From 471c4778639aec60078e6cee7c964682c959f033 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 21 Jan 2013 15:58:22 -0800 Subject: BulletSim: allow changing position and rotation of a child of a linkset without rebuilding the whole compound shape. Should make vehicles move smoother. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 94 +++++++++++++++++----- .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 2 +- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 +++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 16 ++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 - .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 28 ++++--- 8 files changed, 112 insertions(+), 46 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index a9e16e6..7603254 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -899,7 +899,7 @@ public sealed class BSCharacter : BSPhysObject CurrentEntityProperties = entprop; // Tell the linkset about value changes - Linkset.UpdateProperties(this, true); + 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/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index cbd160f..580ea4e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -252,7 +252,7 @@ public abstract class BSLinkset // 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(BSPhysObject physObject, bool physicalUpdate); + public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject physObject); // Routine used when rebuilding the body of the root of the linkset // Destroy all the constraints have have been made to root. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 8c9a774..27d8ad0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -51,6 +51,21 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo OffsetFromCenterOfMass = p; 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) + { + // Each child position and rotation is given relative to the center-of-mass. + OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation); + OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation; + OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement; + OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation; + + // Save relative position for recomputing child's world position after moving linkset. + Index = indx; + OffsetFromRoot = displacementFromRoot; + OffsetFromCenterOfMass = displacementFromCOM; + OffsetRot = displacementRot; + } public override void Clear() { Index = 0; @@ -182,24 +197,71 @@ 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(BSPhysObject updated, bool physicalUpdate) + public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject 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 - // is to store the position into the group which causes the move of the object + // stores the position into the group which causes the move of the object // but it also means all the child positions get updated. // What would cause an unnecessary rebuild so we make sure the linkset is in a // region before bothering to do a rebuild. - if (!IsRoot(updated) - && !physicalUpdate - && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) + if (!IsRoot(updated) && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) { - // TODO: replace this with are calculation of the child prim's orientation and pos. - // TODO: for the moment, don't rebuild the compound shape. - // This is often just the car turning its wheels. When we can just reorient the one - // member shape of the compound shape, the overhead of rebuilding won't be a problem. - // updated.LinksetInfo = null; - // ScheduleRebuild(updated); + // If a child of the linkset is updating only the position or rotation, that can be done + // without rebuilding the linkset. + // If a handle for the child can be fetch, we update the child here. If a rebuild was + // scheduled by someone else, the rebuild will just replace this setting. + + bool updatedChild = false; + // Anything other than updating position or orientation usually means a physical update + // and that is caused by us updating the object. + if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0) + { + // Gather the child info. It might not be there if the linkset is in transition. + BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo; + if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null) + { + if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape)) + { + BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index); + if (linksetChildShape.HasPhysicalShape) + { + // Compute the offset from the center-of-gravity + BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement); + PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index, + newLsi.OffsetFromCenterOfMass, + newLsi.OffsetRot, + true /* shouldRecalculateLocalAabb */); + DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1}newLsi={2}", + updated.LocalID, whichUpdated, newLsi); + updated.LinksetInfo = newLsi; + updatedChild = true; + } + else // DEBUG DEBUG + { // DEBUG DEBUG + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}", + updated.LocalID, linksetChildShape); + } // DEBUG DEBUG + } + else // DEBUG DEBUG + { // DEBUG DEBUG + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,notCompound", updated.LocalID); + } // DEBUG DEBUG + } + else // DEBUG DEBUG + { // DEBUG DEBUG + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,rootPhysShape={1},lsi={2}", + updated.LocalID, LinksetRoot.PhysShape, lsi == null ? "NULL" : lsi.ToString()); + } // DEBUG DEBUG + if (!updatedChild) + { + // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info. + DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}", + updated.LocalID, whichUpdated); + updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed. + ScheduleRebuild(updated); + } + } } } @@ -372,15 +434,7 @@ public sealed class BSLinksetCompound : BSLinkset BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; if (lci == null) { - // Each child position and rotation is given relative to the