aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
blob: de69fa0699dfccb8582079b502ea3680880a77d8 (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
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
/*
 * 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;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;

namespace OpenSim.Region.Physics.BulletSPlugin
{
/*
 * Class to wrap all objects.
 * The rest of BulletSim doesn't need to keep checking for avatars or prims
 *        unless the difference is significant.
 * 
 *  Variables in the physicsl objects are in three forms:
 *      VariableName: used by the simulator and performs taint operations, etc
 *      RawVariableName: direct reference to the BulletSim storage for the variable value
 *      ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
 *  The last two (and certainly the last one) should be referenced only in taint-time.
 */

/*
 * As of 20121221, the following are the call sequences (going down) for different script physical functions:
 * llApplyImpulse       llApplyRotImpulse           llSetTorque             llSetForce
 * SOP.ApplyImpulse     SOP.ApplyAngularImpulse     SOP.SetAngularImpulse   SOP.SetForce
 * SOG.ApplyImpulse     SOG.ApplyAngularImpulse     SOG.SetAngularImpulse
 * PA.AddForce          PA.AddAngularForce          PA.Torque = v           PA.Force = v
 * BS.ApplyCentralForce BS.ApplyTorque              
 */

// Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc.
public enum UpdatedProperties : uint
{
    Position                = 1 << 0,
    Orientation             = 1 << 1,
    Velocity                = 1 << 2,
    Acceleration            = 1 << 3,
    RotationalVelocity      = 1 << 4,
    EntPropUpdates          = Position | Orientation | Velocity | Acceleration | RotationalVelocity,
}
public abstract class BSPhysObject : PhysicsActor
{
    protected BSPhysObject()
    {
    }
    protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
    {
        PhysicsScene = parentScene;
        LocalID = localID;
        PhysObjectName = name;
        Name = name;    // PhysicsActor also has the name of the object. Someday consolidate.
        TypeName = typeName;

        // Initialize variables kept in base.
        GravModifier = 1.0f;
        Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);

        // We don't have any physical representation yet.
        PhysBody = new BulletBody(localID);
        PhysShape = new BulletShape();

        LastAssetBuildFailed = false;

        // Default material type. Also sets Friction, Restitution and Density.
        SetMaterial((int)MaterialAttributes.Material.Wood);

        CollisionCollection = new CollisionEventUpdate();
        CollisionsLastTick = CollisionCollection;
        SubscribedEventsMs = 0;
        CollidingStep = 0;
        CollidingGroundStep = 0;
        CollisionAccumulation = 0;
        ColliderIsMoving = false;
        CollisionScore = 0;
    }

    // Tell the object to clean up.
    public virtual void Destroy()
    {
        UnRegisterAllPreStepActions();
        UnRegisterAllPostStepActions();
    }

    public BSScene PhysicsScene { get; protected set; }
    // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
    public string PhysObjectName { get; protected set; }
    public string TypeName { get; protected set; }


    // Return the object mass without calculating it or having side effects
    public abstract float RawMass { get; }
    // Set the raw mass but also update physical mass properties (inertia, ...)
    // 'inWorld' true if the object has already been added to the dynamic world.
    public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);

    // The gravity being applied to the object. A function of default grav, GravityModifier and Buoyancy.
    public virtual OMV.Vector3 Gravity { get; set; }
    // The last value calculated for the prim's inertia
    public OMV.Vector3 Inertia { get; set; }

    // Reference to the physical body (btCollisionObject) of this object
    public BulletBody PhysBody;
    // Reference to the physical shape (btCollisionShape) of this object
    public BulletShape PhysShape;

    // 'true' if the mesh's underlying asset failed to build.
    // This will keep us from looping after the first time the build failed.
    public bool LastAssetBuildFailed { get; set; }

    // The objects base shape information. Null if not a prim type shape.
    public PrimitiveBaseShape BaseShape { get; protected set; }
    // Some types of objects have preferred physical representations.
    // Returns SHAPE_UNKNOWN if there is no preference.
    public virtual BSPhysicsShapeType PreferredPhysicalShape
    {
        get { return BSPhysicsShapeType.SHAPE_UNKNOWN; }
    }

