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 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 From 5efce21abc92fa1005fa8651a5622fe72cf83ff3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 22 May 2013 21:57:07 -0700 Subject: BulletSim: correct errors caused by misspelled INI parameter spec. Add debugging messages for hull asset use. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 9 ++++++--- 2 files changed, 7 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 5cff668..c19eda1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -373,7 +373,7 @@ 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", + new ParameterDefn("ShouldUseAssetHulls", "If true, use hull if specified in the mesh asset info", false ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index b7f7e6c..6729d6b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -619,6 +619,9 @@ public class BSShapeHull : BSShape // create the hull data structure in Bullet newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); + + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,hulls={1},totVert={2},shape={3}", + prim.LocalID, hullCount, totalVertices, newShape); } } } @@ -627,7 +630,7 @@ public class BSShapeHull : BSShape { // Build the hull shape from an existing mesh shape. // The mesh should have already been created in Bullet. - physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID); + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,entry", prim.LocalID); BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim); if (meshShape.physShapeInfo.HasPhysicalShape) @@ -645,12 +648,12 @@ public class BSShapeHull : BSShape physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape); newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms); - physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,shape={1}", prim.LocalID, newShape); // Now done with the mesh shape. meshShape.Dereference(physicsScene); } - physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } // If no hull specified, use our HACD hull approximation. if (!newShape.HasPhysicalShape) -- cgit v1.1 From 29b3b44fab46a44f911e582ab284025086cf3692 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 23 May 2013 14:40:16 -0700 Subject: BulletSim: add locking around Meshmerizer use to eliminate possible race condition when extracting the convex hulls. --- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 302 ++++++++++++----------- 1 file changed, 157 insertions(+), 145 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 6729d6b..48f1394 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -441,10 +441,14 @@ public class BSShapeMesh : BSShape { BulletShape newShape = new BulletShape(); - IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, - false, // say it is not physical so a bounding box is not built - false // do not cache the mesh and do not use previously built versions - ); + IMesh meshData = null; + lock (physicsScene.mesher) + { + meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, + false, // say it is not physical so a bounding box is not built + false // do not cache the mesh and do not use previously built versions + ); + } if (meshData != null) { @@ -576,55 +580,67 @@ public class BSShapeHull : BSShape BulletShape newShape = new BulletShape(); newShape.shapeKey = newHullKey; - // 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) + IMesh meshData = null; + List> allHulls = null; + lock (physicsScene.mesher) { - Meshmerizer realMesher = physicsScene.mesher as Meshmerizer; - if (realMesher != null) + // Pass true for physicalness as this prevents the creation of bounding box which is not needed + meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); + + // If we should use the asset's hull info, fetch it out of the locked mesher + if (meshData != null && BSParam.ShouldUseAssetHulls) { - List> allHulls = realMesher.GetConvexHulls(size); - if (allHulls != null) + Meshmerizer realMesher = physicsScene.mesher as Meshmerizer; + if (realMesher != 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; - } - } + allHulls = realMesher.GetConvexHulls(size); + } + if (allHulls == null) + { + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,noAssetHull", prim.LocalID); + } + } + } - // create the hull data