From 725751fd6c0101b8610e84716d28b6af91e20b61 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 6 Aug 2013 10:32:56 -0700 Subject: BulletSim: fixes for change linkset implementation of physical linksets. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 6 +++--- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 14 +++++++------- .../Region/Physics/BulletSPlugin/BSLinksetConstraints.cs | 8 ++++---- OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 11 ++++++++--- 4 files changed, 22 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 3afd52e..a051002 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -148,7 +148,7 @@ public abstract class BSLinkset // Returns a new linkset for the child which is a linkset of one (just the // orphened child). // Called at runtime. - public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child) + public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child, bool inTaintTime) { lock (m_linksetActivityLock) { @@ -157,7 +157,7 @@ public abstract class BSLinkset // Cannot remove the root from a linkset. return this; } - RemoveChildFromLinkset(child); + RemoveChildFromLinkset(child, inTaintTime); LinksetMass = ComputeLinksetMass(); } @@ -255,7 +255,7 @@ public abstract class BSLinkset // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. - protected abstract void RemoveChildFromLinkset(BSPrimLinkable child); + protected abstract void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime); // When physical properties are changed the linkset needs to recalculate // its internal properties. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 085d195..47ab842 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -242,7 +242,7 @@ public sealed class BSLinksetCompound : BSLinkset { bool ret = false; - DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", + DetailLog("{0},BSLinksetCompound.RemoveDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child)); ScheduleRebuild(child); @@ -270,7 +270,7 @@ public sealed class BSLinksetCompound : BSLinkset // Remove the specified child from the linkset. // Safe to call even if the child is not really in the linkset. - protected override void RemoveChildFromLinkset(BSPrimLinkable child) + protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime) { child.ClearDisplacement(); @@ -282,12 +282,12 @@ public sealed class BSLinksetCompound : BSLinkset child.LocalID, child.PhysBody.AddrString); // Cause the child's body to be rebuilt and thus restored to normal operation - child.ForceBodyShapeRebuild(false); + child.ForceBodyShapeRebuild(inTaintTime); if (!HasAnyChildren) { // The linkset is now empty. The root needs rebuilding. - LinksetRoot.ForceBodyShapeRebuild(false); + LinksetRoot.ForceBodyShapeRebuild(inTaintTime); } else { @@ -318,10 +318,10 @@ public sealed class BSLinksetCompound : BSLinkset // being destructed and going non-physical. LinksetRoot.ForceBodyShapeRebuild(true); - // There is no reason to build all this physical stuff for a non-physical linkset. - if (!LinksetRoot.IsPhysicallyActive) + // There is no reason to build all this physical stuff for a non-physical or empty linkset. + if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren) { - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID); return; // Note the 'finally' clause at the botton which will get executed. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 4bac222..d4ee27d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -224,7 +224,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Remove the specified child from the linkset. // Safe to call even if the child is not really in my linkset. - protected override void RemoveChildFromLinkset(BSPrimLinkable child) + protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime) { if (m_children.Remove(child)) { @@ -236,7 +236,7 @@ public sealed class BSLinksetConstraints : BSLinkset rootx.LocalID, rootx.PhysBody.AddrString, childx.LocalID, childx.PhysBody.AddrString); - m_physicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate() + m_physicsScene.TaintedObject(inTaintTime, "BSLinksetConstraints.RemoveChildFromLinkset", delegate() { PhysicallyUnlinkAChildFromRoot(rootx, childx); }); @@ -382,9 +382,9 @@ public sealed class BSLinksetConstraints : BSLinkset Rebuilding = true; // There is no reason to build all this physical stuff for a non-physical linkset. - if (!LinksetRoot.IsPhysicallyActive) + if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren) { - DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); + DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID); return; // Note the 'finally' clause at the botton which will get executed. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 7179a6d..38d1f88 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -66,7 +66,7 @@ public class BSPrimLinkable : BSPrimDisplaced public override void Destroy() { - Linkset = Linkset.RemoveMeFromLinkset(this); + Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime */); base.Destroy(); } @@ -94,7 +94,7 @@ public class BSPrimLinkable : BSPrimDisplaced BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG int childrenBefore = Linkset.NumberOfChildren; // DEBUG - Linkset = Linkset.RemoveMeFromLinkset(this); + Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime*/); DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); @@ -240,6 +240,8 @@ public class BSPrimLinkable : BSPrimDisplaced bool ret = false; if (LinksetType != newType) { + DetailLog("{0},BSPrimLinkset.ConvertLinkset,oldT={1},newT={2}", LocalID, LinksetType, newType); + // Set the implementation type first so the call to BSLinkset.Factory gets the new type. this.LinksetType = newType; @@ -263,7 +265,10 @@ public class BSPrimLinkable : BSPrimDisplaced // Remove the children from the old linkset and add to the new (will be a new instance from the factory) foreach (BSPrimLinkable child in children) { - oldLinkset.RemoveMeFromLinkset(child); + oldLinkset.RemoveMeFromLinkset(child, true /*inTaintTime*/); + } + foreach (BSPrimLinkable child in children) + { newLinkset.AddMeToLinkset(child); child.Linkset = newLinkset; } -- cgit v1.1 From 48ee73bfa771de64685a694417b34188f0a3350e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 07:54:47 -0700 Subject: BulletSim: add API and calls for spring constraint parameters. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 36 ++++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 38 ++++++++++++++++++++++ .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 8 +++++ 3 files changed, 82 insertions(+) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 12a0c17..6c36485 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -596,6 +596,30 @@ public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, flo return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold); } +public override bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.ConstraintSpringEnable2(constrainu.ptr, index, numericTrueFalse); +} + +public override bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.ConstraintSpringSetEquilibriumPoint2(constrainu.ptr, index, equilibriumPoint); +} + +public override bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.ConstraintSpringSetStiffness2(constrainu.ptr, index, stiffnesss); +} + +public override bool SpringSetDamping(BulletConstraint constrain, int index, float damping) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.ConstraintSpringSetDamping2(constrainu.ptr, index, damping); +} + public override bool CalculateTransforms(BulletConstraint constrain) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; @@ -1601,6 +1625,18 @@ public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enabl public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ConstraintSpringEnable2(IntPtr constrain, int index, float numericTrueFalse); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ConstraintSpringSetEquilibriumPoint2(IntPtr constrain, int index, float equilibriumPoint); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ConstraintSpringSetStiffness2(IntPtr constrain, int index, float stiffness); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ConstraintSpringSetDamping2(IntPtr constrain, int index, float damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CalculateTransforms2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 2a820be..9ad12a9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -752,6 +752,44 @@ private sealed class BulletConstraintXNA : BulletConstraint constraint.SetBreakingImpulseThreshold(threshold); return true; } + public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse) + { + Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; + constraint.EnableSpring(index, (numericTrueFalse == 0f ? false : true)); + return true; + } + + public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint) + { + Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; + if (index == -1) + { + constraint.SetEquilibriumPoint(); + } + else + { + if (equilibriumPoint == -1) + constraint.SetEquilibriumPoint(index); + else + constraint.SetEquilibriumPoint(index, equilibriumPoint); + } + return true; + } + + public override bool SpringSetStiffness(BulletConstraint pConstraint, int index, float stiffness) + { + Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; + constraint.SetStiffness(index, stiffness); + return true; + } + + public override bool SpringSetDamping(BulletConstraint pConstraint, int index, float damping) + { + Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; + constraint.SetDamping(index, damping); + return true; + } + //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); public override void SetAngularDamping(BulletBody pBody, float angularDamping) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 6cdc112..8cca29f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -441,6 +441,14 @@ public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float e public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold); +public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse); + +public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint); + +public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss); + +public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping); + public abstract bool CalculateTransforms(BulletConstraint constrain); public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); -- cgit v1.1 From 9a7d0e489cf726f00379917cd507839d5fe56725 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 07:55:46 -0700 Subject: BulletSim: add spring constraint to linkset constraint types. --- .../Physics/BulletSPlugin/BSConstraintSpring.cs | 85 ++++++++++++++++++++++ 1 file changed, 85 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs new file mode 100755 index 0000000..01d67d4 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs @@ -0,0 +1,85 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public sealed class BSConstraintSpring : BSConstraint6Dof +{ + public override ConstraintType Type { get { return ConstraintType.D6_SPRING_CONSTRAINT_TYPE; } } + + public BSConstraintSpring(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frame1Loc, Quaternion frame1Rot, + Vector3 frame2Loc, Quaternion frame2Rot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + :base(world, obj1, obj2) + { + m_constraint = PhysicsScene.PE.Create6DofSpringConstraint(world, obj1, obj2, + frame1Loc, frame1Rot, frame2Loc, frame2Rot, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + m_enabled = true; + + world.physicsScene.DetailLog("{0},BSConstraintSpring,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + BSScene.DetailLogZero, world.worldID, + obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + } + + public bool SetEnable(int index, bool axisEnable) + { + bool ret = false; + + return ret; + } + + public bool SetStiffness(int index, float stiffness) + { + bool ret = false; + + return ret; + } + + public bool SetDamping(int index, float damping) + { + bool ret = false; + + return ret; + } + + public bool SetEquilibriumPoint(int index, float eqPoint) + { + bool ret = false; + + return ret; + } + +} + +} \ No newline at end of file -- cgit v1.1 From 0971c7ae77cae3d238be31f46994b4692af949e3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 07:56:37 -0700 Subject: BulletSim: complete linkage of spring constraint into linkset constraint. --- .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 9 ++- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 + .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 81 ++++++++++++++++++---- 3 files changed, 77 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index d0949f5..5008ff7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -32,12 +32,19 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public sealed class BSConstraint6Dof : BSConstraint +public class BSConstraint6Dof : BSConstraint { private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]"; public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } + public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2) :base(world) + { + m_body1 = obj1; + m_body2 = obj2; + m_enabled = false; + } + // Create a btGeneric6DofConstraint public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 frame1, Quaternion frame1rot, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index a051002..d4b1c1e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -77,6 +77,8 @@ public abstract class BSLinkset { member = pMember; } + public virtual void ResetLink() { } + public virtual void SetLinkParameters(BSConstraint constrain) { } } public LinksetImplementation LinksetImpl { get; protected set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index d4ee27d..f3b70c3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -51,16 +51,26 @@ public sealed class BSLinksetConstraints : BSLinkset public float cfm; public float erp; public float solverIterations; + // + public OMV.Vector3 frameInAloc; + public OMV.Quaternion frameInArot; + public OMV.Vector3 frameInBloc; + public OMV.Quaternion frameInBrot; + // Spring + public float springDamping; + public float springStiffness; + + public BSLinkInfoConstraint(BSPrimLinkable pMember) : base(pMember) { constraint = null; - ResetToFixedConstraint(); + ResetLink(); } // Set all the parameters for this constraint to a fixed, non-movable constraint. - public void ResetToFixedConstraint() + public override void ResetLink() { constraintType = ConstraintType.D6_CONSTRAINT_TYPE; linearLimitLow = OMV.Vector3.Zero; @@ -74,10 +84,16 @@ public sealed class BSLinksetConstraints : BSLinkset cfm = BSParam.LinkConstraintCFM; erp = BSParam.LinkConstraintERP; solverIterations = BSParam.LinkConstraintSolverIterations; + frameInAloc = OMV.Vector3.Zero; + frameInArot = OMV.Quaternion.Identity; + frameInBloc = OMV.Vector3.Zero; + frameInBrot = OMV.Quaternion.Identity; + springDamping = -1f; + springStiffness = -1f; } // Given a constraint, apply the current constraint parameters to same. - public void SetConstraintParameters(BSConstraint constrain) + public override void SetLinkParameters(BSConstraint constrain) { switch (constraintType) { @@ -85,6 +101,7 @@ public sealed class BSLinksetConstraints : BSLinkset BSConstraint6Dof constrain6dof = constrain as BSConstraint6Dof; if (constrain6dof != null) { + // NOTE: D6_SPRING_CONSTRAINT_TYPE should be updated if you change any of this code. // zero linear and angular limits makes the objects unable to move in relation to each other constrain6dof.SetLinearLimits(linearLimitLow, linearLimitHigh); constrain6dof.SetAngularLimits(angularLimitLow, angularLimitHigh); @@ -99,6 +116,31 @@ public sealed class BSLinksetConstraints : BSLinkset } } break; + case ConstraintType.D6_SPRING_CONSTRAINT_TYPE: + BSConstraintSpring constrainSpring = constrain as BSConstraintSpring; + if (constrainSpring != null) + { + // zero linear and angular limits makes the objects unable to move in relation to each other + constrainSpring.SetLinearLimits(linearLimitLow, linearLimitHigh); + constrainSpring.SetAngularLimits(angularLimitLow, angularLimitHigh); + + // tweek the constraint to increase stability + constrainSpring.UseFrameOffset(useFrameOffset); + constrainSpring.TranslationalLimitMotor(enableTransMotor, transMotorMaxVel, transMotorMaxForce); + constrainSpring.SetCFMAndERP(cfm, erp); + if (solverIterations != 0f) + { + constrainSpring.SetSolverIterations(solverIterations); + } + for (int ii = 0; ii < 6; ii++) + { + if (springDamping != -1) + constrainSpring.SetDamping(ii, springDamping); + if (springStiffness != -1) + constrainSpring.SetStiffness(ii, springStiffness); + } + } + break; default: break; } @@ -262,8 +304,8 @@ public sealed class BSLinksetConstraints : BSLinkset // Create a static constraint between the two passed objects private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSLinkInfo li) { - BSLinkInfoConstraint liConstraint = li as BSLinkInfoConstraint; - if (liConstraint == null) + BSLinkInfoConstraint linkInfo = li as BSLinkInfoConstraint; + if (linkInfo == null) return null; // Zero motion for children so they don't interpolate @@ -271,27 +313,25 @@ public sealed class BSLinksetConstraints : BSLinkset BSConstraint constrain = null; - switch (liConstraint.constraintType) + switch (linkInfo.constraintType) { case ConstraintType.D6_CONSTRAINT_TYPE: // Relative position normalized to the root prim // Essentually a vector pointing from center of rootPrim to center of li.member - OMV.Vector3 childRelativePosition = liConstraint.member.Position - rootPrim.Position; + OMV.Vector3 childRelativePosition = linkInfo.member.Position - rootPrim.Position; // real world coordinate of midpoint between the two objects OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); - DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", - rootPrim.LocalID, - rootPrim.LocalID, rootPrim.PhysBody.AddrString, - liConstraint.member.LocalID, liConstraint.member.PhysBody.AddrString, - rootPrim.Position, liConstraint.member.Position, midPoint); + DetailLog("{0},BSLinksetConstraint.BuildConstraint,6Dof,rBody={1},cBody={2},rLoc={3},cLoc={4},midLoc={7}", + rootPrim.LocalID, rootPrim.PhysBody, linkInfo.member.PhysBody, + rootPrim.Position, linkInfo.member.Position, midPoint); // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 constrain = new BSConstraint6Dof( - m_physicsScene.World, rootPrim.PhysBody, liConstraint.member.PhysBody, midPoint, true, true ); + m_physicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody, midPoint, true, true ); /* NOTE: below is an attempt to build constraint with full frame computation, etc. * Using the midpoint is easier since it lets the Bullet code manipulate the transforms @@ -320,11 +360,23 @@ public sealed class BSLinksetConstraints : BSLinkset */ break; + case ConstraintType.D6_SPRING_CONSTRAINT_TYPE: + constrain = new BSConstraintSpring(m_physicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody, + linkInfo.frameInAloc, linkInfo.frameInArot, linkInfo.frameInBloc, linkInfo.frameInBrot, + true /*useLinearReferenceFrameA*/, + true /*disableCollisionsBetweenLinkedBodies*/); + DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", + rootPrim.LocalID, + rootPrim.LocalID, rootPrim.PhysBody.AddrString, + linkInfo.member.LocalID, linkInfo.member.PhysBody.AddrString, + rootPrim.Position, linkInfo.member.Position); + + break; default: break; } - liConstraint.SetConstraintParameters(constrain); + linkInfo.SetLinkParameters(constrain); m_physicsScene.Constraints.AddConstraint(constrain); @@ -401,6 +453,7 @@ public sealed class BSLinksetConstraints : BSLinkset // If constraint doesn't exist yet, create it. constrain = BuildConstraint(LinksetRoot, li); } + li.SetLinkParameters(constrain); constrain.RecomputeConstraintVariables(linksetMass); // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG -- cgit v1.1 From 993bcec088ce5c3ec2f76f61842f19cbdcc89384 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 10:15:28 -0700 Subject: BulletSim: add unmanaged and XNA functions for hinge, slider and spring constraints. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 45 ++++++ OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 174 ++++++++++++++++++++- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 24 +++ 3 files changed, 241 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 6c36485..8dfb01c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -596,6 +596,12 @@ public override bool SetBreakingImpulseThreshold(BulletConstraint constrain, flo return BSAPICPP.SetBreakingImpulseThreshold2(constrainu.ptr, threshold); } +public override bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.HingeSetLimits2(constrainu.ptr, low, high, softness, bias, relaxation); +} + public override bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; @@ -620,6 +626,30 @@ public override bool SpringSetDamping(BulletConstraint constrain, int index, flo return BSAPICPP.ConstraintSpringSetDamping2(constrainu.ptr, index, damping); } +public override bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SliderSetLimits2(constrainu.ptr, lowerUpper, linAng, val); +} + +public override bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SliderSet2(constrainu.ptr, softRestDamp, dirLimOrtho, linAng, val); +} + +public override bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SliderMotorEnable2(constrainu.ptr, linAng, numericTrueFalse); +} + +public override bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val) +{ + BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; + return BSAPICPP.SliderMotor2(constrainu.ptr, forceVel, linAng, val); +} + public override bool CalculateTransforms(BulletConstraint constrain) { BulletConstraintUnman constrainu = constrain as BulletConstraintUnman; @@ -1625,6 +1655,9 @@ public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enabl public static extern bool SetBreakingImpulseThreshold2(IntPtr constrain, float threshold); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool HingeSetLimits2(IntPtr constrain, float low, float high, float softness, float bias, float relaxation); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool ConstraintSpringEnable2(IntPtr constrain, int index, float numericTrueFalse); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] @@ -1637,6 +1670,18 @@ public static extern bool ConstraintSpringSetStiffness2(IntPtr constrain, int in public static extern bool ConstraintSpringSetDamping2(IntPtr constrain, int index, float damping); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SliderSetLimits2(IntPtr constrain, int lowerUpper, int linAng, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SliderSet2(IntPtr constrain, int softRestDamp, int dirLimOrtho, int linAng, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SliderMotorEnable2(IntPtr constrain, int linAng, float numericTrueFalse); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SliderMotor2(IntPtr constrain, int forceVel, int linAng, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool CalculateTransforms2(IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 9ad12a9..ff2b497 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -752,6 +752,15 @@ private sealed class BulletConstraintXNA : BulletConstraint constraint.SetBreakingImpulseThreshold(threshold); return true; } + public override bool HingeSetLimits(BulletConstraint pConstraint, float low, float high, float softness, float bias, float relaxation) + { + HingeConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as HingeConstraint; + if (softness == HINGE_NOT_SPECIFIED) + constraint.SetLimit(low, high); + else + constraint.SetLimit(low, high, softness, bias, relaxation); + return true; + } public override bool SpringEnable(BulletConstraint pConstraint, int index, float numericTrueFalse) { Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; @@ -762,13 +771,13 @@ private sealed class BulletConstraintXNA : BulletConstraint public override bool SpringSetEquilibriumPoint(BulletConstraint pConstraint, int index, float equilibriumPoint) { Generic6DofSpringConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofSpringConstraint; - if (index == -1) + if (index == SPRING_NOT_SPECIFIED) { constraint.SetEquilibriumPoint(); } else { - if (equilibriumPoint == -1) + if (equilibriumPoint == SPRING_NOT_SPECIFIED) constraint.SetEquilibriumPoint(index); else constraint.SetEquilibriumPoint(index, equilibriumPoint); @@ -790,6 +799,167 @@ private sealed class BulletConstraintXNA : BulletConstraint return true; } + public override bool SliderSetLimits(BulletConstraint pConstraint, int lowerUpper, int linAng, float val) + { + SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint; + switch (lowerUpper) + { + case SLIDER_LOWER_LIMIT: + switch (linAng) + { + case SLIDER_LINEAR: + constraint.SetLowerLinLimit(val); + break; + case SLIDER_ANGULAR: + constraint.SetLowerAngLimit(val); + break; + } + break; + case SLIDER_UPPER_LIMIT: + switch (linAng) + { + case SLIDER_LINEAR: + constraint.SetUpperLinLimit(val); + break; + case SLIDER_ANGULAR: + constraint.SetUpperAngLimit(val); + break; + } + break; + } + return true; + } + public override bool SliderSet(BulletConstraint pConstraint, int softRestDamp, int dirLimOrtho, int linAng, float val) + { + SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint; + switch (softRestDamp) + { + case SLIDER_SET_SOFTNESS: + switch (dirLimOrtho) + { + case SLIDER_SET_DIRECTION: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetSoftnessDirLin(val); break; + case SLIDER_ANGULAR: constraint.SetSoftnessDirAng(val); break; + } + break; + case SLIDER_SET_LIMIT: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetSoftnessLimLin(val); break; + case SLIDER_ANGULAR: constraint.SetSoftnessLimAng(val); break; + } + break; + case SLIDER_SET_ORTHO: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetSoftnessOrthoLin(val); break; + case SLIDER_ANGULAR: constraint.SetSoftnessOrthoAng(val); break; + } + break; + } + break; + case SLIDER_SET_RESTITUTION: + switch (dirLimOrtho) + { + case SLIDER_SET_DIRECTION: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetRestitutionDirLin(val); break; + case SLIDER_ANGULAR: constraint.SetRestitutionDirAng(val); break; + } + break; + case SLIDER_SET_LIMIT: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetRestitutionLimLin(val); break; + case SLIDER_ANGULAR: constraint.SetRestitutionLimAng(val); break; + } + break; + case SLIDER_SET_ORTHO: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetRestitutionOrthoLin(val); break; + case SLIDER_ANGULAR: constraint.SetRestitutionOrthoAng(val); break; + } + break; + } + break; + case SLIDER_SET_DAMPING: + switch (dirLimOrtho) + { + case SLIDER_SET_DIRECTION: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetDampingDirLin(val); break; + case SLIDER_ANGULAR: constraint.SetDampingDirAng(val); break; + } + break; + case SLIDER_SET_LIMIT: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetDampingLimLin(val); break; + case SLIDER_ANGULAR: constraint.SetDampingLimAng(val); break; + } + break; + case SLIDER_SET_ORTHO: + switch (linAng) + { + case SLIDER_LINEAR: constraint.SetDampingOrthoLin(val); break; + case SLIDER_ANGULAR: constraint.SetDampingOrthoAng(val); break; + } + break; + } + break; + } + return true; + } + public override bool SliderMotorEnable(BulletConstraint pConstraint, int linAng, float numericTrueFalse) + { + SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint; + switch (linAng) + { + case SLIDER_LINEAR: + constraint.SetPoweredLinMotor(numericTrueFalse == 0.0 ? false : true); + break; + case SLIDER_ANGULAR: + constraint.SetPoweredAngMotor(numericTrueFalse == 0.0 ? false : true); + break; + } + return true; + } + public override bool SliderMotor(BulletConstraint pConstraint, int forceVel, int linAng, float val) + { + SliderConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as SliderConstraint; + switch (forceVel) + { + case SLIDER_MOTOR_VELOCITY: + switch (linAng) + { + case SLIDER_LINEAR: + constraint.SetTargetLinMotorVelocity(val); + break; + case SLIDER_ANGULAR: + constraint.SetTargetAngMotorVelocity(val); + break; + } + break; + case SLIDER_MAX_MOTOR_FORCE: + switch (linAng) + { + case SLIDER_LINEAR: + constraint.SetMaxLinMotorForce(val); + break; + case SLIDER_ANGULAR: + constraint.SetMaxAngMotorForce(val); + break; + } + break; + } + return true; + } + //BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping); public override void SetAngularDamping(BulletBody pBody, float angularDamping) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 8cca29f..b241059 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -441,14 +441,38 @@ public abstract bool TranslationalLimitMotor(BulletConstraint constrain, float e public abstract bool SetBreakingImpulseThreshold(BulletConstraint constrain, float threshold); +public const int HINGE_NOT_SPECIFIED = -1; +public abstract bool HingeSetLimits(BulletConstraint constrain, float low, float high, float softness, float bias, float relaxation); + public abstract bool SpringEnable(BulletConstraint constrain, int index, float numericTrueFalse); +public const int SPRING_NOT_SPECIFIED = -1; public abstract bool SpringSetEquilibriumPoint(BulletConstraint constrain, int index, float equilibriumPoint); public abstract bool SpringSetStiffness(BulletConstraint constrain, int index, float stiffnesss); public abstract bool SpringSetDamping(BulletConstraint constrain, int index, float damping); +public const int SLIDER_LOWER_LIMIT = 0; +public const int SLIDER_UPPER_LIMIT = 1; +public const int SLIDER_LINEAR = 2; +public const int SLIDER_ANGULAR = 3; +public abstract bool SliderSetLimits(BulletConstraint constrain, int lowerUpper, int linAng, float val); + +public const int SLIDER_SET_SOFTNESS = 4; +public const int SLIDER_SET_RESTITUTION = 5; +public const int SLIDER_SET_DAMPING = 6; +public const int SLIDER_SET_DIRECTION = 7; +public const int SLIDER_SET_LIMIT = 8; +public const int SLIDER_SET_ORTHO = 9; +public abstract bool SliderSet(BulletConstraint constrain, int softRestDamp, int dirLimOrtho, int linAng, float val); + +public abstract bool SliderMotorEnable(BulletConstraint constrain, int linAng, float numericTrueFalse); + +public const int SLIDER_MOTOR_VELOCITY = 10; +public const int SLIDER_MAX_MOTOR_FORCE = 11; +public abstract bool SliderMotor(BulletConstraint constrain, int forceVel, int linAng, float val); + public abstract bool CalculateTransforms(BulletConstraint constrain); public abstract bool SetConstraintParam(BulletConstraint constrain, ConstraintParams paramIndex, float value, ConstraintParamAxis axis); -- cgit v1.1 From c6a6631efc74ac8c139e0ae8cad683496fdd0050 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 10:24:37 -0700 Subject: BulletSim: move linkset extension operations into BSPrimLinkable where they should be. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 32 +---------------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 41 ++++++++++++++++++++++ 2 files changed, 42 insertions(+), 31 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d5b999d..4685b48 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -41,7 +41,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin [Serializable] public class BSPrim : BSPhysObject { - private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); + protected static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS PRIM]"; // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. @@ -1555,36 +1555,6 @@ public class BSPrim : BSPhysObject object ret = null; switch (pFunct) { - case BSScene.PhysFunctGetLinksetType: - { - BSPrimLinkable myHandle = this as BSPrimLinkable; - if (myHandle != null) - { - ret = (object)myHandle.LinksetType; - } - m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret); - break; - } - case BSScene.PhysFunctSetLinksetType: - { - if (pParams.Length > 0) - { - BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[0]; - BSPrimLinkable myHandle = this as BSPrimLinkable; - if (myHandle != null && myHandle.Linkset.IsRoot(myHandle)) - { - PhysScene.TaintedObject("BSPrim.PhysFunctSetLinksetType", delegate() - { - // Cause the linkset type to change - m_log.DebugFormat("{0} Extension.physSetLinksetType, oldType={1}, newType={2}", - LogHeader, myHandle.Linkset.LinksetImpl, linksetType); - myHandle.ConvertLinkset(linksetType); - }); - } - ret = (object)(int)linksetType; - } - break; - } default: ret = base.Extension(pFunct, pParams); break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 38d1f88..fc639ad 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -41,6 +41,8 @@ public class BSPrimLinkable : BSPrimDisplaced // operations necessary for keeping the linkset created and, additionally, this // calls the linkset implementation for its creation and management. + private static readonly string LogHeader = "[BULLETS PRIMLINKABLE]"; + // This adds the overrides for link() and delink() so the prim is linkable. public BSLinkset Linkset { get; set; } @@ -279,5 +281,44 @@ public class BSPrimLinkable : BSPrimDisplaced } return ret; } + + #region Extension + public override object Extension(string pFunct, params object[] pParams) + { + object ret = null; + switch (pFunct) + { + case BSScene.PhysFunctGetLinksetType: + { + ret = (object)LinksetType; + m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret); + break; + } + case BSScene.PhysFunctSetLinksetType: + { + if (pParams.Length > 0) + { + BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[0]; + if (Linkset.IsRoot(this)) + { + PhysScene.TaintedObject("BSPrim.PhysFunctSetLinksetType", delegate() + { + // Cause the linkset type to change + m_log.DebugFormat("{0} Extension.physSetLinksetType, oldType={1}, newType={2}", + LogHeader, Linkset.LinksetImpl, linksetType); + ConvertLinkset(linksetType); + }); + } + ret = (object)(int)linksetType; + } + break; + } + default: + ret = base.Extension(pFunct, pParams); + break; + } + return ret; + } + #endregion // Extension } } -- cgit v1.1 From f3cc20050e8e4ce047509589f828ccafbc59e3a9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 11:13:53 -0700 Subject: BulletSim: initial implementation of physChangeLinkFixed that resets a linkset's link back to a fixed, non-moving connection. --- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 29 +++++++++++++++------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 +++ 2 files changed, 24 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index fc639ad..77d8246 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -60,10 +60,7 @@ public class BSPrimLinkable : BSPrimDisplaced Linkset = BSLinkset.Factory(PhysScene, this); - PhysScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate() - { - Linkset.Refresh(this); - }); + Linkset.Refresh(this); } public override void Destroy() @@ -82,7 +79,7 @@ public class BSPrimLinkable : BSPrimDisplaced Linkset = parent.Linkset.AddMeToLinkset(this); - DetailLog("{0},BSPrimLinkset.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", + DetailLog("{0},BSPrimLinkable.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); } return; @@ -98,7 +95,7 @@ public class BSPrimLinkable : BSPrimDisplaced Linkset = Linkset.RemoveMeFromLinkset(this, false /* inTaintTime*/); - DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", + DetailLog("{0},BSPrimLinkable.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); return; } @@ -110,7 +107,7 @@ public class BSPrimLinkable : BSPrimDisplaced set { base.Position = value; - PhysScene.TaintedObject("BSPrimLinkset.setPosition", delegate() + PhysScene.TaintedObject("BSPrimLinkable.setPosition", delegate() { Linkset.UpdateProperties(UpdatedProperties.Position, this); }); @@ -124,7 +121,7 @@ public class BSPrimLinkable : BSPrimDisplaced set { base.Orientation = value; - PhysScene.TaintedObject("BSPrimLinkset.setOrientation", delegate() + PhysScene.TaintedObject("BSPrimLinkable.setOrientation", delegate() { Linkset.UpdateProperties(UpdatedProperties.Orientation, this); }); @@ -242,7 +239,7 @@ public class BSPrimLinkable : BSPrimDisplaced bool ret = false; if (LinksetType != newType) { - DetailLog("{0},BSPrimLinkset.ConvertLinkset,oldT={1},newT={2}", LocalID, LinksetType, newType); + DetailLog("{0},BSPrimLinkable.ConvertLinkset,oldT={1},newT={2}", LocalID, LinksetType, newType); // Set the implementation type first so the call to BSLinkset.Factory gets the new type. this.LinksetType = newType; @@ -288,12 +285,14 @@ public class BSPrimLinkable : BSPrimDisplaced object ret = null; switch (pFunct) { + // physGetLinksetType(); case BSScene.PhysFunctGetLinksetType: { ret = (object)LinksetType; m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret); break; } + // physSetLinksetType(type); case BSScene.PhysFunctSetLinksetType: { if (pParams.Length > 0) @@ -313,6 +312,18 @@ public class BSPrimLinkable : BSPrimDisplaced } break; } + // physChangeLinkFixed(linknum); + // Params: int linkNum, PhysActor linkedPrim + case BSScene.PhysFunctChangeLinkFixed: + { + if (pParams.Length > 1) + { + int linkNum = (int)pParams[0]; + Manager.PhysicsActor linkActor = (Manager.PhysicsActor)pParams[1]; + Linkset.Refresh(this); + } + break; + } default: ret = base.Extension(pFunct, pParams); break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index c92c9b9..571db86 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -875,6 +875,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Per prim functions. See BSPrim. public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType"; public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType"; + public const string PhysFunctChangeLinkFixed = "BulletSim.ChangeLinkFixed"; + public const string PhysFunctChangeLinkHinge = "BulletSim.ChangeLinkHinge"; + public const string PhysFunctChangeLinkSpring = "BulletSim.ChangeLinkSpring"; + public const string PhysFunctChangeLinkSlider = "BulletSim.ChangeLinkSlider"; // ============================================================= public override object Extension(string pFunct, params object[] pParams) -- cgit v1.1 From dff0fb56902f62b070ec6fd05769babfad32ed2e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 7 Aug 2013 11:18:23 -0700 Subject: BulletSim: Linkset.Refresh() calls internal ScheduleRebuild() to recreate the linkset physics at next PostTaint time. Replace the existing calls to ScheduleRebuild to be calls to Refresh(). This allows external routines to make changes to parameters and then cause the linkset to rebuild. --- .../Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 17 ++++++++--------- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 11 ++++++----- 2 files changed, 14 insertions(+), 14 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 47ab842..8f12189 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -90,10 +90,9 @@ public sealed class BSLinksetCompound : BSLinkset // its internal properties. public override void Refresh(BSPrimLinkable requestor) { - base.Refresh(requestor); - // Something changed so do the rebuilding thing - // ScheduleRebuild(); + ScheduleRebuild(requestor); + base.Refresh(requestor); } // Schedule a refresh to happen after all the other taint processing. @@ -127,7 +126,7 @@ public sealed class BSLinksetCompound : BSLinkset if (IsRoot(child)) { // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return ret; } @@ -144,7 +143,7 @@ public sealed class BSLinksetCompound : BSLinkset if (IsRoot(child)) { // Schedule a rebuild to verify that the root shape is set to the real shape. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return ret; } @@ -227,7 +226,7 @@ public sealed class BSLinksetCompound : BSLinkset // there will already be a rebuild scheduled. DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}", updated.LocalID, whichUpdated); - ScheduleRebuild(updated); + Refresh(updated); } } } @@ -245,7 +244,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.RemoveDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child)); - ScheduleRebuild(child); + Refresh(child); return ret; } @@ -263,7 +262,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Rebuild the compound shape with the new child shape included - ScheduleRebuild(child); + Refresh(child); } return; } @@ -292,7 +291,7 @@ public sealed class BSLinksetCompound : BSLinkset else { // Rebuild the compound shape with the child removed - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } } return; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index f3b70c3..db323c2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -158,6 +158,7 @@ public sealed class BSLinksetConstraints : BSLinkset // refresh will happen once after all the other taints are applied. public override void Refresh(BSPrimLinkable requestor) { + ScheduleRebuild(requestor); base.Refresh(requestor); } @@ -194,7 +195,7 @@ public sealed class BSLinksetConstraints : BSLinkset if (IsRoot(child)) { // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return ret; } @@ -213,7 +214,7 @@ public sealed class BSLinksetConstraints : BSLinkset if (IsRoot(child)) { // Schedule a rebuild to verify that the root shape is set to the real shape. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return ret; } @@ -241,7 +242,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Just undo all the constraints for this linkset. Rebuild at the end of the step. ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); // Cause the constraints, et al to be rebuilt before the next simulation step. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return ret; } @@ -259,7 +260,7 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Cause constraints and assorted properties to be recomputed before the next simulation step. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } return; } @@ -283,7 +284,7 @@ public sealed class BSLinksetConstraints : BSLinkset PhysicallyUnlinkAChildFromRoot(rootx, childx); }); // See that the linkset parameters are recomputed at the end of the taint time. - ScheduleRebuild(LinksetRoot); + Refresh(LinksetRoot); } else { -- cgit v1.1 From 6aee08ac3c48b55ebd8e945c8b11f17dc1ab3151 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 8 Aug 2013 08:36:36 -0700 Subject: BulletSim: add physChangeLinkSpring to change linkset link to be a spring constraint. Add implementation to create spring constraint. Send up property updates for linkset children at the end of flexible linkset links. The simulator probably doesn't do the right thing yet. --- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 24 +++++ .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 102 ++++++++++++++++++++- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 9 +- 4 files changed, 128 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index b241059..9d8838b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -43,7 +43,9 @@ public enum ConstraintType : int SLIDER_CONSTRAINT_TYPE, CONTACT_CONSTRAINT_TYPE, D6_SPRING_CONSTRAINT_TYPE, - MAX_CONSTRAINT_TYPE + MAX_CONSTRAINT_TYPE, // last type defined by Bullet + // + FIXED_CONSTRAINT_TYPE = 1234 // BulletSim constraint that is fixed and unmoving } // =============================================================================== diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index d4b1c1e..2058e3a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -79,6 +79,8 @@ public abstract class BSLinkset } public virtual void ResetLink() { } public virtual void SetLinkParameters(BSConstraint constrain) { } + // Returns 'true' if physical property updates from the child should be reported to the simulator + public virtual bool ShouldUpdateChildProperties() { return false; } } public LinksetImplementation LinksetImpl { get; protected set; } @@ -224,6 +226,21 @@ public abstract class BSLinkset return ret; } + // Check the type of the link and return 'true' if the link is flexible and the + // updates from the child should be sent to the simulator so things change. + public virtual bool ShouldReportPropertyUpdates(BSPrimLinkable child) + { + bool ret = false; + + BSLinkInfo linkInfo; + if (m_children.TryGetValue(child, out linkInfo)) + { + ret = linkInfo.ShouldUpdateChildProperties(); + } + + return ret; + } + // Called after a simulation step to post a collision with this object. // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have // anything to add for the collision and it should be passed through normal processing. @@ -432,6 +449,13 @@ public abstract class BSLinkset return com; } + #region Extension + public virtual object Extension(string pFunct, params object[] pParams) + { + return null; + } + #endregion // Extension + // Invoke the detailed logger and output something if it's enabled. protected void DetailLog(string msg, params Object[] args) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index db323c2..17fec9d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -60,8 +60,6 @@ public sealed class BSLinksetConstraints : BSLinkset public float springDamping; public float springStiffness; - - public BSLinkInfoConstraint(BSPrimLinkable pMember) : base(pMember) { @@ -72,7 +70,8 @@ public sealed class BSLinksetConstraints : BSLinkset // Set all the parameters for this constraint to a fixed, non-movable constraint. public override void ResetLink() { - constraintType = ConstraintType.D6_CONSTRAINT_TYPE; + // constraintType = ConstraintType.D6_CONSTRAINT_TYPE; + constraintType = ConstraintType.FIXED_CONSTRAINT_TYPE; linearLimitLow = OMV.Vector3.Zero; linearLimitHigh = OMV.Vector3.Zero; angularLimitLow = OMV.Vector3.Zero; @@ -97,6 +96,7 @@ public sealed class BSLinksetConstraints : BSLinkset { switch (constraintType) { + case ConstraintType.FIXED_CONSTRAINT_TYPE: case ConstraintType.D6_CONSTRAINT_TYPE: BSConstraint6Dof constrain6dof = constrain as BSConstraint6Dof; if (constrain6dof != null) @@ -145,6 +145,20 @@ public sealed class BSLinksetConstraints : BSLinkset break; } } + + // Return 'true' if the property updates from the physics engine should be reported + // to the simulator. + // If the constraint is fixed, we don't need to report as the simulator and viewer will + // report the right things. + public override bool ShouldUpdateChildProperties() + { + bool ret = true; + + if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE) + ret = false; + + return ret; + } } public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent) @@ -316,6 +330,7 @@ public sealed class BSLinksetConstraints : BSLinkset switch (linkInfo.constraintType) { + case ConstraintType.FIXED_CONSTRAINT_TYPE: case ConstraintType.D6_CONSTRAINT_TYPE: // Relative position normalized to the root prim // Essentually a vector pointing from center of rootPrim to center of li.member @@ -466,5 +481,86 @@ public sealed class BSLinksetConstraints : BSLinkset Rebuilding = false; } } + + #region Extension + public override object Extension(string pFunct, params object[] pParams) + { + object ret = null; + switch (pFunct) + { + // pParams = (int linkNUm, PhysActor linkChild) + case BSScene.PhysFunctChangeLinkFixed: + if (pParams.Length > 1) + { + BSPrimLinkable child = pParams[1] as BSPrimLinkable; + if (child != null) + { + m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() + { + // Pick up all the constraints currently created. + RemoveDependencies(child); + + BSLinkInfo linkInfo = null; + if (m_children.TryGetValue(child, out linkInfo)) + { + BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; + if (linkInfoC != null) + { + // Setting to fixed is easy. The reset state is the fixed link configuration. + linkInfoC.ResetLink(); + ret = (object)true; + } + } + // Cause the whole linkset to be rebuilt in post-taint time. + Refresh(child); + }); + } + } + break; + case BSScene.PhysFunctChangeLinkSpring: + if (pParams.Length > 11) + { + BSPrimLinkable child = pParams[1] as BSPrimLinkable; + if (child != null) + { + m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() + { + // Pick up all the constraints currently created. + RemoveDependencies(child); + + BSLinkInfo linkInfo = null; + if (m_children.TryGetValue(child, out linkInfo)) + { + BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; + if (linkInfoC != null) + { + // Start with a reset link definition + linkInfoC.ResetLink(); + linkInfoC.constraintType = ConstraintType.D6_SPRING_CONSTRAINT_TYPE; + linkInfoC.frameInAloc = (OMV.Vector3)pParams[2]; + linkInfoC.frameInArot = (OMV.Quaternion)pParams[3]; + linkInfoC.frameInBloc = (OMV.Vector3)pParams[4]; + linkInfoC.frameInBrot = (OMV.Quaternion)pParams[5]; + linkInfoC.linearLimitLow = (OMV.Vector3)pParams[6]; + linkInfoC.linearLimitHigh = (OMV.Vector3)pParams[7]; + linkInfoC.angularLimitLow = (OMV.Vector3)pParams[8]; + linkInfoC.angularLimitHigh = (OMV.Vector3)pParams[9]; + ret = (object)true; + } + } + // Cause the whole linkset to be rebuilt in post-taint time. + Refresh(child); + }); + } + } + break; + default: + ret = base.Extension(pFunct, pParams); + break; + } + return ret; + } + #endregion // Extension + } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 77d8246..4c384a6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -179,7 +179,7 @@ public class BSPrimLinkable : BSPrimDisplaced // Do any filtering/modification needed for linksets. public override void UpdateProperties(EntityProperties entprop) { - if (Linkset.IsRoot(this)) + if (Linkset.IsRoot(this) || Linkset.ShouldReportPropertyUpdates(this)) { // Properties are only updated for the roots of a linkset. // TODO: this will have to change when linksets are articulated. @@ -316,12 +316,7 @@ public class BSPrimLinkable : BSPrimDisplaced // Params: int linkNum, PhysActor linkedPrim case BSScene.PhysFunctChangeLinkFixed: { - if (pParams.Length > 1) - { - int linkNum = (int)pParams[0]; - Manager.PhysicsActor linkActor = (Manager.PhysicsActor)pParams[1]; - Linkset.Refresh(this); - } + Linkset.Extension(pFunct, pParams); break; } default: -- cgit v1.1 From b2a1348adc2bd27d3266a7d7c7594a2aa8272100 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 8 Aug 2013 16:37:37 -0700 Subject: BulletSim: update C++ HACD parameters to values that handle enclosed hollow spaces better. This shouldn't affect many since this HACD routine is off by default. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index fcb892a..737dda1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -683,21 +683,21 @@ public static class BSParam 0f ), new ParameterDefn("BHullMaxVerticesPerHull", "Bullet impl: max number of vertices per created hull", - 100f ), + 200f ), new ParameterDefn("BHullMinClusters", "Bullet impl: minimum number of hulls to create per mesh", - 2f ), + 10f ), new ParameterDefn("BHullCompacityWeight", "Bullet impl: weight factor for how compact to make hulls", - 0.1f ), + 20f ), new ParameterDefn("BHullVolumeWeight", "Bullet impl: weight factor for volume in created hull", - 0f ), + 0.1f ), new ParameterDefn("BHullConcavity", "Bullet impl: weight factor for how convex a created hull can be", - 100f ), + 10f ), new ParameterDefn("BHullAddExtraDistPoints", "Bullet impl: whether to add extra vertices for long distance vectors", - false ), + true ), new ParameterDefn("BHullAddNeighboursDistPoints", "Bullet impl: whether to add extra vertices between neighbor hulls", - false ), + true ), new ParameterDefn("BHullAddFacesPoints", "Bullet impl: whether to add extra vertices to break up hull faces", - false ), + true ), new ParameterDefn("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin", false ), -- cgit v1.1 From 455d36c4c70a55c5d48dc1410b8729929fafedf6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 9 Aug 2013 10:59:10 -0700 Subject: BulletSim: add physChangeLinkParams to set individual parameters on link constraints. Not fully functional. Remove double definition of ExtendedPhysics parameters by having BulletSim reference the optional module (addition to prebuild.xml and usings). --- .../Physics/BulletSPlugin/BSConstraintConeTwist.cs | 54 ++++++++++++++ .../Physics/BulletSPlugin/BSConstraintSlider.cs | 55 ++++++++++++++ .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 85 ++++++++-------------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 18 +++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 14 ---- 5 files changed, 153 insertions(+), 73 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs new file mode 100755 index 0000000..7a76a9a --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintConeTwist.cs @@ -0,0 +1,54 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public sealed class BSConstraintConeTwist : BSConstraint +{ + public override ConstraintType Type { get { return ConstraintType.CONETWIST_CONSTRAINT_TYPE; } } + + public BSConstraintConeTwist(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frameInAloc, Quaternion frameInArot, + Vector3 frameInBloc, Quaternion frameInBrot, + bool disableCollisionsBetweenLinkedBodies) + : base(world) + { + m_body1 = obj1; + m_body2 = obj2; + m_constraint = PhysicsScene.PE.CreateConeTwistConstraint(world, obj1, obj2, + frameInAloc, frameInArot, frameInBloc, frameInBrot, + disableCollisionsBetweenLinkedBodies); + m_enabled = true; + } +} + +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs new file mode 100755 index 0000000..37cfa07 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSlider.cs @@ -0,0 +1,55 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +using System; +using System.Collections.Generic; +using System.Text; +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ + +public sealed class BSConstraintSlider : BSConstraint +{ + public override ConstraintType Type { get { return ConstraintType.SLIDER_CONSTRAINT_TYPE; } } + + public BSConstraintSlider(BulletWorld world, BulletBody obj1, BulletBody obj2, + Vector3 frameInAloc, Quaternion frameInArot, + Vector3 frameInBloc, Quaternion frameInBrot, + bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + : base(world) + { + m_body1 = obj1; + m_body2 = obj2; + m_constraint = PhysicsScene.PE.CreateSliderConstraint(world, obj1, obj2, + frameInAloc, frameInArot, frameInBloc, frameInBrot, + useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + m_enabled = true; + } + +} + +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 17fec9d..c09dd42 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -28,6 +28,8 @@ using System; using System.Collections.Generic; using System.Text; +using OpenSim.Region.OptionalModules.Scripting; + using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin @@ -489,71 +491,46 @@ public sealed class BSLinksetConstraints : BSLinkset switch (pFunct) { // pParams = (int linkNUm, PhysActor linkChild) - case BSScene.PhysFunctChangeLinkFixed: + case ExtendedPhysics.PhysFunctChangeLinkType: if (pParams.Length > 1) { - BSPrimLinkable child = pParams[1] as BSPrimLinkable; - if (child != null) + int requestedType = (int)pParams[1]; + if (requestedType == (int)ConstraintType.FIXED_CONSTRAINT_TYPE + || requestedType == (int)ConstraintType.D6_CONSTRAINT_TYPE + || requestedType == (int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE + || requestedType == (int)ConstraintType.HINGE_CONSTRAINT_TYPE + || requestedType == (int)ConstraintType.CONETWIST_CONSTRAINT_TYPE + || requestedType == (int)ConstraintType.SLIDER_CONSTRAINT_TYPE) { - m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() + BSPrimLinkable child = pParams[0] as BSPrimLinkable; + if (child != null) { - // Pick up all the constraints currently created. - RemoveDependencies(child); - - BSLinkInfo linkInfo = null; - if (m_children.TryGetValue(child, out linkInfo)) + m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() { - BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; - if (linkInfoC != null) - { - // Setting to fixed is easy. The reset state is the fixed link configuration. - linkInfoC.ResetLink(); - ret = (object)true; - } - } - // Cause the whole linkset to be rebuilt in post-taint time. - Refresh(child); - }); - } - } - break; - case BSScene.PhysFunctChangeLinkSpring: - if (pParams.Length > 11) - { - BSPrimLinkable child = pParams[1] as BSPrimLinkable; - if (child != null) - { - m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() - { - // Pick up all the constraints currently created. - RemoveDependencies(child); + // Pick up all the constraints currently created. + RemoveDependencies(child); - BSLinkInfo linkInfo = null; - if (m_children.TryGetValue(child, out