.PE.CreateMeshShape(w, iC, i, vC, v) ); + } + + // Code that uses the mesher to create the index/vertices info for a trimesh shape. + // This is used by the passed 'makeShape' call to create the Bullet mesh shape. + // The actual build call is passed so this logic can be used by several of the shapes that use a + // simple mesh as their base shape. + public static BulletShape CreatePhysicalMeshShape(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, + PrimitiveBaseShape pbs, OMV.Vector3 size, float lod, CreateShapeCall makeShape) + { BulletShape newShape = new BulletShape(); IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, @@ -482,8 +495,7 @@ public class BSShapeMesh : BSShape if (realIndicesIndex != 0) { - newShape = physicsScene.PE.CreateMeshShape(physicsScene.World, - realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats); + newShape = makeShape(physicsScene.World, realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats); } else { @@ -803,6 +815,7 @@ public class BSShapeCompound : BSShape // Called at taint-time. private void DereferenceAnonCollisionShape(BSScene physicsScene, BulletShape pShape) { + // TODO: figure a better way to go through all the shape types and find a possible instance. BSShapeMesh meshDesc; if (BSShapeMesh.TryGetMeshByPtr(pShape, out meshDesc)) { @@ -824,17 +837,25 @@ public class BSShapeCompound : BSShape } else { - if (physicsScene.PE.IsCompound(pShape)) + BSShapeGImpact gImpactDesc; + if (BSShapeGImpact.TryGetGImpactByPtr(pShape, out gImpactDesc)) { - BSShapeCompound recursiveCompound = new BSShapeCompound(pShape); - recursiveCompound.Dereference(physicsScene); + gImpactDesc.Dereference(physicsScene); } else { - if (physicsScene.PE.IsNativeShape(pShape)) + if (physicsScene.PE.IsCompound(pShape)) + { + BSShapeCompound recursiveCompound = new BSShapeCompound(pShape); + recursiveCompound.Dereference(physicsScene); + } + else { - BSShapeNative nativeShape = new BSShapeNative(pShape); - nativeShape.Dereference(physicsScene); + if (physicsScene.PE.IsNativeShape(pShape)) + { + BSShapeNative nativeShape = new BSShapeNative(pShape); + nativeShape.Dereference(physicsScene); + } } } } @@ -857,7 +878,7 @@ public class BSShapeConvexHull : BSShape float lod; System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - physicsScene.DetailLog("{0},BSShapeMesh,getReference,newKey={1},size={2},lod={3}", + physicsScene.DetailLog("{0},BSShapeConvexHull,getReference,newKey={1},size={2},lod={3}", prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod); BSShapeConvexHull retConvexHull = null; @@ -937,6 +958,97 @@ public class BSShapeConvexHull : BSShape return ret; } } +// ============================================================================================================ +public class BSShapeGImpact : BSShape +{ + private static string LogHeader = "[BULLETSIM SHAPE GIMPACT]"; + public static Dictionary GImpacts = new Dictionary(); + + public BSShapeGImpact(BulletShape pShape) : base(pShape) + { + } + public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) + { + float lod; + System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); + + physicsScene.DetailLog("{0},BSShapeGImpact,getReference,newKey={1},size={2},lod={3}", + prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod); + + BSShapeGImpact retGImpact = null; + lock (GImpacts) + { + if (GImpacts.TryGetValue(newMeshKey, out retGImpact)) + { + // The mesh has already been created. Return a new reference to same. + retGImpact.IncrementReference(); + } + else + { + retGImpact = new BSShapeGImpact(new BulletShape()); + BulletShape newShape = retGImpact.CreatePhysicalGImpact(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod); + + // Check to see if mesh was created (might require an asset). + newShape = VerifyMeshCreated(physicsScene, newShape, prim); + if (!newShape.isNativeShape || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) + { + // If a mesh was what was created, remember the built shape for later sharing. + // Also note that if meshing failed we put it in the mesh list as there is nothing else to do about the mesh. + GImpacts.Add(newMeshKey, retGImpact); + } + + retGImpact.physShapeInfo = newShape; + } + } + return retGImpact; + } + + private BulletShape CreatePhysicalGImpact(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, + PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + { + return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod, + (w, iC, i, vC, v) => physicsScene.PE.CreateGImpactShape(w, iC, i, vC, v) ); + } + + public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim) + { + // Calling this reference means we want another handle to an existing shape + // (usually linksets) so return this copy. + IncrementReference(); + return this; + } + // Dereferencing a compound shape releases the hold on all the child shapes. + public override