structure in Bullet - newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); + // If there is hull data in the mesh asset, build the hull from that + if (allHulls != null && BSParam.ShouldUseAssetHulls) + { + 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]; - physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,hulls={1},totVert={2},shape={3}", - prim.LocalID, hullCount, totalVertices, newShape); + 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); + + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,assetHulls,hulls={1},totVert={2},shape={3}", + prim.LocalID, hullCount, totalVertices, newShape); } + // If no hull specified in the asset and we should use Bullet's HACD approximation... if (!newShape.HasPhysicalShape && BSParam.ShouldUseBulletHACD) { @@ -655,120 +671,116 @@ public class BSShapeHull : BSShape } physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } - // If no hull specified, use our HACD hull approximation. - if (!newShape.HasPhysicalShape) + + // If no other hull specifications, use our HACD hull approximation. + if (!newShape.HasPhysicalShape && meshData != null) { - // Build a new hull in the physical world using the C# HACD algorigthm. - if (meshData != null) + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) { - if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) - { - // Release the fetched asset data once it has been used. - pbs.SculptData = new byte[0]; - prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown; - } + // Release the fetched asset data once it has been used. + pbs.SculptData = new byte[0]; + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown; + } - int[] indices = meshData.getIndexListAsInt(); - List vertices = meshData.getVertexList(); + int[] indices = meshData.getIndexListAsInt(); + List vertices = meshData.getVertexList(); - //format conversion from IMesh format to DecompDesc format - List convIndices = new List(); - List convVertices = new List(); - for (int ii = 0; ii < indices.GetLength(0); ii++) - { - convIndices.Add(indices[ii]); - } - foreach (OMV.Vector3 vv in vertices) - { - convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); - } + //format conversion from IMesh format to DecompDesc format + List convIndices = new List(); + List convVertices = new List(); + for (int ii = 0; ii < indices.GetLength(0); ii++) + { + convIndices.Add(indices[ii]); + } + foreach (OMV.Vector3 vv in vertices) + { + convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); + } - uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit; - if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes) + uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit; + if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes) + { + // Simple primitive shapes we know are convex so they are better implemented with + // fewer hulls. + // Check for simple shape (prim without cuts) and reduce split parameter if so. + if (BSShapeCollection.PrimHasNoCuts(pbs)) { - // Simple primitive shapes we know are convex so they are better implemented with - // fewer hulls. - // Check for simple shape (prim without cuts) and reduce split parameter if so. - if (BSShapeCollection.PrimHasNoCuts(pbs)) - { - maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes; - } + maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes; } + } + + // setup and do convex hull conversion + m_hulls = new List(); + DecompDesc dcomp = new DecompDesc(); + dcomp.mIndices = convIndices; + dcomp.mVertices = convVertices; + dcomp.mDepth = maxDepthSplit; + dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent; + dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent; + dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices; + dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth; + ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); + // create the hull into the _hulls variable + convexBuilder.process(dcomp); + + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}", + BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count); + + // Convert the vertices and indices for passing to unmanaged. + // The hull information is passed as a large floating point array. + // The format is: + // convHulls[0] = number of hulls + // convHulls[1] = number