linkInfo)) - { - BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; - if (linkInfoC != null) + BSLinkInfo linkInfo = null; + if (m_children.TryGetValue(child, out linkInfo)) { - // Start with a reset link definition - linkInfoC.ResetLink(); - linkInfoC.constraintType = ConstraintType.D6_SPRING_CONSTRAINT_TYPE; - linkInfoC.frameInAloc = (OMV.Vector3)pParams[2]; - linkInfoC.frameInArot = (OMV.Quaternion)pParams[3]; - linkInfoC.frameInBloc = (OMV.Vector3)pParams[4]; - linkInfoC.frameInBrot = (OMV.Quaternion)pParams[5]; - linkInfoC.linearLimitLow = (OMV.Vector3)pParams[6]; - linkInfoC.linearLimitHigh = (OMV.Vector3)pParams[7]; - linkInfoC.angularLimitLow = (OMV.Vector3)pParams[8]; - linkInfoC.angularLimitHigh = (OMV.Vector3)pParams[9]; - ret = (object)true; + BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; + if (linkInfoC != null) + { + // Setting to fixed is easy. The reset state is the fixed link configuration. + linkInfoC.ResetLink(); + linkInfoC.constraintType = (ConstraintType)requestedType; + ret = (object)true; + } } - } - // Cause the whole linkset to be rebuilt in post-taint time. - Refresh(child); - }); + // Cause the whole linkset to be rebuilt in post-taint time. + Refresh(child); + }); + } } } break; + case ExtendedPhysics.PhysFunctChangeLinkParams: + break; default: ret = base.Extension(pFunct, pParams); break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 4c384a6..6136257 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -30,6 +30,7 @@ using System.Linq; using System.Text; using OpenSim.Framework; +using OpenSim.Region.OptionalModules.Scripting; using OMV = OpenMetaverse; @@ -286,14 +287,14 @@ public class BSPrimLinkable : BSPrimDisplaced switch (pFunct) { // physGetLinksetType(); - case BSScene.PhysFunctGetLinksetType: + case ExtendedPhysics.PhysFunctGetLinksetType: { ret = (object)LinksetType; m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret); break; } // physSetLinksetType(type); - case BSScene.PhysFunctSetLinksetType: + case ExtendedPhysics.PhysFunctSetLinksetType: { if (pParams.Length > 0) { @@ -312,9 +313,16 @@ public class BSPrimLinkable : BSPrimDisplaced } break; } - // physChangeLinkFixed(linknum); - // Params: int linkNum, PhysActor linkedPrim - case BSScene.PhysFunctChangeLinkFixed: + // physChangeLinkType(linknum, typeCode); + // Params: PhysActor linkedPrim, int typeCode + case ExtendedPhysics.PhysFunctChangeLinkType: + { + Linkset.Extension(pFunct, pParams); + break; + } + // physChangeLinkParams(linknum, [code, value, code, value, ...]); + // Params: PhysActor linkedPrim, object[] params + case ExtendedPhysics.PhysFunctChangeLinkParams: { Linkset.Extension(pFunct, pParams); break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 571db86..7440468 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -867,20 +867,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public override bool IsThreaded { get { return false; } } #region Extensions - // ============================================================= - // Per scene functions. See below. - - // Per avatar functions. See BSCharacter. - - // Per prim functions. See BSPrim. - public const string PhysFunctGetLinksetType = "BulletSim.GetLinksetType"; - public const string PhysFunctSetLinksetType = "BulletSim.SetLinksetType"; - public const string PhysFunctChangeLinkFixed = "BulletSim.ChangeLinkFixed"; - public const string PhysFunctChangeLinkHinge = "BulletSim.ChangeLinkHinge"; - public const string PhysFunctChangeLinkSpring = "BulletSim.ChangeLinkSpring"; - public const string PhysFunctChangeLinkSlider = "BulletSim.ChangeLinkSlider"; - // ============================================================= - public override object Extension(string pFunct, params object[] pParams) { return base.Extension(pFunct, pParams); -- cgit v1.1 From f6fdfd16f55c3e1bd55775f1f21e0ac9e44ff2ee Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 9 Aug 2013 17:01:35 -0700 Subject: BulletSim: change ExtendedPhysics constants to 'const' so they can be used as case variables in switch statements. --- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index c09dd42..b72afc0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -530,6 +530,28 @@ public sealed class BSLinksetConstraints : BSLinkset } break; case ExtendedPhysics.PhysFunctChangeLinkParams: + int setParam = 2; + switch (setParam) + { + case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: + case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: + case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: + case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: + case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: + case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: + case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: + case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: + case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: + case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: + case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: + case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: + case ExtendedPhysics.PHYS_PARAM_CFM: + case ExtendedPhysics.PHYS_PARAM_ERP: + case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: + case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: + case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: + break; + } break; default: ret = base.Extension(pFunct, pParams); -- cgit v1.1 From e1120cb74db9092cc0f9a7fc245d2f2ed6160b7a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 16 Aug 2013 13:44:31 -0700 Subject: BulletSim: add extended physics function physGetLinkType(linkNum). Add implementation of physChangeLinkParams() in BSLinksetConstraint. --- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 11 ++ .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 145 ++++++++++++++++++--- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 11 +- 3 files changed, 144 insertions(+), 23 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 2058e3a..77f69a5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -209,6 +209,17 @@ public abstract class BSLinkset return ret; } + public bool TryGetLinkInfo(BSPrimLinkable child, out BSLinkInfo foundInfo) + { + bool ret = false; + BSLinkInfo found = null; + lock (m_linksetActivityLock) + { + ret = m_children.TryGetValue(child, out found); + } + foundInfo = found; + return ret; + } // Perform an action on each member of the linkset including root prim. // Depends on the action on whether this should be done at taint time. public delegate bool ForEachLinkInfoAction(BSLinkInfo obj); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index b72afc0..92df84e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -168,6 +168,8 @@ public sealed class BSLinksetConstraints : BSLinkset LinksetImpl = LinksetImplementation.Constraint; } + private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINT]"; + // When physical properties are changed the linkset needs to recalculate // its internal properties. // This is queued in the 'post taint' queue so the @@ -511,7 +513,7 @@ public sealed class BSLinksetConstraints : BSLinkset RemoveDependencies(child); BSLinkInfo linkInfo = null; - if (m_children.TryGetValue(child, out linkInfo)) + if (TryGetLinkInfo(child, out linkInfo)) { BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; if (linkInfoC != null) @@ -529,28 +531,129 @@ public sealed class BSLinksetConstraints : BSLinkset } } break; + case ExtendedPhysics.PhysFunctGetLinkType: + if (pParams.Length > 0) + { + BSPrimLinkable child = pParams[0] as BSPrimLinkable; + if (child != null) + { + BSLinkInfo linkInfo = null; + if (TryGetLinkInfo(child, out linkInfo)) + { + BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; + if (linkInfoC != null) + { + ret = (object)(int)linkInfoC.constraintType; + } + } + } + } + break; case ExtendedPhysics.PhysFunctChangeLinkParams: - int setParam = 2; - switch (setParam) + // There should be two parameters: the childActor and a list of parameters to set + try + { + if (pParams.Length > 1) + { + BSPrimLinkable child = pParams[0] as BSPrimLinkable; + object[] setOps = (object[])pParams[1]; + BSLinkInfo baseLinkInfo = null; + if (TryGetLinkInfo(child, out baseLinkInfo)) + { + BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; + if (linkInfo != null) + { + float valueFloat; + bool valueBool; + OMV.Vector3 valueVector; + OMV.Quaternion valueQuaternion; + + int opIndex = 0; + while (opIndex < setOps.Length) + { + int thisOp = (int)setOps[opIndex]; + switch (thisOp) + { + case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.frameInAloc = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: + valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1]; + linkInfo.frameInArot = valueQuaternion; + break; + case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.frameInBloc = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: + valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1]; + linkInfo.frameInBrot = valueQuaternion; + break; + case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.linearLimitLow = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.linearLimitHigh = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.angularLimitLow = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: + valueVector = (OMV.Vector3)setOps[opIndex + 1]; + linkInfo.angularLimitHigh = valueVector; + break; + case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: + valueBool = (bool)setOps[opIndex + 1]; + linkInfo.useFrameOffset = valueBool; + break; + case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: + valueBool = (bool)setOps[opIndex + 1]; + linkInfo.enableTransMotor = valueBool; + break; + case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.transMotorMaxVel = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.transMotorMaxForce = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_CFM: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.cfm = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_ERP: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.erp = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.solverIterations = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.springDamping = valueFloat; + break; + case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: + valueFloat = (float)setOps[opIndex + 1]; + linkInfo.springStiffness = valueFloat; + break; + default: + break; + } + } + } + } + } + } + catch (Exception e) { - case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: - case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: - case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: - case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: - case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: - case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: - case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: - case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: - case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: - case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: - case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: - case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: - case ExtendedPhysics.PHYS_PARAM_CFM: - case ExtendedPhysics.PHYS_PARAM_ERP: - case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: - case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: - case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: - break; + // There are many ways to mess up the parameters. If not just right don't fail without some error. + m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e); } break; default: diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 6136257..28ea8c0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -317,14 +317,21 @@ public class BSPrimLinkable : BSPrimDisplaced // Params: PhysActor linkedPrim, int typeCode case ExtendedPhysics.PhysFunctChangeLinkType: { - Linkset.Extension(pFunct, pParams); + ret = Linkset.Extension(pFunct, pParams); + break; + } + // physGetLinkType(linknum); + // Params: PhysActor linkedPrim + case ExtendedPhysics.PhysFunctGetLinkType: + { + ret = Linkset.Extension(pFunct, pParams); break; } // physChangeLinkParams(linknum, [code, value, code, value, ...]); // Params: PhysActor linkedPrim, object[] params case ExtendedPhysics.PhysFunctChangeLinkParams: { - Linkset.Extension(pFunct, pParams); + ret = Linkset.Extension(pFunct, pParams); break; } default: -- cgit v1.1 From 6d83f3f02190509119f65da92def19d08ef825f9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 19 Aug 2013 11:08:22 -0700 Subject: BulletSim: adjust avatar capsule height calculation to be closer to defined SL heights. Correct BSParam avatar height defaults to be what's in OpenSimDefaults.ini. --- OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 15 ++++++++++----- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 4 ++-- 2 files changed, 12 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 291dfcd..28b2a7e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -676,18 +676,20 @@ public sealed class BSCharacter : BSPhysObject float heightAdjust = BSParam.AvatarHeightMidFudge; if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f) { - // An avatar is between 1.61 and 2.12 meters. Midpoint is 1.87m. - // The "times 4" relies on the fact that the difference from the midpoint to the extremes is exactly 0.25 - float midHeightOffset = size.Z - 1.87f; + const float AVATAR_LOW = 1.1f; + const float AVATAR_MID = 1.775f; // 1.87f + const float AVATAR_HI = 2.45f; + // An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m. + float midHeightOffset = size.Z - AVATAR_MID; if (midHeightOffset < 0f) { // Small avatar. Add the adjustment based on the distance from midheight - heightAdjust += -1f * midHeightOffset * 4f * BSParam.AvatarHeightLowFudge; + heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge; } else { // Large avatar. Add the adjustment based on the distance from midheight - heightAdjust += midHeightOffset * 4f * BSParam.AvatarHeightHighFudge; + heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge; } } // The total scale height is the central cylindar plus the caps on the two ends. @@ -698,6 +700,9 @@ public sealed class BSCharacter : BSPhysObject if (newScale.Z < 0) newScale.Z = 0.1f; + DetailLog("{0},BSCharacter.ComputerAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}", + LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale); + return newScale; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 737dda1..4e92e6d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -570,9 +570,9 @@ public static class BSParam new ParameterDefn("AvatarHeightLowFudge", "A fudge factor to make small avatars stand on the ground", -0.2f ), new ParameterDefn("AvatarHeightMidFudge", "A fudge distance to adjust average sized avatars to be standing on ground", - 0.2f ), + 0.1f ), new ParameterDefn("AvatarHeightHighFudge", "A fudge factor to make tall avatars stand on the ground", - 0.2f ), + 0.1f ), new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 0.1f ), new ParameterDefn("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground", -- cgit v1.1 From 4781297b4ee5908b76039ce3b38291eb2e89e157 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Aug 2013 08:14:08 -0700 Subject: BulletSim: Extension parameters passed through the classes made to pass just and array of objects rather than a mixture of parameters and array. Makes understanding and parsing what is being passed much easier. --- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 93 ++++++++++++++++------ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 1 + .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 15 ++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 + 4 files changed, 80 insertions(+), 30 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 92df84e..87716b4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -343,7 +343,7 @@ public sealed class BSLinksetConstraints : BSLinkset // real world coordinate of midpoint between the two objects OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2); - DetailLog("{0},BSLinksetConstraint.BuildConstraint,6Dof,rBody={1},cBody={2},rLoc={3},cLoc={4},midLoc={7}", + DetailLog("{0},BSLinksetConstraint.BuildConstraint,6Dof,rBody={1},cBody={2},rLoc={3},cLoc={4},midLoc={5}", rootPrim.LocalID, rootPrim.PhysBody, linkInfo.member.PhysBody, rootPrim.Position, linkInfo.member.Position, midPoint); @@ -492,11 +492,12 @@ public sealed class BSLinksetConstraints : BSLinkset object ret = null; switch (pFunct) { - // pParams = (int linkNUm, PhysActor linkChild) + // pParams = [ BSPhysObject child, integer linkType ] case ExtendedPhysics.PhysFunctChangeLinkType: if (pParams.Length > 1) { int requestedType = (int)pParams[1]; + DetailLog("{0},BSLinksetConstraint.SetLinkType,requestedType={1}", LinksetRoot.LocalID, requestedType); if (requestedType == (int)ConstraintType.FIXED_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.D6_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE @@ -507,7 +508,7 @@ public sealed class BSLinksetConstraints : BSLinkset BSPrimLinkable child = pParams[0] as BSPrimLinkable; if (child != null) { - m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkFixed", delegate() + m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkType", delegate() { // Pick up all the constraints currently created. RemoveDependencies(child); @@ -522,15 +523,35 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfoC.ResetLink(); linkInfoC.constraintType = (ConstraintType)requestedType; ret = (object)true; + DetailLog("{0},BSLinksetConstraint.SetLinkType,link={1},type={2}", + linkInfo.member.LocalID, linkInfo.member.LocalID, linkInfoC.constraintType); + } + else + { + DetailLog("{0},BSLinksetConstraint.SetLinkType,linkInfoNotConstraint,childID={1}", LinksetRoot.LocalID, child.LocalID); } } + else + { + DetailLog("{0},BSLinksetConstraint.SetLinkType,noLinkInfoForChild,childID={1}", LinksetRoot.LocalID, child.LocalID); + } // Cause the whole linkset to be rebuilt in post-taint time. Refresh(child); }); } + else + { + DetailLog("{0},BSLinksetConstraint.SetLinkType,childNotBSPrimLinkable", LinksetRoot.LocalID); + } + } + else + { + DetailLog("{0},BSLinksetConstraint.SetLinkType,illegalRequestedType,reqested={1},spring={2}", + LinksetRoot.LocalID, requestedType, ((int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE)); } } break; + // pParams = [] case ExtendedPhysics.PhysFunctGetLinkType: if (pParams.Length > 0) { @@ -544,11 +565,15 @@ public sealed class BSLinksetConstraints : BSLinkset if (linkInfoC != null) { ret = (object)(int)linkInfoC.constraintType; + DetailLog("{0},BSLinksetConstraint.GetLinkType,link={1},type={2}", + linkInfo.member.LocalID, linkInfo.member.LocalID, linkInfoC.constraintType); + } } } } break; + // pParams = [ BSPhysObject child, int op, object opParams, int op, object opParams, ... ] case ExtendedPhysics.PhysFunctChangeLinkParams: // There should be two parameters: the childActor and a list of parameters to set try @@ -556,7 +581,6 @@ public sealed class BSLinksetConstraints : BSLinkset if (pParams.Length > 1) { BSPrimLinkable child = pParams[0] as BSPrimLinkable; - object[] setOps = (object[])pParams[1]; BSLinkInfo baseLinkInfo = null; if (TryGetLinkInfo(child, out baseLinkInfo)) { @@ -568,85 +592,106 @@ public sealed class BSLinksetConstraints : BSLinkset OMV.Vector3 valueVector; OMV.Quaternion valueQuaternion; - int opIndex = 0; - while (opIndex < setOps.Length) + int opIndex = 1; + while (opIndex < pParams.Length) { - int thisOp = (int)setOps[opIndex]; + int thisOp = (int)pParams[opIndex]; + DetailLog("{0},BSLinksetConstraint.ChangeLinkParams2,op={1},val={2}", + linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); switch (thisOp) { case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.frameInAloc = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: - valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1]; + valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1]; linkInfo.frameInArot = valueQuaternion; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.frameInBloc = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: - valueQuaternion = (OMV.Quaternion)setOps[opIndex + 1]; + valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1]; linkInfo.frameInBrot = valueQuaternion; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.linearLimitLow = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.linearLimitHigh = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.angularLimitLow = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: - valueVector = (OMV.Vector3)setOps[opIndex + 1]; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.angularLimitHigh = valueVector; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: - valueBool = (bool)setOps[opIndex + 1]; + valueBool = (bool)pParams[opIndex + 1]; linkInfo.useFrameOffset = valueBool; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: - valueBool = (bool)setOps[opIndex + 1]; + valueBool = (bool)pParams[opIndex + 1]; linkInfo.enableTransMotor = valueBool; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.transMotorMaxVel = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.transMotorMaxForce = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_CFM: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.cfm = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ERP: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.erp = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.solverIterations = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.springDamping = valueFloat; + opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: - valueFloat = (float)setOps[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 1]; linkInfo.springStiffness = valueFloat; + opIndex += 2; break; default: break; } } } + // Something changed so a rebuild is in order + Refresh(child); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4685b48..45056bc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1552,6 +1552,7 @@ public class BSPrim : BSPhysObject #region Extension public override object Extension(string pFunct, params object[] pParams) { + DetailLog("{0} BSPrim.Extension,op={1}", LocalID, pFunct); object ret = null; switch (pFunct) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 28ea8c0..531f8fb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -283,17 +283,20 @@ public class BSPrimLinkable : BSPrimDisplaced #region Extension public override object Extension(string pFunct, params object[] pParams) { + DetailLog("{0} BSPrimLinkable.Extension,op={1},nParam={2}", LocalID, pFunct, pParams.Length); object ret = null; switch (pFunct) { // physGetLinksetType(); + // pParams = [] case ExtendedPhysics.PhysFunctGetLinksetType: { ret = (object)LinksetType; - m_log.DebugFormat("{0} Extension.physGetLinksetType, type={1}", LogHeader, ret); + DetailLog("{0},BSPrimLinkable.Extension.physGetLinksetType,type={1}", LocalID, ret); break; } // physSetLinksetType(type); + // pParams = [ BSPhysObject child, integer type ] case ExtendedPhysics.PhysFunctSetLinksetType: { if (pParams.Length > 0) @@ -304,8 +307,8 @@ public class BSPrimLinkable : BSPrimDisplaced PhysScene.TaintedObject("BSPrim.PhysFunctSetLinksetType", delegate() { // Cause the linkset type to change - m_log.DebugFormat("{0} Extension.physSetLinksetType, oldType={1}, newType={2}", - LogHeader, Linkset.LinksetImpl, linksetType); + DetailLog("{0},BSPrimLinkable.Extension.physSetLinksetType, oldType={1},newType={2}", + LocalID, Linkset.LinksetImpl, linksetType); ConvertLinkset(linksetType); }); } @@ -314,21 +317,21 @@ public class BSPrimLinkable : BSPrimDisplaced break; } // physChangeLinkType(linknum, typeCode); - // Params: PhysActor linkedPrim, int typeCode + // pParams = [ BSPhysObject child, integer linkType ] case ExtendedPhysics.PhysFunctChangeLinkType: { ret = Linkset.Extension(pFunct, pParams); break; } // physGetLinkType(linknum); - // Params: PhysActor linkedPrim + // pParams = [ BSPhysObject child ] case ExtendedPhysics.PhysFunctGetLinkType: { ret = Linkset.Extension(pFunct, pParams); break; } // physChangeLinkParams(linknum, [code, value, code, value, ...]); - // Params: PhysActor linkedPrim, object[] params + // pParams = [ BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ] case ExtendedPhysics.PhysFunctChangeLinkParams: { ret = Linkset.Extension(pFunct, pParams); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 7440468..b2ec0e5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -869,6 +869,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #region Extensions public override object Extension(string pFunct, params object[] pParams) { + DetailLog("{0} BSScene.Extension,op={1}", DetailLogZero, pFunct); return base.Extension(pFunct, pParams); } #endregion // Extensions -- cgit v1.1 From 995314f91f72eef0048a58f30e8dd8051f6bf14e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Aug 2013 09:20:48 -0700 Subject: BulletSim: add ID parameter to TaintedObject calls so logging will include LocalID of object which created the taint. --- .../Physics/BulletSPlugin/BSActorAvatarMove.cs | 2 +- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 26 +++++----- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 6 +-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 58 +++++++++++----------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 6 +-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 55 +++++++++++++------- 8 files changed, 89 insertions(+), 70 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 68bc1b9..04a4a32 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -105,7 +105,7 @@ public class BSActorAvatarMove : BSActor // into the movement motor. public void SetVelocityAndTarget(OMV.Vector3 vel, OMV.Vector3 targ, bool inTaintTime) { - m_physicsScene.TaintedObject(inTaintTime, "BSActorAvatarMove.setVelocityAndTarget", delegate() + m_physicsScene.TaintedObject(inTaintTime, m_controllingPrim.LocalID, "BSActorAvatarMove.setVelocityAndTarget", delegate() { if (m_velocityMotor != null) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 28b2a7e..fc18960 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -93,7 +93,7 @@ public sealed class BSCharacter : BSPhysObject LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos); // do actual creation in taint time - PhysScene.TaintedObject("BSCharacter.create", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); // New body and shape into PhysBody and PhysShape @@ -121,7 +121,7 @@ public sealed class BSCharacter : BSPhysObject base.Destroy(); DetailLog("{0},BSCharacter.Destroy", LocalID); - PhysScene.TaintedObject("BSCharacter.destroy", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.destroy", delegate() { PhysScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */); PhysBody.Clear(); @@ -209,7 +209,7 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, Density, _avatarVolume, RawMass); - PhysScene.TaintedObject("BSCharacter.setSize", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate() { if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape) { @@ -257,7 +257,7 @@ public sealed class BSCharacter : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - PhysScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) PhysScene.PE.ClearAllForces(PhysBody); @@ -267,7 +267,7 @@ public sealed class BSCharacter : BSPhysObject { _rotationalVelocity = OMV.Vector3.Zero; - PhysScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) { @@ -291,7 +291,7 @@ public sealed class BSCharacter : BSPhysObject set { RawPosition = value; - PhysScene.TaintedObject("BSCharacter.setPosition", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); PositionSanityCheck(); @@ -363,7 +363,7 @@ public sealed class BSCharacter : BSPhysObject { // The new position value must be pushed into the physics engine but we can't // just assign to "Position" because of potential call loops. - PhysScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.PositionSanityCheck", delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); ForcePosition = RawPosition; @@ -390,7 +390,7 @@ public sealed class BSCharacter : BSPhysObject set { RawForce = value; // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); - PhysScene.TaintedObject("BSCharacter.SetForce", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.SetForce", delegate() { DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce); if (PhysBody.HasPhysicalBody) @@ -438,7 +438,7 @@ public sealed class BSCharacter : BSPhysObject set { RawVelocity = value; // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, RawVelocity); - PhysScene.TaintedObject("BSCharacter.setVelocity", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.setVelocity", delegate() { if (m_moveActor != null) m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, true /* inTaintTime */); @@ -480,7 +480,7 @@ public sealed class BSCharacter : BSPhysObject if (RawOrientation != value) { RawOrientation = value; - PhysScene.TaintedObject("BSCharacter.setOrientation", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.setOrientation", delegate() { // 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. @@ -560,7 +560,7 @@ public sealed class BSCharacter : BSPhysObject public override bool FloatOnWater { set { _floatOnWater = value; - PhysScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.setFloatOnWater", delegate() { if (PhysBody.HasPhysicalBody) { @@ -588,7 +588,7 @@ public sealed class BSCharacter : BSPhysObject public override float Buoyancy { get { return _buoyancy; } set { _buoyancy = value; - PhysScene.TaintedObject("BSCharacter.setBuoyancy", delegate() + PhysScene.TaintedObject(LocalID, "BSCharacter.setBuoyancy", delegate() { DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); ForceBuoyancy = _buoyancy; @@ -633,7 +633,7 @@ public sealed class BSCharacter : BSPhysObject OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce); - PhysScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.AddForce", delegate() { // Bullet adds this central force to the total force for this tick // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 87716b4..b2a9501 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -297,7 +297,7 @@ public sealed class BSLinksetConstraints : BSLinkset rootx.LocalID, rootx.PhysBody.AddrString, childx.LocalID, childx.PhysBody.AddrString); - m_physicsScene.TaintedObject(inTaintTime, "BSLinksetConstraints.RemoveChildFromLinkset", delegate() + m_physicsScene.TaintedObject(inTaintTime, childx.LocalID, "BSLinksetConstraints.RemoveChildFromLinkset", delegate() { PhysicallyUnlinkAChildFromRoot(rootx, childx); }); @@ -508,7 +508,7 @@ public sealed class BSLinksetConstraints : BSLinkset BSPrimLinkable child = pParams[0] as BSPrimLinkable; if (child != null) { - m_physicsScene.TaintedObject("BSLinksetConstraint.PhysFunctChangeLinkType", delegate() + m_physicsScene.TaintedObject(child.LocalID, "BSLinksetConstraint.PhysFunctChangeLinkType", delegate() { // Pick up all the constraints currently created. RemoveDependencies(child); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 4e92e6d..2f1799b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -826,7 +826,7 @@ public static class BSParam private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v) { BSScene physScene = pPhysScene; - physScene.TaintedObject("BSParam.ResetConstraintSolver", delegate() + physScene.TaintedObject(BSScene.DetailLogZero, "BSParam.ResetConstraintSolver", delegate() { physScene.PE.ResetConstraintSolver(physScene.World); }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 9dc52d5..2efb1a5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -121,7 +121,7 @@ public abstract class BSPhysObject : PhysicsActor public virtual void Destroy() { PhysicalActors.Enable(false); - PhysScene.TaintedObject("BSPhysObject.Destroy", delegate() + PhysScene.TaintedObject(LocalID, "BSPhysObject.Destroy", delegate() { PhysicalActors.Dispose(); }); @@ -509,7 +509,7 @@ public abstract class BSPhysObject : PhysicsActor // make sure first collision happens NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); - PhysScene.TaintedObject(TypeName+".SubscribeEvents", delegate() + PhysScene.TaintedObject(LocalID, TypeName+".SubscribeEvents", delegate() { if (PhysBody.HasPhysicalBody) CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); @@ -524,7 +524,7 @@ public abstract class BSPhysObject : PhysicsActor public override void UnSubscribeEvents() { // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); SubscribedEventsMs = 0; - PhysScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() + PhysScene.TaintedObject(LocalID, TypeName+".UnSubscribeEvents", delegate() { // Make sure there is a body there because sometimes destruction happens in an un-ideal order. if (PhysBody.HasPhysicalBody) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 45056bc..15b7090 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -102,7 +102,7 @@ public class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time - PhysScene.TaintedObject("BSPrim.create", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.create", delegate() { // Make sure the object is being created with some sanity. ExtremeSanityCheck(true /* inTaintTime */); @@ -126,7 +126,7 @@ public class BSPrim : BSPhysObject // Undo any vehicle properties this.VehicleType = (int)Vehicle.TYPE_NONE; - PhysScene.TaintedObject("BSPrim.Destroy", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.Destroy", delegate() { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // If there are physical body and shape, release my use of same. @@ -161,7 +161,7 @@ public class BSPrim : BSPhysObject } public override bool ForceBodyShapeRebuild(bool inTaintTime) { - PhysScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ForceBodyShapeRebuild", delegate() { _mass = CalculateMass(); // changing the shape changes the mass CreateGeomAndObject(true); @@ -178,7 +178,7 @@ public class BSPrim : BSPhysObject if (value != _isSelected) { _isSelected = value; - PhysScene.TaintedObject("BSPrim.setSelected", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setSelected", delegate() { DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); SetObjectDynamic(false); @@ -224,7 +224,7 @@ public class BSPrim : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties in the physics engine - PhysScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) PhysScene.PE.ClearAllForces(PhysBody); @@ -234,7 +234,7 @@ public class BSPrim : BSPhysObject { _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties in the physics engine - PhysScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ZeroMotion", delegate() { // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); if (PhysBody.HasPhysicalBody) @@ -262,7 +262,7 @@ public class BSPrim : BSPhysObject }); // Update parameters so the new actor's Refresh() action is called at the right time. - PhysScene.TaintedObject("BSPrim.LockAngularMotion", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.LockAngularMotion", delegate() { UpdatePhysicalParameters(); }); @@ -287,7 +287,7 @@ public class BSPrim : BSPhysObject RawPosition = value; PositionSanityCheck(false); - PhysScene.TaintedObject("BSPrim.setPosition", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setPosition", delegate() { DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); ForcePosition = RawPosition; @@ -531,7 +531,7 @@ public class BSPrim : BSPhysObject set { Vehicle type = (Vehicle)value; - PhysScene.TaintedObject("setVehicleType", delegate() + PhysScene.TaintedObject(LocalID, "setVehicleType", delegate() { // 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 @@ -561,7 +561,7 @@ public class BSPrim : BSPhysObject } public override void VehicleFloatParam(int param, float value) { - PhysScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.VehicleFloatParam", delegate() { BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) @@ -573,7 +573,7 @@ public class BSPrim : BSPhysObject } public override void VehicleVectorParam(int param, OMV.Vector3 value) { - PhysScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.VehicleVectorParam", delegate() { BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) @@ -585,7 +585,7 @@ public class BSPrim : BSPhysObject } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { - PhysScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.VehicleRotationParam", delegate() { BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) @@ -597,7 +597,7 @@ public class BSPrim : BSPhysObject } public override void VehicleFlags(int param, bool remove) { - PhysScene.TaintedObject("BSPrim.VehicleFlags", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.VehicleFlags", delegate() { BSDynamics vehicleActor = GetVehicleActor(true /* createIfNone */); if (vehicleActor != null) @@ -613,7 +613,7 @@ public class BSPrim : BSPhysObject if (_isVolumeDetect != newValue) { _isVolumeDetect = newValue; - PhysScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.SetVolumeDetect", delegate() { // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); SetObjectDynamic(true); @@ -628,7 +628,7 @@ public class BSPrim : BSPhysObject public override void SetMaterial(int material) { base.SetMaterial(material); - PhysScene.TaintedObject("BSPrim.SetMaterial", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.SetMaterial", delegate() { UpdatePhysicalParameters(); }); @@ -641,7 +641,7 @@ public class BSPrim : BSPhysObject if (base.Friction != value) { base.Friction = value; - PhysScene.TaintedObject("BSPrim.setFriction", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setFriction", delegate() { UpdatePhysicalParameters(); }); @@ -656,7 +656,7 @@ public class BSPrim : BSPhysObject if (base.Restitution != value) { base.Restitution = value; - PhysScene.TaintedObject("BSPrim.setRestitution", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setRestitution", delegate() { UpdatePhysicalParameters(); }); @@ -673,7 +673,7 @@ public class BSPrim : BSPhysObject if (base.Density != value) { base.Density = value; - PhysScene.TaintedObject("BSPrim.setDensity", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setDensity", delegate() { UpdatePhysicalParameters(); }); @@ -688,7 +688,7 @@ public class BSPrim : BSPhysObject if (base.GravModifier != value) { base.GravModifier = value; - PhysScene.TaintedObject("BSPrim.setGravityModifier", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setGravityModifier", delegate() { UpdatePhysicalParameters(); }); @@ -699,7 +699,7 @@ public class BSPrim : BSPhysObject get { return RawVelocity; } set { RawVelocity = value; - PhysScene.TaintedObject("BSPrim.setVelocity", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setVelocity", delegate() { // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, RawVelocity); ForceVelocity = RawVelocity; @@ -745,7 +745,7 @@ public class BSPrim : BSPhysObject return; RawOrientation = value; - PhysScene.TaintedObject("BSPrim.setOrientation", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setOrientation", delegate() { ForceOrientation = RawOrientation; }); @@ -776,7 +776,7 @@ public class BSPrim : BSPhysObject if (_isPhysical != value) { _isPhysical = value; - PhysScene.TaintedObject("BSPrim.setIsPhysical", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setIsPhysical", delegate() { DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); SetObjectDynamic(true); @@ -1020,7 +1020,7 @@ public class BSPrim : BSPhysObject public override bool FloatOnWater { set { _floatOnWater = value; - PhysScene.TaintedObject("BSPrim.setFloatOnWater", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setFloatOnWater", delegate() { if (_floatOnWater) CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); @@ -1037,7 +1037,7 @@ public class BSPrim : BSPhysObject _rotationalVelocity = value; Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity); // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); - PhysScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setRotationalVelocity", delegate() { ForceRotationalVelocity = _rotationalVelocity; }); @@ -1068,7 +1068,7 @@ public class BSPrim : BSPhysObject get { return _buoyancy; } set { _buoyancy = value; - PhysScene.TaintedObject("BSPrim.setBuoyancy", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.setBuoyancy", delegate() { ForceBuoyancy = _buoyancy; }); @@ -1142,7 +1142,7 @@ public class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); OMV.Vector3 addForce = force; - PhysScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.AddForce", delegate() { // Bullet adds this central force to the total force for this tick. // Deep down in Bullet: @@ -1172,7 +1172,7 @@ public class BSPrim : BSPhysObject OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude); // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse); - PhysScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.AddImpulse", delegate() { // Bullet adds this impulse immediately to the velocity DetailLog("{0},BSPrim.addForceImpulse,taint,impulseforce={1}", LocalID, addImpulse); @@ -1197,7 +1197,7 @@ public class BSPrim : BSPhysObject if (force.IsFinite()) { OMV.Vector3 angForce = force; - PhysScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.AddAngularForce", delegate() { if (PhysBody.HasPhysicalBody) { @@ -1221,7 +1221,7 @@ public class BSPrim : BSPhysObject public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime) { OMV.Vector3 applyImpulse = impulse; - PhysScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() + PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ApplyTorqueImpulse", delegate() { if (PhysBody.HasPhysicalBody) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 531f8fb..840265b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -108,7 +108,7 @@ public class BSPrimLinkable : BSPrimDisplaced set { base.Position = value; - PhysScene.TaintedObject("BSPrimLinkable.setPosition", delegate() + PhysScene.TaintedObject(LocalID, "BSPrimLinkable.setPosition", delegate() { Linkset.UpdateProperties(UpdatedProperties.Position, this); }); @@ -122,7 +122,7 @@ public class BSPrimLinkable : BSPrimDisplaced set { base.Orientation = value; - PhysScene.TaintedObject("BSPrimLinkable.setOrientation", delegate() + PhysScene.TaintedObject(LocalID, "BSPrimLinkable.setOrientation", delegate() { Linkset.UpdateProperties(UpdatedProperties.Orientation, this); }); @@ -304,7 +304,7 @@ public class BSPrimLinkable : BSPrimDisplaced BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[0]; if (Linkset.IsRoot(this)) { - PhysScene.TaintedObject("BSPrim.PhysFunctSetLinksetType", delegate() + PhysScene.TaintedObject(LocalID, "BSPrim.PhysFunctSetLinksetType", delegate() { // Cause the linkset type to change DetailLog("{0},BSPrimLinkable.Extension.physSetLinksetType, oldType={1},newType={2}", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index b2ec0e5..24233cc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -157,12 +157,20 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public delegate void TaintCallback(); private struct TaintCallbackEntry { + public String originator; public String ident; public TaintCallback callback; - public TaintCallbackEntry(string i, TaintCallback c) + public TaintCallbackEntry(string pIdent, TaintCallback pCallBack) { - ident = i; - callback = c; + originator = BSScene.DetailLogZero; + ident = pIdent; + callback = pCallBack; + } + public TaintCallbackEntry(string pOrigin, string pIdent, TaintCallback pCallBack) + { + originator = pOrigin; + ident = pIdent; + callback = pCallBack; } } private Object _taintLock = new Object(); // lock for using the next object @@ -888,26 +896,37 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Calls to the PhysicsActors can't directly call into the physics engine // because it might be busy. We delay changes to a known time. // We rely on C#'s closure to save and restore the context for the delegate. - public void TaintedObject(String ident, TaintCallback callback) + public void TaintedObject(string pOriginator, string pIdent, TaintCallback pCallback) { - if (!m_initialized) return; - - lock (_taintLock) - { - _taintOperations.Add(new TaintCallbackEntry(ident, callback)); - } - - return; + TaintedObject(false /*inTaintTime*/, pOriginator, pIdent, pCallback); + } + public void TaintedObject(uint pOriginator, String pIdent, TaintCallback pCallback) + { + TaintedObject(false /*inTaintTime*/, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback); + } + public void TaintedObject(bool inTaintTime, String pIdent, TaintCallback pCallback) + { + TaintedObject(inTaintTime, BSScene.DetailLogZero, pIdent, pCallback); + } + public void TaintedObject(bool inTaintTime, uint pOriginator, String pIdent, TaintCallback pCallback) + { + TaintedObject(inTaintTime, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback); } - // Sometimes a potentially tainted operation can be used in and out of taint time. // This routine executes the command immediately if in taint-time otherwise it is queued. - public void TaintedObject(bool inTaintTime, string ident, TaintCallback callback) + public void TaintedObject(bool inTaintTime, string pOriginator, string pIdent, TaintCallback pCallback) { + if (!m_initialized) return; + if (inTaintTime) - callback(); + pCallback(); else - TaintedObject(ident, callback); + { + lock (_taintLock) + { + _taintOperations.Add(new TaintCallbackEntry(pOriginator, pIdent, pCallback)); + } + } } private void TriggerPreStepEvent(float timeStep) @@ -951,7 +970,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { try { - DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG + DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", tcbe.originator, tcbe.ident); // DEBUG DEBUG DEBUG tcbe.callback(); } catch (Exception e) @@ -1081,7 +1100,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters string xval = val; List xlIDs = lIDs; string xparm = parm; - TaintedObject("BSScene.UpdateParameterSet", delegate() { + TaintedObject(DetailLogZero, "BSScene.UpdateParameterSet", delegate() { BSParam.ParameterDefnBase thisParam; if (BSParam.TryGetParameter(xparm, out thisParam)) { -- cgit v1.1 From d09c35f5063114880aecb94a938bfc49f5af5f7d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 20 Aug 2013 13:09:40 -0700 Subject: BulletSim: pass both root and child BSPhysObjects to Extension function. Update routines to use the new parameters list from above change. --- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 32 ++++++++++++---------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 14 +++++----- 2 files changed, 24 insertions(+), 22 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index b2a9501..a9ae89d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -385,7 +385,7 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfo.frameInAloc, linkInfo.frameInArot, linkInfo.frameInBloc, linkInfo.frameInBrot, true /*useLinearReferenceFrameA*/, true /*disableCollisionsBetweenLinkedBodies*/); - DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", + DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6}", rootPrim.LocalID, rootPrim.LocalID, rootPrim.PhysBody.AddrString, linkInfo.member.LocalID, linkInfo.member.PhysBody.AddrString, @@ -492,12 +492,12 @@ public sealed class BSLinksetConstraints : BSLinkset object ret = null; switch (pFunct) { - // pParams = [ BSPhysObject child, integer linkType ] + // pParams = [ BSPhysObject root, BSPhysObject child, integer linkType ] case ExtendedPhysics.PhysFunctChangeLinkType: - if (pParams.Length > 1) + if (pParams.Length > 2) { - int requestedType = (int)pParams[1]; - DetailLog("{0},BSLinksetConstraint.SetLinkType,requestedType={1}", LinksetRoot.LocalID, requestedType); + int requestedType = (int)pParams[2]; + DetailLog("{0},BSLinksetConstraint.ChangeLinkType,requestedType={1}", LinksetRoot.LocalID, requestedType); if (requestedType == (int)ConstraintType.FIXED_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.D6_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.D6_SPRING_CONSTRAINT_TYPE @@ -505,9 +505,11 @@ public sealed class BSLinksetConstraints : BSLinkset || requestedType == (int)ConstraintType.CONETWIST_CONSTRAINT_TYPE || requestedType == (int)ConstraintType.SLIDER_CONSTRAINT_TYPE) { - BSPrimLinkable child = pParams[0] as BSPrimLinkable; + BSPrimLinkable child = pParams[1] as BSPrimLinkable; if (child != null) { + DetailLog("{0},BSLinksetConstraint.ChangeLinkType,rootID={1},childID={2},type={3}", + LinksetRoot.LocalID, LinksetRoot.LocalID, child.LocalID, requestedType); m_physicsScene.TaintedObject(child.LocalID, "BSLinksetConstraint.PhysFunctChangeLinkType", delegate() { // Pick up all the constraints currently created. @@ -523,17 +525,17 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfoC.ResetLink(); linkInfoC.constraintType = (ConstraintType)requestedType; ret = (object)true; - DetailLog("{0},BSLinksetConstraint.SetLinkType,link={1},type={2}", + DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}", linkInfo.member.LocalID, linkInfo.member.LocalID, linkInfoC.constraintType); } else { - DetailLog("{0},BSLinksetConstraint.SetLinkType,linkInfoNotConstraint,childID={1}", LinksetRoot.LocalID, child.LocalID); + DetailLog("{0},BSLinksetConstraint.ChangeLinkType,linkInfoNotConstraint,childID={1}", LinksetRoot.LocalID, child.LocalID); } } else { - DetailLog("{0},BSLinksetConstraint.SetLinkType,noLinkInfoForChild,childID={1}", LinksetRoot.LocalID, child.LocalID); + DetailLog("{0},BSLinksetConstraint.ChangeLinkType,noLinkInfoForChild,childID={1}", LinksetRoot.LocalID, child.LocalID); } // Cause the whole linkset to be rebuilt in post-taint time. Refresh(child); @@ -551,11 +553,11 @@ public sealed class BSLinksetConstraints : BSLinkset } } break; - // pParams = [] + // pParams = [ BSPhysObject root, BSPhysObject child ] case ExtendedPhysics.PhysFunctGetLinkType: if (pParams.Length > 0) { - BSPrimLinkable child = pParams[0] as BSPrimLinkable; + BSPrimLinkable child = pParams[1] as BSPrimLinkable; if (child != null) { BSLinkInfo linkInfo = null; @@ -573,14 +575,14 @@ public sealed class BSLinksetConstraints : BSLinkset } } break; - // pParams = [ BSPhysObject child, int op, object opParams, int op, object opParams, ... ] + // pParams = [ BSPhysObject root, BSPhysObject child, int op, object opParams, int op, object opParams, ... ] case ExtendedPhysics.PhysFunctChangeLinkParams: // There should be two parameters: the childActor and a list of parameters to set try { - if (pParams.Length > 1) + if (pParams.Length > 2) { - BSPrimLinkable child = pParams[0] as BSPrimLinkable; + BSPrimLinkable child = pParams[1] as BSPrimLinkable; BSLinkInfo baseLinkInfo = null; if (TryGetLinkInfo(child, out baseLinkInfo)) { @@ -592,7 +594,7 @@ public sealed class BSLinksetConstraints : BSLinkset OMV.Vector3 valueVector; OMV.Quaternion valueQuaternion; - int opIndex = 1; + int opIndex = 2; while (opIndex < pParams.Length) { int thisOp = (int)pParams[opIndex]; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 840265b..126b146 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -288,7 +288,7 @@ public class BSPrimLinkable : BSPrimDisplaced switch (pFunct) { // physGetLinksetType(); - // pParams = [] + // pParams = [ BSPhysObject root, null ] case ExtendedPhysics.PhysFunctGetLinksetType: { ret = (object)LinksetType; @@ -296,12 +296,12 @@ public class BSPrimLinkable : BSPrimDisplaced break; } // physSetLinksetType(type); - // pParams = [ BSPhysObject child, integer type ] + // pParams = [ BSPhysObject root, null, integer type ] case ExtendedPhysics.PhysFunctSetLinksetType: { - if (pParams.Length > 0) + if (pParams.Length > 2) { - BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[0]; + BSLinkset.LinksetImplementation linksetType = (BSLinkset.LinksetImplementation)pParams[2]; if (Linkset.IsRoot(this)) { PhysScene.TaintedObject(LocalID, "BSPrim.PhysFunctSetLinksetType", delegate() @@ -317,21 +317,21 @@ public class BSPrimLinkable : BSPrimDisplaced break; } // physChangeLinkType(linknum, typeCode); - // pParams = [ BSPhysObject child, integer linkType ] + // pParams = [ BSPhysObject root, BSPhysObject child, integer linkType ] case ExtendedPhysics.PhysFunctChangeLinkType: { ret = Linkset.Extension(pFunct, pParams); break; } // physGetLinkType(linknum); - // pParams = [ BSPhysObject child ] + // pParams = [ BSPhysObject root, BSPhysObject child ] case ExtendedPhysics.PhysFunctGetLinkType: { ret = Linkset.Extension(pFunct, pParams); break; } // physChangeLinkParams(linknum, [code, value, code, value, ...]); - // pParams = [ BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ] + // pParams = [ BSPhysObject root, BSPhysObject child, object[] [ string op, object opParam, string op, object opParam, ... ] ] case ExtendedPhysics.PhysFunctChangeLinkParams: { ret = Linkset.Extension(pFunct, pParams); -- cgit v1.1 From 67195618d580eb6cd848cf1e6462572ad2b2b118 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 22 Aug 2013 09:07:58 -0700 Subject: BulletSim: add requestor's ID to post taint detail log message. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 24233cc..b3dfa41 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -987,10 +987,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // will replace any previous operation by the same object. public void PostTaintObject(String ident, uint ID, TaintCallback callback) { - string uniqueIdent = ident + "-" + ID.ToString(); + string IDAsString = ID.ToString(); + string uniqueIdent = ident + "-" + IDAsString; lock (_taintLock) { - _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback); + _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(IDAsString, uniqueIdent, callback); } return; -- cgit v1.1 From 30b3657a66e5a4012b96baae2c0424ec13409f83 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 22 Aug 2013 09:08:58 -0700 Subject: BulletSim: implementation of setting spring specific physical parameters. Add setting of linkset type to physChangeLinkParams. Lots of detail logging for setting of linkset constraint parameters. --- .