From c44a8e9f925c0195c4754c5e763af06dae657b53 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Fri, 25 Jan 2013 10:17:20 -0800
Subject: BulletSim: finish the post step event for physical object actions.
Modify vehicle to use post step event for logging.
---
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 14 ++++-
.../Region/Physics/BulletSPlugin/BSPhysObject.cs | 66 ++++++++++++++++++----
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 ++
3 files changed, 73 insertions(+), 13 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 7ad7c89..a369c1f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -583,6 +583,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Some of the properties of this prim may have changed.
// Do any updating needed for a vehicle
+ Vector3 m_physicsLinearFactor = new Vector3(0.2f, 0.2f, 0.2f); // DEBUG DEBUG
+ Vector3 m_physicsAngularFactor = new Vector3(0.2f, 0.2f, 0.2f); // DEBUG DEBUG
public void Refresh()
{
if (IsActive)
@@ -599,6 +601,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Maybe compute linear and angular factor and damping from params.
float angularDamping = BSParam.VehicleAngularDamping;
PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping);
+ PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, m_physicsLinearFactor); // DEBUG DEBUG
+ PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, m_physicsAngularFactor); // DEBUG DEBUG
// Vehicles report collision events so we know when it's on the ground
PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
@@ -898,9 +902,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
if (!IsActive) return;
- if (PhysicsScene.VehiclePhysicalLoggingEnabled)
- PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
-
ForgetKnownVehicleProperties();
MoveLinear(pTimestep);
@@ -922,6 +923,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Prim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity);
}
+ // Called after the simulation step
+ internal void PostStep(float pTimestep)
+ {
+ if (PhysicsScene.VehiclePhysicalLoggingEnabled)
+ PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
+ }
+
// Apply the effect of the linear motor and other linear motions (like hover and float).
private void MoveLinear(float pTimestep)
{
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 027c786..285d4a2 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -101,6 +101,7 @@ public abstract class BSPhysObject : PhysicsActor
public virtual void Destroy()
{
UnRegisterAllPreStepActions();
+ UnRegisterAllPostStepActions();
}
public BSScene PhysicsScene { get; protected set; }
@@ -393,17 +394,18 @@ public abstract class BSPhysObject : PhysicsActor
// 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.
// This bookkeeping makes it easy to add, remove and clean up after all these registrations.
- private Dictionary<string, BSScene.PreStepAction> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>();
+ private Dictionary<string, BSScene.PreStepAction> RegisteredPrestepActions = new Dictionary<string, BSScene.PreStepAction>();
+ private Dictionary<string, BSScene.PostStepAction> RegisteredPoststepActions = new Dictionary<string, BSScene.PostStepAction>();
protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
{
string identifier = op + "-" + id.ToString();
- lock (RegisteredActions)
+ lock (RegisteredPrestepActions)
{
// Clean out any existing action
UnRegisterPreStepAction(op, id);
- RegisteredActions[identifier] = actn;
+ RegisteredPrestepActions[identifier] = actn;
}
PhysicsScene.BeforeStep += actn;
DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
@@ -414,12 +416,12 @@ public abstract class BSPhysObject : PhysicsActor
{
string identifier = op + "-" + id.ToString();
bool removed = false;
- lock (RegisteredActions)
+ lock (RegisteredPrestepActions)
{
- if (RegisteredActions.ContainsKey(identifier))
+ if (RegisteredPrestepActions.ContainsKey(identifier))
{
- PhysicsScene.BeforeStep -= RegisteredActions[identifier];
- RegisteredActions.Remove(identifier);
+ PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier];
+ RegisteredPrestepActions.Remove(identifier);
removed = true;
}
}
@@ -428,17 +430,61 @@ public abstract class BSPhysObject : PhysicsActor
protected void UnRegisterAllPreStepActions()
{
- lock (RegisteredActions)
+ lock (RegisteredPrestepActions)
{
- foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
+ foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredPrestepActions)
{
PhysicsScene.BeforeStep -= kvp.Value;
}
- RegisteredActions.Clear();
+ RegisteredPrestepActions.Clear();
}
DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
}
+
+ protected void RegisterPostStepAction(string op, uint id, BSScene.PostStepAction actn)
+ {
+ string identifier = op + "-" + id.ToString();
+
+ lock (RegisteredPoststepActions)
+ {
+ // Clean out any existing action
+ UnRegisterPostStepAction(op, id);
+
+ RegisteredPoststepActions[identifier] = actn;
+ }
+ PhysicsScene.AfterStep += actn;
+ DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier);
+ }
+
+ // Unregister a pre step action. Safe to call if the action has not been registered.
+ protected void UnRegisterPostStepAction(string op, uint id)
+ {
+ string identifier = op + "-" + id.ToString();
+ bool removed = false;
+ lock (RegisteredPoststepActions)
+ {
+ if (RegisteredPoststepActions.ContainsKey(identifier))
+ {
+ PhysicsScene.AfterStep -= RegisteredPoststepActions[identifier];
+ RegisteredPoststepActions.Remove(identifier);
+ removed = true;
+ }
+ }
+ DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed);
+ }
+ protected void UnRegisterAllPostStepActions()
+ {
+ lock (RegisteredPoststepActions)
+ {
+ foreach (KeyValuePair<string, BSScene.PostStepAction> kvp in RegisteredPoststepActions)
+ {
+ PhysicsScene.AfterStep -= kvp.Value;
+ }
+ RegisteredPoststepActions.Clear();
+ }
+ DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID);
+ }
#endregion // Per Simulation Step actions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8b00a33..99903f5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -527,9 +527,15 @@ public sealed class BSPrim : BSPhysObject
// If an active vehicle, register the vehicle code to be called before each step
if (_vehicle.Type == Vehicle.TYPE_NONE)
+ {
UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
+ PhysicsScene.AfterStep -= _vehicle.PostStep;
+ }
else
+ {
RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
+ PhysicsScene.AfterStep += _vehicle.PostStep;
+ }
});
}
}
--
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