From 3036aba875187923b4e4d8481d46334e53393107 Mon Sep 17 00:00:00 2001 From: John Hurliman Date: Fri, 12 Mar 2010 14:28:31 -0800 Subject: * Added a better check to the SimianGrid connectors to test if they are enabled or not. This method should work equally well with standalone or robust mode * Applying #4602 from Misterblu to add collision detection to BulletDotNET --- OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | 1 + .../BulletDotNETPlugin/BulletDotNETCharacter.cs | 33 ++++++- .../Physics/BulletDotNETPlugin/BulletDotNETPrim.cs | 102 +++++++++++++++------ .../BulletDotNETPlugin/BulletDotNETScene.cs | 99 +++++++++++++++++--- OpenSim/Region/Physics/OdePlugin/ODEPrim.cs | 4 +- 5 files changed, 192 insertions(+), 47 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs index 8967252..a2b98b9 100644 --- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs +++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs @@ -2044,6 +2044,7 @@ namespace OpenSim.Region.Framework.Scenes { m_lastColliders.Remove(localID); } + if (m_parentGroup == null) return; if (m_parentGroup.IsDeleted) diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs index 6a54705..ac4e2b9 100644 --- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs +++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs @@ -108,12 +108,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin private bool[] m_colliderarr = new bool[11]; private bool[] m_colliderGroundarr = new bool[11]; - - private BulletDotNETScene m_parent_scene; public int m_eventsubscription = 0; - // private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate(); + private CollisionEventUpdate CollisionEventsThisFrame = null; + private int m_requestedUpdateFrequency = 0; public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor) { @@ -212,7 +211,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin m_mass = Mass; Body = new btRigidBody(m_mass, m_bodyMotionState, Shell); - Body.setUserPointer(new IntPtr((int)Body.Handle)); + // this is used for self identification. User localID instead of body handle + Body.setUserPointer(new IntPtr((int)m_localID)); if (ClosestCastResult != null) ClosestCastResult.Dispose(); @@ -717,6 +717,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin public override void SubscribeEvents(int ms) { m_eventsubscription = ms; + m_requestedUpdateFrequency = ms; m_parent_scene.addCollisionEventReporting(this); } @@ -724,6 +725,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { m_parent_scene.remCollisionEventReporting(this); m_eventsubscription = 0; + m_requestedUpdateFrequency = 0; } public override bool SubscribedEvents() @@ -733,6 +735,29 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin return false; } + public void AddCollision(uint collideWith, ContactPoint contact) + { + if (CollisionEventsThisFrame == null) + { + CollisionEventsThisFrame = new CollisionEventUpdate(); + } + CollisionEventsThisFrame.addCollider(collideWith, contact); + } + + public void SendCollisions() + { + if (m_eventsubscription >= m_requestedUpdateFrequency) + { + if (CollisionEventsThisFrame != null) + { + base.SendCollisionUpdate(CollisionEventsThisFrame); + } + CollisionEventsThisFrame = new CollisionEventUpdate(); + m_eventsubscription = 0; + } + return; + } + internal void Dispose() { if (Body.isInWorld()) diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs index 920ed96..dc3229a 100644 --- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs +++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs @@ -154,7 +154,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin private Vector3 _target_velocity; public int m_eventsubscription; - // private CollisionEventUpdate CollisionEventsThisFrame = null; + private int m_requestedUpdateFrequency = 0; + private CollisionEventUpdate CollisionEventsThisFrame = null; public volatile bool childPrim; @@ -595,6 +596,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin public override void SubscribeEvents(int ms) { m_eventsubscription = ms; + m_requestedUpdateFrequency = ms; _parent_scene.addCollisionEventReporting(this); } @@ -602,6 +604,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { _parent_scene.remCollisionEventReporting(this); m_eventsubscription = 0; + m_requestedUpdateFrequency = 0; } public override bool SubscribedEvents() @@ -611,7 +614,28 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin #endregion + public void AddCollision(uint collideWith, ContactPoint contact) + { + if (CollisionEventsThisFrame == null) + { + CollisionEventsThisFrame = new