void Dereference(BSScene physicsScene) + { + lock (GImpacts) + { + this.DecrementReference(); + physicsScene.DetailLog("{0},BSShapeGImpact.Dereference,shape={1}", BSScene.DetailLogZero, this); + // TODO: schedule aging and destruction of unused meshes. + } + } + // Loop through all the known hulls and return the description based on the physical address. + public static bool TryGetGImpactByPtr(BulletShape pShape, out BSShapeGImpact outHull) + { + bool ret = false; + BSShapeGImpact foundDesc = null; + lock (GImpacts) + { + foreach (BSShapeGImpact sh in GImpacts.Values) + { + if (sh.physShapeInfo.ReferenceSame(pShape)) + { + foundDesc = sh; + ret = true; + break; + } + + } + } + outHull = foundDesc; + return ret; + } +} // ============================================================================================================ public class BSShapeAvatar : BSShape -- cgit v1.1 From 2fd8819a043269f9308cb46c71893e6eb35a426e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 21 May 2013 21:32:30 -0700 Subject: BulletSim: add code to experimentally use asset hull data. Default to 'off' as it needs debugging. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 ++ OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 55 ++++++++++++++++++++++-- 2 files changed, 54 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 9a9e527..5cff668 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -90,6 +90,7 @@ public static class BSParam public static bool ShouldUseBulletHACD { get; set; } public static bool ShouldUseSingleConvexHullForPrims { get; set; } public static bool ShouldUseGImpactShapeForPrims { get; set; } + public static bool ShouldUseAssetHulls { get; set; } public static float TerrainImplementation { get; set; } public static int TerrainMeshMagnification { get; private set; } @@ -372,6 +373,8 @@ public static class BSParam true ), new ParameterDefn("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists", false ), + new ParameterDefn("UseAssetHulls", "If true, use hull if specified in the mesh asset info", + false ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", 5 ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 0152233..b7f7e6c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -31,6 +31,7 @@ using System.Text; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; +using OpenSim.Region.Physics.Meshing; using OpenSim.Region.Physics.ConvexDecompositionDotNet; using OMV = OpenMetaverse; @@ -573,9 +574,56 @@ public class BSShapeHull : BSShape PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = new BulletShape(); - IntPtr hullPtr = IntPtr.Zero; + newShape.shapeKey = newHullKey; - if (BSParam.ShouldUseBulletHACD) + // Pass true for physicalness as this prevents the creation of bounding box which is not needed + IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); + + // If there is hull data in the mesh asset, build the hull from that + if (meshData != null && BSParam.ShouldUseAssetHulls) + { + Meshmerizer realMesher = physicsScene.mesher as Meshmerizer; + if (realMesher != null) + { + List> allHulls = realMesher.GetConvexHulls(size); + if (allHulls != null) + { + int hullCount = allHulls.Count; + int totalVertices = 1; // include one for the count of the hulls + // Using the structure described for HACD hulls, create the memory sturcture + // to pass the hull data to the creater. + foreach (List hullVerts in allHulls) + { + totalVertices += 4; // add four for the vertex count and centroid + totalVertices += hullVerts.Count * 3; // one vertex is three dimensions + } + float[] convHulls = new float[totalVertices]; + + convHulls[0] = (float)hullCount; + int jj = 1; + foreach (List hullVerts in allHulls) + { + convHulls[jj + 0] = hullVerts.Count; + convHulls[jj + 1] = 0f; // centroid x,y,z + convHulls[jj + 2] = 0f; + convHulls[jj + 3] = 0f; + jj += 4; + foreach (OMV.Vector3 oneVert in hullVerts) + { + convHulls[jj + 0] = oneVert.X; + convHulls[jj + 1] = oneVert.Y; + convHulls[jj + 2] = oneVert.Z; + jj += 3; + } + } + + // create the hull data structure in Bullet + newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); + } + } + } + // If no hull specified in the asset and we should use Bullet's HACD approximation... + if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD) { // Build the hull shape from an existing mesh shape. // The mesh should have already been created in Bullet. @@ -604,11 +652,10 @@ public class BSShapeHull : BSShape } physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } + // If no hull specified, use our HACD hull approximation. if (!newShape.HasPhysicalShape) { // Build a new hull in the physical world using the C# HACD algorigthm. - // Pass true for physicalness as this prevents the creation of bounding box which is not needed - IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); if (meshData != null) { if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) -- cgit v1.1 From 6596a1de806d1ec509f3a570a0944ab9aff5947c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 21 May 2013 22:16:18 -0700 Subject: Revert "BulletSim: add code to experimentally use asset hull data." This reverts commit 2fd8819a043269f9308cb46c71893e6eb35a426e. Remove this code until I can figure out why the references that are clearly in prebuild.xml doesn't work for the 'using OpenSim.Region.Physics.Meshing' in BSShape.cs. