From 73f9e14b4326042dd218abd11f72eb46339c3a29 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 09:30:28 -0700 Subject: BulletSim: improve linking to add each link individually rather than rebuilding the object each time. Makes it an O(n) operation rather than O(n\!). --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 136 ++++++++++++++----------- 1 file changed, 76 insertions(+), 60 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 71a4303..a749a97 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -149,22 +149,26 @@ public sealed class BSPrim : PhysicsActor { // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // DetailLog("{0},Destroy", LocalID); + // Undo any vehicle properties _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _scene.RemoveVehiclePrim(this); // just to make sure - // undo any dependance with/on other objects - if (_parentPrim != null) - { - // If I'm someone's child, tell them to forget about me. - _parentPrim.RemoveChildFromLinkset(this); - _parentPrim = null; - } - _scene.TaintedObject(delegate() { + // undo any dependance with/on other objects + if (_parentPrim != null) + { + // If I'm someone's child, tell them to forget about me. + _parentPrim.RemoveChildFromLinkset(this); + _parentPrim = null; + } + + // make sure there are no possible children depending on me + UnlinkAllChildren(); + // everything in the C# world will get garbage collected. Tell the C++ world to free stuff. - BulletSimAPI.DestroyObject(_scene.WorldID, _localID); + BulletSimAPI.DestroyObject(_scene.WorldID, LocalID); }); } @@ -272,7 +276,8 @@ public sealed class BSPrim : PhysicsActor DetailLog("{0},AddChildToLinkset,child={1}", LocalID, pchild.LocalID); _childrenPrims.Add(child); child._parentPrim = this; // the child has gained a parent - RecreateGeomAndObject(); // rebuild my shape with the new child added + // RecreateGeomAndObject(); // rebuild my shape with the new child added + LinkAChildToMe(pchild); // build the physical binding between me and the child } }); return; @@ -289,13 +294,18 @@ public sealed class BSPrim : PhysicsActor { DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); DetailLog("{0},RemoveChildToLinkset,child={1}", LocalID, pchild.LocalID); - if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID)) - { - m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID); - } _childrenPrims.Remove(child); child._parentPrim = null; // the child has lost its parent - RecreateGeomAndObject(); // rebuild my shape with the child removed + if (_childrenPrims.Count == 0) + { + // if the linkset is empty, make sure all linkages have been removed + UnlinkAllChildren(); + } + else + { + // RecreateGeomAndObject(); // rebuild my shape with the child removed + UnlinkAChildFromMe(pchild); + } } else { @@ -1247,30 +1257,6 @@ public sealed class BSPrim : PhysicsActor } } - // Create a linkset by creating a compound hull at the root prim that consists of all - // the children. - // NOTE: This does not allow proper collisions with the children prims so it is not a workable solution - void CreateLinksetWithCompoundHull() - { - // If I am the root prim of a linkset, replace my physical shape with all the - // pieces of the children. - // All of the children should have called CreateGeom so they have a hull - // in the physics engine already. Here we pull together all of those hulls - // into one shape. - int totalPrimsInLinkset = _childrenPrims.Count + 1; - // m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset); - ShapeData[] shapes = new ShapeData[totalPrimsInLinkset]; - FillShapeInfo(out shapes[0]); - int ii = 1; - foreach (BSPrim prim in _childrenPrims) - { - // m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID); - prim.FillShapeInfo(out shapes[ii]); - ii++; - } - BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes); - } - // Copy prim's info into the BulletSim shape description structure public void FillShapeInfo(out ShapeData shape) { @@ -1290,9 +1276,10 @@ public sealed class BSPrim : PhysicsActor shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; } + #region Linkset creation and destruction + // Create the linkset by putting constraints between the objects of the set so they cannot move // relative to each other. - // TODO: make this more effeicient: a large linkset gets rebuilt over and over and prims are added void CreateLinksetWithConstraints() { DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); @@ -1306,29 +1293,58 @@ public sealed class BSPrim : PhysicsActor // create constraints between the root prim and each of the children foreach (BSPrim prim in _childrenPrims) { - // Zero motion for children so they don't interpolate - prim.ZeroMotion(); - - // relative position normalized to the root prim - OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation); - OMV.Vector3 childRelativePosition = (prim._position - this._position) * invThisOrientation; - - // relative rotation of the child to the parent - OMV.Quaternion childRelativeRotation = invThisOrientation * prim._orientation; - - // this is a constraint that allows no freedom of movement between the two objects - // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 - DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); - BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, - childRelativePosition, - childRelativeRotation, - OMV.Vector3.Zero, - OMV.Quaternion.Identity, - OMV.Vector3.Zero, OMV.Vector3.Zero, - OMV.Vector3.Zero, OMV.Vector3.Zero); + LinkAChildToMe(prim); } } + // Create