From 890cb6a29373a54dde2d06b13e42d07676710dc2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 27 Apr 2013 14:00:58 -0700 Subject: BulletSim: complete BSShape classes. --- .../Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 327 ++++++++++++++++++++- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 6 +- 3 files changed, 316 insertions(+), 19 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index bc26460..0f9b3c3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -499,7 +499,7 @@ public sealed class BSShapeCollection : IDisposable } // return 'true' if this shape description does not include any cutting or twisting. - private bool PrimHasNoCuts(PrimitiveBaseShape pbs) + public static bool PrimHasNoCuts(PrimitiveBaseShape pbs) { return pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 && pbs.ProfileHollow == 0 diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index dd5ae1a..e427dbc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -31,6 +31,7 @@ using System.Text; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; +using OpenSim.Region.Physics.ConvexDecompositionDotNet; using OMV = OpenMetaverse; @@ -73,7 +74,7 @@ public abstract class BSShape if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) { // Getting a reference to a compound shape gets you the compound shape with the root prim shape added - ret = BSShapeCompound.GetReference(prim); + ret = BSShapeCompound.GetReference(physicsScene, prim); physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret); } @@ -92,6 +93,7 @@ public abstract class BSShape } private static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) { + // TODO: work needed here!! BSShapeMesh.GetReference(physicsScene, forceRebuild, prim); BSShapeHull.GetReference(physicsScene, forceRebuild, prim); return null; @@ -209,7 +211,7 @@ public class BSShapeNative : BSShape public class BSShapeMesh : BSShape { private static string LogHeader = "[BULLETSIM SHAPE MESH]"; - private static Dictionary Meshes = new Dictionary(); + public static Dictionary Meshes = new Dictionary(); public BSShapeMesh(BulletShape pShape) : base(pShape) { @@ -219,10 +221,10 @@ public class BSShapeMesh : BSShape float lod; System.UInt64 newMeshKey = BSShapeCollection.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - physicsScene.DetailLog("{0},BSShapeMesh,create,oldKey={1},newKey={2},size={3},lod={4}", + physicsScene.DetailLog("{0},BSShapeMesh,getReference,oldKey={1},newKey={2},size={3},lod={4}", prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"), prim.Size, lod); - BSShapeMesh retMesh; + BSShapeMesh retMesh = new BSShapeMesh(new BulletShape()); lock (Meshes) { if (Meshes.TryGetValue(newMeshKey, out retMesh)) @@ -233,13 +235,17 @@ public class BSShapeMesh : BSShape else { // An instance of this mesh has not been created. Build and remember same. - BulletShape newShape = CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod); - // Take evasive action if the mesh was not constructed. - newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim); + BulletShape newShape = retMesh.CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod); - retMesh = new BSShapeMesh(newShape); + // Check to see if mesh was created (might require an asset). + newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim); + if (newShape.type == BSPhysicsShapeType.SHAPE_MESH) + { + // If a mesh was what was created, remember the built shape for later sharing. + Meshes.Add(newMeshKey, retMesh); + } - Meshes.Add(newMeshKey, retMesh); + retMesh.physShapeInfo = newShape; } } return retMesh; @@ -252,8 +258,28 @@ public class BSShapeMesh : BSShape // TODO: schedule aging and destruction of unused meshes. } } + // Loop through all the known meshes and return the description based on the physical address. + public static bool TryGetMeshByPtr(BulletShape pShape, out BSShapeMesh outMesh) + { + bool ret = false; + BSShapeMesh foundDesc = null; + lock (Meshes) + { + foreach (BSShapeMesh sm in Meshes.Values) + { + if (sm.physShapeInfo.ReferenceSame(pShape)) + { + foundDesc = sm; + ret = true; + break; + } - private static BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, + } + } + outMesh = foundDesc; + return ret; + } + private BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = null; @@ -326,32 +352,301 @@ public class BSShapeMesh : BSShape public class BSShapeHull : BSShape { private static string LogHeader = "[BULLETSIM SHAPE HULL]"; - private static Dictionary Hulls = new Dictionary(); + public static Dictionary Hulls = new Dictionary(); public BSShapeHull(BulletShape pShape) : base(pShape) { } public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) { - return new BSShapeNull(); + float lod; + System.UInt64 newHullKey = BSShapeCollection.