From 2c581cae2a77628704ae7ae2f9f0f0a87cbb0072 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 31 Mar 2013 09:12:18 -0700 Subject: BulletSim: Add physical 'actors' that operate on the physical object. Add first 'actor' for locked axis. --- .../Physics/BulletSPlugin/BSActorLockAxis.cs | 168 +++++++++++++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSActors.cs | 123 +++++++++++++++ .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 ++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 83 ++-------- 4 files changed, 311 insertions(+), 74 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActors.cs (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs new file mode 100755 index 0000000..b4af126 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -0,0 +1,168 @@ +/* + * 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 copyrightD + * 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 OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorLockAxis : BSActor +{ + bool TryExperimentalLockAxisCode = false; + BSConstraint LockAxisConstraint = null; + + public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj,actorName) + { + LockAxisConstraint = null; + } + + // BSActor.isActive + public override bool isActive + { + get { return Enabled && Prim.IsPhysicallyActive; } + } + + // Release any connections and resources used by the actor. + // BSActor.Release() + public override void Release() + { + RemoveAxisLockConstraint(); + } + + // Called when physical parameters (properties set in Bullet) need to be re-applied. + // Called at taint-time. + // BSActor.Refresh() + public override void Refresh() + { + // If all the axis are free, we don't need to exist + if (Prim.LockedAxis == Prim.LockedAxisFree) + { + Prim.PhysicalActors.RemoveAndRelease(ActorName); + return; + } + // If the object is physically active, add the axis locking constraint + if (Enabled + && Prim.IsPhysicallyActive + && TryExperimentalLockAxisCode + && Prim.LockedAxis != Prim.LockedAxisFree) + { + if (LockAxisConstraint != null) + AddAxisLockConstraint(); + } + else + { + RemoveAxisLockConstraint(); + } + } + + // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). + // Register a prestep action to restore physical requirements before the next simulation step. + // Called at taint-time. + // BSActor.RemoveBodyDependencies() + public override void RemoveBodyDependencies() + { + if (LockAxisConstraint != null) + { + // If a constraint is set up, remove it from the physical scene + RemoveAxisLockConstraint(); + // Schedule a call before the next simulation step to restore the constraint. + PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate() + { + Refresh(); + }); + } + } + + private void AddAxisLockConstraint() + { + // Lock that axis by creating a 6DOF constraint that has one end in the world and + // the other in the object. + // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 + // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 + + // Remove any existing axis constraint (just to be sure) + RemoveAxisLockConstraint(); + + BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody, + OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation), + true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); + LockAxisConstraint = axisConstrainer; + PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); + + // The constraint is tied to the world and oriented to the prim. + + // Free to move linearly + OMV.Vector3 linearLow = OMV.Vector3.Zero; + OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; + axisConstrainer.SetLinearLimits(linearLow, linearHigh); + + // Angular with some axis locked + float f2PI = (float)Math.PI * 2f; + OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); + OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); + if (Prim.LockedAxis.X != 1f) + { + angularLow.X = 0f; + angularHigh.X = 0f; + } + if (Prim.LockedAxis.Y != 1f) + { + angularLow.Y = 0f; + angularHigh.Y = 0f; + } + if (Prim.LockedAxis.Z != 1f) + { + angularLow.Z = 0f; + angularHigh.Z = 0f; + } + axisConstrainer.SetAngularLimits(angularLow, angularHigh); + + PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", + Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh); + + // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. + axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); + + axisConstrainer.RecomputeConstraintVariables(Prim.RawMass); + } + + private void RemoveAxisLockConstraint() + { + if (LockAxisConstraint != null) + { + PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); + LockAxisConstraint = null; + PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID); + } + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs new file mode 100755 index 0000000..b9b5ce1 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -0,0 +1,123 @@ +/* + * 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 copyrightD + * 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.Text; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorCollection +{ + private BSScene PhysicsScene { get; set; } + private Dictionary m_actors; + + public BSActorCollection(BSScene physicsScene) + { + PhysicsScene = physicsScene; + m_actors = new Dictionary(); + } + public void Add(string name, BSActor actor) + { + m_actors[name] = actor; + } + public bool RemoveAndRelease(string name) + { + bool ret = false; + if (m_actors.ContainsKey(name)) + { + BSActor beingRemoved = m_actors[name]; + beingRemoved.Release(); + m_actors.Remove(name); + ret = true; + } + return ret; + } + public void Clear() + { + Release(); + m_actors.Clear(); + } + public bool HasActor(string name) + { + return m_actors.ContainsKey(name); + } + public void ForEachActor(Action act) + { + foreach (KeyValuePair kvp in m_actors) + act(kvp.Value); + } + + public void Release() + { + ForEachActor(a => a.Release()); + } + public void Refresh() + { + ForEachActor(a => a.Refresh()); + } + public void RemoveBodyDependencies() + { + ForEachActor(a => a.RemoveBodyDependencies()); + } +} + +// ============================================================================= +public abstract class BSActor +{ + protected BSScene PhysicsScene { get; private set; } + protected BSPhysObject Prim { get; private set; } + protected bool Enabled { get; set; } + public string ActorName { get; private set; } + + public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName) + { + PhysicsScene = physicsScene; + Prim = pObj; + ActorName = actorName; + Enabled = true; + } + + // Return 'true' if activily updating the prim + public virtual bool isActive + { + get { return Enabled; } + } + // Turn the actor on an off. + public virtual void Enable(bool setEnabled) + { + Enabled = setEnabled; + } + // Release any connections and resources used by the actor. + public abstract void Release(); + // Called when physical parameters (properties set in Bullet) need to be re-applied. + public abstract void Refresh(); + // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). + // Register a prestep action to restore physical requirements before the next simulation step. + public abstract void RemoveBodyDependencies(); + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 6bb88c7..cba2646 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -78,6 +78,9 @@ public abstract class BSPhysObject : PhysicsActor Name = name; // PhysicsActor also has the name of the object. Someday consolidate. TypeName = typeName; + // The collection of things that push me around + PhysicalActors = new BSActorCollection(PhysicsScene); + // Initialize variables kept in base. GravModifier = 1.0f; Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); @@ -109,6 +112,10 @@ public abstract class BSPhysObject : PhysicsActor { UnRegisterAllPreStepActions(); UnRegisterAllPostStepActions(); + PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate() + { + PhysicalActors.Release(); + }); } public BSScene PhysicsScene { get; protected set; } @@ -230,6 +237,7 @@ public abstract class BSPhysObject : PhysicsActor public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free + public readonly String LockedAxisActorName = "BSPrim.LockedAxis"; #region Collisions @@ -413,6 +421,9 @@ public abstract class BSPhysObject : PhysicsActor #endregion // Collisions #region Per Simulation Step actions + + public BSActorCollection PhysicalActors; + // There are some actions that must be performed for a physical object before each simulation step. // These actions are optional so, rather than scanning all the physical objects and asking them // if they have anything to do, a physical object registers for an event call before the step is performed. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6a5461a..68a6c41 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -126,7 +126,7 @@ public class BSPrim : BSPhysObject // Undo any vehicle properties this.VehicleType = (int)Vehicle.TYPE_NONE; - PhysicsScene.TaintedObject("BSPrim.destroy", delegate() + PhysicsScene.TaintedObject("BSPrim.Destroy", delegate() { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // If there are physical body and shape, release my use of same. @@ -257,98 +257,31 @@ public class BSPrim : BSPhysObject }); } - bool TryExperimentalLockAxisCode = false; - BSConstraint LockAxisConstraint = null; public override void LockAngularMotion(OMV.Vector3 axis) { DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); // "1" means free, "0" means locked - OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f); + OMV.Vector3 locking = LockedAxisFree; if (axis.X != 1) locking.X = 0f; if (axis.Y != 1) locking.Y = 0f; if (axis.Z != 1) locking.Z = 0f; LockedAxis = locking; - if (TryExperimentalLockAxisCode && LockedAxis != LockedAxisFree) + if (LockedAxis != LockedAxisFree) { - // Lock that axis by creating a 6DOF constraint that has one end in the world and - // the other in the object. - // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817 - // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380 - PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate() { - CleanUpLockAxisPhysicals(true /* inTaintTime */); - - BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, PhysBody, - OMV.Vector3.Zero, OMV.Quaternion.Inverse(RawOrientation), - true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); - LockAxisConstraint = axisConstrainer; - PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); - - // The constraint is tied to the world and oriented to the prim. - - // Free to move linearly - OMV.Vector3 linearLow = OMV.Vector3.Zero; - OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; - axisConstrainer.SetLinearLimits(linearLow, linearHigh); - - // Angular with some axis locked - float f2PI = (float)Math.PI * 2f; - OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); - OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); - if (LockedAxis.X != 1f) - { - angularLow.X = 0f; - angularHigh.X = 0f; - } - if (LockedAxis.Y != 1f) - { - angularLow.Y = 0f; - angularHigh.Y = 0f; - } - if (LockedAxis.Z != 1f) + // If there is not already an axis locker, make one + if (!PhysicalActors.HasActor(LockedAxisActorName)) { - angularLow.Z = 0f; - angularHigh.Z = 0f; + PhysicalActors.Add(LockedAxisActorName, new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName)); } - axisConstrainer.SetAngularLimits(angularLow, angularHigh); - - DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", - LocalID, linearLow, linearHigh, angularLow, angularHigh); - - // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo. - axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f); - - axisConstrainer.RecomputeConstraintVariables(RawMass); + UpdatePhysicalParameters(); }); } - else - { - // Everything seems unlocked - CleanUpLockAxisPhysicals(false /* inTaintTime */); - } - return; } - // Get rid of any constraint built for LockAxis - // Most often the constraint is removed when the constraint collection is cleaned for this prim. - private void CleanUpLockAxisPhysicals(bool inTaintTime) - { - if (LockAxisConstraint != null) - { - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CleanUpLockAxisPhysicals", delegate() - { - if (LockAxisConstraint != null) - { - PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); - LockAxisConstraint = null; - DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", LocalID); - } - }); - } - } public override OMV.Vector3 RawPosition { @@ -916,6 +849,7 @@ public class BSPrim : BSPhysObject // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) VehicleController.Refresh(); + PhysicalActors.Refresh(); // Arrange for collision events if the simulator wants them EnableCollisions(SubscribedEvents()); @@ -1753,6 +1687,7 @@ public class BSPrim : BSPhysObject protected virtual void RemoveBodyDependencies() { VehicleController.RemoveBodyDependencies(this); + PhysicalActors.RemoveBodyDependencies(); } // The physics engine says that properties have updated. Update same and inform -- cgit v1.1