a constraint between me (root of linkset) and the passed prim (the child). + // Called at taint time! + private void LinkAChildToMe(BSPrim childPrim) + { + // Zero motion for children so they don't interpolate + childPrim.ZeroMotion(); + + // relative position normalized to the root prim + OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation); + OMV.Vector3 childRelativePosition = (childPrim._position - this._position) * invThisOrientation; + + // relative rotation of the child to the parent + OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim._orientation; + + // create a constraint that allows no freedom of movement between the two objects + // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 + DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID); + DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); + BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, childPrim.LocalID, + childRelativePosition, + childRelativeRotation, + OMV.Vector3.Zero, + OMV.Quaternion.Identity, + OMV.Vector3.Zero, OMV.Vector3.Zero, + OMV.Vector3.Zero, OMV.Vector3.Zero); + } + + // Remove linkage between myself and a particular child + // Called at taint time! + private void UnlinkAChildFromMe(BSPrim childPrim) + { + DebugLog("{0}: UnlinkAChildFromMe: RemoveConstraint between root prim {1} and child prim {2}", + LogHeader, LocalID, childPrim.LocalID); + DetailLog("{0},UnlinkAChildFromMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID); + BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID); + } + + // Remove linkage between myself and any possible children I might have + // Called at taint time! + private void UnlinkAllChildren() + { + DebugLog("{0}: UnlinkAllChildren:", LogHeader); + DetailLog("{0},UnlinkAllChildren,taint", LocalID); + BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); + } + + #endregion // Linkset creation and destruction + // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. // No locking here because this is done when the physics engine is not simulating -- cgit v1.1 From 85c6eb7c500b708ab0a91965eca9da20b0b02e50 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 10:37:52 -0700 Subject: BulletSim: add all the new functions to BulletSimAPI. Modify ZeroMotion() to not make tainting calls and to use new API calls. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 13 +- .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 132 ++++++++++++++++++++- 2 files changed, 139 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a749a97..29ddddd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -324,11 +324,20 @@ public sealed class BSPrim : PhysicsActor // Set motion values to zero. // Do it to the properties so the values get set in the physics engine. // Push the setting of the values to the viewer. + // Called at taint time! private void ZeroMotion() { - Velocity = OMV.Vector3.Zero; + _velocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; - RotationalVelocity = OMV.Vector3.Zero; + _rotationalVelocity = OMV.Vector3.Zero; + + IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); + BulletSimAPI.SetVelocity2(obj, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(obj, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolation2(obj, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(obj); + + // make sure this new information is pushed to the client base.RequestPhysicsterseUpdate(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index babb707..54a8cfd 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -291,13 +291,14 @@ public static extern void SetDebugLogCallback(DebugLogCallback callback); // =============================================================================== // =============================================================================== // =============================================================================== -// A new version of the API that moves all the logic out of the C++ code and into +// A new version of the API that enables moving all the logic out of the C++ code and into // the C# code. This will make modifications easier for the next person. // This interface passes the actual pointers to the objects in the unmanaged // address space. All the management (calls for creation/destruction/lookup) // is done in the C# code. -// The names have a 2 tacked on. This will be removed as the code gets rebuilt -// and the old code is removed from the C# code. +// The names have a "2" tacked on. This will be removed as the C# code gets rebuilt +// and the old code is removed. + [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetSimHandle2(uint worldID); @@ -307,8 +308,101 @@ public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id); +// =============================================================================== [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr ClearForces2(IntPtr obj); +public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, + int maxCollisions, IntPtr collisionArray, + int maxUpdates, IntPtr updateArray); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateParameter2(IntPtr sim, uint localID, String parm, float value); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void SetHeightmap2(IntPtr sim, float[] heightmap); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void