/* * 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; using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { // When a child is linked, the relationship position of the child to the parent // is remembered so the child's world position can be recomputed when it is // removed from the linkset. sealed class BSLinksetCompoundInfo : BSLinksetInfo { public OMV.Vector3 OffsetPos; public OMV.Quaternion OffsetRot; public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r) { OffsetPos = p; OffsetRot = r; } public override string ToString() { StringBuilder buff = new StringBuilder(); buff.Append(""); return buff.ToString(); } }; public sealed class BSLinksetCompound : BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent) { } // For compound implimented linksets, if there are children, use compound shape for the root. public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) { // Returning 'unknown' means we don't have a preference. BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; if (IsRoot(requestor) && HasAnyChildren) { ret = BSPhysicsShapeType.SHAPE_COMPOUND; } // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret); return ret; } // When physical properties are changed the linkset needs to recalculate // its internal properties. public override void Refresh(BSPhysObject requestor) { // External request for Refresh (from BSPrim) doesn't need to do anything // InternalRefresh(requestor); } // Schedule a refresh to happen after all the other taint processing. private void InternalRefresh(BSPhysObject requestor) { DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1},rebuilding={2}", LinksetRoot.LocalID, requestor.LocalID, Rebuilding); // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. if (!Rebuilding) { PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() { if (IsRoot(requestor) && HasAnyChildren) RecomputeLinksetCompound(); }); } } // The object is going dynamic (physical). Do any setup necessary // for a dynamic linkset. // Only the state of the passed object can be modified. The rest of the linkset // has not yet been fully constructed. // Return 'true' if any properties updated on the passed object. // Called at taint-time! public override bool MakeDynamic(BSPhysObject child) { bool ret = false; DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); if (IsRoot(child)) { // The root is going dynamic. Make sure mass is properly set. m_mass = ComputeLinksetMass(); if (HasAnyChildren) InternalRefresh(LinksetRoot); } else { // The origional prims are removed from the world as the shape of the root compound // shape takes over. BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION); // We don't want collisions from the old linkset children. BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); child.PhysBody.collisionType = CollisionType.LinksetChild; ret = true; } return ret; } // The object is going static (non-physical). Do any setup necessary for a static linkset. // Return 'true' if any properties updated on the passed object. // This doesn't normally happen -- OpenSim removes the objects from the physical // world if it is a static linkset. // Called at taint-time! public override bool MakeStatic(BSPhysObject child) { bool ret = false; DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); if (IsRoot(child)) { if (HasAnyChildren) InternalRefresh(LinksetRoot); } else { // The non-physical children can come back to life. BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); child.PhysBody.collisionType = CollisionType.LinksetChild; // Don't force activation so setting of DISABLE_SIMULATION can stay if used. BulletSimAPI.Activate2(child.PhysBody.ptr, false); ret = true; } return ret; } // Called at taint-time!! public override void UpdateProperties(BSPhysObject updated) { // Nothing to do for compound linksets on property updates } // The children move around in relationship to the root. // Just grab the current values of wherever it is right now. public override OMV.Vector3 Position(BSPhysObject member) { return BulletSimAPI.GetPosition2(member.PhysBody.ptr); } public override OMV.Quaternion Orientation(BSPhysObject member) { return BulletSimAPI.GetOrientation2(member.PhysBody.ptr); } // Routine called when rebuilding the body of some member of the linkset. // Since we don't keep in world relationships, do nothing unless it's a child changing. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! public override bool RemoveBodyDependencies(BSPrim child) { bool ret = false; DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), IsRoot(child)); if (!IsRoot(child)) { // Because it is a convenient time, recompute child world position and rotation based on // its position in the linkset. RecomputeChildWorldPosition(child, true); } // Cannot schedule a refresh/rebuild here because this routine is called when // the linkset is being rebuilt. // InternalRefresh(LinksetRoot); return ret; } // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', // this routine will restore the removed constraints. // Called at taint-time!! public override void RestoreBodyDependencies(BSPrim child) { } // When the linkset is built, the child shape is added to the compound shape relative to the // root shape. The linkset then moves around but this does not move the actual child // prim. The child prim's location must be recomputed based on the