of vertices in first hull + // convHulls[2] = hull centroid X coordinate + // convHulls[3] = hull centroid Y coordinate + // convHulls[4] = hull centroid Z coordinate + // convHulls[5] = first hull vertex X + // convHulls[6] = first hull vertex Y + // convHulls[7] = first hull vertex Z + // convHulls[8] = second hull vertex X + // ... + // convHulls[n] = number of vertices in second hull + // convHulls[n+1] = second hull centroid X coordinate + // ... + // + // TODO: is is very inefficient. Someday change the convex hull generator to return + // data structures that do not need to be converted in order to pass to Bullet. + // And maybe put the values directly into pinned memory rather than marshaling. + int hullCount = m_hulls.Count; + int totalVertices = 1; // include one for the count of the hulls + foreach (ConvexResult cr in m_hulls) + { + totalVertices += 4; // add four for the vertex count and centroid + totalVertices += cr.HullIndices.Count * 3; // we pass just triangles + } + float[] convHulls = new float[totalVertices]; - // setup and do convex hull conversion - m_hulls = new List(); - DecompDesc dcomp = new DecompDesc(); - dcomp.mIndices = convIndices; - dcomp.mVertices = convVertices; - dcomp.mDepth = maxDepthSplit; - dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent; - dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent; - dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices; - dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth; - ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); - // create the hull into the _hulls variable - convexBuilder.process(dcomp); - - physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}", - BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count); - - // Convert the vertices and indices for passing to unmanaged. - // The hull information is passed as a large floating point array. - // The format is: - // convHulls[0] = number of hulls - // convHulls[1] = number of vertices in first hull - // convHulls[2] = hull centroid X coordinate - // convHulls[3] = hull centroid Y coordinate - // convHulls[4] = hull centroid Z coordinate - // convHulls[5] = first hull vertex X - // convHulls[6] = first hull vertex Y - // convHulls[7] = first hull vertex Z - // convHulls[8] = second hull vertex X - // ... - // convHulls[n] = number of vertices in second hull - // convHulls[n+1] = second hull centroid X coordinate - // ... - // - // TODO: is is very inefficient. Someday change the convex hull generator to return - // data structures that do not need to be converted in order to pass to Bullet. - // And maybe put the values directly into pinned memory rather than marshaling. - int hullCount = m_hulls.Count; - int totalVertices = 1; // include one for the count of the hulls - foreach (ConvexResult cr in m_hulls) + convHulls[0] = (float)hullCount; + int jj = 1; + foreach (ConvexResult cr in m_hulls) + { + // copy vertices for index access + float3[] verts = new float3[cr.HullVertices.Count]; + int kk = 0; + foreach (float3 ff in cr.HullVertices) { - totalVertices += 4; // add four for the vertex count and centroid - totalVertices += cr.HullIndices.Count * 3; // we pass just triangles + verts[kk++] = ff; } - float[] convHulls = new float[totalVertices]; - convHulls[0] = (float)hullCount; - int jj = 1; - foreach (ConvexResult cr in m_hulls) + // add to the array one hull's worth of data + convHulls[jj++] = cr.HullIndices.Count; + convHulls[jj++] = 0f; // centroid x,y,z + convHulls[jj++] = 0f; + convHulls[jj++] = 0f; + foreach (int ind in cr.HullIndices) { - // copy vertices for index access - float3[] verts = new float3[cr.HullVertices.Count]; - int kk = 0; - foreach (float3 ff in cr.HullVertices) - { - verts[kk++] = ff; - } - - // add to the array one hull's worth of data - convHulls[jj++] = cr.HullIndices.Count; - convHulls[jj++] = 0f; // centroid x,y,z - convHulls[jj++] = 0f; - convHulls[jj++] = 0f; - foreach (int ind in cr.HullIndices) - { - convHulls[jj++] = verts[ind].x; - convHulls[jj++] = verts[ind].y; - convHulls[jj++] = verts[ind].z; - } + convHulls[jj++] = verts[ind].x; + convHulls[jj++] = verts[ind].y; + convHulls[jj++] = verts[ind].z; } - // create the hull data structure in Bullet - newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); } - newShape.shapeKey = newHullKey; + // create the hull data structure in Bullet + newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); } return newShape; } -- cgit v1.1 From 0e002e369339719204f26c07157713bfc40fecca Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 23 May 2013 14:41:05 -0700 Subject: Add DEBUG level logging in Meshmerizer for mesh parsing. There is a compile time variable to turn this logging off if it is too spammy. --- OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 27 +++++++++++++++++++++++++-- 1 file changed, 25 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index 79edc12..adc0dc9 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -64,6 +64,7 @@ namespace OpenSim.Region.Physics.Meshing public class Meshmerizer : IMesher { private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); + private static string LogHeader = "[MESH]"; // Setting baseDir to a path will enable the dumping of raw files // raw files can be imported by blender so a visual inspection of the results can be done @@ -72,6 +73,8 @@ namespace OpenSim.Region.Physics.Meshing #else private const string baseDir = null; //"rawFiles"; #endif + // If 'true', lots of DEBUG logging of asset parsing details + private bool debugDetail = true; private bool cacheSculptMaps = true; private string decodedSculptMapPath = null; @@ -357,13 +360,25 @@ namespace OpenSim.Region.Physics.Meshing OSDMap physicsParms = null; OSDMap map = (OSDMap)meshOsd; if (map.ContainsKey("physics_shape")) + { physicsParms = (OSDMap)map["physics_shape"]; // old asset format + if (debugDetail) m_log.DebugFormat("{0} prim='{1}': using 'physics_shape' mesh data", LogHeader, primName); + } else if (map.ContainsKey("physics_mesh")) + { physicsParms = (OSDMap)map["physics_mesh"]; // new asset format + if (debugDetail) m_log.DebugFormat("{0} prim='{1}':using 'physics_mesh' mesh data", LogHeader, primName); + } else if (map.ContainsKey("medium_lod")) + { physicsParms = (OSDMap)map["medium_lod"]; // if no physics mesh, try to fall back to medium LOD display mesh + if (debugDetail) m_log.DebugFormat("{0} prim='{1}':using 'medium_lod' mesh data", LogHeader, primName); + } 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 (debugDetail) m_log.DebugFormat("{0} prim='{1}':using 'high_lod' mesh data", LogHeader, primName); + } if (map.ContainsKey("physics_convex")) { // pull this out also in case physics engine can use it @@ -408,11 +423,16 @@ namespace OpenSim.Region.Physics.Meshing } mConvexHulls = hulls; + if (debugDetail) m_log.DebugFormat("{0} prim='{1}': parsed hulls. nHulls={2}", LogHeader, primName, mConvexHulls.Count); + } + else + { + if (debugDetail) m_log.DebugFormat("{0} prim='{1}' has physics_convex but no HullList", LogHeader, primName); } } catch (Exception e) { - m_log.WarnFormat("[MESH]: exception decoding convex block: {0}", e.Message); + m_log.WarnFormat("{0} exception decoding convex block: {1}", LogHeader, e); } } @@ -438,7 +458,7 @@ namespace OpenSim.Region.Physics.Meshing } catch (Exception e) { - m_log.Error("[MESH]: exception decoding physical mesh: " + e.ToString()); + m_log.ErrorFormat("{0} prim='{1}': exception decoding physical mesh: {2}", LogHeader, primName, e); return false; } @@ -455,6 +475,9 @@ namespace OpenSim.Region.Physics.Meshing if (subMeshOsd is OSDMap) AddSubMesh(subMeshOsd as OSDMap, size, coords, faces); } + if (debugDetail) + m_log.DebugFormat("{0} {1}: mesh decoded. offset={2}, size={3}, nCoords={4}, nFaces={5}", + LogHeader, primName, physOffset, physSize, coords.Count, faces.Count); } } -- cgit v1.1 From c5549d27306c71cd5ed96e7cba68bd28d5e6d9b0 Mon Sep 17 00:00:00 2001 From: dahlia Date: Thu, 23 May 2013 15:47:47 -0700 Subject: add decoder for bounding convex hull --- OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 57 +++++++++++++++++++++++++-- 1 file changed, 53 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index adc0dc9..fd45efe 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -83,6 +83,7 @@ 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 List mBoundingHull = null; private Dictionary m_uniqueMeshes = new Dictionary(); @@ -324,6 +325,9 @@ namespace OpenSim.Region.Physics.Meshing faces = new List(); OSD meshOsd = null; + mConvexHulls = null; + mBoundingHull = null; + if (primShape.SculptData.Length <= 0) { // XXX: At the moment we can not log here since ODEPrim, for instance, ends up triggering this @@ -385,13 +389,41 @@ namespace OpenSim.Region.Physics.Meshing try { OSDMap convexBlock = (OSDMap)map["physics_convex"]; + + 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(); + + List boundingHull = null; + + if (convexBlock.ContainsKey("BoundingVerts")) + { + // decompress and decode bounding hull points + byte[] boundingVertsBytes = DecompressOsd(convexBlock["BoundingVerts"].AsBinary()).AsBinary(); + boundingHull = new List(); + for (int i = 0; i < boundingVertsBytes.Length;) + { + ushort uX = Utils.BytesToUInt16(boundingVertsBytes, i); i += 2; + ushort uY = Utils.BytesToUInt16(boundingVertsBytes, i); i += 2; + ushort uZ = Utils.BytesToUInt16(boundingVertsBytes, i); i += 2; + + Vector3 pos = new Vector3( + Utils.UInt16ToFloat(uX, min.X, max.X), + Utils.UInt16ToFloat(uY, min.Y, max.Y), + Utils.UInt16ToFloat(uZ, min.Z, max.Z) + ); + + boundingHull.Add(pos); + } + + mBoundingHull = boundingHull; + if (debugDetail) m_log.DebugFormat("{0} prim='{1}': parsed bounding hull. nHulls={2}", LogHeader, primName, mBoundingHull.Count); + } + 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(); @@ -799,6 +831,23 @@ namespace OpenSim.Region.Physics.Meshing /// temporary prototype code - please do not use until the interface has been finalized! /// /// value to scale the hull points by + /// a list of vertices in the bounding hull if it exists and has been successfully decoded, otherwise null + public List GetBoundingHull(Vector3 size) + { + if (mBoundingHull == null) + return null; + + List verts = new List(); + foreach (var vert in mBoundingHull) + verts.Add(vert * size); + + return verts; + } + + /// + /// 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) { -- cgit v1.1 From 0cdea5c2f302ece2d37357b7e7b8c1d3f6ed8f94 Mon Sep 17 00:00:00 2001 From: dahlia Date: Fri, 24 May 2013 01:53:37 -0700 Subject: correct some errors in decoding of mesh asset convex decomposition data --- OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 136 ++++++++++++++++---------- 1 file changed, 83 insertions(+), 53 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index fd45efe..3e2b663 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -386,61 +386,57 @@ namespace OpenSim.Region.Physics.Meshing if (map.ContainsKey("physics_convex")) { // pull this out also in case physics engine can use it + OSD convexBlockOsd = null; try { OSDMap convexBlock = (OSDMap)map["physics_convex"]; - - 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(); - - List boundingHull = null; - - if (convexBlock.ContainsKey("BoundingVerts")) { - // decompress and decode bounding hull points - byte[] boundingVertsBytes = DecompressOsd(convexBlock["BoundingVerts"].AsBinary()).AsBinary(); - boundingHull = new List(); - for (int i = 0; i < boundingVertsBytes.Length;) - { - ushort uX = Utils.BytesToUInt16(boundingVertsBytes, i); i += 2; - ushort uY = Utils.BytesToUInt16(boundingVertsBytes, i); i += 2; - ushort uZ = Utils.BytesToUInt16(boundingVertsBytes, i); i += 2; - - Vector3 pos = new Vector3( - Utils.UInt16ToFloat(uX, min.X, max.X), - Utils.UInt16ToFloat(uY, min.Y, max.Y), - Utils.UInt16ToFloat(uZ, min.Z, max.Z) - ); + int convexOffset = convexBlock["offset"].AsInteger() + (int)start; + int convexSize = convexBlock["size"].AsInteger(); - boundingHull.Add(pos); + byte[] convexBytes = new byte[convexSize]; + + System.Buffer.BlockCopy(primShape.SculptData, convexOffset, convexBytes, 0, convexSize); + + try + { + convexBlockOsd = DecompressOsd(convexBytes); + } + catch (Exception e) + { + m_log.ErrorFormat("{0} prim='{1}': exception decoding convex block: {2}", LogHeader, primName, e); + //return false; } - - mBoundingHull = boundingHull; - if (debugDetail) m_log.DebugFormat("{0} prim='{1}': parsed bounding hull. nHulls={2}", LogHeader, primName, mBoundingHull.Count); } - - if (convexBlock.ContainsKey("HullList")) + + if (convexBlockOsd != null && convexBlockOsd is OSDMap) { - byte[] hullList = convexBlock["HullList"].AsBinary(); + convexBlock = convexBlockOsd as OSDMap; - // decompress and decode hull points - byte[] posBytes = DecompressOsd(convexBlock["Positions"].AsBinary()).AsBinary(); - - List> hulls = new List>(); - int posNdx = 0; + if (debugDetail) + { + string keys = "[MESH]: keys found in convexBlock: "; + foreach (KeyValuePair kvp in convexBlock) + keys += "'" + kvp.Key + "' "; + m_log.Info(keys); + } + + 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(); + + List boundingHull = null; - foreach (byte cnt in hullList) + if (convexBlock.ContainsKey("BoundingVerts")) { - int count = cnt == 0 ? 