Shutdown2(IntPtr sim); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern int PhysicsStep2(IntPtr sim, float timeStep, int maxSubSteps, float fixedTimeStep, + out int updatedEntityCount, + out IntPtr updatedEntitiesPtr, + out int collidersCount, + out IntPtr collidersPtr); + +/* +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateMesh2(IntPtr sim, int indicesCount, int* indices, int verticesCount, float* vertices ); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool BuildHull2(IntPtr sim, IntPtr mesh); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool ReleaseHull2(IntPtr sim, IntPtr mesh); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyMesh2(IntPtr sim, IntPtr mesh); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData); +*/ + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2, + Vector3 frame1loc, Quaternion frame1rot, + Vector3 frame2loc, Quaternion frame2rot, + Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Vector3 GetPosition2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern Quaternion GetOrientation2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetTranslation2(IntPtr obj, Vector3 position, Quaternion rotation); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetVelocity2(IntPtr obj, Vector3 velocity); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocity); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetObjectForce2(IntPtr obj, Vector3 force); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetCcdSweepSphereRadius2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetDamping2(IntPtr obj, float lin_damping, float ang_damping); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetDeactivationTime2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetSleepingThresholds2(IntPtr obj, float lin_threshold, float ang_threshold); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetContactProcessingThreshold2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetFriction2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetRestitution2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetLinearVelocity2(IntPtr obj, Vector3 val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetInterpolation2(IntPtr obj, Vector3 lin, Vector3 ang); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags); @@ -319,5 +413,35 @@ public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetMassProps2(IntPtr obj, float mass, Vector3 inertia); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateInertiaTensor2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetGravity2(IntPtr obj, Vector3 val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern IntPtr ClearForces2(IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool SetMargin2(IntPtr obj, float val); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool UpdateSingleAabb2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool AddObjectToWorld2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool RemoveObjectFromWorld2(IntPtr world, IntPtr obj); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern bool DestroyObject2(IntPtr world, uint id); + +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpPhysicsStatistics2(IntPtr sim); + } } -- cgit v1.1 From 8a574395c7626f0aef596cbb928e0b4139ebab12 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 13:48:40 -0700 Subject: BulletSim: add Dispose() code to free up resources and close log files. --- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 8773485..7cc3fe3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -630,6 +630,27 @@ public class BSScene : PhysicsScene, IPhysicsParameters public override void Dispose() { // m_log.DebugFormat("{0}: Dispose()", LogHeader); + + // make sure no stepping happens while we're deleting stuff + m_initialized = false; + + foreach (KeyValuePair kvp in m_avatars) + { + kvp.Value.Destroy(); + } + m_avatars.Clear(); + + foreach (KeyValuePair kvp in m_prims) + { + kvp.Value.Destroy(); + } + m_prims.Clear(); + + // Anything left in the unmanaged code should be cleaned out + BulletSimAPI.Shutdown(WorldID); + + // Not logging any more + PhysicsLogging.Close(); } public override Dictionary GetTopColliders() -- cgit v1.1 From dda681515b31e528ae01954a583cd7a7b4e94987 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 13:49:31 -0700 Subject: BulletSim: small optimizations for link and unlink code --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 20 ++++++++------------ 1 file changed, 8 insertions(+), 12 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 29ddddd..b49b8d9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -293,7 +293,7 @@ public sealed class BSPrim : PhysicsActor if (_childrenPrims.Contains(child)) { DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID); - DetailLog("{0},RemoveChildToLinkset,child={1}", LocalID, pchild.LocalID); + DetailLog("{0},RemoveChildFromLinkset,child={1}", LocalID, pchild.LocalID); _childrenPrims.Remove(child); child._parentPrim = null; // the child has lost its parent if (_childrenPrims.Count == 0) @@ -331,14 +331,12 @@ public sealed class BSPrim : PhysicsActor _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; + // Zero some other properties directly into the physics engine IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID); BulletSimAPI.SetVelocity2(obj, OMV.Vector3.Zero); BulletSimAPI.SetAngularVelocity2(obj, OMV.Vector3.Zero); BulletSimAPI.SetInterpolation2(obj, OMV.Vector3.Zero, OMV.Vector3.Zero); BulletSimAPI.ClearForces2(obj); - - // make