center-of-mass. - OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); - OMV.Vector3 displacementFromRoot = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; - OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement; - OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; - - // Save relative position for recomputing child's world position after moving linkset. - lci = new BSLinksetCompoundInfo(memberIndex, displacementFromCOM, displacementRot); - lci.OffsetFromRoot = displacementFromRoot; + lci = new BSLinksetCompoundInfo(memberIndex, LinksetRoot, cPrim, centerDisplacement); cPrim.LinksetInfo = lci; DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index d0b2a56..89f186c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -83,7 +83,7 @@ public sealed class BSLinksetConstraints : BSLinkset } // Called at taint-time!! - public override void UpdateProperties(BSPhysObject updated, bool inTaintTime) + public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject pObj) { // Nothing to do for constraints on property updates } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 5353c75..027c786 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -55,6 +55,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin * BS.ApplyCentralForce BS.ApplyTorque */ +// Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc. +public enum UpdatedProperties : uint +{ + Position = 1 << 0, + Orientation = 1 << 1, + Velocity = 1 << 2, + Acceleration = 1 << 3, + RotationalVelocity = 1 << 4, + EntPropUpdates = Position | Orientation | Velocity | Acceleration | RotationalVelocity, +} public abstract class BSPhysObject : PhysicsActor { protected BSPhysObject() diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b63523c..468ff40 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -311,13 +311,14 @@ public sealed class BSPrim : BSPhysObject _position = value; PositionSanityCheck(false); - // A linkset might need to know if a component information changed. - Linkset.UpdateProperties(this, false); - PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { 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); + }); } } @@ -682,12 +683,13 @@ public sealed class BSPrim : BSPhysObject return; _orientation = value; - // A linkset might need to know if a component information changed. - Linkset.UpdateProperties(this, false); - PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() { ForceOrientation = _orientation; + + // A linkset might need to know if a component information changed. + Linkset.UpdateProperties(UpdatedProperties.Orientation, this); + }); } } @@ -1686,7 +1688,7 @@ public sealed class BSPrim : BSPhysObject */ // The linkset implimentation might want to know about this. - Linkset.UpdateProperties(this, true); + Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 12b1ef1..8075b73 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -846,8 +846,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #endregion // Taints - #region INI and command line parameter processing - #region IPhysicsParameters // Get the list of parameters this physics engine supports public PhysParameterEntry[] GetParameterList() @@ -944,8 +942,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters #endregion IPhysicsParameters - #endregion Runtime settable parameters - // Invoke the detailed logger and output something if it's enabled. public void DetailLog(string msg, params Object[] args) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index c1bf766..41bab26 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,25 +1,20 @@ CURRENT PRIORITIES ================================================= -Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 - Msg Kayaker on OSGrid when working +Child movement in linkset (don't rebuild linkset) +Vehicle angular vertical attraction +vehicle angular banking +Center-of-gravity +Vehicle angular deflection + Preferred orientation angular correction fix when should angular and linear motor targets be zeroed? when selected? Need a vehicle.clear()? Or an 'else' in prestep if not physical. Teravus llMoveToTarget script debug Mixing of hover, buoyancy/gravity, moveToTarget, into one force -Boats floating at proper level Nebadon vehicles turning funny in arena limitMotorUp calibration (more down?) llRotLookAt llLookAt -Vehicle angular vertical attraction -Vehicle angular deflection - Preferred orientation angular correction fix -vehicle angular banking Avatars walking up stairs (HALF DONE) - Radius of the capsule affects ability to climb edges. -Vehicle movement on terrain smoothness -When is force introduced by SetForce removed? The prestep action could go forever. -Boats float low in the water (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) @@ -75,6 +70,7 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl GENERAL TODO LIST: ================================================= +llMoveToTarget objects are not effected by gravity until target is removed. Implement llSetPhysicalMaterial. extend it with Center-of-mass, rolling friction, density Implement llSetForceAndTorque. @@ -315,4 +311,12 @@ Remove HeightmapInfo from terrain specification (DONE) Since C++ code does not need terrain height, this structure et al are not needed. Surfboard go wonky when turning (DONE) Angular motor direction is global coordinates rather than local coordinates? - (Resolution: made angular motor direction correct coordinate system) \ No newline at end of file + (Resolution: made angular motor direction correct coordinate system) +Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE) + Msg Kayaker on OSGrid when working + (Resolution: LINEAR_DIRECTION is in vehicle coords. Test script does the + same in SL as in OS/BulletSim) +Boats float low in the water (DONE) +Boats floating at proper level (DONE) +When is force introduced by SetForce removed? The prestep action could go forever. (DONE) + (Resolution: setForce registers a prestep action which keeps applying the force) \ No newline at end of file -- cgit v1.1