From e4a6611865848ffcfa6adedd813534e0a0e4abf3 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 6 Jul 2012 10:01:47 -0700
Subject: Clean up collision reporting code so they are properly passed to
the simulator in batches. More comments.
---
.../Region/Physics/BulletSPlugin/BSCharacter.cs | 102 ++++++++++++---------
OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs | 11 +++
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 29 +++---
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 23 ++++-
4 files changed, 107 insertions(+), 58 deletions(-)
(limited to 'OpenSim/Region/Physics')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index b08d5db..dc0c008 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -74,7 +74,7 @@ public class BSCharacter : PhysicsActor
private float _buoyancy;
private int _subscribedEventsMs = 0;
- private int _lastCollisionTime = 0;
+ private int _nextCollisionOkTime = 0;
private Vector3 _PIDTarget;
private bool _usePID;
@@ -360,17 +360,22 @@ public class BSCharacter : PhysicsActor
}
//m_lastUpdateSent = false;
}
+
public override void AddAngularForce(Vector3 force, bool pushforce) {
}
public override void SetMomentum(Vector3 momentum) {
}
+
+ // Turn on collision events at a rate no faster than one every the given milliseconds
public override void SubscribeEvents(int ms) {
_subscribedEventsMs = ms;
- _lastCollisionTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen
+ _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen
}
+ // Stop collision events
public override void UnSubscribeEvents() {
_subscribedEventsMs = 0;
}
+ // Return 'true' if someone has subscribed to events
public override bool SubscribedEvents() {
return (_subscribedEventsMs > 0);
}
@@ -386,47 +391,57 @@ public class BSCharacter : PhysicsActor
_mass = _density * _avatarVolume;
}
+ // Set to 'true' if the individual changed items should be checked
+ // (someday RequestPhysicsTerseUpdate() will take a bitmap of changed properties)
+ const bool SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES = false;
+
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public void UpdateProperties(EntityProperties entprop)
{
bool changed = false;
- // we assign to the local variables so the normal set action does not happen
- if (_position != entprop.Position)
- {
- _position = entprop.Position;
- changed = true;
+ if (SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES) {
+ // we assign to the local variables so the normal set action does not happen
+ if (_position != entprop.Position) {
+ _position = entprop.Position;
+ changed = true;
+ }
+ if (_orientation != entprop.Rotation) {
+ _orientation = entprop.Rotation;
+ changed = true;
+ }
+ if (_velocity != entprop.Velocity) {
+ _velocity = entprop.Velocity;
+ changed = true;
+ }
+ if (_acceleration != entprop.Acceleration) {
+ _acceleration = entprop.Acceleration;
+ changed = true;
+ }
+ if (_rotationalVelocity != entprop.RotationalVelocity) {
+ _rotationalVelocity = entprop.RotationalVelocity;
+ changed = true;
+ }
+ if (changed) {
+ // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
+ // Avatar movement is not done by generating this event. There is code in the heartbeat
+ // loop that updates avatars.
+ // base.RequestPhysicsterseUpdate();
+ }
}
- if (_orientation != entprop.Rotation)
- {
+ else {
+ _position = entprop.Position;
_orientation = entprop.Rotation;
- changed = true;
- }
- if (_velocity != entprop.Velocity)
- {
_velocity = entprop.Velocity;
- changed = true;
- }
- if (_acceleration != entprop.Acceleration)
- {
_acceleration = entprop.Acceleration;
- changed = true;
- }
- if (_rotationalVelocity != entprop.RotationalVelocity)
- {
_rotationalVelocity = entprop.RotationalVelocity;
- changed = true;
- }
- if (changed)
- {
- // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
- // Avatar movement is not done by generating this event. There is a system that
- // checks for avatar updates each heartbeat loop.
// base.RequestPhysicsterseUpdate();
}
}
// Called by the scene when a collision with this object is reported
+ // The collision, if it should be reported to the character, is placed in a collection
+ // that will later be sent to the simulator when SendCollisions() is called.
CollisionEventUpdate collisionCollection = null;
public void Collide(uint collidingWith, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth)
{
@@ -440,29 +455,34 @@ public class BSCharacter : PhysicsActor
}
// throttle collisions to the rate specified in the subscription
- if (_subscribedEventsMs == 0) return; // don't want collisions
- int nowTime = _scene.SimulationNowTime;
- if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return;
- _lastCollisionTime = nowTime;
+ if (_subscribedEventsMs != 0) {
+ int nowTime = _scene.SimulationNowTime;
+ if (nowTime >= _nextCollisionOkTime) {
+ _nextCollisionOkTime = nowTime + _subscribedEventsMs;
- if (collisionCollection == null)
- collisionCollection = new CollisionEventUpdate();
- collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+ if (collisionCollection == null)
+ collisionCollection = new CollisionEventUpdate();
+ collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+ }
+ }
}
public void SendCollisions()
{
- // if (collisionCollection != null)
- // {
- // base.SendCollisionUpdate(collisionCollection);
- // collisionCollection = null;
- // }
+ /*
+ if (collisionCollection != null && collisionCollection.Count > 0)
+ {
+ base.SendCollisionUpdate(collisionCollection);
+ collisionCollection = null;
+ }
+ */
// Kludge to make a collision call even if there are no collisions.
// This causes the avatar animation to get updated.
if (collisionCollection == null)
collisionCollection = new CollisionEventUpdate();
base.SendCollisionUpdate(collisionCollection);
- collisionCollection = null;
+ collisionCollection.Clear();
+ // End kludge
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
index 0730824..0f027b8 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
@@ -32,6 +32,14 @@ using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
+ ///
+ /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim.