    // When the physical properties are updated, an EntityProperty holds the update values.
    // Keep the current and last EntityProperties to enable computation of differences
    //      between the current update and the previous values.
    public EntityProperties CurrentEntityProperties { get; set; }
    public EntityProperties LastEntityProperties { get; set; }

    public virtual OMV.Vector3 Scale { get; set; }
    public abstract bool IsSolid { get; }
    public abstract bool IsStatic { get; }
    public abstract bool IsSelected { get; }

    // It can be confusing for an actor to know if it should move or update an object
    //    depeneding on the setting of 'selected', 'physical, ...
    // This flag is the true test -- if true, the object is being acted on in the physical world
    public abstract bool IsPhysicallyActive { get; }

    // Materialness
    public MaterialAttributes.Material Material { get; private set; }
    public override void SetMaterial(int material)
    {
        Material = (MaterialAttributes.Material)material;

        // Setting the material sets the material attributes also.
        MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
        Friction = matAttrib.friction;
        Restitution = matAttrib.restitution;
        Density = matAttrib.density;
    }

    // Stop all physical motion.
    public abstract void ZeroMotion(bool inTaintTime);
    public abstract void ZeroAngularMotion(bool inTaintTime);

    // Update the physical location and motion of the object. Called with data from Bullet.
    public abstract void UpdateProperties(EntityProperties entprop);

    public abstract OMV.Vector3 RawPosition { get; set; }
    public abstract OMV.Vector3 ForcePosition { get; set; }

    public abstract OMV.Quaternion RawOrientation { get; set; }
    public abstract OMV.Quaternion ForceOrientation { get; set; }

    public virtual float TargetSpeed
    {
        get
        {
            OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
            return characterOrientedVelocity.X;
        }
    }
    public abstract OMV.Vector3 RawVelocity { get; set; }
    public abstract OMV.Vector3 ForceVelocity { get; set; }

    public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }

    public abstract float ForceBuoyancy { get; set; }

    public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }

    public virtual float ForwardSpeed
    {
        get
        {
            OMV.Vector3 characterOrientedVelocity = RawVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
            return characterOrientedVelocity.X;
        }
    }

    #region Collisions

    // Requested number of milliseconds between collision events. Zero means disabled.
    protected int SubscribedEventsMs { get; set; }
    // Given subscription, the time that a collision may be passed up
    protected int NextCollisionOkTime { get; set; }
    // The simulation step that last had a collision
    protected long CollidingStep { get; set; }
    // The simulation step that last had a collision with the ground
    protected long CollidingGroundStep { get; set; }
    // The simulation step that last collided with an object
    protected long CollidingObjectStep { get; set; }
    // The collision flags we think are set in Bullet
    protected CollisionFlags CurrentCollisionFlags { get; set; }
    // On a collision, check the collider and remember if the last collider was moving
    //    Used to modify the standing of avatars (avatars on stationary things stand still)
    protected bool ColliderIsMoving;

    // Count of collisions for this object
    protected long CollisionAccumulation { get; set; }

    public override bool IsColliding {
        get { return (CollidingStep == PhysicsScene.SimulationStep); }
        set {
            if (value)
                CollidingStep = PhysicsScene.SimulationStep;
            else
                CollidingStep = 0;
            }
    }
    public override bool CollidingGround {
        get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
        set
        {
            if (value)
                CollidingGroundStep = PhysicsScene.SimulationStep;
            else
                CollidingGroundStep = 0;
        }
    }
    public override bool CollidingObj {
        get { return (CollidingObjectStep == PhysicsScene.SimulationStep); }
        set { 
            if (value)
                CollidingObjectStep = PhysicsScene.SimulationStep;
            else
                CollidingObjectStep = 0;
        }
    }

    // The collisions that have been collected this tick
    protected CollisionEventUpdate CollisionCollection;
    // Remember collisions from last tick for fancy collision based actions
    //     (like a BSCharacter walking up stairs).
    protected CollisionEventUpdate CollisionsLastTick;

    // The simulation step is telling this object about a collision.
    // Return 'true' if a collision was processed and should be sent up.
    // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision.
    // Called at taint time from within the Step() function
    public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
                    OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
    {
        bool ret = false;

        // The following lines make IsColliding(), CollidingGround() and CollidingObj work
        CollidingStep = PhysicsScene.SimulationStep;
        if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
        {
            CollidingGroundStep = PhysicsScene.SimulationStep;
        }
        else
        {
            CollidingObjectStep = PhysicsScene.SimulationStep;
        }