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 -- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 55 ++---------------------- 2 files changed, 4 insertions(+), 54 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 5cff668..9a9e527 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -90,7 +90,6 @@ public static class BSParam public static bool ShouldUseBulletHACD { get; set; } public static bool ShouldUseSingleConvexHullForPrims { get; set; } public static bool ShouldUseGImpactShapeForPrims { get; set; } - public static bool ShouldUseAssetHulls { get; set; } public static float TerrainImplementation { get; set; } public static int TerrainMeshMagnification { get; private set; } @@ -373,8 +372,6 @@ public static class BSParam true ), new ParameterDefn("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists", false ), - new ParameterDefn("UseAssetHulls", "If true, use hull if specified in the mesh asset info", - false ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", 5 ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index b7f7e6c..0152233 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -31,7 +31,6 @@ using System.Text; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; -using OpenSim.Region.Physics.Meshing; using OpenSim.Region.Physics.ConvexDecompositionDotNet; using OMV = OpenMetaverse; @@ -574,56 +573,9 @@ public class BSShapeHull : BSShape PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = new BulletShape(); - newShape.shapeKey = newHullKey; + IntPtr hullPtr = IntPtr.Zero; - // Pass true for physicalness as this prevents the creation of bounding box which is not needed - IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); - - // If there is hull data in the mesh asset, build the hull from that - if (meshData != null && BSParam.ShouldUseAssetHulls) - { - Meshmerizer realMesher = physicsScene.mesher as Meshmerizer; - if (realMesher != null) - { - List> allHulls = realMesher.GetConvexHulls(size); - if (allHulls != null) - { - int hullCount = allHulls.Count; - int totalVertices = 1; // include one for the count of the hulls - // Using the structure described for HACD hulls, create the memory sturcture - // to pass the hull data to the creater. - foreach (List hullVerts in allHulls) - { - totalVertices += 4; // add four for the vertex count and centroid - totalVertices += hullVerts.Count * 3; // one vertex is three dimensions - } - float[] convHulls = new float[totalVertices]; - - convHulls[0] = (float)hullCount; - int jj = 1; - foreach (List hullVerts in allHulls) - { - convHulls[jj + 0] = hullVerts.Count; - convHulls[jj + 1] = 0f; // centroid x,y,z - convHulls[jj + 2] = 0f; - convHulls[jj + 3] = 0f; - jj += 4; - foreach (OMV.Vector3 oneVert in hullVerts) - { - convHulls[jj + 0] = oneVert.X; - convHulls[jj + 1] = oneVert.Y; - convHulls[jj + 2] = oneVert.Z; - jj += 3; - } - } - - // create the hull data structure in Bullet - newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); - } - } - } - // If no hull specified in the asset and we should use Bullet's HACD approximation... - if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD) + if (BSParam.ShouldUseBulletHACD) { // Build the hull shape from an existing mesh shape. // The mesh should have already been created in Bullet. @@ -652,10 +604,11 @@ public class BSShapeHull : BSShape } physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } - // If no hull specified, use our HACD hull approximation. if (!newShape.HasPhysicalShape) { // Build a new hull in the physical world using the C# HACD algorigthm. + // Pass true for physicalness as this prevents the creation of bounding box which is not needed + IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); if (meshData != null) { if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) -- cgit v1.1 From 61cdf9390d8dc124b0ef3afabb5bcb63328686eb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 22 May 2013 16:06:06 -0700 Subject: BulletSim: fix problem with walking up stairs that are oriented in certain directions. The problem was really that the avatar capsule orientation was being set incorrectly. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index ff5b6ab..48f842e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -483,8 +483,15 @@ public sealed class BSCharacter : BSPhysObject { // Bullet assumes we know what we are doing when forcing orientation // so it lets us go against all the rules and just compensates for them later. - // This keeps us from flipping the capsule over which the veiwer does not understand. - ForceOrientation = new OMV.Quaternion(0, 0, _orientation.Z,0); + // This forces rotation to be only around the Z axis and doesn't change any of the other axis. + // This keeps us from flipping the capsule over which the veiwer does not understand. + float oRoll, oPitch, oYaw; + _orientation.GetEulerAngles(out oRoll, out oPitch, out oYaw); + OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw); + // DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}", + // LocalID, _orientation, OMV.Vector3.UnitX * _orientation, + // trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation); + ForceOrientation = trimmedOrientation; }); } } -- cgit v1.1 From ffc9b3dda766c15e053b9296d15356533f7e99f8 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 21 May 2013 21:32:30 -0700 Subject: BulletSim: add code to experimentally use asset hull data. Default to 'off' as it needs debugging. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 ++ OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 55 ++++++++++++++++++++++-- 2 files changed, 54 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 9a9e527..5cff668 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -90,6 +90,7 @@ public static class BSParam public static bool ShouldUseBulletHACD { get; set; } public static bool ShouldUseSingleConvexHullForPrims { get; set; } public static bool ShouldUseGImpactShapeForPrims { get; set; } + public static bool ShouldUseAssetHulls { get; set; } public static float TerrainImplementation { get; set; } public static int TerrainMeshMagnification { get; private set; } @@ -372,6 +373,8 @@ public static class BSParam true ), new ParameterDefn("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists", false ), + new ParameterDefn("UseAssetHulls", "If true, use hull if specified in the mesh asset info", + false ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", 5 ), diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 0152233..b7f7e6c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -31,6 +31,7 @@ using System.Text; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; +using OpenSim.Region.Physics.Meshing; using OpenSim.Region.Physics.ConvexDecompositionDotNet; using OMV = OpenMetaverse; @@ -573,9 +574,56 @@ public class BSShapeHull : BSShape PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = new BulletShape(); - IntPtr hullPtr = IntPtr.Zero; + newShape.shapeKey = newHullKey; - if (BSParam.ShouldUseBulletHACD) + // Pass true for physicalness as this prevents the creation of bounding box which is not needed + IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); + + // If there is hull data in the mesh asset, build the hull from that + if (meshData != null && BSParam.ShouldUseAssetHulls) + { + Meshmerizer realMesher = physicsScene.mesher as Meshmerizer; + if (realMesher != null) + { + List> allHulls = realMesher.GetConvexHulls(size); + if (allHulls != null) + { + int hullCount = allHulls.Count; + int totalVertices = 1; // include one for the count of the hulls + // Using the structure described for HACD hulls, create the memory sturcture + // to pass the hull data to the creater. + foreach (List hullVerts in allHulls) + { + totalVertices += 4; // add four for the vertex count and centroid + totalVertices += hullVerts.Count * 3; // one vertex is three dimensions + } + float[] convHulls = new float[totalVertices]; + + convHulls[0] = (float)hullCount; + int jj = 1; + foreach (List hullVerts in allHulls) + { + convHulls[jj + 0] = hullVerts.Count; + convHulls[jj + 1] = 0f; // centroid x,y,z + convHulls[jj + 2] = 0f; + convHulls[jj + 3] = 0f; + jj += 4; + foreach (OMV.Vector3 oneVert in hullVerts) + { + convHulls[jj + 0] = oneVert.X; + convHulls[jj + 1] = oneVert.Y; + convHulls[jj + 2] = oneVert.Z; + jj += 3; + } + } + + // create the hull data structure in Bullet + newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); + } + } + } + // If no hull specified in the asset and we should use Bullet's HACD approximation... + if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD) { // Build the hull shape from an existing mesh shape. // The mesh should have already been created in Bullet. @@ -604,11 +652,10 @@ public class BSShapeHull : BSShape } physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } + // If no hull specified, use our HACD hull approximation. if (!newShape.HasPhysicalShape) { // Build a new hull in the physical world using the C# HACD algorigthm. - // Pass true for physicalness as this prevents the creation of bounding box which is not needed - IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); if (meshData != null) { if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) -- cgit v1.1