From 2fd184e350874d3751a30e368d5f7ee0f41d4b85 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 7 Feb 2013 21:54:48 -0800 Subject: BulletSim: reclass BSPrim into layers so linkset and physical world displacement is implemented as overlay classes rather than if statements scattered about. --- .../Physics/BulletSPlugin/BSPrimDisplaced.cs | 118 ++++++++++++++ .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 179 +++++++++++++++++++++ 2 files changed, 297 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs new file mode 100755 index 0000000..6401308 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -0,0 +1,118 @@ +/* + * 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 copyright + * 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. + * + * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial + * are Copyright (c) 2009 Linden Research, Inc and are used under their license + * of Creative Commons Attribution-Share Alike 3.0 + * (http://creativecommons.org/licenses/by-sa/3.0/). + */ + +using System; +using System.Collections.Generic; +using System.Reflection; +using System.Runtime.InteropServices; +using OpenMetaverse; +using OpenSim.Framework; +using OpenSim.Region.Physics.Manager; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSPrimDisplaced : BSPrim +{ + // 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is. + // Because Bullet needs the zero coordinate to be the center of mass of the linkset, + // sometimes it is necessary to displace the position the physics engine thinks + // the position is. PositionDisplacement must be added and removed from the + // position as the simulator position is stored and fetched from the physics + // engine. Similar to OrientationDisplacement. + public virtual OMV.Vector3 PositionDisplacement { get; set; } + public virtual OMV.Quaternion OrientationDisplacement { get; set; } + public virtual OMV.Vector3 CenterOfMassLocation { get; set; } + public virtual OMV.Vector3 GeometricCenterLocation { get; set; } + + public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, + OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) + : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) + { + CenterOfMassLocation = RawPosition; + GeometricCenterLocation = RawPosition; + } + + public override Vector3 ForcePosition + { + get + { + return base.ForcePosition; + } + set + { + base.ForcePosition = value; + CenterOfMassLocation = RawPosition; + GeometricCenterLocation = RawPosition; + } + } + + public override Quaternion ForceOrientation + { + get + { + return base.ForceOrientation; + } + set + { + base.ForceOrientation = value; + } + } + + // Is this used? + public override OMV.Vector3 CenterOfMass + { + get { return CenterOfMassLocation; } + } + + // Is this used? + public override OMV.Vector3 GeometricCenter + { + get { return GeometricCenterLocation; } + } + + + public override void UpdateProperties(EntityProperties entprop) + { + // Undo any center-of-mass displacement that might have been done. + if (PositionDisplacement != OMV.Vector3.Zero) + { + // Correct for any rotation around the center-of-mass + // TODO!!! + entprop.Position -= PositionDisplacement; + } + + base.UpdateProperties(entprop); + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs new file mode 100755 index 0000000..fd66d1c --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -0,0 +1,179 @@ +/* + * 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.Linq; +using System.Text; + +using OpenSim.Framework; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSPrimLinkable : BSPrimDisplaced +{ + public BSLinkset Linkset { get; set; } + public BSLinksetInfo LinksetInfo { get; set; } + + public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, + OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) + : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) + { + Linkset = BSLinkset.Factory(PhysicsScene, this); + + PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate() + { + Linkset.Refresh(this); + }); + } + + public override void Destroy() + { + Linkset = Linkset.RemoveMeFromLinkset(this); + base.Destroy(); + } + + public override BSPhysicsShapeType PreferredPhysicalShape + { get { return Linkset.PreferredPhysicalShape(this); } } + + public override void link(Manager.PhysicsActor obj) + { + BSPrimLinkable parent = obj as BSPrimLinkable; + if (parent != null) + { + BSPhysObject parentBefore = Linkset.LinksetRoot; + int childrenBefore = Linkset.NumberOfChildren; + + Linkset = parent.Linkset.AddMeToLinkset(this); + + DetailLog("{0},BSPrimLinkset.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", + LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); + } + return; + } + + public override void delink() + { + // TODO: decide if this parent checking needs to happen at taint time + // Race condition here: if link() and delink() in same simulation tick, the delink will not happen + + BSPhysObject parentBefore = Linkset.LinksetRoot; + int childrenBefore = Linkset.NumberOfChildren; + + Linkset = Linkset.RemoveMeFromLinkset(this); + + DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", + LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); + return; + base.delink(); + } + + // When simulator changes position, this might be moving a child of the linkset. + public override OMV.Vector3 Position + { + get { return base.Position; } + set + { + base.Position = value; + PhysicsScene.TaintedObject("BSPrimLinkset.setPosition", delegate() + { + Linkset.UpdateProperties(UpdatedProperties.Position, this); + }); + } + } + + // When simulator changes orientation, this might be moving a child of the linkset. + public override OMV.Quaternion Orientation + { + get { return base.Orientation; } + set + { + base.Orientation = value; + PhysicsScene.TaintedObject("BSPrimLinkset.setOrientation", delegate() + { + Linkset.UpdateProperties(UpdatedProperties.Orientation, this); + }); + } + } + + public override float TotalMass + { + get { return Linkset.LinksetMass; } + } + + public override void UpdatePhysicalParameters() + { + base.UpdatePhysicalParameters(); + // Recompute any linkset parameters. + // When going from non-physical to physical, this re-enables the constraints that + // had been automatically disabled when the mass was set to zero. + // For compound based linksets, this enables and disables interactions of the children. + Linkset.Refresh(this); + } + + protected override void MakeDynamic(bool makeStatic) + { + base.MakeDynamic(makeStatic); + if (makeStatic) + Linkset.MakeStatic(this); + else + Linkset.MakeDynamic(this); + } + + // Body is being taken apart. Remove physical dependencies and schedule a rebuild. + protected override void RemoveBodyDependencies() + { + Linkset.RemoveBodyDependencies(this); + base.RemoveBodyDependencies(); + } + + public override void UpdateProperties(EntityProperties entprop) + { + if (Linkset.IsRoot(this)) + { + // Properties are only updated for the roots of a linkset. + // TODO: this will have to change when linksets are articulated. + base.UpdateProperties(entprop); + } + Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); + + } + + public override bool Collide(uint collidingWith, BSPhysObject collidee, + OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) + { + // prims in the same linkset cannot collide with each other + BSPrimLinkable convCollidee = collidee as BSPrimLinkable; + if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID)) + { + return false; + } + return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth); + } +} +} -- cgit v1.1 From 1b203601f43662541526369f540dd04f5b485be6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 7 Feb 2013 21:57:31 -0800 Subject: BulletSim: include the linkage to the layered prim implementation. Separate layers for physical (vs simulator) location displacement and linksets. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 48 +++-- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 32 ++-- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 30 ++-- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 21 --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 195 ++++++--------------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 +- 8 files changed, 109 insertions(+), 225 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index d694a6a..0afc437 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -901,7 +901,7 @@ public sealed class BSCharacter : BSPhysObject CurrentEntityProperties = entprop; // Tell the linkset about value changes - Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); + // Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // base.RequestPhysicsterseUpdate(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index b51e9fd..41d353a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -597,7 +597,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (IsActive) { // Remember the mass so we don't have to fetch it every step - m_vehicleMass = Prim.Linkset.LinksetMass; + m_vehicleMass = Prim.TotalMass; // Friction affects are handled by this vehicle code PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 1e3e5d8..8e69db3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -52,7 +52,7 @@ public abstract class BSLinkset Manual = 2 // linkset tied together manually (code moves all the pieces) } // Create the correct type of linkset for this child - public static BSLinkset Factory(BSScene physScene, BSPhysObject parent) + public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent) { BSLinkset ret = null; @@ -74,7 +74,7 @@ public abstract class BSLinkset return ret; } - public BSPhysObject LinksetRoot { get; protected set; } + public BSPrimLinkable LinksetRoot { get; protected set; } public BSScene PhysicsScene { get; private set; } @@ -82,7 +82,7 @@ public abstract class BSLinkset public int LinksetID { get; private set; } // The children under the root in this linkset. - protected HashSet m_children; + protected HashSet m_children; // We lock the diddling of linkset classes to prevent any badness. // This locks the modification of the instances of this class. Changes @@ -91,7 +91,7 @@ public abstract class BSLinkset // Some linksets have a preferred physical shape. // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected. - public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) + public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor) { return BSPhysicsShapeType.SHAPE_UNKNOWN; } @@ -111,7 +111,7 @@ public abstract class BSLinkset get { return ComputeLinksetGeometricCenter(); } } - protected BSLinkset(BSScene scene, BSPhysObject parent) + protected BSLinkset(BSScene scene, BSPrimLinkable parent) { // A simple linkset of one (no children) LinksetID = m_nextLinksetID++; @@ -120,7 +120,7 @@ public abstract class BSLinkset m_nextLinksetID = 1; PhysicsScene = scene; LinksetRoot = parent; - m_children = new HashSet(); + m_children = new HashSet(); LinksetMass = parent.RawMass; Rebuilding = false; } @@ -129,7 +129,7 @@ public abstract class BSLinkset // Parent changing should not happen so do some sanity checking. // We return the parent's linkset so the child can track its membership. // Called at runtime. - public BSLinkset AddMeToLinkset(BSPhysObject child) + public BSLinkset AddMeToLinkset(BSPrimLinkable child) { lock (m_linksetActivityLock) { @@ -145,14 +145,13 @@ 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(BSPhysObject child) + public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child) { lock (m_linksetActivityLock) { if (IsRoot(child)) { // Cannot remove the root from a linkset. - child.PositionDisplacement = OMV.Vector3.Zero; return this; } RemoveChildFromLinkset(child); @@ -160,12 +159,11 @@ public abstract class BSLinkset } // The child is down to a linkset of just itself - child.PositionDisplacement = OMV.Vector3.Zero; return BSLinkset.Factory(PhysicsScene, child); } // Return 'true' if the passed object is the root object of this linkset - public bool IsRoot(BSPhysObject requestor) + public bool IsRoot(BSPrimLinkable requestor) { return (requestor.LocalID == LinksetRoot.LocalID); } @@ -176,14 +174,14 @@ public abstract class BSLinkset public bool HasAnyChildren { get { return (m_children.Count > 0); } } // Return 'true' if this child is in this linkset - public bool HasChild(BSPhysObject child) + public bool HasChild(BSPrimLinkable child) { bool ret = false; lock (m_linksetActivityLock) { ret = m_children.Contains(child); /* Safer version but the above should work - foreach (BSPhysObject bp in m_children) + foreach (BSPrimLinkable bp in m_children) { if (child.LocalID == bp.LocalID) { @@ -198,14 +196,14 @@ public abstract class BSLinkset // 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 ForEachMemberAction(BSPhysObject obj); + public delegate bool ForEachMemberAction(BSPrimLinkable obj); public virtual bool ForEachMember(ForEachMemberAction action) { bool ret = false; lock (m_linksetActivityLock) { action(LinksetRoot); - foreach (BSPhysObject po in m_children) + foreach (BSPrimLinkable po in m_children) { if (action(po)) break; @@ -216,16 +214,16 @@ public abstract class BSLinkset // I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. - protected abstract void AddChildToLinkset(BSPhysObject child); + protected abstract void AddChildToLinkset(BSPrimLinkable child); // 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(BSPhysObject child); + protected abstract void RemoveChildFromLinkset(BSPrimLinkable child); // When physical properties are changed the linkset needs to recalculate // its internal properties. // May be called at runtime or taint-time. - public virtual void Refresh(BSPhysObject requestor) + public virtual void Refresh(BSPrimLinkable requestor) { LinksetMass = ComputeLinksetMass(); } @@ -240,26 +238,26 @@ public abstract class BSLinkset // has not yet been fully constructed. // Return 'true' if any properties updated on the passed object. // Called at taint-time! - public abstract bool MakeDynamic(BSPhysObject child); + public abstract bool MakeDynamic(BSPrimLinkable child); // The object is going static (non-physical). Do any setup necessary // for a static linkset. // Return 'true' if any properties updated on the passed object. // Called at taint-time! - public abstract bool MakeStatic(BSPhysObject child); + public abstract bool MakeStatic(BSPrimLinkable child); // Called when a parameter update comes from the physics engine for any object // of the linkset is received. // Passed flag is update came from physics engine (true) or the user (false). // Called at taint-time!! - public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject physObject); + public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable physObject); // Routine used when rebuilding the body of the root of the linkset // Destroy all the constraints have have been made to root. // This is called when the root body is changing. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! - public abstract bool RemoveBodyDependencies(BSPrim child); + public abstract bool RemoveBodyDependencies(BSPrimLinkable child); // ================================================================ protected virtual float ComputeLinksetMass() @@ -269,7 +267,7 @@ public abstract class BSLinkset { lock (m_linksetActivityLock) { - foreach (BSPhysObject bp in m_children) + foreach (BSPrimLinkable bp in m_children) { mass += bp.RawMass; } @@ -286,7 +284,7 @@ public abstract class BSLinkset com = LinksetRoot.Position * LinksetRoot.RawMass; float totalMass = LinksetRoot.RawMass; - foreach (BSPhysObject bp in m_children) + foreach (BSPrimLinkable bp in m_children) { com += bp.Position * bp.RawMass; totalMass += bp.RawMass; @@ -305,7 +303,7 @@ public abstract class BSLinkset { com = LinksetRoot.Position; - foreach (BSPhysObject bp in m_children) + foreach (BSPrimLinkable bp in m_children) { com += bp.Position; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 0c4db40..36bae9b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -52,7 +52,7 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo OffsetRot = r; } // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape) - public BSLinksetCompoundInfo(int indx, BSPhysObject root, BSPhysObject child, OMV.Vector3 centerDisplacement) + public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement) { // Each child position and rotation is given relative to the center-of-mass. OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation); @@ -93,12 +93,12 @@ public sealed class BSLinksetCompound : BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; - public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent) + public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) : base(scene, parent) { } // For compound implimented linksets, if there are children, use compound shape for the root. - public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) + public override BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor) { // Returning 'unknown' means we don't have a preference. BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; @@ -112,7 +112,7 @@ public sealed class BSLinksetCompound : BSLinkset // When physical properties are changed the linkset needs to recalculate // its internal properties. - public override void Refresh(BSPhysObject requestor) + public override void Refresh(BSPrimLinkable requestor) { base.Refresh(requestor); @@ -121,7 +121,7 @@ public sealed class BSLinksetCompound : BSLinkset } // Schedule a refresh to happen after all the other taint processing. - private void ScheduleRebuild(BSPhysObject requestor) + private void ScheduleRebuild(BSPrimLinkable requestor) { DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); @@ -143,7 +143,7 @@ public sealed class BSLinksetCompound : BSLinkset // has not yet been fully constructed. // Return 'true' if any properties updated on the passed object. // Called at taint-time! - public override bool MakeDynamic(BSPhysObject child) + public override bool MakeDynamic(BSPrimLinkable child) { bool ret = false; DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); @@ -173,7 +173,7 @@ public sealed class BSLinksetCompound : BSLinkset // This doesn't normally happen -- OpenSim removes the objects from the physical // world if it is a static linkset. // Called at taint-time! - public override bool MakeStatic(BSPhysObject child) + public override bool MakeStatic(BSPrimLinkable child) { bool ret = false; DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); @@ -197,7 +197,7 @@ public sealed class BSLinksetCompound : BSLinkset // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then. // Called at taint-time. - public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject updated) + public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated) { // The user moving a child around requires the rebuilding of the linkset compound shape // One problem is this happens when a border is crossed -- the simulator implementation @@ -222,7 +222,7 @@ public sealed class BSLinksetCompound : BSLinkset if (lsi != null) { // Since the child moved or rotationed, it needs a new relative position within the linkset - BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement); + BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, OMV.Vector3.Zero); updated.LinksetInfo = newLsi; // Find the physical instance of the child @@ -291,7 +291,7 @@ public sealed class BSLinksetCompound : BSLinkset // Since we don't keep in world relationships, do nothing unless it's a child changing. