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')
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')
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')
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<uint, BSCharacter> kvp in m_avatars)
+ {
+ kvp.Value.Destroy();
+ }
+ m_avatars.Clear();
+
+ foreach (KeyValuePair<uint, BSPrim> 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<uint, float> 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')
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')
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<BSPrim>();
- 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;
--
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