256 : cnt; - List hull = new List(); - - for (int i = 0; i < count; i++) + byte[] boundingVertsBytes = convexBlock["BoundingVerts"].AsBinary(); + boundingHull = new List(); + for (int i = 0; i < boundingVertsBytes.Length; ) { - ushort uX = Utils.BytesToUInt16(posBytes, posNdx); posNdx += 2; - ushort uY = Utils.BytesToUInt16(posBytes, posNdx); posNdx += 2; - ushort uZ = Utils.BytesToUInt16(posBytes, posNdx); posNdx += 2; + ushort uX = Utils.BytesToUInt16(boundingVertsBytes, i); i += 2; + ushort uY = Utils.BytesToUInt16(boundingVertsBytes, i); i += 2; + ushort uZ = Utils.BytesToUInt16(boundingVertsBytes, i); i += 2; Vector3 pos = new Vector3( Utils.UInt16ToFloat(uX, min.X, max.X), @@ -448,18 +444,52 @@ namespace OpenSim.Region.Physics.Meshing Utils.UInt16ToFloat(uZ, min.Z, max.Z) ); - hull.Add(pos); + boundingHull.Add(pos); } - hulls.Add(hull); + mBoundingHull = boundingHull; + if (debugDetail) m_log.DebugFormat("{0} prim='{1}': parsed bounding hull. nVerts={2}", LogHeader, primName, mBoundingHull.Count); } - mConvexHulls = hulls; - if (debugDetail) m_log.DebugFormat("{0} prim='{1}': parsed hulls. nHulls={2}", LogHeader, primName, mConvexHulls.Count); - } - else - { - if (debugDetail) m_log.DebugFormat("{0} prim='{1}' has physics_convex but no HullList", LogHeader, primName); + if (convexBlock.ContainsKey("HullList")) + { + byte[] hullList = convexBlock["HullList"].AsBinary(); + + byte[] posBytes = convexBlock["Positions"].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 < count; 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), + Utils.UInt16ToFloat(uY, min.Y, max.Y), + Utils.UInt16ToFloat(uZ, min.Z, max.Z) + ); + + hull.Add(pos); + } + + hulls.Add(hull); + } + + mConvexHulls = hulls; + if (debugDetail) m_log.DebugFormat("{0} prim='{1}': parsed hulls. nHulls={2}", LogHeader, primName, mConvexHulls.Count); + } + else + { + if (debugDetail) m_log.DebugFormat("{0} prim='{1}' has physics_convex but no HullList", LogHeader, primName); + } } } catch (Exception e) @@ -483,7 +513,7 @@ namespace OpenSim.Region.Physics.Meshing OSD decodedMeshOsd = new OSD(); byte[] meshBytes = new byte[physSize]; System.Buffer.BlockCopy(primShape.SculptData, physOffset, meshBytes, 0, physSize); -// byte[] decompressed = new byte[physSize * 5]; + // byte[] decompressed = new byte[physSize * 5]; try { decodedMeshOsd = DecompressOsd(meshBytes); @@ -499,7 +529,7 @@ namespace OpenSim.Region.Physics.Meshing // physics_shape is an array of OSDMaps, one for each submesh if (decodedMeshOsd is OSDArray) { -// Console.WriteLine("decodedMeshOsd for {0} - {1}", primName, Util.GetFormattedXml(decodedMeshOsd)); + // Console.WriteLine("decodedMeshOsd for {0} - {1}", primName, Util.GetFormattedXml(decodedMeshOsd)); decodedMeshOsdArray = (OSDArray)decodedMeshOsd; foreach (OSD subMeshOsd in decodedMeshOsdArray) -- cgit v1.1 From 440905ad14d4261df9da0fd2ce7e20a350982af1 Mon Sep 17 00:00:00 2001 From: dahlia Date: Fri, 24 May 2013 10:31:14 -0700 Subject: change a hull debugging message to Debug instead of Info --- 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 3e2b663..2c10568 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -418,7 +418,7 @@ namespace OpenSim.Region.Physics.Meshing string keys = "[MESH]: keys found in convexBlock: "; foreach (KeyValuePair kvp in convexBlock) keys += "'" + kvp.Key + "' "; - m_log.Info(keys); + m_log.Debug(keys); } Vector3 min = new Vector3(-0.5f, -0.5f, -0.5f); -- cgit v1.1 From 81a6c397811c587cd97b5bb0f186fe6e799f865b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 24 May 2013 16:20:26 -0700 Subject: Meshmerizer: add INI parameter to enable DEBUG mesh detail logging. Default to off. To turn mesh parsing DEBUG detail logging on, add [Mesh] LogMeshDetail=true to the INI file. --- OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 