From 6632eb7c051e2638ea1c58c2876e7d6825398556 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 13 Sep 2012 13:51:42 -0700 Subject: BulletSim: Remove calculation and passing of unused collied object type. Fix collision code to properly sense mega-region children regions as terrain. When setting an object physical, reset all the physical properties (friction, ...). --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 8 +++---- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 28 +++++++++++++++++----- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 26 ++++++++------------ 4 files changed, 36 insertions(+), 28 deletions(-) (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index a9b1365..526dbad 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -529,22 +529,20 @@ public class BSCharacter : BSPhysObject // The collision, if it should be reported to the character, is placed in a collection // that will later be sent to the simulator when SendCollisions() is called. CollisionEventUpdate collisionCollection = null; - public override bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) + public override bool Collide(uint collidingWith, BSPhysObject collidee, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) { - // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); - bool ret = false; // The following makes IsColliding() and IsCollidingGround() work _collidingStep = Scene.SimulationStep; - if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID) + if (collidingWith <= Scene.TerrainManager.HighestTerrainID) { _collidingGroundStep = Scene.SimulationStep; } // DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith); // throttle collisions to the rate specified in the subscription - if (_subscribedEventsMs != 0) { + if (SubscribedEvents()) { int nowTime = Scene.SimulationNowTime; if (nowTime >= _nextCollisionOkTime) { _nextCollisionOkTime = nowTime + _subscribedEventsMs; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 969c53e..3fe71e1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -41,7 +41,7 @@ public abstract class BSPhysObject : PhysicsActor { public abstract BSLinkset Linkset { get; set; } - public abstract bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, + public abstract bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); public abstract void SendCollisions(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 04b7be5..6827be0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -545,14 +545,31 @@ public sealed class BSPrim : BSPhysObject { // Not a Bullet static object m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); + + // Set various physical properties so internal things will get computed correctly as they are set + BulletSimAPI.SetFriction2(BSBody.Ptr, Scene.Params.defaultFriction); + BulletSimAPI.SetRestitution2(BSBody.Ptr, Scene.Params.defaultRestitution); + // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 + BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + // A dynamic object has mass IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr); OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass); BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, inertia); // Inertia is based on our new mass BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); + + // Various values for simulation limits + BulletSimAPI.SetDamping2(BSBody.Ptr, Scene.Params.linearDamping, Scene.Params.angularDamping); + BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, Scene.Params.deactivationTime); + BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, Scene.Params.linearSleepingThreshold, Scene.Params.angularSleepingThreshold); + BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, Scene.Params.contactProcessingThreshold); + // There can be special things needed for implementing linksets Linkset.MakeDynamic(this); + // Force activation of the object so Bullet will act on it. BulletSimAPI.Activate2(BSBody.Ptr, true); } @@ -1475,16 +1492,15 @@ public sealed class BSPrim : BSPhysObject // I've collided with something // Called at taint time from within the Step() function CollisionEventUpdate collisionCollection; - public override bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) + public override bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { - // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); bool ret = false; // The following lines make IsColliding() and IsCollidingGround() work - _collidingStep = _scene.SimulationStep; - if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID) + _collidingStep = Scene.SimulationStep; + if (collidingWith <= Scene.TerrainManager.HighestTerrainID) { - _collidingGroundStep = _scene.SimulationStep; + _collidingGroundStep = Scene.SimulationStep; } // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith); @@ -1498,7 +1514,7 @@ public sealed class BSPrim : BSPhysObject // if someone has subscribed for collision events.... if (SubscribedEvents()) { // throttle the collisions to the number of milliseconds specified in the subscription - int nowTime = _scene.SimulationNowTime; + int nowTime = Scene.SimulationNowTime; if (nowTime >= _nextCollisionOkTime) { _nextCollisionOkTime = nowTime + _subscribedEventsMs; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 9c958d5..c38867f 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -583,27 +583,21 @@ public class BSScene : PhysicsScene, IPhysicsParameters return; // don't send collisions to the terrain } - BSPhysObject collider = PhysObjects[localID]; - // TODO: as of this code, terrain was not in the physical object list. - // When BSTerrain is created and it will be in the list, we can remove - // the possibility that it's not there and just fetch the collidee. - BSPhysObject collidee = null; - - ActorTypes type = ActorTypes.Prim; - if (collidingWith <= TerrainManager.HighestTerrainID) + BSPhysObject collider; + if (!PhysObjects.TryGetValue(localID, out collider)) { - type = ActorTypes.Ground; - } - else - { - collidee = PhysObjects[collidingWith]; - if (collidee is BSCharacter) - type = ActorTypes.Agent; + // If the object that is colliding cannot be found, just ignore the collision. + return; } + // The terrain is not in the physical object list so 'collidee' + // can be null when Collide() is called. + BSPhysObject collidee = null; + PhysObjects.TryGetValue(collidingWith, out collidee); + // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); - if (collider.Collide(collidingWith, collidee, type, collidePoint, collideNormal, penetration)) + if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration)) { // If a collision was posted, remember to send it to the simulator m_objectsWithCollisions.Add(collider); -- cgit v1.1