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 16 ++++--- .../Physics/BulletSPlugin/BSConstraintSpring.cs | 43 ++++++++++-------- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 52 +++++++++++++++++----- 3 files changed, 76 insertions(+), 35 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index 5008ff7..7fcb75c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -59,9 +59,11 @@ public class BSConstraint6Dof : BSConstraint frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); m_enabled = true; - world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - BSScene.DetailLogZero, world.worldID, + PhysicsScene.DetailLog("{0},BS6DofConstraint,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + m_body1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + PhysicsScene.DetailLog("{0},BS6DofConstraint,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}", + m_body1.ID, frame1, frame1rot, frame2, frame2rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); } // 6 Dof constraint based on a midpoint between the two constrained bodies @@ -86,9 +88,11 @@ public class BSConstraint6Dof : BSConstraint m_constraint = PhysicsScene.PE.Create6DofConstraintToPoint(m_world, m_body1, m_body2, joinPoint, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + PhysicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", - BSScene.DetailLogZero, world.worldID, m_constraint.AddrString, + m_body1.ID, world.worldID, m_constraint.AddrString, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + if (!m_constraint.HasPhysicalConstraint) { world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", @@ -113,8 +117,10 @@ public class BSConstraint6Dof : BSConstraint frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); m_enabled = true; - world.physicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", - BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.AddrString); + PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", + m_body1.ID, world.worldID, obj1.ID, obj1.AddrString); + PhysicsScene.DetailLog("{0},BS6DofConstraint,createFixed, fBLoc={1},fBRot={2},usefA={3},disCol={4}", + m_body1.ID, frameInBloc, frameInBrot, useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); } public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs index 01d67d4..410584d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs @@ -47,37 +47,42 @@ public sealed class BSConstraintSpring : BSConstraint6Dof useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); m_enabled = true; - world.physicsScene.DetailLog("{0},BSConstraintSpring,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", - BSScene.DetailLogZero, world.worldID, - obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + PhysicsScene.DetailLog("{0},BSConstraintSpring,create,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", + obj1.ID, world.worldID, obj1.ID, obj1.AddrString, obj2.ID, obj2.AddrString); + PhysicsScene.DetailLog("{0},BSConstraintSpring,create, f1Loc={1},f1Rot={2},f2Loc={3},f2Rot={4},usefA={5},disCol={6}", + m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); } - public bool SetEnable(int index, bool axisEnable) + public bool SetEnable(int pIndex, bool pAxisEnable) { - bool ret = false; - - return ret; + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}", + m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable); + PhysicsScene.PE.SpringEnable(m_constraint, pIndex, BSParam.NumericBool(pAxisEnable)); + return true; } - public bool SetStiffness(int index, float stiffness) + public bool SetStiffness(int pIndex, float pStiffness) { - bool ret = false; - - return ret; + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},enable={4}", + m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness); + PhysicsScene.PE.SpringSetStiffness(m_constraint, pIndex, pStiffness); + return true; } - public bool SetDamping(int index, float damping) + public bool SetDamping(int pIndex, float pDamping) { - bool ret = false; - - return ret; + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},enable={4}", + m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping); + PhysicsScene.PE.SpringSetDamping(m_constraint, pIndex, pDamping); + return true; } - public bool SetEquilibriumPoint(int index, float eqPoint) + public bool SetEquilibriumPoint(int pIndex, float pEqPoint) { - bool ret = false; - - return ret; + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},enable={4}", + m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint); + return true; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index a9ae89d..be97c29 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -67,6 +67,7 @@ public sealed class BSLinksetConstraints : BSLinkset { constraint = null; ResetLink(); + member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.creation", member.LocalID); } // Set all the parameters for this constraint to a fixed, non-movable constraint. @@ -91,11 +92,13 @@ public sealed class BSLinksetConstraints : BSLinkset frameInBrot = OMV.Quaternion.Identity; springDamping = -1f; springStiffness = -1f; + member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID); } // Given a constraint, apply the current constraint parameters to same. public override void SetLinkParameters(BSConstraint constrain) { + member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.SetLinkParameters,type={1}", member.LocalID, constraintType); switch (constraintType) { case ConstraintType.FIXED_CONSTRAINT_TYPE: @@ -139,7 +142,7 @@ public sealed class BSLinksetConstraints : BSLinkset if (springDamping != -1) constrainSpring.SetDamping(ii, springDamping); if (springStiffness != -1) - constrainSpring.SetStiffness(ii, springStiffness); + constrainSpring.SetStiffness(ii, springStiffness); } } break; @@ -155,7 +158,6 @@ public sealed class BSLinksetConstraints : BSLinkset public override bool ShouldUpdateChildProperties() { bool ret = true; - if (constraintType == ConstraintType.FIXED_CONSTRAINT_TYPE) ret = false; @@ -193,10 +195,16 @@ public sealed class BSLinksetConstraints : BSLinkset { // Queue to happen after all the other taint processing m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() + { + if (HasAnyChildren) { - if (HasAnyChildren) - RecomputeLinksetConstraints(); - }); + // Constraints that have not been changed are not rebuild but make sure + // the constraint of the requestor is rebuilt. + PhysicallyUnlinkAChildFromRoot(LinksetRoot, requestor); + // Rebuild the linkset and all its constraints. + RecomputeLinksetConstraints(); + } + }); } } @@ -415,13 +423,22 @@ public sealed class BSLinksetConstraints : BSLinkset rootPrim.LocalID, rootPrim.PhysBody.AddrString, childPrim.LocalID, childPrim.PhysBody.AddrString); - // Find the constraint for this link and get rid of it from the overall collection and from my list - if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) + // If asked to unlink root from root, just remove all the constraints + if (rootPrim == childPrim || childPrim == LinksetRoot) { - // Make the child refresh its location - m_physicsScene.PE.PushUpdate(childPrim.PhysBody); + PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); ret = true; } + else + { + // Find the constraint for this link and get rid of it from the overall collection and from my list + if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) + { + // Make the child refresh its location + m_physicsScene.PE.PushUpdate(childPrim.PhysBody); + ret = true; + } + } return ret; } @@ -521,8 +538,6 @@ public sealed class BSLinksetConstraints : BSLinkset BSLinkInfoConstraint linkInfoC = linkInfo as BSLinkInfoConstraint; if (linkInfoC != null) { - // Setting to fixed is easy. The reset state is the fixed link configuration. - linkInfoC.ResetLink(); linkInfoC.constraintType = (ConstraintType)requestedType; ret = (object)true; DetailLog("{0},BSLinksetConstraint.ChangeLinkType,link={1},type={2}", @@ -589,6 +604,7 @@ public sealed class BSLinksetConstraints : BSLinkset BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; if (linkInfo != null) { + int valueInt; float valueFloat; bool valueBool; OMV.Vector3 valueVector; @@ -602,6 +618,20 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); switch (thisOp) { + case ExtendedPhysics.PHYS_PARAM_LINK_TYPE: + valueInt = (int)pParams[opIndex + 1]; + ConstraintType valueType = (ConstraintType)valueInt; + if (valueType == ConstraintType.FIXED_CONSTRAINT_TYPE + || valueType == ConstraintType.D6_CONSTRAINT_TYPE + || valueType == ConstraintType.D6_SPRING_CONSTRAINT_TYPE + || valueType == ConstraintType.HINGE_CONSTRAINT_TYPE + || valueType == ConstraintType.CONETWIST_CONSTRAINT_TYPE + || valueType == ConstraintType.SLIDER_CONSTRAINT_TYPE) + { + linkInfo.constraintType = valueType; + } + opIndex += 2; + break; case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.frameInAloc = valueVector; -- cgit v1.1 From 7c54630a2dde768e92b3034d76314cb1e061c348 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 22 Aug 2013 16:31:17 -0700 Subject: BulletSim: add axis parameter for specifying enable, damping, and stiffness for spring constraints. Renumber parameter ops since I can as no one is using them yet. --- .../Region/Physics/BulletSPlugin/BSApiTemplate.cs | 2 +- .../Physics/BulletSPlugin/BSConstraintSpring.cs | 2 +- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 51 +++++++++++++++------- 3 files changed, 38 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 9d8838b..0b3f467 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -292,7 +292,7 @@ public enum ConstraintParamAxis : int AXIS_ANGULAR_X, AXIS_ANGULAR_Y, AXIS_ANGULAR_Z, - AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls + AXIS_LINEAR_ALL = 20, // added by BulletSim so we don't have to do zillions of calls AXIS_ANGULAR_ALL, AXIS_ALL }; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs index 410584d..432e5b2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs @@ -53,7 +53,7 @@ public sealed class BSConstraintSpring : BSConstraint6Dof m_body1.ID, frame1Loc, frame1Rot, frame2Loc, frame2Rot, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); } - public bool SetEnable(int pIndex, bool pAxisEnable) + public bool SetAxisEnable(int pIndex, bool pAxisEnable) { PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEnable,obj1ID={1},obj2ID={2},indx={3},enable={4}", m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pAxisEnable); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index be97c29..f623231 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -1,4 +1,4 @@ -/* +/* * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * @@ -59,8 +59,9 @@ public sealed class BSLinksetConstraints : BSLinkset public OMV.Vector3 frameInBloc; public OMV.Quaternion frameInBrot; // Spring - public float springDamping; - public float springStiffness; + public bool[] springAxisEnable; + public float[] springDamping; + public float[] springStiffness; public BSLinkInfoConstraint(BSPrimLinkable pMember) : base(pMember) @@ -90,8 +91,15 @@ public sealed class BSLinksetConstraints : BSLinkset frameInArot = OMV.Quaternion.Identity; frameInBloc = OMV.Vector3.Zero; frameInBrot = OMV.Quaternion.Identity; - springDamping = -1f; - springStiffness = -1f; + springAxisEnable = new bool[6]; + springDamping = new float[6]; + springStiffness = new float[6]; + for (int ii = 0; ii < springAxisEnable.Length; ii++) + { + springAxisEnable[ii] = false; + springDamping[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; + springStiffness[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; + } member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID); } @@ -139,11 +147,13 @@ public sealed class BSLinksetConstraints : BSLinkset } for (int ii = 0; ii < 6; ii++) { - if (springDamping != -1) - constrainSpring.SetDamping(ii, springDamping); - if (springStiffness != -1) - constrainSpring.SetStiffness(ii, springStiffness); + constrainSpring.SetAxisEnable(ii, springAxisEnable[ii]); + if (springDamping[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED) + constrainSpring.SetDamping(ii, springDamping[ii]); + if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED) + constrainSpring.SetStiffness(ii, springStiffness[ii]); } + constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED); } break; default: @@ -707,15 +717,26 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfo.solverIterations = valueFloat; opIndex += 2; break; + case ExtendedPhysics.PHYS_PARAM_SPRING_AXIS_ENABLE: + valueInt = (int)pParams[opIndex + 1]; + valueBool = ((int)pParams[opIndex + 2] != 0); + if (valueInt >=0 && valueInt < linkInfo.springAxisEnable.Length) + linkInfo.springAxisEnable[valueInt] = valueBool; + opIndex += 3; + break; case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: - valueFloat = (float)pParams[opIndex + 1]; - linkInfo.springDamping = valueFloat; - opIndex += 2; + valueInt = (int)pParams[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 2]; + if (valueInt >=0 && valueInt < linkInfo.springDamping.Length) + linkInfo.springDamping[valueInt] = valueFloat; + opIndex += 3; break; case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: - valueFloat = (float)pParams[opIndex + 1]; - linkInfo.springStiffness = valueFloat; - opIndex += 2; + valueInt = (int)pParams[opIndex + 1]; + valueFloat = (float)pParams[opIndex + 2]; + if (valueInt >=0 && valueInt < linkInfo.springStiffness.Length) + linkInfo.springStiffness[valueInt] = valueFloat; + opIndex += 3; break; default: break; -- cgit v1.1 From cf2cdc191d0a93860da1ff4c42d34138e8f369fb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 24 Aug 2013 08:33:28 -0700 Subject: BulletSim: ability to specify groups of axis to modify in constraint parameters that control multiple axis. Add useLinearReferenceFrameA constraint parameter. --- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 53 ++++++++++++++++++---- 1 file changed, 45 insertions(+), 8 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index f623231..ff5ac0e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -58,6 +58,7 @@ public sealed class BSLinksetConstraints : BSLinkset public OMV.Quaternion frameInArot; public OMV.Vector3 frameInBloc; public OMV.Quaternion frameInBrot; + public bool useLinearReferenceFrameA; // Spring public bool[] springAxisEnable; public float[] springDamping; @@ -91,6 +92,7 @@ public sealed class BSLinksetConstraints : BSLinkset frameInArot = OMV.Quaternion.Identity; frameInBloc = OMV.Vector3.Zero; frameInBrot = OMV.Quaternion.Identity; + useLinearReferenceFrameA = true; springAxisEnable = new bool[6]; springDamping = new float[6]; springStiffness = new float[6]; @@ -145,7 +147,7 @@ public sealed class BSLinksetConstraints : BSLinkset { constrainSpring.SetSolverIterations(solverIterations); } - for (int ii = 0; ii < 6; ii++) + for (int ii = 0; ii < springAxisEnable.Length; ii++) { constrainSpring.SetAxisEnable(ii, springAxisEnable[ii]); if (springDamping[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED) @@ -401,7 +403,7 @@ public sealed class BSLinksetConstraints : BSLinkset case ConstraintType.D6_SPRING_CONSTRAINT_TYPE: constrain = new BSConstraintSpring(m_physicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody, linkInfo.frameInAloc, linkInfo.frameInArot, linkInfo.frameInBloc, linkInfo.frameInBrot, - true /*useLinearReferenceFrameA*/, + linkInfo.useLinearReferenceFrameA, true /*disableCollisionsBetweenLinkedBodies*/); DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6}", rootPrim.LocalID, @@ -619,6 +621,7 @@ public sealed class BSLinksetConstraints : BSLinkset bool valueBool; OMV.Vector3 valueVector; OMV.Quaternion valueQuaternion; + int axisLow, axisHigh; int opIndex = 2; while (opIndex < pParams.Length) @@ -720,24 +723,32 @@ public sealed class BSLinksetConstraints : BSLinkset case ExtendedPhysics.PHYS_PARAM_SPRING_AXIS_ENABLE: valueInt = (int)pParams[opIndex + 1]; valueBool = ((int)pParams[opIndex + 2] != 0); - if (valueInt >=0 && valueInt < linkInfo.springAxisEnable.Length) - linkInfo.springAxisEnable[valueInt] = valueBool; + GetAxisRange(valueInt, out axisLow, out axisHigh); + for (int ii = axisLow; ii <= axisHigh; ii++) + linkInfo.springAxisEnable[ii] = valueBool; opIndex += 3; break; case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: valueInt = (int)pParams[opIndex + 1]; valueFloat = (float)pParams[opIndex + 2]; - if (valueInt >=0 && valueInt < linkInfo.springDamping.Length) - linkInfo.springDamping[valueInt] = valueFloat; + GetAxisRange(valueInt, out axisLow, out axisHigh); + for (int ii = axisLow; ii <= axisHigh; ii++) + linkInfo.springDamping[ii] = valueFloat; opIndex += 3; break; case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: valueInt = (int)pParams[opIndex + 1]; valueFloat = (float)pParams[opIndex + 2]; - if (valueInt >=0 && valueInt < linkInfo.springStiffness.Length) - linkInfo.springStiffness[valueInt] = valueFloat; + GetAxisRange(valueInt, out axisLow, out axisHigh); + for (int ii = axisLow; ii <= axisHigh; ii++) + linkInfo.springStiffness[ii] = valueFloat; opIndex += 3; break; + case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA: + valueBool = (bool)pParams[opIndex + 1]; + linkInfo.useLinearReferenceFrameA = valueBool; + opIndex += 2; + break; default: break; } @@ -760,6 +771,32 @@ public sealed class BSLinksetConstraints : BSLinkset } return ret; } + + // Bullet constraints keep some limit parameters for each linear and angular axis. + // Setting same is easier if there is an easy way to see all or types. + // This routine returns the array limits for the set of axis. + private void GetAxisRange(int rangeSpec, out int low, out int high) + { + switch (rangeSpec) + { + case ExtendedPhysics.PHYS_AXIS_ALL_LINEAR: + low = 0; + high = 2; + break; + case ExtendedPhysics.PHYS_AXIS_ALL_ANGULAR: + low = 3; + high = 5; + break; + case ExtendedPhysics.PHYS_AXIS_ALL: + low = 0; + high = 5; + break; + default: + low = high = rangeSpec; + break; + } + return; + } #endregion // Extension } -- cgit v1.1 From 5827b6e1aabf2e19624faf0141b9611917fb84c5 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 4 Sep 2013 07:56:59 -0700 Subject: BulletSim: add extended physics LSL constants for axis specification. Add specific error warnings for mis-matched parameter types in extended physics functions. --- .../Physics/BulletSPlugin/BSConstraintSpring.cs | 6 +- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 89 ++++++++++++++-------- 2 files changed, 60 insertions(+), 35 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs index 432e5b2..652c94a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs @@ -63,7 +63,7 @@ public sealed class BSConstraintSpring : BSConstraint6Dof public bool SetStiffness(int pIndex, float pStiffness) { - PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},enable={4}", + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetStiffness,obj1ID={1},obj2ID={2},indx={3},stiff={4}", m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pStiffness); PhysicsScene.PE.SpringSetStiffness(m_constraint, pIndex, pStiffness); return true; @@ -71,7 +71,7 @@ public sealed class BSConstraintSpring : BSConstraint6Dof public bool SetDamping(int pIndex, float pDamping) { - PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},enable={4}", + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetDamping,obj1ID={1},obj2ID={2},indx={3},damp={4}", m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pDamping); PhysicsScene.PE.SpringSetDamping(m_constraint, pIndex, pDamping); return true; @@ -79,7 +79,7 @@ public sealed class BSConstraintSpring : BSConstraint6Dof public bool SetEquilibriumPoint(int pIndex, float pEqPoint) { - PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},enable={4}", + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},indx={3},eqPoint={4}", m_body1.ID, m_body1.ID, m_body2.ID, pIndex, pEqPoint); PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, pIndex, pEqPoint); return true; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index ff5ac0e..b3347bf 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -605,30 +605,32 @@ public sealed class BSLinksetConstraints : BSLinkset // pParams = [ BSPhysObject root, BSPhysObject child, int op, object opParams, int op, object opParams, ... ] case ExtendedPhysics.PhysFunctChangeLinkParams: // There should be two parameters: the childActor and a list of parameters to set - try + if (pParams.Length > 2) { - if (pParams.Length > 2) + BSPrimLinkable child = pParams[1] as BSPrimLinkable; + BSLinkInfo baseLinkInfo = null; + if (TryGetLinkInfo(child, out baseLinkInfo)) { - BSPrimLinkable child = pParams[1] as BSPrimLinkable; - BSLinkInfo baseLinkInfo = null; - if (TryGetLinkInfo(child, out baseLinkInfo)) + BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; + if (linkInfo != null) { - BSLinkInfoConstraint linkInfo = baseLinkInfo as BSLinkInfoConstraint; - if (linkInfo != null) + int valueInt; + float valueFloat; + bool valueBool; + OMV.Vector3 valueVector; + OMV.Quaternion valueQuaternion; + int axisLow, axisHigh; + + int opIndex = 2; + while (opIndex < pParams.Length) { - int valueInt; - float valueFloat; - bool valueBool; - OMV.Vector3 valueVector; - OMV.Quaternion valueQuaternion; - int axisLow, axisHigh; - - int opIndex = 2; - while (opIndex < pParams.Length) + int thisOp = 0; + string errMsg = ""; + try { - int thisOp = (int)pParams[opIndex]; + thisOp = (int)pParams[opIndex]; DetailLog("{0},BSLinksetConstraint.ChangeLinkParams2,op={1},val={2}", - linkInfo.member.LocalID, thisOp, pParams[opIndex+1]); + linkInfo.member.LocalID, thisOp, pParams[opIndex + 1]); switch (thisOp) { case ExtendedPhysics.PHYS_PARAM_LINK_TYPE: @@ -646,89 +648,106 @@ public sealed class BSLinksetConstraints : BSLinkset opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINA_LOC: + errMsg = "PHYS_PARAM_FRAMEINA_LOC takes one parameter of type vector"; valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.frameInAloc = valueVector; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINA_ROT: + errMsg = "PHYS_PARAM_FRAMEINA_ROT takes one parameter of type rotation"; valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1]; linkInfo.frameInArot = valueQuaternion; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINB_LOC: + errMsg = "PHYS_PARAM_FRAMEINB_LOC takes one parameter of type vector"; valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.frameInBloc = valueVector; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_FRAMEINB_ROT: + errMsg = "PHYS_PARAM_FRAMEINB_ROT takes one parameter of type rotation"; valueQuaternion = (OMV.Quaternion)pParams[opIndex + 1]; linkInfo.frameInBrot = valueQuaternion; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_LOW: + errMsg = "PHYS_PARAM_LINEAR_LIMIT_LOW takes one parameter of type vector"; valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.linearLimitLow = valueVector; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_LINEAR_LIMIT_HIGH: + errMsg = "PHYS_PARAM_LINEAR_LIMIT_HIGH takes one parameter of type vector"; valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.linearLimitHigh = valueVector; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_LOW: + errMsg = "PHYS_PARAM_ANGULAR_LIMIT_LOW takes one parameter of type vector"; valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.angularLimitLow = valueVector; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ANGULAR_LIMIT_HIGH: + errMsg = "PHYS_PARAM_ANGULAR_LIMIT_HIGH takes one parameter of type vector"; valueVector = (OMV.Vector3)pParams[opIndex + 1]; linkInfo.angularLimitHigh = valueVector; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_USE_FRAME_OFFSET: - valueBool = (bool)pParams[opIndex + 1]; + errMsg = "PHYS_PARAM_USE_FRAME_OFFSET takes one parameter of type integer (bool)"; + valueBool = ((int)pParams[opIndex + 1]) != 0; linkInfo.useFrameOffset = valueBool; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ENABLE_TRANSMOTOR: - valueBool = (bool)pParams[opIndex + 1]; + errMsg = "PHYS_PARAM_ENABLE_TRANSMOTOR takes one parameter of type integer (bool)"; + valueBool = ((int)pParams[opIndex + 1]) != 0; linkInfo.enableTransMotor = valueBool; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXVEL: + errMsg = "PHYS_PARAM_TRANSMOTOR_MAXVEL takes one parameter of type float"; valueFloat = (float)pParams[opIndex + 1]; linkInfo.transMotorMaxVel = valueFloat; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_TRANSMOTOR_MAXFORCE: + errMsg = "PHYS_PARAM_TRANSMOTOR_MAXFORCE takes one parameter of type float"; valueFloat = (float)pParams[opIndex + 1]; linkInfo.transMotorMaxForce = valueFloat; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_CFM: + errMsg = "PHYS_PARAM_CFM takes one parameter of type float"; valueFloat = (float)pParams[opIndex + 1]; linkInfo.cfm = valueFloat; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_ERP: + errMsg = "PHYS_PARAM_ERP takes one parameter of type float"; valueFloat = (float)pParams[opIndex + 1]; linkInfo.erp = valueFloat; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_SOLVER_ITERATIONS: + errMsg = "PHYS_PARAM_SOLVER_ITERATIONS takes one parameter of type float"; valueFloat = (float)pParams[opIndex + 1]; linkInfo.solverIterations = valueFloat; opIndex += 2; break; case ExtendedPhysics.PHYS_PARAM_SPRING_AXIS_ENABLE: + errMsg = "PHYS_PARAM_SPRING_AXIS_ENABLE takes two parameters of types integer and integer (bool)"; valueInt = (int)pParams[opIndex + 1]; - valueBool = ((int)pParams[opIndex + 2] != 0); + valueBool = ((int)pParams[opIndex + 2]) != 0; GetAxisRange(valueInt, out axisLow, out axisHigh); for (int ii = axisLow; ii <= axisHigh; ii++) linkInfo.springAxisEnable[ii] = valueBool; opIndex += 3; break; case ExtendedPhysics.PHYS_PARAM_SPRING_DAMPING: + errMsg = "PHYS_PARAM_SPRING_DAMPING takes two parameters of types integer and float"; valueInt = (int)pParams[opIndex + 1]; valueFloat = (float)pParams[opIndex + 2]; GetAxisRange(valueInt, out axisLow, out axisHigh); @@ -737,6 +756,7 @@ public sealed class BSLinksetConstraints : BSLinkset opIndex += 3; break; case ExtendedPhysics.PHYS_PARAM_SPRING_STIFFNESS: + errMsg = "PHYS_PARAM_SPRING_STIFFNESS takes two parameters of types integer and float"; valueInt = (int)pParams[opIndex + 1]; valueFloat = (float)pParams[opIndex + 2]; GetAxisRange(valueInt, out axisLow, out axisHigh); @@ -745,7 +765,8 @@ public sealed class BSLinksetConstraints : BSLinkset opIndex += 3; break; case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA: - valueBool = (bool)pParams[opIndex + 1]; + errMsg = "PHYS_PARAM_USE_LINEAR_FRAMEA takes one parameter of type integer (bool)"; + valueBool = ((int)pParams[opIndex + 1]) != 0; linkInfo.useLinearReferenceFrameA = valueBool; opIndex += 2; break; @@ -753,18 +774,22 @@ public sealed class BSLinksetConstraints : BSLinkset break; } } + catch (InvalidCastException e) + { + m_physicsScene.Logger.WarnFormat("{0} value of wrong type in physSetLinksetParams: {1}, err={2}", + LogHeader, errMsg, e); + } + catch (Exception e) + { + m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e); + } } - // Something changed so a rebuild is in order - Refresh(child); } + // Something changed so a rebuild is in order + Refresh(child); } } - catch (Exception e) - { - // There are many ways to mess up the parameters. If not just right don't fail without some error. - m_physicsScene.Logger.WarnFormat("{0} bad parameters in physSetLinksetParams: {1}", LogHeader, e); - } - break; + break; default: ret = base.Extension(pFunct, pParams); break; @@ -779,11 +804,11 @@ public sealed class BSLinksetConstraints : BSLinkset { switch (rangeSpec) { - case ExtendedPhysics.PHYS_AXIS_ALL_LINEAR: + case ExtendedPhysics.PHYS_AXIS_LINEAR_ALL: low = 0; high = 2; break; - case ExtendedPhysics.PHYS_AXIS_ALL_ANGULAR: + case ExtendedPhysics.PHYS_AXIS_ANGULAR_ALL: low = 3; high = 5; break; -- cgit v1.1 From c5eabb28b4c933cfacefa85381e290372fbc094e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 9 Sep 2013 14:53:16 -0700 Subject: BulletSim: add LSL function and plumbing for setting a spring equilibrium point in the physics engine constraint. --- OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs | 6 +++++- .../Physics/BulletSPlugin/BSConstraintSpring.cs | 13 +++++++++++++ .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 20 +++++++++++++++++++- 3 files changed, 37 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 42b5c49..b47e9a8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -64,7 +64,7 @@ public abstract class BSConstraint : IDisposable { bool success = PhysicsScene.PE.DestroyConstraint(m_world, m_constraint); m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", - BSScene.DetailLogZero, + m_body1.ID, m_body1.ID, m_body1.AddrString, m_body2.ID, m_body2.AddrString, success); @@ -77,7 +77,10 @@ public abstract class BSConstraint : IDisposable { bool ret = false; if (m_enabled) + { + m_world.physicsScene.DetailLog("{0},BSConstraint.SetLinearLimits,taint,low={1},high={2}", m_body1.ID, low, high); ret = PhysicsScene.PE.SetLinearLimits(m_constraint, low, high); + } return ret; } @@ -86,6 +89,7 @@ public abstract class BSConstraint : IDisposable bool ret = false; if (m_enabled) { + m_world.physicsScene.DetailLog("{0},BSConstraint.SetAngularLimits,taint,low={1},high={2}", m_body1.ID, low, high); ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high); } return ret; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs index 652c94a..8e7ddff 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintSpring.cs @@ -85,6 +85,19 @@ public sealed class BSConstraintSpring : BSConstraint6Dof return true; } + public bool SetEquilibriumPoint(Vector3 linearEq, Vector3 angularEq) + { + PhysicsScene.DetailLog("{0},BSConstraintSpring.SetEquilibriumPoint,obj1ID={1},obj2ID={2},linearEq={3},angularEq={4}", + m_body1.ID, m_body1.ID, m_body2.ID, linearEq, angularEq); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 0, linearEq.X); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 1, linearEq.Y); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 2, linearEq.Z); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 3, angularEq.X); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 4, angularEq.Y); + PhysicsScene.PE.SpringSetEquilibriumPoint(m_constraint, 5, angularEq.Z); + return true; + } + } } \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index b3347bf..aaf92c8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -63,6 +63,8 @@ public sealed class BSLinksetConstraints : BSLinkset public bool[] springAxisEnable; public float[] springDamping; public float[] springStiffness; + public OMV.Vector3 springLinearEquilibriumPoint; + public OMV.Vector3 springAngularEquilibriumPoint; public BSLinkInfoConstraint(BSPrimLinkable pMember) : base(pMember) @@ -102,6 +104,8 @@ public sealed class BSLinksetConstraints : BSLinkset springDamping[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; springStiffness[ii] = BSAPITemplate.SPRING_NOT_SPECIFIED; } + springLinearEquilibriumPoint = OMV.Vector3.Zero; + springAngularEquilibriumPoint = OMV.Vector3.Zero; member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.ResetLink", member.LocalID); } @@ -155,7 +159,12 @@ public sealed class BSLinksetConstraints : BSLinkset if (springStiffness[ii] != BSAPITemplate.SPRING_NOT_SPECIFIED) constrainSpring.SetStiffness(ii, springStiffness[ii]); } - constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED); + constrainSpring.CalculateTransforms(); + + if (springLinearEquilibriumPoint != OMV.Vector3.Zero) + constrainSpring.SetEquilibriumPoint(springLinearEquilibriumPoint, springAngularEquilibriumPoint); + else + constrainSpring.SetEquilibriumPoint(BSAPITemplate.SPRING_NOT_SPECIFIED, BSAPITemplate.SPRING_NOT_SPECIFIED); } break; default: @@ -618,6 +627,7 @@ public sealed class BSLinksetConstraints : BSLinkset float valueFloat; bool valueBool; OMV.Vector3 valueVector; + OMV.Vector3 valueVector2; OMV.Quaternion valueQuaternion; int axisLow, axisHigh; @@ -764,6 +774,14 @@ public sealed class BSLinksetConstraints : BSLinkset linkInfo.springStiffness[ii] = valueFloat; opIndex += 3; break; + case ExtendedPhysics.PHYS_PARAM_SPRING_EQUILIBRIUM_POINT: + errMsg = "PHYS_PARAM_SPRING_EQUILIBRIUM_POINT takes two parameters of type vector"; + valueVector = (OMV.Vector3)pParams[opIndex + 1]; + valueVector2 = (OMV.Vector3)pParams[opIndex + 2]; + linkInfo.springLinearEquilibriumPoint = valueVector; + linkInfo.springAngularEquilibriumPoint = valueVector2; + opIndex += 3; + break; case ExtendedPhysics.PHYS_PARAM_USE_LINEAR_FRAMEA: errMsg = "PHYS_PARAM_USE_LINEAR_FRAMEA takes one parameter of type integer (bool)"; valueBool = ((int)pParams[opIndex + 1]) != 0; -- cgit v1.1 From 6e39cc316f502855a89c51775e7394b73135ab86 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 10 Sep 2013 17:32:01 -0700 Subject: BulletSim: add ClearCollisionProxyCache function to API. Add proxy cache clearing when some properties are changed. This fixes a problem where objects would stop colliding of they were moved with setPosition mulitple times. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 10 ++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 13 +++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 2 ++ OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 12 ++++++++++-- 4 files changed, 35 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 8dfb01c..3bd81d4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -725,6 +725,13 @@ public override bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj) return BSAPICPP.RemoveObjectFromWorld2(worldu.ptr, bodyu.ptr); } +public override bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj) +{ + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = obj as BulletBodyUnman; + return BSAPICPP.ClearCollisionProxyCache2(worldu.ptr, bodyu.ptr); +} + public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects) { BulletWorldUnman worldu = world as BulletWorldUnman; @@ -1713,6 +1720,9 @@ public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ClearCollisionProxyCache2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern bool AddConstraintToWorld2(IntPtr world, IntPtr constrain, bool disableCollisionsBetweenLinkedObjects); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index ff2b497..17ebed2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -169,6 +169,19 @@ private sealed class BulletConstraintXNA : BulletConstraint return true; } + public override bool ClearCollisionProxyCache(BulletWorld pWorld, BulletBody pBody) + { + DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; + RigidBody body = ((BulletBodyXNA)pBody).rigidBody; + CollisionObject collisionObject = ((BulletBodyXNA)pBody).body; + if (body != null && collisionObject != null && collisionObject.GetBroadphaseHandle() != null) + { + world.RemoveCollisionObject(collisionObject); + world.AddCollisionObject(collisionObject); + } + return true; + } + public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects) { DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 0b3f467..f7dd158 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -498,6 +498,8 @@ public abstract bool AddObjectToWorld(BulletWorld world, BulletBody obj); public abstract bool RemoveObjectFromWorld(BulletWorld world, BulletBody obj); +public abstract bool ClearCollisionProxyCache(BulletWorld world, BulletBody obj); + public abstract bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects); public abstract bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 2efb1a5..47df611 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -300,8 +300,16 @@ public abstract class BSPhysObject : PhysicsActor // Called in taint-time!! public void ActivateIfPhysical(bool forceIt) { - if (IsPhysical && PhysBody.HasPhysicalBody) - PhysScene.PE.Activate(PhysBody, forceIt); + if (PhysBody.HasPhysicalBody) + { + // Clear the collision cache since we've changed some properties. + PhysScene.PE.ClearCollisionProxyCache(PhysScene.World, PhysBody); + if (IsPhysical) + { + // Physical objects might need activating + PhysScene.PE.Activate(PhysBody, forceIt); + } + } } // 'actors' act on the physical object to change or constrain its motion. These can range from -- cgit v1.1 From dacc20ee48883efe3702c284edff5ee3fa0e96b0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 11 Sep 2013 16:48:15 -0700 Subject: BulletSim: remove collision cache clearing logic for physical objects. This fixes constraints from getting messed up when properties change. --- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 47df611..f89b376 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -302,13 +302,16 @@ public abstract class BSPhysObject : PhysicsActor { if (PhysBody.HasPhysicalBody) { - // Clear the collision cache since we've changed some properties. - PhysScene.PE.ClearCollisionProxyCache(PhysScene.World, PhysBody); if (IsPhysical) { // Physical objects might need activating PhysScene.PE.Activate(PhysBody, forceIt); } + else + { + // Clear the collision cache since we've changed some properties. + PhysScene.PE.ClearCollisionProxyCache(PhysScene.World, PhysBody); + } } } -- cgit v1.1 From 07d7a5fd76460a16b97d285a1b2c4a101e5543b6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 20 Sep 2013 09:36:19 -0700 Subject: BulletSim: zero velocity when avatar not moving. This fixes a movement jitter that happens when an avatar is standing on a tilted surface. --- OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs | 1 + 1 file changed, 1 insertion(+) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 04a4a32..8ca55e5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -278,6 +278,7 @@ public class BSActorAvatarMove : BSActor if (m_controllingPrim.IsStationary) { entprop.Position = m_controllingPrim.RawPosition; + entprop.Velocity = OMV.Vector3.Zero; m_physicsScene.PE.SetTranslation(m_controllingPrim.PhysBody, entprop.Position, entprop.Rotation); } -- cgit v1.1 From 35a6361b2431abf9d49b4413c5b9eaac51934134 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 20 Sep 2013 09:23:12 -0700 Subject: BulletSim: reduce avatar walking stopped threshold. Add parameter for setting the walking stopped threshold. This fixes the slight jump when an avatar stops walking. --- OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 +++ 2 files changed, 4 insertions(+) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index 8ca55e5..1bcf879 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -128,6 +128,7 @@ public class BSActorAvatarMove : BSActor BSMotor.Infinite, // decay time scale 1f // efficiency ); + m_velocityMotor.ErrorZeroThreshold = BSParam.AvatarStopZeroThreshold; // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. SetVelocityAndTarget(m_controllingPrim.RawVelocity, m_controllingPrim.TargetVelocity, true /* inTaintTime */); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 2f1799b..43aa63e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -134,6 +134,7 @@ public static class BSParam public static float AvatarHeightMidFudge { get; private set; } public static float AvatarHeightHighFudge { get; private set; } public static float AvatarContactProcessingThreshold { get; private set; } + public static float AvatarStopZeroThreshold { get; private set; } public static int AvatarJumpFrames { get; private set; } public static float AvatarBelowGroundUpCorrectionMeters { get; private set; } public static float AvatarStepHeight { get; private set; } @@ -575,6 +576,8 @@ public static class BSParam 0.1f ), new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 0.1f ), + new ParameterDefn("AvatarStopZeroThreshold", "Movement velocity below which avatar is assumed to be stopped", + 0.1f ), new ParameterDefn("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground", 1.0f ), new ParameterDefn("AvatarJumpFrames", "Number of frames to allow jump forces. Changes jump height.", -- cgit v1.1