        CollisionAccumulation++;

        // For movement tests, remember if we are colliding with an object that is moving.
        ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;

        // If someone has subscribed for collision events log the collision so it will be reported up
        if (SubscribedEvents()) {
            CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}",
                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving);

            ret = true;
        }
        return ret;
    }

    // Send the collected collisions into the simulator.
    // Called at taint time from within the Step() function thus no locking problems
    //      with CollisionCollection and ObjectsWithNoMoreCollisions.
    // Return 'true' if there were some actual collisions passed up
    public virtual bool SendCollisions()
    {
        bool ret = true;

        // If the 'no collision' call, force it to happen right now so quick collision_end
        bool force = (CollisionCollection.Count == 0 && CollisionsLastTick.Count != 0);

        // throttle the collisions to the number of milliseconds specified in the subscription
        if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
        {
            NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;

            // We are called if we previously had collisions. If there are no collisions
            //   this time, send up one last empty event so OpenSim can sense collision end.
            if (CollisionCollection.Count == 0)
            {
                // If I have no collisions this time, remove me from the list of objects with collisions.
                ret = false;
            }

            DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
            base.SendCollisionUpdate(CollisionCollection);

            // Remember the collisions from this tick for some collision specific processing.
            CollisionsLastTick = CollisionCollection;

            // The CollisionCollection instance is passed around in the simulator.
            // Make sure we don't have a handle to that one and that a new one is used for next time.
            //    This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, 
            //    a race condition is created for the other users of this instance.
            CollisionCollection = new CollisionEventUpdate();
        }
        return ret;
    }

    // Subscribe for collision events.
    // Parameter is the millisecond rate the caller wishes collision events to occur.
    public override void SubscribeEvents(int ms) {
        // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
        SubscribedEventsMs = ms;
        if (ms > 0)
        {
            // make sure first collision happens
            NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);

            PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
            {
                if (PhysBody.HasPhysicalBody)
                    CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
            });
        }
        else
        {
            // Subscribing for zero or less is the same as unsubscribing
            UnSubscribeEvents();
        }
    }
    public override void UnSubscribeEvents() {
        // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
        SubscribedEventsMs = 0;
        PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
        {
            // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
            if (PhysBody.HasPhysicalBody)
                CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
        });
    }
    // Return 'true' if the simulator wants collision events
    public override bool SubscribedEvents() {
        return (SubscribedEventsMs > 0);
    }
    // Because 'CollisionScore' is called many times while sorting, it should not be recomputed
    //    each time called. So this is built to be light weight for each collision and to do
    //    all the processing when the user asks for the info.
    public void ComputeCollisionScore()
    {
        // Scale the collision count by the time since the last collision.
        // The "+1" prevents dividing by zero.
        long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1;
        CollisionScore = CollisionAccumulation / timeAgo;
    }
    public override float CollisionScore { get; set; }

    #endregion // Collisions

    #region Per Simulation Step actions
    // There are some actions that must be performed for a physical object before each simulation step.
    // 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> 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 (RegisteredPrestepActions)
        {
            // Clean out any existing action
            UnRegisterPreStepAction(op, id);

            RegisteredPrestepActions[identifier] = actn;

            PhysicsScene.BeforeStep += actn;
        }
        DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
    }

    // Unregister a pre step action. Safe to call if the action has not been registered.
    // Returns 'true' if an action was actually removed
    protected bool UnRegisterPreStepAction(string op, uint id)
    {
        string identifier = op + "-" + id.ToString();
        bool removed = false;
        lock (RegisteredPrestepActions)
        {
            if (RegisteredPrestepActions.ContainsKey(identifier))
            {
                PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier];
                RegisteredPrestepActions.Remove(identifier);
                removed = true;
            }
        }
        DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
        return removed;
    }

    protected void UnRegisterAllPreStepActions()
    {
        lock (RegisteredPrestepActions)
        {
            foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredPrestepActions)
            {
                PhysicsScene.BeforeStep -= kvp.Value;
            }
            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.
    // Returns 'true' if an action was actually removed.
    protected bool 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);
        return 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

    // High performance detailed logging routine used by the physical objects.
    protected void DetailLog(string msg, params Object[] args)
    {
        if (PhysicsScene.PhysicsLogging.Enabled)
            PhysicsScene.DetailLog(msg, args);
    }

}
}