location of the root shape. private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) { BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo; if (lci != null) { if (inTaintTime) { OMV.Vector3 oldPos = child.RawPosition; child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos; child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot; DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}", child.LocalID, oldPos, lci, child.RawPosition); } else { // TaintedObject is not used here so the raw position is set now and not at taint-time. child.Position = LinksetRoot.RawPosition + lci.OffsetPos; child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot; } } else { // This happens when children have been added to the linkset but the linkset // has not been constructed yet. So like, at taint time, adding children to a linkset // and then changing properties of the children (makePhysical, for instance) // but the post-print action of actually rebuilding the linkset has not yet happened. // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}", // LogHeader, child.LocalID); DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID); } } // ================================================================ // Add a new child to the linkset. // Called while LinkActivity is locked. protected override void AddChildToLinkset(BSPhysObject child) { if (!HasChild(child)) { m_children.Add(child); DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Cause constraints and assorted properties to be recomputed before the next simulation step. InternalRefresh(LinksetRoot); } return; } // Remove the specified child from the linkset. // Safe to call even if the child is not really in the linkset. protected override void RemoveChildFromLinkset(BSPhysObject child) { if (m_children.Remove(child)) { DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), child.LocalID, child.PhysBody.ptr.ToString("X")); // Cause the child's body to be rebuilt and thus restored to normal operation RecomputeChildWorldPosition(child, false); child.ForceBodyShapeRebuild(false); if (!HasAnyChildren) { // The linkset is now empty. The root needs rebuilding. LinksetRoot.ForceBodyShapeRebuild(false); } else { // Schedule a rebuild of the linkset before the next simulation tick. InternalRefresh(LinksetRoot); } } return; } // Called before the simulation step to make sure the compound based linkset // is all initialized. // Constraint linksets are rebuilt every time. // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! private void RecomputeLinksetCompound() { try { // Suppress rebuilding while rebuilding Rebuilding = true; // Cause the root shape to be rebuilt as a compound object with just the root in it LinksetRoot.ForceBodyShapeRebuild(true); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); // Add a shape for each of the other children in the linkset ForEachMember(delegate(BSPhysObject cPrim) { if (!IsRoot(cPrim)) { // Compute the displacement of the child from the root of the linkset. // This info is saved in the child prim so the relationship does not // change over time and the new child position can be computed // when the linkset is being disassembled (the linkset may have moved). BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; if (lci == null) { // Each child position and rotation is given relative to the root. OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; // Save relative position for recomputing child's world position after moving linkset. lci = new BSLinksetCompoundInfo(displacementPos, displacementRot); cPrim.LinksetInfo = lci; DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); } DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); if (cPrim.PhysShape.isNativeShape) { // A native shape is turning into a hull collision shape because native // shapes are not shared so we have to hullify it so it will be tracked // and freed at the correct time. This also solves the scaling problem // (native shapes scaled but hull/meshes are assumed to not be). // TODO: decide of the native shape can just be used in the compound shape. // Use call to CreateGeomNonSpecial(). BulletShape saveShape = cPrim.PhysShape; cPrim.PhysShape.Clear(); // Don't let the create free the child's shape // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null); PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); BulletShape newShape = cPrim.PhysShape; cPrim.PhysShape = saveShape; BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot); } else { // For the shared shapes (meshes and hulls), just use the shape in the child. // The reference count added here will be decremented when the compound shape // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced). if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape)) { PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); } BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot); } } return false; // 'false' says to move onto the next child in the list }); // With all of the linkset packed into the root prim, it has the mass of everyone. float linksetMass = LinksetMass; LinksetRoot.UpdatePhysicalMassProperties(linksetMass); } finally { Rebuilding = false; } BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr); // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets. // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); } } }