+ /// This module interfaces to an unmanaged C++ library which makes the
+ /// actual calls into the Bullet physics engine.
+ /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/.
+ /// The unmanaged library is compiled and linked statically with Bullet
+ /// to create BulletSim.dll and libBulletSim.so (for both 32 and 64 bit).
+ ///
public class BSPlugin : IPhysicsPlugin
{
//private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
@@ -53,6 +61,9 @@ public class BSPlugin : IPhysicsPlugin
{
if (Util.IsWindows())
Util.LoadArchSpecificWindowsDll("BulletSim.dll");
+ // If not Windows, loading is performed by the
+ // Mono loader as specified in
+ // "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
_mScene = new BSScene(sceneIdentifier);
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 248d1f2..130f1ca 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -90,7 +90,7 @@ public sealed class BSPrim : PhysicsActor
private BSPrim _parentPrim;
private int _subscribedEventsMs = 0;
- private int _lastCollisionTime = 0;
+ private int _nextCollisionOkTime = 0;
long _collidingStep;
long _collidingGroundStep;
@@ -597,7 +597,8 @@ public sealed class BSPrim : PhysicsActor
}
public override void SubscribeEvents(int ms) {
_subscribedEventsMs = ms;
- _lastCollisionTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen
+ // make sure first collision happens
+ _nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
}
public override void UnSubscribeEvents() {
_subscribedEventsMs = 0;
@@ -1338,23 +1339,27 @@ public sealed class BSPrim : PhysicsActor
_collidingGroundStep = _scene.SimulationStep;
}
- if (_subscribedEventsMs == 0) return; // nothing in the object is waiting for collision events
- // throttle the collisions to the number of milliseconds specified in the subscription
- int nowTime = _scene.SimulationNowTime;
- if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return;
- _lastCollisionTime = nowTime;
+ // if someone is subscribed to collision events....
+ if (_subscribedEventsMs != 0) {
+ // throttle the collisions to the number of milliseconds specified in the subscription
+ int nowTime = _scene.SimulationNowTime;
+ if (nowTime >= _nextCollisionOkTime) {
+ _nextCollisionOkTime = nowTime + _subscribedEventsMs;
- if (collisionCollection == null)
- collisionCollection = new CollisionEventUpdate();
- collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+ if (collisionCollection == null)
+ collisionCollection = new CollisionEventUpdate();
+ collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
+ }
+ }
}
+ // The scene is telling us it's time to pass our collected collisions into the simulator
public void SendCollisions()
{
- if (collisionCollection != null)
+ if (collisionCollection != null && collisionCollection.Count > 0)
{
base.SendCollisionUpdate(collisionCollection);
- collisionCollection = null;
+ collisionCollection.Clear();
}
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 94a0ccf..417cb5f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -52,6 +52,7 @@ using OpenSim.Region.Framework;
// Should prim.link() and prim.delink() membership checking happen at taint time?
// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
+// Use collision masks for collision with terrain and phantom objects
// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
// Implement LockAngularMotion
// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
@@ -62,9 +63,6 @@ using OpenSim.Region.Framework;
// Multiple contact points on collision?
// See code in ode::near... calls to collision_accounting_events()
// (This might not be a problem. ODE collects all the collisions with one object in one tick.)
-// Use collision masks for collision with terrain and phantom objects
-// Figure out how to not allocate a new Dictionary and List for every collision
-// in BSPrim.Collide() and BSCharacter.Collide(). Can the same ones be reused?
// Raycast
//
namespace OpenSim.Region.Physics.BulletSPlugin
@@ -405,6 +403,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// prevent simulation until we've been initialized
if (!m_initialized) return 10.0f;
+ long simulateStartTime = Util.EnvironmentTickCount();
+
// update the prim states while we know the physics engine is not busy
ProcessTaints();
@@ -437,13 +437,18 @@ public class BSScene : PhysicsScene, IPhysicsParameters
}
}
- // The SendCollision's batch up the collisions on the objects. Now push the collisions into the simulator.
+ // The above SendCollision's batch up the collisions on the objects.
+ // Now push the collisions into the simulator.
foreach (BSPrim bsp in m_primsWithCollisions)
bsp.SendCollisions();
m_primsWithCollisions.Clear();
+
+ // This is a kludge to get avatar movement updated.
+ // Don't send collisions only if there were collisions -- send everytime.
+ // ODE sends collisions even if there are none and this is used to update
+ // avatar animations and stuff.
// foreach (BSCharacter bsc in m_avatarsWithCollisions)
// bsc.SendCollisions();
- // This is a kludge to get avatar movement updated. ODE sends collisions even if there isn't any
foreach (KeyValuePair kvp in m_avatars)
kvp.Value.SendCollisions();
m_avatarsWithCollisions.Clear();
@@ -465,10 +470,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
if (m_avatars.TryGetValue(entprop.ID, out actor))
{
actor.UpdateProperties(entprop);
+ continue;
}
}
}
+ // If enabled, call into the physics engine to dump statistics
if (m_detailedStatsStep > 0)
{
if ((m_simulationStep % m_detailedStatsStep) == 0)
@@ -477,6 +484,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
}
}
+ // this is a waste since the outside routine also calcuates the physics simulation
+ // period. TODO: There should be a way of computing physics frames from simulator computation.
+ // long simulateTotalTime = Util.EnvironmentTickCountSubtract(simulateStartTime);
+ // return (timeStep * (float)simulateTotalTime);
+
// TODO: FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation.
return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f;
}
@@ -528,6 +540,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
public override void SetWaterLevel(float baseheight)
{
m_waterLevel = baseheight;
+ // TODO: pass to physics engine so things will float?
}
public float GetWaterLevel()
{
--
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