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! - public override bool RemoveBodyDependencies(BSPrim child) + public override bool RemoveBodyDependencies(BSPrimLinkable child) { bool ret = false; @@ -316,7 +316,7 @@ public sealed class BSLinksetCompound : BSLinkset // When the linkset is built, the child shape is added to the compound shape relative to the // root shape. The linkset then moves around but this does not move the actual child // prim. The child prim's location must be recomputed based on the location of the root shape. - private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) + private void RecomputeChildWorldPosition(BSPrimLinkable child, bool inTaintTime) { // For the moment (20130201), disable this computation (converting the child physical addr back to // a region address) until we have a good handle on center-of-mass offsets and what the physics @@ -361,7 +361,7 @@ public sealed class BSLinksetCompound : BSLinkset // Add a new child to the linkset. // Called while LinkActivity is locked. - protected override void AddChildToLinkset(BSPhysObject child) + protected override void AddChildToLinkset(BSPrimLinkable child) { if (!HasChild(child)) { @@ -377,7 +377,7 @@ 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(BSPhysObject child) + protected override void RemoveChildFromLinkset(BSPrimLinkable child) { if (m_children.Remove(child)) { @@ -429,7 +429,7 @@ public sealed class BSLinksetCompound : BSLinkset if (disableCOM) // DEBUG DEBUG { // DEBUG DEBUG centerOfMass = LinksetRoot.RawPosition; // DEBUG DEBUG - LinksetRoot.PositionDisplacement = OMV.Vector3.Zero; + // LinksetRoot.PositionDisplacement = OMV.Vector3.Zero; } // DEBUG DEBUG else { @@ -438,7 +438,7 @@ public sealed class BSLinksetCompound : BSLinkset centerDisplacement = LinksetRoot.RawPosition - centerOfMass; // Since we're displacing the center of the shape, we need to move the body in the world - LinksetRoot.PositionDisplacement = centerDisplacement; + // LinksetRoot.PositionDisplacement = centerDisplacement; // This causes the root prim position to be set properly based on the new PositionDisplacement LinksetRoot.ForcePosition = LinksetRoot.RawPosition; @@ -453,7 +453,7 @@ public sealed class BSLinksetCompound : BSLinkset // Add a shape for each of the other children in the linkset int memberIndex = 1; - ForEachMember(delegate(BSPhysObject cPrim) + ForEachMember(delegate(BSPrimLinkable cPrim) { if (!IsRoot(cPrim)) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 3011465..cc814d1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -36,7 +36,7 @@ public sealed class BSLinksetConstraints : BSLinkset { // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; - public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent) + public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent) { } @@ -44,7 +44,7 @@ public sealed class BSLinksetConstraints : BSLinkset // its internal properties. // This is queued in the 'post taint' queue so the // refresh will happen once after all the other taints are applied. - public override void Refresh(BSPhysObject requestor) + public override void Refresh(BSPrimLinkable requestor) { base.Refresh(requestor); @@ -65,7 +65,7 @@ public sealed class BSLinksetConstraints : BSLinkset // has not yet been fully constructed. // Return 'true' if any properties updated on the passed object. // Called at taint-time! - public override bool MakeDynamic(BSPhysObject child) + public override bool MakeDynamic(BSPrimLinkable child) { // What is done for each object in BSPrim is what we want. return false; @@ -76,14 +76,14 @@ public sealed class BSLinksetConstraints : BSLinkset // This doesn't normally happen -- OpenSim removes the objects from the physical // world if it is a static linkset. // Called at taint-time! - public override bool MakeStatic(BSPhysObject child) + public override bool MakeStatic(BSPrimLinkable child) { // What is done for each object in BSPrim is what we want. return false; } // Called at taint-time!! - public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject pObj) + public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable pObj) { // Nothing to do for constraints on property updates } @@ -93,7 +93,7 @@ public sealed class BSLinksetConstraints : BSLinkset // up to rebuild the constraints before the next simulation step. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! - public override bool RemoveBodyDependencies(BSPrim child) + public override bool RemoveBodyDependencies(BSPrimLinkable child) { bool ret = false; @@ -114,7 +114,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Add a new child to the linkset. // Called while LinkActivity is locked. - protected override void AddChildToLinkset(BSPhysObject child) + protected override void AddChildToLinkset(BSPrimLinkable child) { if (!HasChild(child)) { @@ -130,12 +130,12 @@ 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(BSPhysObject child) + protected override void RemoveChildFromLinkset(BSPrimLinkable child) { if (m_children.Remove(child)) { - BSPhysObject rootx = LinksetRoot; // capture the root and body as of now - BSPhysObject childx = child; + BSPrimLinkable rootx = LinksetRoot; // capture the root and body as of now + BSPrimLinkable childx = child; DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", childx.LocalID, @@ -159,13 +159,13 @@ public sealed class BSLinksetConstraints : BSLinkset // Create a constraint between me (root of linkset) and the passed prim (the child). // Called at taint time! - private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim) + private void PhysicallyLinkAChildToRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim) { // Don't build the constraint when asked. Put it off until just before the simulation step. Refresh(rootPrim); } - private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim) + private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim) { // Zero motion for children so they don't interpolate childPrim.ZeroMotion(true); @@ -239,7 +239,7 @@ public sealed class BSLinksetConstraints : BSLinkset // The root and child bodies are passed in because we need to remove the constraint between // the bodies that were present at unlink time. // Called at taint time! - private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim) + private bool PhysicallyUnlinkAChildFromRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim) { bool ret = false; DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", @@ -261,7 +261,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Remove linkage between myself and any possible children I might have. // Returns 'true' of any constraints were destroyed. // Called at taint time! - private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim) + private bool PhysicallyUnlinkAllChildrenFromRoot(BSPrimLinkable rootPrim) { DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); @@ -281,7 +281,7 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass); - foreach (BSPhysObject child in m_children) + foreach (BSPrimLinkable child in m_children) { // A child in the linkset physically shows the mass of the whole linkset. // This allows Bullet to apply enough force on the child to move the whole linkset. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 0d8bb03..e1d269a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -86,10 +86,6 @@ public abstract class BSPhysObject : PhysicsActor PhysBody = new BulletBody(localID); PhysShape = new BulletShape(); - // A linkset of just me - Linkset = BSLinkset.Factory(PhysicsScene, this); - PositionDisplacement = OMV.Vector3.Zero; - LastAssetBuildFailed = false; // Default material type. Also sets Friction, Restitution and Density. @@ -117,8 +113,6 @@ public abstract class BSPhysObject : PhysicsActor public string PhysObjectName { get; protected set; } public string TypeName { get; protected set; } - public BSLinkset Linkset { get; set; } - public BSLinksetInfo LinksetInfo { get; set; } // Return the object mass without calculating it or having side effects public abstract float RawMass { get; } @@ -188,15 +182,6 @@ public abstract class BSPhysObject : PhysicsActor public abstract OMV.Vector3 RawPosition { get; set; } public abstract OMV.Vector3 ForcePosition { get; set; } - // 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is. - // Because Bullet needs the zero coordinate to be the center of mass of the linkset, - // sometimes it is necessary to displace the position the physics engine thinks - // the position is. PositionDisplacement must be added and removed from the - // position as the simulator position is stored and fetched from the physics - // engine. Similar to OrientationDisplacement. - public virtual OMV.Vector3 PositionDisplacement { get; set; } - public virtual OMV.Quaternion OrientationDisplacement { get; set; } - public abstract OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } @@ -302,12 +287,6 @@ public abstract class BSPhysObject : PhysicsActor CollidingObjectStep = PhysicsScene.SimulationStep; } - // prims in the same linkset cannot collide with each other - if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) - { - return ret; - } - CollisionAccumulation++; // For movement tests, remember if we are colliding with an object that is moving. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 85c2627..cf7aa0f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -39,7 +39,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { [Serializable] -public sealed class BSPrim : BSPhysObject +public class BSPrim : BSPhysObject { private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS PRIM]"; @@ -102,9 +102,6 @@ public sealed class BSPrim : BSPhysObject _mass = CalculateMass(); - // Cause linkset variables to be initialized (like mass) - Linkset.Refresh(this); - DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time PhysicsScene.TaintedObject("BSPrim.create", delegate() @@ -121,15 +118,6 @@ public sealed class BSPrim : BSPhysObject // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); base.Destroy(); - // Undo any links between me and any other object - BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG DEBUG - int childrenBefore = Linkset.NumberOfChildren; // DEBUG DEBUG - - Linkset = Linkset.RemoveMeFromLinkset(this); - - DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}", - LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); - // Undo any vehicle properties this.VehicleType = (int)Vehicle.TYPE_NONE; @@ -166,9 +154,9 @@ public sealed class BSPrim : BSPhysObject ForceBodyShapeRebuild(false); } } - // Whatever the linkset wants is what I want. + // 'unknown' says to choose the best type public override BSPhysicsShapeType PreferredPhysicalShape - { get { return Linkset.PreferredPhysicalShape(this); } } + { get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } } public override bool ForceBodyShapeRebuild(bool inTaintTime) { @@ -213,33 +201,10 @@ public sealed class BSPrim : BSPhysObject // link me to the specified parent public override void link(PhysicsActor obj) { - BSPrim parent = obj as BSPrim; - if (parent != null) - { - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; - - Linkset = parent.Linkset.AddMeToLinkset(this); - - DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}", - LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); - } - return; } // delink me from my linkset public override void delink() { - // TODO: decide if this parent checking needs to happen at taint time - // Race condition here: if link() and delink() in same simulation tick, the delink will not happen - - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; - - Linkset = Linkset.RemoveMeFromLinkset(this); - - DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ", - LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren); - return; } // Set motion values to zero. @@ -287,15 +252,8 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Vector3 Position { get { - /* NOTE: this refetch is not necessary. The simulator knows about linkset children - * and does not fetch this position info for children. Thus this is commented out. - // child prims move around based on their parent. Need to get the latest location - if (!Linkset.IsRoot(this)) - _position = Linkset.PositionGet(this); - */ - // don't do the GetObjectPosition for root elements because this function is called a zillion times. - // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody) - PositionDisplacement; + // _position = ForcePosition; return _position; } set { @@ -313,24 +271,20 @@ public sealed class BSPrim : BSPhysObject { DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); ForcePosition = _position; - - // A linkset might need to know if a component information changed. - Linkset.UpdateProperties(UpdatedProperties.Position, this); - }); } } public override OMV.Vector3 ForcePosition { get { - _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement; + _position = PhysicsScene.PE.GetPosition(PhysBody); return _position; } set { _position = value; if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); ActivateIfPhysical(false); } } @@ -398,12 +352,13 @@ public sealed class BSPrim : BSPhysObject // If the simulator cares about the mass of the linkset, it will sum it itself. public override float Mass { - get - { - return _mass; - } + get { return _mass; } + } + // TotalMass returns the mass of the large object the prim may be in (overridden by linkset code) + public virtual float TotalMass + { + get { return _mass; } } - // used when we only want this prim's mass and not the linkset thing public override float RawMass { get { return _mass; } @@ -467,13 +422,13 @@ public sealed class BSPrim : BSPhysObject // Is this used? public override OMV.Vector3 CenterOfMass { - get { return Linkset.CenterOfMass; } + get { return RawPosition; } } // Is this used? public override OMV.Vector3 GeometricCenter { - get { return Linkset.GeometricCenter; } + get { return RawPosition; } } public override OMV.Vector3 Force { @@ -721,14 +676,6 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Quaternion Orientation { get { - /* NOTE: this refetch is not necessary. The simulator knows about linkset children - * and does not fetch this position info for children. Thus this is commented out. - // Children move around because tied to parent. Get a fresh value. - if (!Linkset.IsRoot(this)) - { - _orientation = Linkset.OrientationGet(this); - } - */ return _orientation; } set { @@ -739,10 +686,6 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() { ForceOrientation = _orientation; - - // A linkset might need to know if a component information changed. - Linkset.UpdateProperties(UpdatedProperties.Orientation, this); - }); } } @@ -758,7 +701,7 @@ public sealed class BSPrim : BSPhysObject { _orientation = value; if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation); + PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); } } public override int PhysicsActorType { @@ -814,7 +757,7 @@ public sealed class BSPrim : BSPhysObject // isSolid: other objects bounce off of this object // isVolumeDetect: other objects pass through but can generate collisions // collisionEvents: whether this object returns collision events - public void UpdatePhysicalParameters() + public virtual void UpdatePhysicalParameters() { if (!PhysBody.HasPhysicalBody) { @@ -844,12 +787,6 @@ public sealed class BSPrim : BSPhysObject // Rebuild its shape PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); - // Recompute any linkset parameters. - // When going from non-physical to physical, this re-enables the constraints that - // had been automatically disabled when the mass was set to zero. - // For compound based linksets, this enables and disables interactions of the children. - Linkset.Refresh(this); - DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}", LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape); } @@ -859,7 +796,7 @@ public sealed class BSPrim : BSPhysObject // When dynamic, the object can fall and be pushed by others. // This is independent of its 'solidness' which controls what passes through // this object and what interacts with it. - private void MakeDynamic(bool makeStatic) + protected virtual void MakeDynamic(bool makeStatic) { if (makeStatic) { @@ -889,9 +826,6 @@ public sealed class BSPrim : BSPhysObject // This collides like a static object PhysBody.collisionType = CollisionType.Static; - - // There can be special things needed for implementing linksets - Linkset.MakeStatic(this); } else { @@ -908,10 +842,7 @@ public sealed class BSPrim : BSPhysObject // PhysicsScene.PE.ClearAllForces(BSBody); // For good measure, make sure the transform is set through to the motion state - PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation); - - // Center of mass is at the center of the object - // DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation); + ForcePosition = _position; // A dynamic object has mass UpdatePhysicalMassProperties(RawMass, false); @@ -935,9 +866,6 @@ public sealed class BSPrim : BSPhysObject // Force activation of the object so Bullet will act on it. // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); - - // There might be special things needed for implementing linksets. - Linkset.MakeDynamic(this); } } @@ -1643,16 +1571,6 @@ public sealed class BSPrim : BSPhysObject returnMass = Density * volume; - /* Comment out code that computes the mass of the linkset. That is done in the Linkset class. - if (IsRootOfLinkset) - { - foreach (BSPrim prim in _childrenPrims) - { - returnMass += prim.CalculateMass(); - } - } - */ - returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); return returnMass; @@ -1672,8 +1590,7 @@ public sealed class BSPrim : BSPhysObject // Called if the current prim body is about to be destroyed. // Remove all the physical dependencies on the old body. // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) - Linkset.RemoveBodyDependencies(this); - VehicleController.RemoveBodyDependencies(this); + RemoveBodyDependencies(); }); // Make sure the properties are set on the new object @@ -1681,57 +1598,50 @@ public sealed class BSPrim : BSPhysObject return; } + protected virtual void RemoveBodyDependencies() + { + VehicleController.RemoveBodyDependencies(this); + } + // The physics engine says that properties have updated. Update same and inform // the world that things have changed. public override void UpdateProperties(EntityProperties entprop) { - // Updates only for individual prims and for the root object of a linkset. - if (Linkset.IsRoot(this)) + // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet + // TODO: handle physics introduced by Bullet with computed vehicle physics. + if (VehicleController.IsActive) { - // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet - // TODO: handle physics introduced by Bullet with computed vehicle physics. - if (VehicleController.IsActive) - { - entprop.RotationalVelocity = OMV.Vector3.Zero; - } - - // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG + entprop.RotationalVelocity = OMV.Vector3.Zero; + } - // Undo any center-of-mass displacement that might have been done. - if (PositionDisplacement != OMV.Vector3.Zero) - { - // Correct for any rotation around the center-of-mass - // TODO!!! - entprop.Position -= PositionDisplacement; - } + // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG - // Assign directly to the local variables so the normal set actions do not happen - _position = entprop.Position; - _orientation = entprop.Rotation; - _velocity = entprop.Velocity; - _acceleration = entprop.Acceleration; - _rotationalVelocity = entprop.RotationalVelocity; + // Assign