9 ++++++--- 1 file changed, 6 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 2c10568..1b499d0 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -74,7 +74,7 @@ namespace OpenSim.Region.Physics.Meshing private const string baseDir = null; //"rawFiles"; #endif // If 'true', lots of DEBUG logging of asset parsing details - private bool debugDetail = true; + private bool debugDetail = false; private bool cacheSculptMaps = true; private string decodedSculptMapPath = null; @@ -94,8 +94,11 @@ namespace OpenSim.Region.Physics.Meshing decodedSculptMapPath = start_config.GetString("DecodedSculptMapPath","j2kDecodeCache"); cacheSculptMaps = start_config.GetBoolean("CacheSculptMaps", cacheSculptMaps); - if(mesh_config != null) + if (mesh_config != null) + { useMeshiesPhysicsMesh = mesh_config.GetBoolean("UseMeshiesPhysicsMesh", useMeshiesPhysicsMesh); + debugDetail = mesh_config.GetBoolean("LogMeshDetails", debugDetail); + } try { @@ -415,7 +418,7 @@ namespace OpenSim.Region.Physics.Meshing if (debugDetail) { - string keys = "[MESH]: keys found in convexBlock: "; + string keys = LogHeader + " keys found in convexBlock: "; foreach (KeyValuePair kvp in convexBlock) keys += "'" + kvp.Key + "' "; m_log.Debug(keys); -- cgit v1.1 From 4979940def5561015cb56bc660c6ec721722b9fc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 24 May 2013 16:23:10 -0700 Subject: BulletSim: properly set mesh hash key in use tracking structure. Shouldn't see any functional difference. --- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 48f1394..81edc12 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -578,7 +578,6 @@ public class BSShapeHull : BSShape PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = new BulletShape(); - newShape.shapeKey = newHullKey; IMesh meshData = null; List> allHulls = null; @@ -782,6 +781,7 @@ public class BSShapeHull : BSShape // create the hull data structure in Bullet newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); } + newShape.shapeKey = newHullKey; return newShape; } // Callback from convex hull creater with a newly created hull. @@ -906,6 +906,7 @@ public class BSShapeCompound : BSShape } else { + // Didn't find it in the lists of specific types. It could be compound. if (physicsScene.PE.IsCompound(pShape)) { BSShapeCompound recursiveCompound = new BSShapeCompound(pShape); @@ -913,6 +914,7 @@ public class BSShapeCompound : BSShape } else { + // If none of the above, maybe it is a simple native shape. if (physicsScene.PE.IsNativeShape(pShape)) { BSShapeNative nativeShape = new BSShapeNative(pShape); @@ -1052,6 +1054,7 @@ public class BSShapeGImpact : BSShape // Check to see if mesh was created (might require an asset). newShape = VerifyMeshCreated(physicsScene, newShape, prim); + newShape.shapeKey = newMeshKey; if (!newShape.isNativeShape || prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) { // If a mesh was what was created, remember the built shape for later sharing. -- cgit v1.1 From 5f1f5ea5ab5badf5944471fefe0a45f7b4f41b91 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 24 May 2013 16:24:16 -0700 Subject: BulletSim: add VehicleInertiaFactor to allow modifying inertia. Another parameter for vehicle operation tuning. Default to <1,1,1> which means nothing is different under normal use. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 3 ++- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 +++ 2 files changed, 5 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index c16b7d3..311cf4f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -617,7 +617,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Vehicles report collision events so we know when it's on the ground m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); - ControllingPrim.Inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass); + Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass); + ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor; m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index c19eda1..e98a7fb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -148,6 +148,7 @@ public static class BSParam public static float VehicleRestitution { get; private set; } public static Vector3 VehicleLinearFactor { get; private set; } public static Vector3 