CollisionEventUpdate(); + } + CollisionEventsThisFrame.addCollider(collideWith, contact); + } + public void SendCollisions() + { + if (m_eventsubscription >= m_requestedUpdateFrequency) + { + if (CollisionEventsThisFrame != null) + { + base.SendCollisionUpdate(CollisionEventsThisFrame); + } + CollisionEventsThisFrame = null; + // m_eventsubscription = 0; + } + return; + } internal void Dispose() { @@ -759,7 +783,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { if (m_taintadd) { - m_log.Debug("[PHYSICS]: TaintAdd"); + // m_log.Debug("[PHYSICS]: TaintAdd"); changeadd(timestep); } @@ -771,7 +795,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin SetBody(Mass); else SetBody(0); - m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT"); + // m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT"); } if (prim_geom.Handle == IntPtr.Zero) @@ -782,31 +806,31 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin SetBody(Mass); else SetBody(0); - m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT"); + // m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT"); } if (!_position.ApproxEquals(m_taintposition, 0f)) { - m_log.Debug("[PHYSICS]: TaintMove"); + // m_log.Debug("[PHYSICS]: TaintMove"); changemove(timestep); } if (m_taintrot != _orientation) { - m_log.Debug("[PHYSICS]: TaintRotate"); + // m_log.Debug("[PHYSICS]: TaintRotate"); rotate(timestep); } // if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent)) { - m_log.Debug("[PHYSICS]: TaintPhysics"); + // m_log.Debug("[PHYSICS]: TaintPhysics"); changePhysicsStatus(timestep); } // if (!_size.ApproxEquals(m_taintsize, 0f)) { - m_log.Debug("[PHYSICS]: TaintSize"); + // m_log.Debug("[PHYSICS]: TaintSize"); changesize(timestep); } @@ -814,43 +838,43 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin if (m_taintshape) { - m_log.Debug("[PHYSICS]: TaintShape"); + // m_log.Debug("[PHYSICS]: TaintShape"); changeshape(timestep); } // if (m_taintforce) { - m_log.Debug("[PHYSICS]: TaintForce"); + // m_log.Debug("[PHYSICS]: TaintForce"); changeAddForce(timestep); } if (m_taintaddangularforce) { - m_log.Debug("[PHYSICS]: TaintAngularForce"); + // m_log.Debug("[PHYSICS]: TaintAngularForce"); changeAddAngularForce(timestep); } if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f)) { - m_log.Debug("[PHYSICS]: TaintTorque"); + // m_log.Debug("[PHYSICS]: TaintTorque"); changeSetTorque(timestep); } if (m_taintdisable) { - m_log.Debug("[PHYSICS]: TaintDisable"); + // m_log.Debug("[PHYSICS]: TaintDisable"); changedisable(timestep); } if (m_taintselected != m_isSelected) { - m_log.Debug("[PHYSICS]: TaintSelected"); + // m_log.Debug("[PHYSICS]: TaintSelected"); changeSelectedStatus(timestep); } if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f)) { - m_log.Debug("[PHYSICS]: TaintVelocity"); + // m_log.Debug("[PHYSICS]: TaintVelocity"); changevelocity(timestep); } if (m_taintparent != _parent) { - m_log.Debug("[PHYSICS]: TaintLink"); + // m_log.Debug("[PHYSICS]: TaintLink"); changelink(timestep); } if (m_taintCollidesWater != m_collidesWater) @@ -859,7 +883,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin } if (!m_angularlock.ApproxEquals(m_taintAngularLock, 0)) { - m_log.Debug("[PHYSICS]: TaintAngularLock"); + // m_log.Debug("[PHYSICS]: TaintAngularLock"); changeAngularLock(timestep); } if (m_taintremove) @@ -917,7 +941,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin private void changemove(float timestep) { - m_log.Debug("[PHYSICS]: _________ChangeMove"); + // m_log.Debug("[PHYSICS]: _________ChangeMove"); if (!m_isphysical) { tempTransform2 = Body.getWorldTransform(); @@ -977,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin private void rotate(float timestep) { - m_log.Debug("[PHYSICS]: _________ChangeRotate"); + // m_log.Debug("[PHYSICS]: _________ChangeRotate"); tempTransform2 = Body.getWorldTransform(); tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W); tempTransform2.setRotation(tempOrientation2); @@ -1000,7 +1024,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin //Body = null; // TODO: dispose parts that make up body } - m_log.Debug("[PHYSICS]: _________ChangePhysics"); + // m_log.Debug("[PHYSICS]: _________ChangePhysics"); ProcessGeomCreation(); @@ -1092,7 +1116,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin // TODO: dispose parts that make up body } - m_log.Debug("[PHYSICS]: _________ChangeSize"); + // m_log.Debug("[PHYSICS]: _________ChangeSize"); SetCollisionShape(null); // Construction of new prim ProcessGeomCreation(); @@ -1297,13 +1321,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin // TODO: throw new NotImplementedException(); if (m_taintselected) { - Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE); + // Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE); disableBodySoft(); } else { - Body.setCollisionFlags(0 | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK); + // Body.setCollisionFlags(0 | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK); enableBodySoft(); } m_isSelected = m_taintselected; @@ -1605,6 +1629,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin enableBodySoft(); } */ + if (!Body.isActive()) + { + Body.clearForces(); + enableBodySoft(); + } // 35x10 = 350n times the mass per second applied maximum. float nmax = 35f * m_mass; @@ -1632,6 +1661,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin Body.applyCentralImpulse(tempAddForce); } } + else + { + // if no forces on the prim, make sure everything is zero + Body.clearForces(); + enableBodySoft(); + } } else { @@ -1985,7 +2020,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin public void CreateGeom(IntPtr m_targetSpace, IMesh p_mesh) { - m_log.Debug("[PHYSICS]: _________CreateGeom"); + // m_log.Debug("[PHYSICS]: _________CreateGeom"); if (p_mesh != null) { //_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical); @@ -2042,7 +2077,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin // TODO: Set Collision Body Mesh // This sleeper is there to moderate how long it takes between // setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object - m_log.Debug("_________SetMesh"); + // m_log.Debug("_________SetMesh"); Thread.Sleep(10); //Kill Body so that mesh can re-make the geom @@ -2159,7 +2194,14 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin // Body = new btRigidBody(mass, tempMotionState1, prim_geom); //else - Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1); + // Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1); + if (Body == null) + { + Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1); + // add localID so we can later map bullet object back to OpenSim object + Body.setUserPointer(new IntPtr((int)m_localID)); + } + if (prim_geom is btGImpactMeshShape) { @@ -2250,7 +2292,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin // Body = new btRigidBody(mass, tempMotionState1, prim_geom); //else - Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1); + // Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1); + if (Body == null) + { + Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1); + // each body has the localID stored into it so we can identify collision objects + Body.setUserPointer(new IntPtr((int)m_localID)); + } if (prim_geom is btGImpactMeshShape) { diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs index 9e048ab..85e34c1 100644 --- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs +++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs @@ -47,7 +47,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin // private string m_sceneIdentifier = string.Empty; private List m_characters = new List(); + private Dictionary m_charactersLocalID = new Dictionary(); private List m_prims = new List(); + private Dictionary m_primsLocalID = new Dictionary(); private List m_activePrims = new List(); private List m_taintedActors = new List(); private btDiscreteDynamicsWorld m_world; @@ -134,7 +136,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); m_world.setGravity(m_gravity); - //EnableCollisionInterface(); + EnableCollisionInterface(); } @@ -145,7 +147,16 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin avCapRadius, avStandupTensor, avDensity, avHeightFudgeFactor, avMovementDivisorWalk, avMovementDivisorRun); - m_characters.Add(chr); + try + { + m_characters.Add(chr); + m_charactersLocalID.Add(chr.m_localID, chr); + } + catch + { + // noop if it's already there + m_log.Debug("[PHYSICS] BulletDotNet: adding duplicate avatar localID"); + } AddPhysicsActorTaint(chr); return chr; } @@ -154,6 +165,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { BulletDotNETCharacter chr = (BulletDotNETCharacter) actor; + m_charactersLocalID.Remove(chr.m_localID); m_characters.Remove(chr); m_world.removeRigidBody(chr.Body); m_world.removeCollisionObject(chr.Body); @@ -279,7 +291,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin prim.Move(timeStep); } } - float steps = m_world.stepSimulation(timeStep * 1000, 10, WorldTimeComp); + float steps = m_world.stepSimulation(timeStep, 10, WorldTimeComp); foreach (BulletDotNETCharacter chr in m_characters) { @@ -296,20 +308,67 