aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
blob: 1f7c398396b22058d5a01b420b6dbfdb3b3c1671 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
/*
 * 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
{
public sealed class BSLinksetCompound : BSLinkset
{
    private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";

    public BSLinksetCompound(BSScene scene, BSPhysObject parent)
    {
        base.Initialize(scene, parent);
    }

    // For compound implimented linksets, if there are children, use compound shape for the root.
    public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
    { 
        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.
    // This is queued in the 'post taint' queue so the
    //   refresh will happen once after all the other taints are applied.
    public override void Refresh(BSPhysObject requestor)
    {
        // External request for Refresh (from BSPrim) doesn't need to do anything
        // InternalRefresh(requestor);
    }

    private void InternalRefresh(BSPhysObject requestor)
    {
        DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID);
        // Queue to happen after all the other taint processing
        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 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);
            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))
        {
            // The non-physical children can come back to life.
            BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
            // Don't force activation so setting of DISABLE_SIMULATION can stay.
            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))
        {
            // Cause the current shape to be freed and the new one to be built.
            InternalRefresh(LinksetRoot);
            ret = true;
        }

        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)
    {
        // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
    }

    // ================================================================

    // 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 my 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
            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()
    {
        // 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))
            {
                // 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;

                DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
                    LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, displacementPos, displacementRot);

                if (cPrim.PhysShape.isNativeShape)
                {
                    // Native shapes are not shared so we need to create a new one.
                    // A mesh or hull is created because scale is not available on a native shape.
                    //     (TODO: Bullet does have a btScaledCollisionShape. Can that be used?)
                    BulletShape saveShape = cPrim.PhysShape;
                    cPrim.PhysShape.ptr = IntPtr.Zero;  // Don't let the create free the child's shape
                    PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
                    BulletShape newShape = cPrim.PhysShape;
                    cPrim.PhysShape = saveShape;
                    BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot);
                }
                else
                {
                    // For the shared shapes (meshes and hulls), just use the shape in the child.
                    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, displacementPos, displacementRot);
                }
            }

            // TODO: need to phantomize the child prims left behind.
            //     Maybe just destroy the children bodies and shapes and have them rebuild on unlink.
            //     Selection/deselection might cause way too many build/destructions esp. for LARGE linksets.

            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);

        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);

    }
}
}