From 803632f8f32d91bb4aec678d8b45a8430c2703e1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 9 Jul 2013 16:26:17 -0700 Subject: BulletSim: freshen up the code for constraint based linksets. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 +- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 1 + .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 82 ++++++++++++++++------ 3 files changed, 64 insertions(+), 23 deletions(-) (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 0204967..4c2c1c1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1029,8 +1029,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Add this correction to the velocity to make it faster/slower. VehicleVelocity += linearMotorVelocityW; - VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}", - ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, + VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},tgt={3},correctV={4},correctW={5},newVelW={6},fricFact={7}", + ControllingPrim.LocalID, origVelW, currentVelV, m_linearMotor.TargetValue, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity, frictionFactorV); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 1d94142..3668456 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -59,6 +59,7 @@ public sealed class BSLinksetCompound : BSLinkset { DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); + // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index a06a44d..f17d698 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -48,12 +48,22 @@ public sealed class BSLinksetConstraints : BSLinkset { base.Refresh(requestor); - if (HasAnyChildren && IsRoot(requestor)) + } + + private void ScheduleRebuild(BSPrimLinkable requestor) + { + DetailLog("{0},BSLinksetConstraint.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", + requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); + + // When rebuilding, it is possible to set properties that would normally require a rebuild. + // If already rebuilding, don't request another rebuild. + // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. + if (!Rebuilding && HasAnyChildren) { // Queue to happen after all the other taint processing m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() { - if (HasAnyChildren && IsRoot(requestor)) + if (HasAnyChildren) RecomputeLinksetConstraints(); }); } @@ -67,8 +77,14 @@ public sealed class BSLinksetConstraints : BSLinkset // Called at taint-time! public override bool MakeDynamic(BSPrimLinkable child) { - // What is done for each object in BSPrim is what we want. - return false; + bool ret = false; + DetailLog("{0},BSLinksetConstraints.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); + if (IsRoot(child)) + { + // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. + ScheduleRebuild(LinksetRoot); + } + return ret; } // The object is going static (non-physical). Do any setup necessary for a static linkset. @@ -78,8 +94,16 @@ public sealed class BSLinksetConstraints : BSLinkset // Called at taint-time! public override bool MakeStatic(BSPrimLinkable child) { - // What is done for each object in BSPrim is what we want. - return false; + bool ret = false; + + DetailLog("{0},BSLinksetConstraint.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); + child.ClearDisplacement(); + if (IsRoot(child)) + { + // Schedule a rebuild to verify that the root shape is set to the real shape. + ScheduleRebuild(LinksetRoot); + } + return ret; } // Called at taint-time!! @@ -105,7 +129,7 @@ public sealed class BSLinksetConstraints : BSLinkset // Just undo all the constraints for this linkset. Rebuild at the end of the step. ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot); // Cause the constraints, et al to be rebuilt before the next simulation step. - Refresh(LinksetRoot); + ScheduleRebuild(LinksetRoot); } return ret; } @@ -123,7 +147,7 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Cause constraints and assorted properties to be recomputed before the next simulation step. - Refresh(LinksetRoot); + ScheduleRebuild(LinksetRoot); } return; } @@ -147,7 +171,7 @@ public sealed class BSLinksetConstraints : BSLinkset PhysicallyUnlinkAChildFromRoot(rootx, childx); }); // See that the linkset parameters are recomputed at the end of the taint time. - Refresh(LinksetRoot); + ScheduleRebuild(LinksetRoot); } else { @@ -165,6 +189,7 @@ public sealed class BSLinksetConstraints : BSLinkset Refresh(rootPrim); } + // Create a static constraint between the two passed objects private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim) { // Zero motion for children so they don't interpolate @@ -281,24 +306,39 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass); - foreach (BSPrimLinkable child in m_children) + try { - // A child in the linkset physically shows the mass of the whole linkset. - // This allows Bullet to apply enough force on the child to move the whole linkset. - // (Also do the mass stuff before recomputing the constraint so mass is not zero.) - child.UpdatePhysicalMassProperties(linksetMass, true); + Rebuilding = true; - BSConstraint constrain; - if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) + // There is no reason to build all this physical stuff for a non-physical linkset. + if (!LinksetRoot.IsPhysicallyActive) { - // If constraint doesn't exist yet, create it. - constrain = BuildConstraint(LinksetRoot, child); + DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); + return; // Note the 'finally' clause at the botton which will get executed. } - constrain.RecomputeConstraintVariables(linksetMass); - // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG - } + foreach (BSPrimLinkable child in m_children) + { + // A child in the linkset physically shows the mass of the whole linkset. + // This allows Bullet to apply enough force on the child to move the whole linkset. + // (Also do the mass stuff before recomputing the constraint so mass is not zero.) + child.UpdatePhysicalMassProperties(linksetMass, true); + + BSConstraint constrain; + if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) + { + // If constraint doesn't exist yet, create it. + constrain = BuildConstraint(LinksetRoot, child); + } + constrain.RecomputeConstraintVariables(linksetMass); + // PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG + } + } + finally + { + Rebuilding = false; + } } } } -- cgit v1.1