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin } if (m_CollisionInterface != null) { - List collisions = m_CollisionInterface.GetContactList(); - lock (collisions) + List primsWithCollisions = new List(); + List charactersWithCollisions = new List(); + + // get the collisions that happened this tick + List collisions = m_CollisionInterface.GetContactList(); + // passed back the localID of the prim so we can associate the prim + foreach (BulletDotNET.ContactAddedCallbackHandler.ContactInfo ci in collisions) { - foreach (int pvalue in collisions) - { - System.Console.Write(string.Format("{0} ", pvalue)); - } + // ContactPoint = { contactPoint, contactNormal, penetrationDepth } + ContactPoint contact = new ContactPoint(new Vector3(ci.pX, ci.pY, ci.pZ), + new Vector3(ci.nX, ci.nY, ci.nZ), ci.depth); + + ProcessContact(ci.contact, ci.contactWith, contact, ref primsWithCollisions, ref charactersWithCollisions); + ProcessContact(ci.contactWith, ci.contact, contact, ref primsWithCollisions, ref charactersWithCollisions); + } m_CollisionInterface.Clear(); - + // for those prims and characters that had collisions cause collision events + foreach (BulletDotNETPrim bdnp in primsWithCollisions) + { + bdnp.SendCollisions(); + } + foreach (BulletDotNETCharacter bdnc in charactersWithCollisions) + { + bdnc.SendCollisions(); + } } return steps; } + private void ProcessContact(uint cont, uint contWith, ContactPoint contact, + ref List primsWithCollisions, + ref List charactersWithCollisions) + { + BulletDotNETPrim bdnp; + // collisions with a normal prim? + if (m_primsLocalID.TryGetValue(cont, out bdnp)) + { + // Added collision event to the prim. This creates a pile of events + // that will be sent to any subscribed listeners. + bdnp.AddCollision(contWith, contact); + if (!primsWithCollisions.Contains(bdnp)) + { + primsWithCollisions.Add(bdnp); + } + } + else + { + BulletDotNETCharacter bdnc; + // if not a prim, maybe it's one of the characters + if (m_charactersLocalID.TryGetValue(cont, out bdnc)) + { + bdnc.AddCollision(contWith, contact); + if (!charactersWithCollisions.Contains(bdnc)) + { + charactersWithCollisions.Add(bdnc); + } + } + } + } + public override void GetResults() { @@ -387,6 +446,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin m_terrainTransform = new btTransform(QuatIdentity, m_terrainPosition); m_terrainMotionState = new btDefaultMotionState(m_terrainTransform); TerrainBody = new btRigidBody(0, m_terrainMotionState, m_terrainShape); + TerrainBody.setUserPointer((IntPtr)0); m_world.addRigidBody(TerrainBody); @@ -459,6 +519,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { lock (m_prims) { + m_primsLocalID.Clear(); foreach (BulletDotNETPrim prim in m_prims) { if (prim.Body != null) @@ -513,6 +574,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin m_world.removeRigidBody(body); } remActivePrim(prm); + m_primsLocalID.Remove(prm.m_localID); m_prims.Remove(prm); } @@ -686,9 +748,18 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { if (!m_prims.Contains(pPrim)) { - m_prims.Add(pPrim); + try + { + m_prims.Add(pPrim); + m_primsLocalID.Add(pPrim.m_localID, pPrim); + } + catch + { + // noop if it's already there + m_log.Debug("[PHYSICS] BulletDotNet: adding duplicate prim localID"); + } m_world.addRigidBody(pPrim.Body); - m_log.Debug("ADDED"); + // m_log.Debug("[PHYSICS] added prim to scene"); } } } @@ -696,8 +767,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { if (m_CollisionInterface == null) { - m_CollisionInterface = new ContactAddedCallbackHandler(); - m_world.SetCollisionAddedCallback(m_CollisionInterface); + m_CollisionInterface = new ContactAddedCallbackHandler(m_world); + // m_world.SetCollisionAddedCallback(m_CollisionInterface); } } diff --git a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs index 03736d1..0720b5e 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEPrim.cs @@ -1575,11 +1575,11 @@ Console.WriteLine(" JointCreateFixed"); { //Console.WriteLine("Move " + m_primName); if (!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // KF add 161009 - /* // NON-'VEHICLES' are dealt with here if (d.BodyIsEnabled(Body) && !m_angularlock.ApproxEquals(Vector3.Zero, 0.003f)) { d.Vector3 avel2 = d.BodyGetAngularVel(Body); + /* if (m_angularlock.X == 1) avel2.X = 0; if (m_angularlock.Y == 1) @@ -1587,8 +1587,8 @@ Console.WriteLine(" JointCreateFixed"); if (m_angularlock.Z == 1) avel2.Z = 0; d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z); + */ } - */ //float PID_P = 900.0f; float m_mass = CalculateMass(); -- cgit v1.1