directly to the local variables so the normal set actions do not happen + _position = entprop.Position; + _orientation = entprop.Rotation; + _velocity = entprop.Velocity; + _acceleration = entprop.Acceleration; + _rotationalVelocity = entprop.RotationalVelocity; - // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG + // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG - // The sanity check can change the velocity and/or position. - if (PositionSanityCheck(true /* inTaintTime */ )) - { - entprop.Position = _position; - entprop.Velocity = _velocity; - entprop.RotationalVelocity = _rotationalVelocity; - entprop.Acceleration = _acceleration; - } + // The sanity check can change the velocity and/or position. + if (PositionSanityCheck(true /* inTaintTime */ )) + { + entprop.Position = _position; + entprop.Velocity = _velocity; + entprop.RotationalVelocity = _rotationalVelocity; + entprop.Acceleration = _acceleration; + } - OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG - DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction); + OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG + DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction); - // remember the current and last set values - LastEntityProperties = CurrentEntityProperties; - CurrentEntityProperties = entprop; + // remember the current and last set values + LastEntityProperties = CurrentEntityProperties; + CurrentEntityProperties = entprop; - base.RequestPhysicsterseUpdate(); - } + base.RequestPhysicsterseUpdate(); /* else { @@ -1741,9 +1651,6 @@ public sealed class BSPrim : BSPhysObject entprop.Acceleration, entprop.RotationalVelocity); } */ - - // The linkset implimentation might want to know about this. - Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index f8a0c1e..e506d22 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -434,7 +434,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { if (!m_initialized) return; - BSPrim bsprim = prim as BSPrim; + BSPhysObject bsprim = prim as BSPhysObject; if (bsprim != null) { DetailLog("{0},RemovePrim,call", bsprim.LocalID); @@ -465,7 +465,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters DetailLog("{0},AddPrimShape,call", localID); - BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical); + BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical); lock (PhysObjects) PhysObjects.Add(localID, prim); return prim; } -- cgit v1.1 From 1b55a9d81e66972312fdc801d17da697466f9ed4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 8 Feb 2013 15:25:57 -0800 Subject: BulletSim: fix avatar bobbing or jiggling while stationary flying. Various comments and debugging message mods. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 29 ++++++++++++---------- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 4 +++ .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 6 ++--- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- 5 files changed, 25 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 0afc437..6a995a2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -140,7 +140,7 @@ public sealed class BSCharacter : BSPhysObject ZeroMotion(true); ForcePosition = _position; - // Set the velocity and compute the proper friction + // Set the velocity _velocityMotor.Reset(); _velocityMotor.SetTarget(_velocity); _velocityMotor.SetCurrent(_velocity); @@ -214,25 +214,28 @@ public sealed class BSCharacter : BSPhysObject _velocityMotor.Step(timeStep); // If we're not supposed to be moving, make sure things are zero. - if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero && IsColliding) + if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero) { // The avatar shouldn't be moving _velocityMotor.Zero(); - // If we are colliding with a stationary object, presume we're standing and don't move around - if (!ColliderIsMoving) + if (IsColliding) { - DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID); - ZeroMotion(true /* inTaintTime */); - } + // If we are colliding with a stationary object, presume we're standing and don't move around + if (!ColliderIsMoving) + { + DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID); + ZeroMotion(true /* inTaintTime */); + } - // Standing has more friction on the ground - if (_currentFriction != BSParam.AvatarStandingFriction) - { - _currentFriction = BSParam.AvatarStandingFriction; - PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); + // Standing has more friction on the ground + if (_currentFriction != BSParam.AvatarStandingFriction) + { + _currentFriction = BSParam.AvatarStandingFriction; + PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); + } } - DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue); + DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding); } else { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 8e69db3..e35311f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -71,6 +71,10 @@ public abstract class BSLinkset ret = new BSLinksetCompound(physScene, parent); break; } + if (ret == null) + { + physScene.Logger.ErrorFormat("[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name, parent.LocalID); + } return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index e1d269a..de69fa0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -290,13 +290,13 @@ public abstract class BSPhysObject : PhysicsActor CollisionAccumulation++; // For movement tests, remember if we are colliding with an object that is moving. - ColliderIsMoving = collidee != null ? collidee.RawVelocity != OMV.Vector3.Zero : false; + ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false; // If someone has subscribed for collision events log the collision so it will be reported up if (SubscribedEvents()) { CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", - LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); + DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}", + LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving); ret = true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index fd66d1c..9898562 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -160,8 +160,8 @@ public class BSPrimLinkable : BSPrimDisplaced // TODO: this will have to change when linksets are articulated. base.UpdateProperties(entprop); } + // The linkset might like to know about changing locations Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); - } public override bool Collide(uint collidingWith, BSPhysObject collidee, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e506d22..05722b8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -463,7 +463,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return null; - DetailLog("{0},AddPrimShape,call", localID); + DetailLog("{0},BSScene.AddPrimShape,call", localID); BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical); lock (PhysObjects) PhysObjects.Add(localID, prim); -- cgit v1.1 From 222040f1ec0d85b06de8271fd7eabc7dd0a2f7d4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 8 Feb 2013 15:36:10 -0800 Subject: BulletSim: Change BSCharacter to use new base Density and Friction variables rather than own local varaibles. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 26 +++++++++------------- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 +- 2 files changed, 12 insertions(+), 16 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 6a995a2..f781aea 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -45,7 +45,6 @@ public sealed class BSCharacter : BSPhysObject private bool _selected; private OMV.Vector3 _position; private float _mass; - private float _avatarDensity; private float _avatarVolume; private OMV.Vector3 _force; private OMV.Vector3 _velocity; @@ -63,9 +62,6 @@ public sealed class BSCharacter : BSPhysObject private bool _kinematic; private float _buoyancy; - // The friction and velocity of the avatar is modified depending on whether walking or not. - private float _currentFriction; // the friction currently being used (changed by setVelocity). - private BSVMotor _velocityMotor; private OMV.Vector3 _PIDTarget; @@ -86,8 +82,8 @@ public sealed class BSCharacter : BSPhysObject _orientation = OMV.Quaternion.Identity; _velocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); - _currentFriction = BSParam.AvatarStandingFriction; - _avatarDensity = BSParam.AvatarDensity; + Friction = BSParam.AvatarStandingFriction; + Density = BSParam.AvatarDensity; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. @@ -104,7 +100,7 @@ public sealed class BSCharacter : BSPhysObject SetupMovementMotor(); DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", - LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); + LocalID, _size, Scale, Density, _avatarVolume, RawMass); // do actual creation in taint time PhysicsScene.TaintedObject("BSCharacter.create", delegate() @@ -229,10 +225,10 @@ public sealed class BSCharacter : BSPhysObject } // Standing has more friction on the ground - if (_currentFriction != BSParam.AvatarStandingFriction) + if (Friction != BSParam.AvatarStandingFriction) { - _currentFriction = BSParam.AvatarStandingFriction; - PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); + Friction = BSParam.AvatarStandingFriction; + PhysicsScene.PE.SetFriction(PhysBody, Friction); } } DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding); @@ -241,11 +237,11 @@ public sealed class BSCharacter : BSPhysObject { OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue; - if (_currentFriction != BSParam.AvatarFriction) + if (Friction != BSParam.AvatarFriction) { // Probably starting up walking. Set friction to moving friction. - _currentFriction = BSParam.AvatarFriction; - PhysicsScene.PE.SetFriction(PhysBody, _currentFriction); + Friction = BSParam.AvatarFriction; + PhysicsScene.PE.SetFriction(PhysBody, Friction); } // If falling, we keep the world's downward vector no matter what the other axis specify. @@ -345,7 +341,7 @@ public sealed class BSCharacter : BSPhysObject Scale = ComputeAvatarScale(_size); ComputeAvatarVolumeAndMass(); DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", - LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); + LocalID, _size, Scale, Density, _avatarVolume, RawMass); PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { @@ -873,7 +869,7 @@ public sealed class BSCharacter : BSPhysObject * Math.Min(Size.X, Size.Y) / 2 * Size.Y / 2f // plus the volume of the capsule end caps ); - _mass = _avatarDensity * _avatarVolume; + _mass = Density * _avatarVolume; } // The physics engine says that properties have updated. Update same and inform diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 601c78c..6cb7434 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -424,7 +424,7 @@ public static class BSParam (s) => { return AvatarFriction; }, (s,p,l,v) => { AvatarFriction = v; } ), new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", - 10.0f, + 0.95f, (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); }, (s) => { return AvatarStandingFriction; }, (s,p,l,v) => { AvatarStandingFriction = v; } ), -- cgit v1.1 From 4808b8ee380d32c1b63654f9c0170a5f07b46bd0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 8 Feb 2013 16:27:44 -0800 Subject: BulletSim: add parameter to set global contact breaking threshold. Update DLLs and SOs for setting same. --- OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs | 1 + OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 ++++++ 2 files changed, 7 insertions(+) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 5e06c1e..7ab86d2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -183,6 +183,7 @@ public struct ConfigurationParameters public float shouldEnableFrictionCaching; public float numberOfSolverIterations; public float useSingleSidedMeshes; + public float globalContactBreakingThreshold; public float physicsLoggingFrames; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 6cb7434..3e0b4bc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -87,6 +87,7 @@ public static class BSParam public static float NumberOfSolverIterations; public static bool UseSingleSidedMeshes { get { return UseSingleSidedMeshesF != ConfigurationParameters.numericFalse; } } public static float UseSingleSidedMeshesF; + public static float GlobalContactBreakingThreshold; // Avatar parameters public static float AvatarFriction { get; private set; } @@ -570,6 +571,11 @@ public static class BSParam (s,cf,p,v) => { UseSingleSidedMeshesF = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, (s) => { return UseSingleSidedMeshesF; }, (s,p,l,v) => { UseSingleSidedMeshesF = v; s.UnmanagedParams[0].useSingleSidedMeshes = v; } ), + new ParameterDefn("GlobalContactBreakingThreshold", "Amount of shape radius before breaking a collision contact (0 says Bullet default (0.2))", + 0f, + (s,cf,p,v) => { GlobalContactBreakingThreshold = cf.GetFloat(p, v); }, + (s) => { return GlobalContactBreakingThreshold; }, + (s,p,l,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ), new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", (float)BSLinkset.LinksetImplementation.Compound, -- cgit v1.1