sure this new information is pushed to the client - base.RequestPhysicsterseUpdate(); } public override void LockAngularMotion(OMV.Vector3 axis) @@ -1253,7 +1251,7 @@ public sealed class BSPrim : PhysicsActor if (IsRootOfLinkset) { // Create a linkset around this object - CreateLinksetWithConstraints(); + CreateLinkset(); } else { @@ -1289,16 +1287,14 @@ public sealed class BSPrim : PhysicsActor // Create the linkset by putting constraints between the objects of the set so they cannot move // relative to each other. - void CreateLinksetWithConstraints() + void CreateLinkset() { DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); // remove any constraints that might be in place - foreach (BSPrim prim in _childrenPrims) - { - DebugLog("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); - BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID); - } + DebugLog("{0}: CreateLinkset: RemoveConstraints between me and any children", LogHeader, LocalID); + BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID); + // create constraints between the root prim and each of the children foreach (BSPrim prim in _childrenPrims) { @@ -1430,7 +1426,7 @@ public sealed class BSPrim : PhysicsActor // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. // Updates only for individual prims and for the root object of a linkset. - if (this._parentPrim == null) + if (_parentPrim == null) { // Assign to the local variables so the normal set action does not happen _position = entprop.Position; -- cgit v1.1 From bf6547be01afbd7f79eea19013cfd068ad87837f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 23 Jul 2012 16:31:12 -0700 Subject: BulletSim: change how prim mass is saved so it is always calculated but zero is given if not physical. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 43 ++++++++++++++------------ 1 file changed, 23 insertions(+), 20 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b49b8d9..a19d6d7 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -133,10 +133,7 @@ public sealed class BSPrim : PhysicsActor _parentPrim = null; // not a child or a parent _vehicle = new BSDynamics(this); // add vehicleness _childrenPrims = new List(); - if (_isPhysical) - _mass = CalculateMass(); - else - _mass = 0f; + _mass = CalculateMass(); // do the actual object creation at taint time _scene.TaintedObject(delegate() { @@ -181,8 +178,8 @@ public sealed class BSPrim : PhysicsActor _size = value; _scene.TaintedObject(delegate() { - if (_isPhysical) _mass = CalculateMass(); // changing size changes the mass - BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, _mass, _isPhysical); + _mass = CalculateMass(); // changing size changes the mass + BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, Mass, IsPhysical); RecreateGeomAndObject(); }); } @@ -192,7 +189,7 @@ public sealed class BSPrim : PhysicsActor _pbs = value; _scene.TaintedObject(delegate() { - if (_isPhysical) _mass = CalculateMass(); // changing the shape changes the mass + _mass = CalculateMass(); // changing the shape changes the mass RecreateGeomAndObject(); }); } @@ -278,6 +275,8 @@ public sealed class BSPrim : PhysicsActor child._parentPrim = this; // the child has gained a parent // RecreateGeomAndObject(); // rebuild my shape with the new child added LinkAChildToMe(pchild); // build the physical binding between me and the child + + _mass = CalculateMass(); } }); return; @@ -306,6 +305,8 @@ public sealed class BSPrim : PhysicsActor // RecreateGeomAndObject(); // rebuild my shape with the child removed UnlinkAChildFromMe(pchild); } + + _mass = CalculateMass(); } else { @@ -364,9 +365,17 @@ public sealed class BSPrim : PhysicsActor }); } } + + // Return the effective mass of the object. Non-physical objects do not have mass. public override float Mass { - get { return _mass; } + get { + if (IsPhysical) + return _mass; + else + return 0f; + } } + public override OMV.Vector3 Force { get { return _force; } set { @@ -446,7 +455,8 @@ public sealed class BSPrim : PhysicsActor // Called from Scene when doing simulation step so we're in taint processing time. public void StepVehicle(float timeStep) { - _vehicle.Step(timeStep); + if (IsPhysical) + _vehicle.Step(timeStep); } // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more @@ -543,20 +553,13 @@ public sealed class BSPrim : PhysicsActor { // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid); // non-physical things work best with a mass of zero - if (IsStatic) - { - _mass = 0f; - } - else + if (!IsStatic) { _mass = CalculateMass(); - // If it's dynamic, make sure the hull has been created for it - // This shouldn't do much work if the object had previously been built RecreateGeomAndObject(); - } - DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, _mass); - BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass); + DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, Mass); + BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), Mass); } // prims don't fly @@ -1273,7 +1276,7 @@ public sealed class BSPrim : PhysicsActor shape.Rotation = _orientation; shape.Velocity = _velocity; shape.Scale = _scale; - shape.Mass = _isPhysical ? _mass : 0f; + shape.Mass = Mass; shape.Buoyancy = _buoyancy; shape.HullKey = _hullKey; shape.MeshKey = _meshKey; -- cgit v1.1