aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
blob: e80307204e4395ae0fea30c4f87800221675d9aa (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
/*
 * 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.
 */
public abstract class BSPhysObject : PhysicsActor
{
    protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName)
    {
        PhysicsScene = parentScene;
        LocalID = localID;
        PhysObjectName = name;
        TypeName = typeName;

        Linkset = BSLinkset.Factory(PhysicsScene, this);
        LastAssetBuildFailed = false;

        CollisionCollection = new CollisionEventUpdate();
        SubscribedEventsMs = 0;
        CollidingStep = 0;
        CollidingGroundStep = 0;
    }

    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; }

    public BSLinkset Linkset { get; 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, ...)
    public abstract void UpdatePhysicalMassProperties(float mass);

    // 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 ShapeData.PhysicsShapeType PreferredPhysicalShape
    {
        get { return ShapeData.PhysicsShapeType.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 abstract OMV.Vector3 Scale { get; set; }
    public abstract bool IsSolid { get; }
    public abstract bool IsStatic { get; }

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

    // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
    public virtual void StepVehicle(float timeStep) { }

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

    // Tell the object to clean up.
    public abstract void Destroy();

    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 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; }

    #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 collision flags we think are set in Bullet
    protected CollisionFlags CurrentCollisionFlags { get; set; }

    // The collisions that have been collected this tick
    protected CollisionEventUpdate CollisionCollection;

    // The simulation step is telling this object about a collision.
    // Return 'true' if a collision was processed and should be sent up.
    // 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() and IsCollidingGround() work
        CollidingStep = PhysicsScene.SimulationStep;
        if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
        {
            CollidingGroundStep = PhysicsScene.SimulationStep;
        }

        // prims in the same linkset cannot collide with each other
        if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
        {
            return ret;
        }

        // if someone has subscribed for collision events....
        if (SubscribedEvents()) {
            CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
            DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
                            LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);

            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;

        // 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);

            // The collisionCollection structure 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.
            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()
            {
                CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, 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()
        {
            CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
        });
    }
    // Return 'true' if the simulator wants collision events
    public override bool SubscribedEvents() {
        return (SubscribedEventsMs > 0);
    }

    #endregion // Collisions

    // 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);
    }
}
}