From 0afa3a294ab36382cf720e9cceb9211a83fbf101 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 2 Sep 2017 13:06:36 -0700 Subject: BulletSim: most of the plumbing for raycast. Needs new BulletSim.dll to work. --- .../Region/PhysicsModules/BulletS/BSAPIUnman.cs | 22 ++++ OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs | 8 ++ .../Region/PhysicsModules/BulletS/BSApiTemplate.cs | 7 ++ .../PhysicsModules/BulletS/BSLinksetCompound.cs | 1 + OpenSim/Region/PhysicsModules/BulletS/BSParam.cs | 5 + OpenSim/Region/PhysicsModules/BulletS/BSScene.cs | 92 +++++++++++++++++ .../PhysicsModules/BulletS/BSShapeCollection.cs | 2 + .../Region/PhysicsModules/BulletS/Tests/Raycast.cs | 115 +++++++++++++++++++++ 8 files changed, 252 insertions(+) create mode 100755 OpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs b/OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs index 42db7fe..840e453 100755 --- a/OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs +++ b/OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs @@ -1405,6 +1405,19 @@ public override float GetMargin(BulletShape shape) } // ===================================================================================== +// Raycast +public override SweepHit ConvexSweepTest2(BulletWorld world, BulletBody sweepObject, Vector3 from, Vector3 to, float margin) { + BulletWorldUnman worldu = world as BulletWorldUnman; + BulletBodyUnman bodyu = sweepObject as BulletBodyUnman; + return BSAPICPP.ConvexSweepTest2(worldu.ptr, bodyu.ptr, from, to, margin); +} + +public override RaycastHit RayTest2(BulletWorld world, Vector3 from, Vector3 to, uint filterGroup, uint filterMask) { + BulletWorldUnman worldu = world as BulletWorldUnman; + return BSAPICPP.RayTest2(worldu.ptr, from, to, filterGroup, filterMask); +} + +// ===================================================================================== // Debugging public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject) { @@ -2084,6 +2097,15 @@ public static extern void SetMargin2(IntPtr shape, float val); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern float GetMargin2(IntPtr shape); + +// ===================================================================================== +// Raycast +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern SweepHit ConvexSweepTest2(IntPtr sim, IntPtr obj, Vector3 from, Vector3 to, float margin); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern RaycastHit RayTest2(IntPtr sim, Vector3 from, Vector3 to, uint filterGroup, uint filterMask); + // ===================================================================================== // Debugging [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs b/OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs index 37017b0..7d58728 100755 --- a/OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs +++ b/OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs @@ -2459,6 +2459,14 @@ private sealed class BulletConstraintXNA : BulletConstraint } return false; } + + public override SweepHit ConvexSweepTest2(BulletWorld world, BulletBody obj, Vector3 from, Vector3 to, float margin) { + return new SweepHit(); + } + + public override RaycastHit RayTest2(BulletWorld world, Vector3 from, Vector3 to, uint filterGroup, uint filterMask) { + return new RaycastHit(); + } } diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs b/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs index 816189f..afb0ba2 100644 --- a/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs +++ b/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs @@ -128,6 +128,7 @@ public struct RaycastHit public UInt32 ID; public float Fraction; public Vector3 Normal; + public Vector3 Point; } [StructLayout(LayoutKind.Sequential)] public struct CollisionDesc @@ -742,6 +743,12 @@ public abstract void SetMargin(BulletShape shape, float val); public abstract float GetMargin(BulletShape shape); // ===================================================================================== +// Raycast +public abstract SweepHit ConvexSweepTest2(BulletWorld world, BulletBody obj, Vector3 from, Vector3 to, float margin); + +public abstract RaycastHit RayTest2(BulletWorld world, Vector3 from, Vector3 to, uint filterGroup, uint filterMask); + +// ===================================================================================== // Debugging public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) { } diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSLinksetCompound.cs b/OpenSim/Region/PhysicsModules/BulletS/BSLinksetCompound.cs index 953ddee..dc390b2 100755 --- a/OpenSim/Region/PhysicsModules/BulletS/BSLinksetCompound.cs +++ b/OpenSim/Region/PhysicsModules/BulletS/BSLinksetCompound.cs @@ -450,6 +450,7 @@ public sealed class BSLinksetCompound : BSLinkset m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}", LinksetRoot.LocalID, LinksetRoot.PhysBody, linksetShape); + m_physicsScene.PE.ResetBroadphasePool(m_physicsScene.World); // DEBUG DEBUG // With all of the linkset packed into the root prim, it has the mass of everyone. LinksetMass = ComputeLinksetMass(); diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs b/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs index 352c03e..0792f5d 100755 --- a/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs +++ b/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs @@ -230,6 +230,8 @@ public static class BSParam public static float LinkConstraintCFM { get; private set; } public static float LinkConstraintSolverIterations { get; private set; } + public static bool UseBulletRaycast { get; private set; } + public static float PID_D { get; private set; } // derivative public static float PID_P { get; private set; } // proportional @@ -823,6 +825,9 @@ public static class BSParam new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", 40 ), + new ParameterDefn("UseBulletRaycast", "If 'true', use the raycast function of the Bullet physics engine", + true ), + new ParameterDefn("DebugNumber", "A console setable number sometimes used for debugging", 1.0f ), diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs index 7ff0a07..f1ff3a9 100644 --- a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs +++ b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs @@ -956,6 +956,98 @@ namespace OpenSim.Region.PhysicsModule.BulletS #endregion // Terrain + #region Raycast + + public override bool SupportsRayCast() + { + return BSParam.UseBulletRaycast; + } + + public override bool SupportsRaycastWorldFiltered() + { + return BSParam.UseBulletRaycast; + } + + + /// + /// Queue a raycast against the physics scene. + /// The provided callback method will be called when the raycast is complete + /// + /// Many physics engines don't support collision testing at the same time as + /// manipulating the physics scene, so we queue the request up and callback + /// a custom method when the raycast is complete. + /// This allows physics engines that give an immediate result to callback immediately + /// and ones that don't, to callback when it gets a result back. + /// public delegate void RayCallback(List list); + /// + /// ODE for example will not allow you to change the scene while collision testing or + /// it asserts, 'opteration not valid for locked space'. This includes adding a ray to the scene. + /// + /// This is named RayCastWorld to not conflict with modrex's Raycast method. + /// + /// Origin of the ray + /// Direction of the ray + /// Length of ray in meters + /// Method to call when the raycast is complete + public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod) + { + if (retMethod != null) + { + if (BSParam.UseBulletRaycast) + { + Vector3 posFrom = position; + Vector3 posTo = Vector3.Normalize(direction) * length + position; + + TaintedObject(DetailLogZero, "BSScene.RaycastWorld1", delegate () + { + RaycastHit hitInfo = PE.RayTest2(World, posFrom, posTo, 0xffff, 0xffff); + retMethod(true, hitInfo.Point, hitInfo.ID, hitInfo.Fraction, hitInfo.Normal); + }); + } + else + { + retMethod(false, Vector3.Zero, 0, 999999999999f, Vector3.Zero); + } + } + } + + public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod) + { + if (retMethod != null) + { + if (BSParam.UseBulletRaycast) + { + List hitInfo = RaycastWorld(position, direction, length, count); + retMethod(hitInfo); + } + else + { + retMethod(new List()); + } + } + } + + public override List RaycastWorld(Vector3 position, Vector3 direction, float length, int Count) + { + List ret = new List(); + if (BSParam.UseBulletRaycast) + { + } + return ret; + } + + public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter) + { + object ret = null; + if (BSParam.UseBulletRaycast) + { + } + return ret; + } + + #endregion Raycast + + public override Dictionary GetTopColliders() { Dictionary topColliders; diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs b/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs index 4ec6f51..cd72c98 100755 --- a/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs +++ b/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs @@ -229,6 +229,8 @@ public sealed class BSShapeCollection : IDisposable ret = CreateGeomMeshOrHull(prim, shapeCallback); } + m_physicsScene.PE.ResetBroadphasePool(m_physicsScene.World); // DEBUG DEBUG + return ret; } diff --git a/OpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs b/OpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs new file mode 100755 index 0000000..046df56 --- /dev/null +++ b/OpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs @@ -0,0 +1,115 @@ +/* + * 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. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using NUnit.Framework; +using log4net; + +using OpenSim.Framework; +using OpenSim.Region.PhysicsModule.BulletS; +using OpenSim.Region.PhysicsModules.SharedBase; +using OpenSim.Tests.Common; + +using OpenMetaverse; + +namespace OpenSim.Region.PhysicsModule.BulletS.Tests +{ + [TestFixture] + public class BulletSimRaycast : OpenSimTestCase + { + // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1 + // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1 + + BSScene PhysicsScene { get; set; } + BSPrim TargetSphere { get; set; } + Vector3 TargetSpherePosition { get; set; } + float simulationTimeStep = 0.089f; + + [TestFixtureSetUp] + public void Init() + { + Dictionary engineParams = new Dictionary(); + engineParams.Add("UseBulletRaycast", "true"); + PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams); + + PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere(); + Vector3 pos = new Vector3(100.0f, 100.0f, 50f); + pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f; + TargetSpherePosition = pos; + Vector3 size = new Vector3(10f, 10f, 10f); + pbs.Scale = size; + Quaternion rot = Quaternion.Identity; + bool isPhys = false; + uint localID = 123; + + PhysicsScene.AddPrimShape("TargetSphere", pbs, pos, size, rot, isPhys, localID); + TargetSphere = (BSPrim)PhysicsScene.PhysObjects[localID]; + // The actual prim shape creation happens at taint time + PhysicsScene.ProcessTaints(); + + } + + [TestFixtureTearDown] + public void TearDown() + { + if (PhysicsScene != null) + { + // The Dispose() will also free any physical objects in the scene + PhysicsScene.Dispose(); + PhysicsScene = null; + } + } + + // There is a 10x10x10 sphere at <100,100,50> + // Shoot rays around the sphere and verify it hits and doesn't hit + // TestCase parameters are of start and of end and expected result + [TestCase(20f, 20f, 50f, 50f, 50f, 50f, true)] // in front to sphere + [TestCase(20f, 20f, 100f, 50f, 50f, 50f, true)] // from above to sphere + [TestCase(50f, 50f, 50f, 150f, 150f, 50f, true)] // through sphere + [TestCase(50f, 50f, 65f, 150f, 150f, 65f, false)] // pass over sphere + public void RaycastAroundObject(float fromX, float fromY, float fromZ, float toX, float toY, float toZ, bool expected) { + Vector3 fromPos = new Vector3(fromX, fromY, fromZ); + Vector3 toPos = new Vector3(toX, toY, toZ); + Vector3 direction = toPos - fromPos; + float len = Vector3.Distance(fromPos, toPos); + + List results = PhysicsScene.RaycastWorld(fromPos, direction, len, 1); + + if (expected) { + Assert.True(results.Count > 0); + } + else + { + Assert.False(results.Count > 0); + } + } + } +} \ No newline at end of file -- cgit v1.1