VehicleAngularFactor { get; private set; } + public static Vector3 VehicleInertiaFactor { get; private set; } public static float VehicleGroundGravityFudge { get; private set; } public static float VehicleAngularBankingTimescaleFudge { get; private set; } public static bool VehicleDebuggingEnable { get; private set; } @@ -583,6 +584,8 @@ public static class BSParam new Vector3(1f, 1f, 1f) ), new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (<0,0,0> to <1,1,1>)", new Vector3(1f, 1f, 1f) ), + new ParameterDefn("VehicleInertiaFactor", "Fraction of physical inertia applied (<0,0,0> to <1,1,1>)", + new Vector3(1f, 1f, 1f) ), new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)", 0.0f ), new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", -- cgit v1.1 From 182137263412fb23f9bdb250afbe1b1509280aac Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 24 May 2013 16:32:19 -0700 Subject: Meshmerizer: remember to add the copied hull verts to the list of hulls. --- OpenSim/Region/Physics/Meshing/Meshmerizer.cs | 1 + 1 file changed, 1 insertion(+) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index 1b499d0..fc679e7 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -893,6 +893,7 @@ namespace OpenSim.Region.Physics.Meshing List verts = new List(); foreach (var vert in hull) verts.Add(vert * size); + hulls.Add(verts); } return hulls; -- cgit v1.1 From 0c35d28933ddb2cae7b4f095b35ed4e386a1b71b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 26 May 2013 17:35:12 -0700 Subject: BulletSim: enable GImpact shape for prims with cuts. Include DLLs and SOs which recompute GImpact shape bounding box after creation as Bullet doesn't do that itself (something it does for nearly every other shape). Now, physical prims without cuts become single mesh convex meshes. Physical prims with cuts become GImpact meshes. Meshes become a set of convex hulls approximated from the mesh unless the hulls are specified in the mesh asset data. The use of GImpact shapes should make some mechanical physics more stable. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index e98a7fb..0f0a494 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -373,7 +373,7 @@ public static class BSParam 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 ), + true ), new ParameterDefn("ShouldUseAssetHulls", "If true, use hull if specified in the mesh asset info", false ), -- cgit v1.1 From 7c3a46cceaf9dac694b1c387f37adc2c51c6ee40 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 27 May 2013 14:38:59 -0700 Subject: BulletSim: default using mesh asset hulls to 'true'. This means that, if the mesh asset specifies physics hulls, BulletSim will fetch and use same rather than approximating the hulls. If physics hulls are not specified, the representation will fall back to the regular physics mesh. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 0f0a494..2651e3b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -373,9 +373,9 @@ public static class BSParam 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", - true ), - new ParameterDefn("ShouldUseAssetHulls", "If true, use hull if specified in the mesh asset info", false ), + new ParameterDefn("ShouldUseAssetHulls", "If true, use hull if specified in the mesh asset info", + true ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", 5 ), -- cgit v1.1 From ae0d6ab28a03ec23c91eaf6a8ac94b890916a1ca Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 28 May 2013 09:19:08 -0700 Subject: BulletSim: don't zero motion when changing vehicle type. Some vehicle scripts change type on the fly as an easy way of setting all the parameters (like a plane changing to a car when on the ground). --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index f5b0361..e11e365 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -511,7 +511,10 @@ public class BSPrim : BSPhysObject PhysScene.TaintedObject("setVehicleType", delegate() { - ZeroMotion(true /* inTaintTime */); + // Some vehicle scripts change vehicle type on the fly as an easy way to + // change all the parameters. Like a plane changing to CAR when on the + // ground. In this case, don't want to zero motion. + // ZeroMotion(true /* inTaintTime */); VehicleActor.ProcessTypeChange(type); ActivateIfPhysical(false); }); -- cgit v1.1