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); + + physicsScene.DetailLog("{0},BSShapeHull,getReference,oldKey={1},newKey={2},size={3},lod={4}", + prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"), prim.Size, lod); + + BSShapeHull retHull = new BSShapeHull(new BulletShape()); + lock (Hulls) + { + if (Hulls.TryGetValue(newHullKey, out retHull)) + { + // The mesh has already been created. Return a new reference to same. + retHull.IncrementReference(); + } + else + { + // An instance of this mesh has not been created. Build and remember same. + BulletShape newShape = retHull.CreatePhysicalHull(physicsScene, prim, newHullKey, prim.BaseShape, prim.Size, lod); + + // Check to see if mesh was created (might require an asset). + newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim); + if (newShape.type == BSPhysicsShapeType.SHAPE_MESH) + { + // If a mesh was what was created, remember the built shape for later sharing. + Hulls.Add(newHullKey, retHull); + } + + retHull = new BSShapeHull(newShape); + retHull.physShapeInfo = newShape; + } + } + return retHull; } public override void Dereference(BSScene physicsScene) { } + List m_hulls; + private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey, + PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + { + BulletShape newShape = new BulletShape(); + IntPtr hullPtr = IntPtr.Zero; + + if (BSParam.ShouldUseBulletHACD) + { + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID); + BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim); + + if (meshShape.physShapeInfo.HasPhysicalShape) + { + HACDParams parms; + parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull; + parms.minClusters = BSParam.BHullMinClusters; + parms.compacityWeight = BSParam.BHullCompacityWeight; + parms.volumeWeight = BSParam.BHullVolumeWeight; + parms.concavity = BSParam.BHullConcavity; + parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints); + parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints); + parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints); + parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin); + + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape); + newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms); + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); + } + // Now done with the mesh shape. + meshShape.DecrementReference(); + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); + } + if (!newShape.HasPhysicalShape) + { + // Build a new hull in the physical world. + // Pass true for physicalness as this prevents the creation of bounding box which is not needed + IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); + if (meshData != null) + { + int[] indices = meshData.getIndexListAsInt(); + List vertices = meshData.getVertexList(); + + //format conversion from IMesh format to DecompDesc format + List convIndices = new List(); + List convVertices = new List(); + for (int ii = 0; ii < indices.GetLength(0); ii++) + { + convIndices.Add(indices[ii]); + } + foreach (OMV.Vector3 vv in vertices) + { + convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); + } + + uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit; + if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes) + { + // Simple primitive shapes we know are convex so they are better implemented with + // fewer hulls. + // Check for simple shape (prim without cuts) and reduce split parameter if so. + if (BSShapeCollection.PrimHasNoCuts(pbs)) + { + maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes; + } + } + + // setup and do convex hull conversion + m_hulls = new List(); + DecompDesc dcomp = new DecompDesc(); + dcomp.mIndices = convIndices; + dcomp.mVertices = convVertices; + dcomp.mDepth = maxDepthSplit; + dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent; + dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent; + dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices; + dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth; + ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); + // create the hull into the _hulls variable + convexBuilder.process(dcomp); + + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}", + BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count); + + // Convert the vertices and indices for passing to unmanaged. + // The hull information is passed as a large floating point array. + // The format is: + // convHulls[0] = number of hulls + // convHulls[1] = number of vertices in first hull + // convHulls[2] = hull centroid X coordinate + // convHulls[3] = hull centroid Y coordinate + // convHulls[4] = hull centroid Z coordinate + // convHulls[5] = first hull vertex X + // convHulls[6] = first hull vertex Y + // convHulls[7] = first hull vertex Z + // convHulls[8] = second hull vertex X + // ... + // convHulls[n] = number of vertices in second hull + // convHulls[n+1] = second hull centroid X coordinate + // ... + // + // TODO: is is very inefficient. Someday change the convex hull generator to return + // data structures that do not need to be converted in order to pass to Bullet. + // And maybe put the values directly into pinned memory rather than marshaling. + int hullCount = m_hulls.Count; + int totalVertices = 1; // include one for the count of the hulls + foreach (ConvexResult cr in m_hulls) + { + totalVertices += 4; // add four for the vertex count and centroid + totalVertices += cr.HullIndices.Count * 3; // we pass just triangles + } + float[] convHulls = new float[totalVertices]; + + convHulls[0] = (float)hullCount; + int jj = 1; + foreach (ConvexResult cr in m_hulls) + { + // copy vertices for index access + float3[] verts = new float3[cr.HullVertices.Count]; + int kk = 0; + foreach (float3 ff in cr.HullVertices) + { + verts[kk++] = ff; + } + + // add to the array one hull's worth of data + convHulls[jj++] = cr.HullIndices.Count; + convHulls[jj++] = 0f; // centroid x,y,z + convHulls[jj++] = 0f; + convHulls[jj++] = 0f; + foreach (int ind in cr.HullIndices) + { + convHulls[jj++] = verts[ind].x; + convHulls[jj++] = verts[ind].y; + convHulls[jj++] = verts[ind].z; + } + } + // create the hull data structure in Bullet + newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); + } + newShape.shapeKey = newHullKey; + } + return newShape; + } + // Callback from convex hull creater with a newly created hull. + // Just add it to our collection of hulls for this shape. + private void HullReturn(ConvexResult result) + { + m_hulls.Add(result); + return; + } + // Loop through all the known hulls and return the description based on the physical address. + public static bool TryGetHullByPtr(BulletShape pShape, out BSShapeHull outHull) + { + bool ret = false; + BSShapeHull foundDesc = null; + lock (Hulls) + { + foreach (BSShapeHull sh in Hulls.Values) + { + if (sh.physShapeInfo.ReferenceSame(pShape)) + { + foundDesc = sh; + ret = true; + break; + } + + } + } + outHull = foundDesc; + return ret; + } } + // ============================================================================================================ public class BSShapeCompound : BSShape { private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; - public BSShapeCompound() : base() + public BSShapeCompound(BulletShape pShape) : base(pShape) { } - public static BSShape GetReference(BSPhysObject prim) + public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim) { - return new BSShapeNull(); + // Compound shapes are not shared so a new one is created every time. + return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene, prim)); + } + // Dereferencing a compound shape releases the hold on all the child shapes. + public override void Dereference(BSScene physicsScene) + { + if (!physicsScene.PE.IsCompound(physShapeInfo)) + { + // Failed the sanity check!! + physicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", + LogHeader, physShapeInfo.type, physShapeInfo.AddrString); + physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", + BSScene.DetailLogZero, physShapeInfo.type, physShapeInfo.AddrString); + return; + } + + int numChildren = physicsScene.PE.GetNumberOfCompoundChildren(physShapeInfo); + physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", + BSScene.DetailLogZero, physShapeInfo, numChildren); + + // Loop through all the children dereferencing each. + for (int ii = numChildren - 1; ii >= 0; ii--) + { + BulletShape childShape = physicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(physShapeInfo, ii); + DereferenceAnonCollisionShape(physicsScene, childShape); + } + physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo); + } + private static BulletShape CreatePhysicalCompoundShape(BSScene physicsScene, BSPhysObject prim) + { + BulletShape cShape = physicsScene.PE.CreateCompoundShape(physicsScene.World, false); + return cShape; + } + // Sometimes we have a pointer to a collision shape but don't know what type it is. + // Figure out type and call the correct dereference routine. + // Called at taint-time. + private void DereferenceAnonCollisionShape(BSScene physicsScene, BulletShape pShape) + { + BSShapeMesh meshDesc; + if (BSShapeMesh.TryGetMeshByPtr(pShape, out meshDesc)) + { + meshDesc.Dereference(physicsScene); + } + else + { + BSShapeHull hullDesc; + if (BSShapeHull.TryGetHullByPtr(pShape, out hullDesc)) + { + hullDesc.Dereference(physicsScene); + } + else + { + if (physicsScene.PE.IsCompound(pShape)) + { + BSShapeCompound recursiveCompound = new BSShapeCompound(pShape); + recursiveCompound.Dereference(physicsScene); + } + else + { + if (physicsScene.PE.IsNativeShape(pShape)) + { + BSShapeNative nativeShape = new BSShapeNative(pShape); + nativeShape.Dereference(physicsScene); + } + } + } + } } - public override void Dereference(BSScene physicsScene) { } } // ============================================================================================================ diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 1284ae7..c67081a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -11,6 +11,8 @@ Deleting a linkset while standing on the root will leave the physical shape of t Linkset child rotations. Nebadon spiral tube has middle sections which are rotated wrong. Select linked spiral tube. Delink and note where the middle section ends up. +Refarb compound linkset creation to create a pseudo-root for center-of-mass + Let children change their shape to physical indendently and just add shapes to compound Vehicle angular vertical attraction vehicle angular banking Center-of-gravity @@ -27,14 +29,13 @@ llLookAt Avatars walking up stairs (HALF DONE) Avatar movement flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) - walking up stairs is not calibrated correctly (stairs out of Kepler cabin) + walking up stairs is not calibrated correctly (stairs out of Kepler cabin) (DONE) avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution) Vehicle script tuning/debugging Avanti speed script Weapon shooter script Move material definitions (friction, ...) into simulator. Add material densities to the material types. -Terrain detail: double terrain mesh detail One sided meshes? Should terrain be built into a closed shape? When meshes get partially wedged into the terrain, they cannot push themselves out. It is possible that Bullet processes collisions whether entering or leaving a mesh. @@ -347,4 +348,5 @@ Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. DONE 20130120: BulletSim properly applies force in vehicle relative coordinates. Nebadon vehicles turning funny in arena (DONE) Lock axis (DONE 20130401) +Terrain detail: double terrain mesh detail (DONE) -- cgit v1.1